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Merge branch 'master' into serial-cleanup

Browse source 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/config/config.c
This commit is contained in:
Dominic Clifton 2015-02-26 22:43:29 +00:00
commit b6509dd1eb
60 changed files with 2471 additions and 386 deletions
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86
src/main/io/serial_msp.c
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@ -50,6 +50,7 @@
#include "io/gimbal.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "telemetry/telemetry.h"
@ -232,6 +233,10 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
// DEPRECATED - Use MSP_BUILD_INFO instead
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip
#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip
#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip
//
// Multwii original MSP commands
//
@ -435,24 +440,24 @@ static uint32_t read32(void)
return t;
}
static void headSerialResponse(uint8_t err, uint8_t s)
static void headSerialResponse(uint8_t err, uint8_t responseBodySize)
{
serialize8('$');
serialize8('M');
serialize8(err ? '!' : '>');
currentPort->checksum = 0; // start calculating a new checksum
serialize8(s);
serialize8(responseBodySize);
serialize8(currentPort->cmdMSP);
}
static void headSerialReply(uint8_t s)
static void headSerialReply(uint8_t responseBodySize)
{
headSerialResponse(0, s);
headSerialResponse(0, responseBodySize);
}
static void headSerialError(uint8_t s)
static void headSerialError(uint8_t responseBodySize)
{
headSerialResponse(1, s);
headSerialResponse(1, responseBodySize);
}
static void tailSerialReply(void)
@ -532,6 +537,46 @@ reset:
}
}
static void serializeDataflashSummaryReply(void)
{
headSerialReply(1 + 3 * 4);
#ifdef USE_FLASHFS
const flashGeometry_t *geometry = flashfsGetGeometry();
serialize8(flashfsIsReady() ? 1 : 0);
serialize32(geometry->sectors);
serialize32(geometry->totalSize);
serialize32(flashfsGetOffset()); // Effectively the current number of bytes stored on the volume
#else
serialize8(0);
serialize32(0);
serialize32(0);
serialize32(0);
#endif
}
#ifdef USE_FLASHFS
static void serializeDataflashReadReply(uint32_t address, uint8_t size)
{
uint8_t buffer[128];
int bytesRead;
if (size > sizeof(buffer)) {
size = sizeof(buffer);
}
headSerialReply(4 + size);
serialize32(address);
// bytesRead will be lower than that requested if we reach end of volume
bytesRead = flashfsReadAbs(address, buffer, size);
for (int i = 0; i < bytesRead; i++) {
serialize8(buffer[i]);
}
}
#endif
static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, mspPortUsage_e usage)
{
memset(mspPortToReset, 0, sizeof(mspPort_t));
@ -783,6 +828,7 @@ static bool processOutCommand(uint8_t cmdMSP)
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
break;
#ifdef USE_SERVOS
case MSP_SERVO:
s_struct((uint8_t *)&servo, 16);
break;
@ -801,6 +847,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].forwardFromChannel);
}
break;
#endif
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
break;
@ -1136,6 +1183,21 @@ static bool processOutCommand(uint8_t cmdMSP)
}
break;
#endif
case MSP_DATAFLASH_SUMMARY:
serializeDataflashSummaryReply();
break;
#ifdef USE_FLASHFS
case MSP_DATAFLASH_READ:
{
uint32_t readAddress = read32();
serializeDataflashReadReply(readAddress, 128);
}
break;
#endif
case MSP_BF_BUILD_INFO:
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
@ -1304,6 +1366,7 @@ static bool processInCommand(void)
motor_disarmed[i] = read16();
break;
case MSP_SET_SERVO_CONF:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
@ -1317,11 +1380,14 @@ static bool processInCommand(void)
}
currentProfile->servoConf[i].rate = read8();
}
#endif
break;
case MSP_SET_CHANNEL_FORWARDING:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].forwardFromChannel = read8();
}
#endif
break;
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
@ -1345,6 +1411,13 @@ static bool processInCommand(void)
writeEEPROM();
readEEPROM();
break;
#ifdef USE_FLASHFS
case MSP_DATAFLASH_ERASE:
flashfsEraseCompletely();
break;
#endif
#ifdef GPS
case MSP_SET_RAW_GPS:
if (read8()) {
@ -1609,6 +1682,7 @@ void mspProcess(void)
while (!isSerialTransmitBufferEmpty(candidatePort->port)) {
delay(50);
}
stopMotors();
systemReset();
}
}