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Merge pull request #1257 from martinbudden/bf_msp_split_stage3

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MSP split stage3 - Better split between MSP and serial
This commit is contained in:
J Blackman 2016-10-12 06:24:24 +11:00 • committed by GitHub
commit b37c718ef7
4 changed files with 124 additions and 137 deletions
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57
src/main/io/serial_msp.c
View file

@ -25,12 +25,9 @@
#include "drivers/buf_writer.h" #include "drivers/buf_writer.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/system.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "flight/mixer.h"
#include "io/serial.h" #include "io/serial.h"
#include "io/serial_msp.h" #include "io/serial_msp.h"
@ -38,8 +35,6 @@
static mspPort_t mspPorts[MAX_MSP_PORT_COUNT]; static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
serialPort_t *mspSerialPort;
mspPort_t *currentPort;
bufWriter_t *writer; bufWriter_t *writer;
@ -52,12 +47,8 @@ static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
void mspSerialAllocatePorts(void) void mspSerialAllocatePorts(void)
{ {
serialPort_t *serialPort;
uint8_t portIndex = 0; uint8_t portIndex = 0;
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_MSP); serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_MSP);
while (portConfig && portIndex < MAX_MSP_PORT_COUNT) { while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
mspPort_t *mspPort = &mspPorts[portIndex]; mspPort_t *mspPort = &mspPorts[portIndex];
if (mspPort->port) { if (mspPort->port) {
@ -65,7 +56,7 @@ void mspSerialAllocatePorts(void)
continue; continue;
} }
serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED); serialPort_t *serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
if (serialPort) { if (serialPort) {
resetMspPort(mspPort, serialPort); resetMspPort(mspPort, serialPort);
portIndex++; portIndex++;
@ -77,8 +68,7 @@ void mspSerialAllocatePorts(void)
void mspSerialReleasePortIfAllocated(serialPort_t *serialPort) void mspSerialReleasePortIfAllocated(serialPort_t *serialPort)
{ {
uint8_t portIndex; for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t *candidateMspPort = &mspPorts[portIndex]; mspPort_t *candidateMspPort = &mspPorts[portIndex];
if (candidateMspPort->port == serialPort) { if (candidateMspPort->port == serialPort) {
closeSerialPort(serialPort); closeSerialPort(serialPort);
@ -94,12 +84,6 @@ void mspSerialInit(void)
mspSerialAllocatePorts(); mspSerialAllocatePorts();
} }
static void setCurrentPort(mspPort_t *port)
{
currentPort = port;
mspSerialPort = currentPort->port;
}
/* /*
* Process MSP commands from serial ports configured as MSP ports. * Process MSP commands from serial ports configured as MSP ports.
* *
@ -107,46 +91,37 @@ static void setCurrentPort(mspPort_t *port)
*/ */
void mspSerialProcess(void) void mspSerialProcess(void)
{ {
uint8_t portIndex; for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t *candidatePort; mspPort_t * const mspPort = &mspPorts[portIndex];
if (!mspPort->port) {
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (!candidatePort->port) {
continue; continue;
} }
setCurrentPort(candidatePort);
// Big enough to fit a MSP_STATUS in one write. // Big enough to fit a MSP_STATUS in one write.
uint8_t buf[sizeof(bufWriter_t) + 20]; uint8_t buf[sizeof(bufWriter_t) + 20];
writer = bufWriterInit(buf, sizeof(buf), writer = bufWriterInit(buf, sizeof(buf), (bufWrite_t)serialWriteBufShim, mspPort->port);
(bufWrite_t)serialWriteBufShim, currentPort->port);
while (serialRxBytesWaiting(mspSerialPort)) { mspPostProcessFuncPtr mspPostProcessFn = NULL;
while (serialRxBytesWaiting(mspPort->port)) {
uint8_t c = serialRead(mspSerialPort); const uint8_t c = serialRead(mspPort->port);
bool consumed = mspProcessReceivedData(c); const bool consumed = mspProcessReceivedData(mspPort, c);
if (!consumed && !ARMING_FLAG(ARMED)) { if (!consumed && !ARMING_FLAG(ARMED)) {
evaluateOtherData(mspSerialPort, c); evaluateOtherData(mspPort->port, c);
} }
if (currentPort->c_state == COMMAND_RECEIVED) { if (mspPort->c_state == COMMAND_RECEIVED) {
mspProcessReceivedCommand(); mspPostProcessFn = mspProcessReceivedCommand(mspPort);
break; // process one command at a time so as not to block. break; // process one command at a time so as not to block.
} }
} }
bufWriterFlush(writer); bufWriterFlush(writer);
if (isRebootScheduled) { if (mspPostProcessFn) {
waitForSerialPortToFinishTransmitting(candidatePort->port); waitForSerialPortToFinishTransmitting(mspPort->port);
stopPwmAllMotors(); mspPostProcessFn(mspPort);
// On real flight controllers, systemReset() will do a soft reset of the device,
// reloading the program. But to support offline testing this flag needs to be
// cleared so that the software doesn't continuously attempt to reboot itself.
isRebootScheduled = false;
systemReset();
} }
} }
} }

6
src/main/io/serial_msp.h
View file

@ -45,15 +45,9 @@ typedef struct mspPort_s {
} mspPort_t; } mspPort_t;
extern struct serialPort_s *mspSerialPort;
extern mspPort_t *currentPort;
struct bufWriter_s; struct bufWriter_s;
extern struct bufWriter_s *writer; extern struct bufWriter_s *writer;
extern bool isRebootScheduled;
void mspSerialInit(void); void mspSerialInit(void);
void mspSerialProcess(void); void mspSerialProcess(void);
void mspSerialAllocatePorts(void); void mspSerialAllocatePorts(void);

6
src/main/msp/msp.h
View file

@ -17,7 +17,9 @@
#pragma once #pragma once
struct mspPort_s;
typedef void (*mspPostProcessFuncPtr)(struct mspPort_s *); // msp post process function, used for gracefully handling reboots, etc.
void mspInit(void); void mspInit(void);
bool mspProcessReceivedData(uint8_t c); bool mspProcessReceivedData(struct mspPort_s *mspPort, uint8_t c);
void mspProcessReceivedCommand(void); mspPostProcessFuncPtr mspProcessReceivedCommand(struct mspPort_s *mspPort);

190
src/main/msp/msp_server_fc.c
View file

@ -69,6 +69,7 @@
#include "io/vtx.h" #include "io/vtx.h"
#include "msp/msp_protocol.h" #include "msp/msp_protocol.h"
#include "msp/msp.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/msp.h" #include "rx/msp.h"
@ -110,9 +111,11 @@
extern uint16_t cycleTime; // FIXME dependency on mw.c extern uint16_t cycleTime; // FIXME dependency on mw.c
extern void resetProfile(profile_t *profile); extern void resetProfile(profile_t *profile);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse); // cause reboot after MSP processing complete
static mspPostProcessFuncPtr mspPostProcessFn = NULL;
static mspPort_t *currentPort;
const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller. static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
typedef struct box_e { typedef struct box_e {
@ -161,12 +164,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
static uint8_t activeBoxIds[CHECKBOX_ITEM_COUNT]; static uint8_t activeBoxIds[CHECKBOX_ITEM_COUNT];
// this is the number of filled indexes in above array // this is the number of filled indexes in above array
static uint8_t activeBoxIdCount = 0; static uint8_t activeBoxIdCount = 0;
// from mixer.c
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
// cause reboot after MSP processing complete
bool isRebootScheduled = false;
static const char pidnames[] = static const char pidnames[] =
"ROLL;" "ROLL;"
@ -195,6 +192,29 @@ typedef enum {
#define DATAFLASH_BUFFER_SIZE 4096 #define DATAFLASH_BUFFER_SIZE 4096
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
void msp4WayIfFn(mspPort_t *mspPort)
{
// rem: App: Wait at least appx. 500 ms for BLHeli to jump into
// bootloader mode before try to connect any ESC
// Start to activate here
esc4wayProcess(mspPort->port);
// former used MSP uart is still active
// proceed as usual with MSP commands
}
#endif
static void mspRebootFn(mspPort_t *mspPort)
{
UNUSED(mspPort);
stopPwmAllMotors();
systemReset();
// control should never return here.
while(1) ;
}
static void serialize8(uint8_t a) static void serialize8(uint8_t a)
{ {
bufWriterAppend(writer, a); bufWriterAppend(writer, a);
@ -234,7 +254,7 @@ static uint32_t read32(void)
static void headSerialResponse(uint8_t err, uint16_t responseBodySize) static void headSerialResponse(uint8_t err, uint16_t responseBodySize)
{ {
serialBeginWrite(mspSerialPort); serialBeginWrite(currentPort->port);
serialize8('$'); serialize8('$');
serialize8('M'); serialize8('M');
@ -264,7 +284,7 @@ static void headSerialError(uint8_t responseBodySize)
static void tailSerialReply(void) static void tailSerialReply(void)
{ {
serialize8(currentPort->checksum); serialize8(currentPort->checksum);
serialEndWrite(mspSerialPort); serialEndWrite(currentPort->port);
} }
static void s_struct(uint8_t *cb, uint8_t siz) static void s_struct(uint8_t *cb, uint8_t siz)
@ -591,7 +611,7 @@ static uint32_t packFlightModeFlags(void)
static bool processOutCommand(uint8_t cmdMSP) static bool processOutCommand(uint8_t cmdMSP)
{ {
uint32_t i; uint32_t i;
uint8_t len; const unsigned int dataSize = currentPort->dataSize;
#ifdef GPS #ifdef GPS
uint8_t wp_no; uint8_t wp_no;
int32_t lat = 0, lon = 0; int32_t lat = 0, lon = 0;
@ -685,11 +705,13 @@ static bool processOutCommand(uint8_t cmdMSP)
break; break;
case MSP_NAME: case MSP_NAME:
len = strlen(masterConfig.name); {
headSerialReply(len); const unsigned int nameLen = strlen(masterConfig.name);
for (uint8_t i=0; i<len; i++) { headSerialReply(nameLen);
for (i = 0; i < nameLen; i++) {
serialize8(masterConfig.name[i]); serialize8(masterConfig.name[i]);
} }
}
break; break;
case MSP_STATUS: case MSP_STATUS:
@ -1136,7 +1158,7 @@ static bool processOutCommand(uint8_t cmdMSP)
uint32_t readAddress = read32(); uint32_t readAddress = read32();
uint16_t readLength; uint16_t readLength;
bool useLegacyFormat; bool useLegacyFormat;
if (currentPort->dataSize >= sizeof(uint32_t) + sizeof(uint16_t)) { if (dataSize >= sizeof(uint32_t) + sizeof(uint16_t)) {
readLength = read16(); readLength = read16();
useLegacyFormat = false; useLegacyFormat = false;
} else { } else {
@ -1280,17 +1302,34 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.mag_hardware); serialize8(masterConfig.mag_hardware);
break; break;
case MSP_REBOOT:
headSerialReply(0);
mspPostProcessFn = mspRebootFn;
break;
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
case MSP_SET_4WAY_IF:
headSerialReply(1);
// get channel number
// switch all motor lines HI
// reply with the count of ESC found
serialize8(esc4wayInit());
mspPostProcessFn = msp4WayIfFn;
break;
#endif
default: default:
return false; return false;
} }
return true; return true;
} }
static bool processInCommand(void) static bool processInCommand(uint8_t cmdMSP)
{ {
uint32_t i; uint32_t i;
uint16_t tmp; uint16_t tmp;
uint8_t value; uint8_t value;
const unsigned int dataSize = currentPort->dataSize;
#ifdef GPS #ifdef GPS
uint8_t wp_no; uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0; int32_t lat = 0, lon = 0, alt = 0;
@ -1298,7 +1337,7 @@ static bool processInCommand(void)
#ifdef OSD #ifdef OSD
uint8_t addr, font_data[64]; uint8_t addr, font_data[64];
#endif #endif
switch (currentPort->cmdMSP) { switch (cmdMSP) {
case MSP_SELECT_SETTING: case MSP_SELECT_SETTING:
value = read8(); value = read8();
if ((value & RATEPROFILE_MASK) == 0) { if ((value & RATEPROFILE_MASK) == 0) {
@ -1324,7 +1363,7 @@ static bool processInCommand(void)
case MSP_SET_RAW_RC: case MSP_SET_RAW_RC:
#ifndef SKIP_RX_MSP #ifndef SKIP_RX_MSP
{ {
uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t); uint8_t channelCount = dataSize / sizeof(uint16_t);
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) { if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
headSerialError(0); headSerialError(0);
} else { } else {
@ -1404,7 +1443,7 @@ static bool processInCommand(void)
break; break;
case MSP_SET_RC_TUNING: case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 10) { if (dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8(); currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
@ -1416,10 +1455,10 @@ static bool processInCommand(void)
currentControlRateProfile->thrMid8 = read8(); currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8(); currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16(); currentControlRateProfile->tpa_breakpoint = read16();
if (currentPort->dataSize >= 11) { if (dataSize >= 11) {
currentControlRateProfile->rcYawExpo8 = read8(); currentControlRateProfile->rcYawExpo8 = read8();
} }
if (currentPort->dataSize >= 12) { if (dataSize >= 12) {
currentControlRateProfile->rcYawRate8 = read8(); currentControlRateProfile->rcYawRate8 = read8();
} }
} else { } else {
@ -1463,7 +1502,7 @@ static bool processInCommand(void)
break; break;
case MSP_SET_SERVO_CONFIGURATION: case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS #ifdef USE_SERVOS
if (currentPort->dataSize != 1 + sizeof(servoParam_t)) { if (dataSize != 1 + sizeof(servoParam_t)) {
headSerialError(0); headSerialError(0);
break; break;
} }
@ -1560,7 +1599,7 @@ static bool processInCommand(void)
#ifdef TRANSPONDER #ifdef TRANSPONDER
case MSP_SET_TRANSPONDER_CONFIG: case MSP_SET_TRANSPONDER_CONFIG:
if (currentPort->dataSize != sizeof(masterConfig.transponderData)) { if (dataSize != sizeof(masterConfig.transponderData)) {
headSerialError(0); headSerialError(0);
break; break;
} }
@ -1692,16 +1731,16 @@ static bool processInCommand(void)
masterConfig.rxConfig.midrc = read16(); masterConfig.rxConfig.midrc = read16();
masterConfig.rxConfig.mincheck = read16(); masterConfig.rxConfig.mincheck = read16();
masterConfig.rxConfig.spektrum_sat_bind = read8(); masterConfig.rxConfig.spektrum_sat_bind = read8();
if (currentPort->dataSize > 8) { if (dataSize > 8) {
masterConfig.rxConfig.rx_min_usec = read16(); masterConfig.rxConfig.rx_min_usec = read16();
masterConfig.rxConfig.rx_max_usec = read16(); masterConfig.rxConfig.rx_max_usec = read16();
} }
if (currentPort->dataSize > 12) { if (dataSize > 12) {
masterConfig.rxConfig.rcInterpolation = read8(); masterConfig.rxConfig.rcInterpolation = read8();
masterConfig.rxConfig.rcInterpolationInterval = read8(); masterConfig.rxConfig.rcInterpolationInterval = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16(); masterConfig.rxConfig.airModeActivateThreshold = read16();
} }
if (currentPort->dataSize > 16) { if (dataSize > 16) {
masterConfig.rxConfig.rx_spi_protocol = read8(); masterConfig.rxConfig.rx_spi_protocol = read8();
masterConfig.rxConfig.rx_spi_id = read32(); masterConfig.rxConfig.rx_spi_id = read32();
masterConfig.rxConfig.rx_spi_rf_channel_count = read8(); masterConfig.rxConfig.rx_spi_rf_channel_count = read8();
@ -1761,12 +1800,12 @@ static bool processInCommand(void)
{ {
uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4); uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4);
if (currentPort->dataSize % portConfigSize != 0) { if (dataSize % portConfigSize != 0) {
headSerialError(0); headSerialError(0);
break; break;
} }
uint8_t remainingPortsInPacket = currentPort->dataSize / portConfigSize; uint8_t remainingPortsInPacket = dataSize / portConfigSize;
while (remainingPortsInPacket--) { while (remainingPortsInPacket--) {
uint8_t identifier = read8(); uint8_t identifier = read8();
@ -1800,7 +1839,7 @@ static bool processInCommand(void)
case MSP_SET_LED_STRIP_CONFIG: case MSP_SET_LED_STRIP_CONFIG:
{ {
i = read8(); i = read8();
if (i >= LED_MAX_STRIP_LENGTH || currentPort->dataSize != (1 + 4)) { if (i >= LED_MAX_STRIP_LENGTH || dataSize != (1 + 4)) {
headSerialError(0); headSerialError(0);
break; break;
} }
@ -1821,32 +1860,6 @@ static bool processInCommand(void)
} }
break; break;
#endif #endif
case MSP_REBOOT:
isRebootScheduled = true;
break;
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
case MSP_SET_4WAY_IF:
// get channel number
// switch all motor lines HI
// reply the count of ESC found
headSerialReply(1);
serialize8(esc4wayInit());
// because we do not come back after calling Process4WayInterface
// proceed with a success reply first
tailSerialReply();
// flush the transmit buffer
bufWriterFlush(writer);
// wait for all data to send
waitForSerialPortToFinishTransmitting(currentPort->port);
// rem: App: Wait at least appx. 500 ms for BLHeli to jump into
// bootloader mode before try to connect any ESC
// Start to activate here
esc4wayProcess(currentPort->port);
// former used MSP uart is still active
// proceed as usual with MSP commands
break;
#endif
case MSP_SET_ADVANCED_CONFIG : case MSP_SET_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8(); masterConfig.gyro_sync_denom = read8();
@ -1859,13 +1872,13 @@ static bool processInCommand(void)
masterConfig.gyro_soft_lpf_hz = read8(); masterConfig.gyro_soft_lpf_hz = read8();
currentProfile->pidProfile.dterm_lpf_hz = read16(); currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16(); currentProfile->pidProfile.yaw_lpf_hz = read16();
if (currentPort->dataSize > 5) { if (dataSize > 5) {
masterConfig.gyro_soft_notch_hz_1 = read16(); masterConfig.gyro_soft_notch_hz_1 = read16();
masterConfig.gyro_soft_notch_cutoff_1 = read16(); masterConfig.gyro_soft_notch_cutoff_1 = read16();
currentProfile->pidProfile.dterm_notch_hz = read16(); currentProfile->pidProfile.dterm_notch_hz = read16();
currentProfile->pidProfile.dterm_notch_cutoff = read16(); currentProfile->pidProfile.dterm_notch_cutoff = read16();
} }
if (currentPort->dataSize > 13) { if (dataSize > 13) {
serialize16(masterConfig.gyro_soft_notch_hz_2); serialize16(masterConfig.gyro_soft_notch_hz_2);
serialize16(masterConfig.gyro_soft_notch_cutoff_2); serialize16(masterConfig.gyro_soft_notch_cutoff_2);
} }
@ -1892,7 +1905,7 @@ static bool processInCommand(void)
case MSP_SET_NAME: case MSP_SET_NAME:
memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name)); memset(masterConfig.name, 0, ARRAYLEN(masterConfig.name));
for (i = 0; i < MIN(MAX_NAME_LENGTH, currentPort->dataSize); i++) { for (i = 0; i < MIN(MAX_NAME_LENGTH, dataSize); i++) {
masterConfig.name[i] = read8(); masterConfig.name[i] = read8();
} }
break; break;
@ -1904,51 +1917,54 @@ static bool processInCommand(void)
return true; return true;
} }
void mspProcessReceivedCommand(void) mspPostProcessFuncPtr mspProcessReceivedCommand(mspPort_t *mspPort)
{ {
if (!(processOutCommand(currentPort->cmdMSP) || processInCommand())) { currentPort = mspPort;
mspPostProcessFn = NULL;
if (!(processOutCommand(mspPort->cmdMSP) || processInCommand(mspPort->cmdMSP))) {
headSerialError(0); headSerialError(0);
} }
tailSerialReply(); tailSerialReply();
currentPort->c_state = IDLE; mspPort->c_state = IDLE;
return mspPostProcessFn;
} }
bool mspProcessReceivedData(uint8_t c) bool mspProcessReceivedData(mspPort_t *mspPort, uint8_t c)
{ {
if (currentPort->c_state == IDLE) { if (mspPort->c_state == IDLE) {
if (c == '$') { if (c == '$') {
currentPort->c_state = HEADER_START; mspPort->c_state = HEADER_START;
} else { } else {
return false; return false;
} }
} else if (currentPort->c_state == HEADER_START) { } else if (mspPort->c_state == HEADER_START) {
currentPort->c_state = (c == 'M') ? HEADER_M : IDLE; mspPort->c_state = (c == 'M') ? HEADER_M : IDLE;
} else if (currentPort->c_state == HEADER_M) { } else if (mspPort->c_state == HEADER_M) {
currentPort->c_state = (c == '<') ? HEADER_ARROW : IDLE; mspPort->c_state = (c == '<') ? HEADER_ARROW : IDLE;
} else if (currentPort->c_state == HEADER_ARROW) { } else if (mspPort->c_state == HEADER_ARROW) {
if (c > MSP_PORT_INBUF_SIZE) { if (c > MSP_PORT_INBUF_SIZE) {
currentPort->c_state = IDLE; mspPort->c_state = IDLE;
} else { } else {
currentPort->dataSize = c; mspPort->dataSize = c;
currentPort->offset = 0; mspPort->offset = 0;
currentPort->checksum = 0; mspPort->checksum = 0;
currentPort->indRX = 0; mspPort->indRX = 0;
currentPort->checksum ^= c; mspPort->checksum ^= c;
currentPort->c_state = HEADER_SIZE; mspPort->c_state = HEADER_SIZE;
} }
} else if (currentPort->c_state == HEADER_SIZE) { } else if (mspPort->c_state == HEADER_SIZE) {
currentPort->cmdMSP = c; mspPort->cmdMSP = c;
currentPort->checksum ^= c; mspPort->checksum ^= c;
currentPort->c_state = HEADER_CMD; mspPort->c_state = HEADER_CMD;
} else if (currentPort->c_state == HEADER_CMD && currentPort->offset < currentPort->dataSize) { } else if (mspPort->c_state == HEADER_CMD && mspPort->offset < mspPort->dataSize) {
currentPort->checksum ^= c; mspPort->checksum ^= c;
currentPort->inBuf[currentPort->offset++] = c; mspPort->inBuf[mspPort->offset++] = c;
} else if (currentPort->c_state == HEADER_CMD && currentPort->offset >= currentPort->dataSize) { } else if (mspPort->c_state == HEADER_CMD && mspPort->offset >= mspPort->dataSize) {
if (currentPort->checksum == c) { if (mspPort->checksum == c) {
currentPort->c_state = COMMAND_RECEIVED; mspPort->c_state = COMMAND_RECEIVED;
} else { } else {
currentPort->c_state = IDLE; mspPort->c_state = IDLE;
} }
} }
return true; return true;