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Code Issues Wiki Activity

Fixed jumbo frame handling

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This commit is contained in:
Martin Budden 2016-10-20 13:54:47 +01:00
parent 92c3fb7d8d
commit d8da70e3f6
2 changed files with 10 additions and 3 deletions
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2
src/main/fc/fc_msp.c
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@ -186,8 +186,6 @@ typedef enum {
#define RATEPROFILE_MASK (1 << 7)
#define JUMBO_FRAME_SIZE_LIMIT 255
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
static void msp4WayIfFn(serialPort_t *serialPort)
{

11
src/main/msp/msp_serial.c
View file

@ -121,13 +121,22 @@ static uint8_t mspSerialChecksumBuf(uint8_t checksum, const uint8_t *data, int l
return checksum;
}
#define JUMBO_FRAME_SIZE_LIMIT 255
static void mspSerialEncode(mspPort_t *msp, mspPacket_t *packet)
{
serialBeginWrite(msp->port);
const int len = sbufBytesRemaining(&packet->buf);
const uint8_t hdr[5] = {'$', 'M', packet->result == MSP_RESULT_ERROR ? '!' : '>', len, packet->cmd};
const int mspLen = len < JUMBO_FRAME_SIZE_LIMIT ? len : JUMBO_FRAME_SIZE_LIMIT;
const uint8_t hdr[5] = {'$', 'M', packet->result == MSP_RESULT_ERROR ? '!' : '>', mspLen, packet->cmd};
serialWriteBuf(msp->port, hdr, sizeof(hdr));
uint8_t checksum = mspSerialChecksumBuf(0, hdr + 3, 2); // checksum starts from len field
if (len >= JUMBO_FRAME_SIZE_LIMIT) {
serialWrite(msp->port, len & 0xff);
checksum ^= len & 0xff;
serialWrite(msp->port, (len >> 8) & 0xff);
checksum ^= (len >> 8) & 0xff;
}
if (len > 0) {
serialWriteBuf(msp->port, sbufPtr(&packet->buf), len);
checksum = mspSerialChecksumBuf(checksum, sbufPtr(&packet->buf), len);