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Refactor MSP command processing to reduce code size.

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This commit is contained in:
Dominic Clifton 2018-08-07 18:24:53 +02:00
parent bf4188a70c
commit f2bdc86c61
1 changed files with 11 additions and 22 deletions
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33
src/main/msp/msp_serial.c
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@ -100,7 +100,6 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c)
default:
case MSP_IDLE: // Waiting for '$' character
if (c == '$') {
mspPort->mspVersion = MSP_V1;
mspPort->c_state = MSP_HEADER_START;
}
else {
@ -109,12 +108,17 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c)
break;
case MSP_HEADER_START: // Waiting for 'M' (MSPv1 / MSPv2_over_v1) or 'X' (MSPv2 native)
mspPort->offset = 0;
mspPort->checksum1 = 0;
mspPort->checksum2 = 0;
switch (c) {
case 'M':
mspPort->c_state = MSP_HEADER_M;
mspPort->mspVersion = MSP_V1;
break;
case 'X':
mspPort->c_state = MSP_HEADER_X;
mspPort->mspVersion = MSP_V2_NATIVE;
break;
default:
mspPort->c_state = MSP_IDLE;
@ -123,20 +127,13 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c)
break;
case MSP_HEADER_M: // Waiting for '<' / '>'
mspPort->c_state = MSP_HEADER_V1;
switch (c) {
case '<': // COMMAND
case '<':
mspPort->packetType = MSP_PACKET_COMMAND;
mspPort->c_state = MSP_HEADER_V1;
mspPort->offset = 0;
mspPort->checksum1 = 0;
mspPort->checksum2 = 0;
break;
case '>': // REPLY
case '>':
mspPort->packetType = MSP_PACKET_REPLY;
mspPort->c_state = MSP_HEADER_V1;
mspPort->offset = 0;
mspPort->checksum1 = 0;
mspPort->checksum2 = 0;
break;
default:
mspPort->c_state = MSP_IDLE;
@ -145,21 +142,13 @@ static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c)
break;
case MSP_HEADER_X:
mspPort->c_state = MSP_HEADER_V2_NATIVE;
switch (c) {
case '<': // COMMAND
case '<':
mspPort->packetType = MSP_PACKET_COMMAND;
mspPort->offset = 0;
mspPort->checksum2 = 0;
mspPort->mspVersion = MSP_V2_NATIVE;
mspPort->c_state = MSP_HEADER_V2_NATIVE;
break;
case '>': // REPLY
case '>':
mspPort->packetType = MSP_PACKET_REPLY;
mspPort->c_state = MSP_HEADER_V1;
mspPort->offset = 0;
mspPort->checksum2 = 0;
mspPort->mspVersion = MSP_V2_NATIVE;
mspPort->c_state = MSP_HEADER_V2_NATIVE;
break;
default:
mspPort->c_state = MSP_IDLE;