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strongly refactored MSP with callback support

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This commit is contained in:
cTn 2013-11-09 03:52:06 +01:00
parent 05dc57ceb7
commit fbc886787d
4 changed files with 488 additions and 466 deletions
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465
js/serial_backend.js
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@ -2,57 +2,6 @@ var connectionId = -1;
var connection_delay = 0; // delay which defines "when" will the configurator request configurator data after connection was established
var configuration_received = false;
var MSP_codes = {
MSP_IDENT: 100,
MSP_STATUS: 101,
MSP_RAW_IMU: 102,
MSP_SERVO: 103,
MSP_MOTOR: 104,
MSP_RC: 105,
MSP_RAW_GPS: 106,
MSP_COMP_GPS: 107,
MSP_ATTITUDE: 108,
MSP_ALTITUDE: 109,
MSP_BAT: 110,
MSP_RC_TUNING: 111,
MSP_PID: 112,
MSP_BOX: 113,
MSP_MISC: 114,
MSP_MOTOR_PINS: 115,
MSP_BOXNAMES: 116,
MSP_PIDNAMES: 117,
MSP_WP: 118,
MSP_BOXIDS: 119,
MSP_SERVO_CONF: 120,
MSP_SET_RAW_RC: 200,
MSP_SET_RAW_GPS: 201,
MSP_SET_PID: 202,
MSP_SET_BOX: 203,
MSP_SET_RC_TUNING: 204,
MSP_ACC_CALIBRATION: 205,
MSP_MAG_CALIBRATION: 206,
MSP_SET_MISC: 207,
MSP_RESET_CONF: 208,
MSP_SELECT_SETTING: 210,
MSP_SET_HEAD: 211,
MSP_SET_SERVO_CONF: 212,
MSP_SET_MOTOR: 214,
MSP_BIND: 240,
MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253,
MSP_DEBUG: 254,
// Additional baseflight commands that are not compatible with MultiWii
MSP_UID: 160,
MSP_ACC_TRIM: 240,
MSP_SET_ACC_TRIM: 239,
MSP_GPSSVINFO: 164 // get Signal Strength (only U-Blox)
}
var CONFIG = {
version: 0,
multiType: 0,
@ -309,419 +258,7 @@ function onClosed(result) {
}
function readPoll() {
chrome.serial.read(connectionId, 128, onCharRead);
}
var message_state = 0;
var message_status = 1;
var message_code = 0;
var message_length_expected = 0;
var message_length_received = 0;
var message_buffer;
var message_buffer_uint8_view;
var message_checksum = 0;
var char_counter = 0;
function onCharRead(readInfo) {
if (readInfo && readInfo.bytesRead > 0) {
var data = new Uint8Array(readInfo.data);
for (var i = 0; i < data.length; i++) {
if (CLI_active != true) {
// Standard "GUI" MSP handling
switch (message_state) {
case 0: // sync char 1
if (data[i] == 36) { // $
message_state++;
}
break;
case 1: // sync char 2
if (data[i] == 77) { // M
message_state++;
} else { // restart and try again
message_state = 0;
}
break;
case 2: // direction (should be >)
if (data[i] == 62) { // >
message_status = 1;
} else { // unknown
message_status = 0;
}
message_state++;
break;
case 3:
message_length_expected = data[i]; // data length
message_checksum = data[i];
// setup arraybuffer
message_buffer = new ArrayBuffer(message_length_expected);
message_buffer_uint8_view = new Uint8Array(message_buffer);
message_state++;
break;
case 4:
message_code = data[i]; // code
message_checksum ^= data[i];
if (message_length_expected != 0) { // standard message
message_state++;
} else { // MSP_ACC_CALIBRATION, etc...
message_state += 2;
}
break;
case 5: // data / payload
message_buffer_uint8_view[message_length_received] = data[i];
message_checksum ^= data[i];
message_length_received++;
if (message_length_received >= message_length_expected) {
message_state++;
}
break;
case 6: // CRC
if (message_checksum == data[i]) {
// process data
process_message(message_code, message_buffer, message_length_expected);
}
// Reset variables
message_length_received = 0;
message_state = 0;
break;
}
} else {
// CLI Enabled (Terminal "style" handling)
handle_CLI(data[i]);
}
char_counter++;
}
}
}
function send_message(code, data) {
if (typeof data === 'object') {
var size = 6 + data.length; // 6 bytes for protocol overhead
var checksum = 0;
var bufferOut = new ArrayBuffer(size);
var bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = data.length; // data length
bufView[4] = code; // code
checksum = bufView[3] ^ bufView[4];
for (var i = 0; i < data.length; i++) {
bufView[i + 5] = data[i];
checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
} else {
var bufferOut = new ArrayBuffer(7);
var bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = data; // data
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
}
chrome.serial.write(connectionId, bufferOut, function(writeInfo) {
// used for debugging purposes (should be disabled in "stable" builds
//console.log("Wrote: " + writeInfo.bytesWritten + " bytes");
});
}
function process_message(code, data, bytes) {
var view = new DataView(data, 0);
switch (code) {
case MSP_codes.MSP_IDENT:
CONFIG.version = parseFloat((view.getUint8(0) / 100).toFixed(2));
CONFIG.multiType = view.getUint8(1);
$('.software-version').html(CONFIG.version);
// IDENT received, show the tab content
if (!configuration_received) {
configuration_received = true;
$('#tabs li a:first').click();
}
break;
case MSP_codes.MSP_STATUS:
CONFIG.cycleTime = view.getUint16(0, 1);
CONFIG.i2cError = view.getUint16(2, 1);
CONFIG.activeSensors = view.getUint16(4, 1);
CONFIG.mode = view.getUint32(6, 1);
CONFIG.profile = view.getUint8(10);
$('span.cycle-time').html(CONFIG.cycleTime);
sensor_status(CONFIG.activeSensors);
break;
case MSP_codes.MSP_RAW_IMU:
SENSOR_DATA.accelerometer[0] = view.getInt16(0, 1) / 1000; // properly scaled
SENSOR_DATA.accelerometer[1] = view.getInt16(2, 1) / 1000;
SENSOR_DATA.accelerometer[2] = view.getInt16(4, 1) / 1000;
SENSOR_DATA.gyroscope[0] = view.getInt16(6, 1) / 8; // no clue about scaling factor
SENSOR_DATA.gyroscope[1] = view.getInt16(8, 1) / 8;
SENSOR_DATA.gyroscope[2] = view.getInt16(10, 1) / 8;
SENSOR_DATA.magnetometer[0] = view.getInt16(12, 1) / 3; // no clue about scaling factor
SENSOR_DATA.magnetometer[1] = view.getInt16(14, 1) / 3;
SENSOR_DATA.magnetometer[2] = view.getInt16(16, 1) / 3;
break;
case MSP_codes.MSP_SERVO:
var needle = 0;
for (var i = 0; i < SERVO_DATA.length; i++) {
SERVO_DATA[i] = view.getUint16(needle, 1);
needle += 2;
}
break;
case MSP_codes.MSP_MOTOR:
var needle = 0;
for (var i = 0; i < MOTOR_DATA.length; i++) {
MOTOR_DATA[i] = view.getUint16(needle, 1);
needle += 2;
}
break;
case MSP_codes.MSP_RC:
RC.roll = view.getUint16(0, 1);
RC.pitch = view.getUint16(2, 1);
RC.yaw = view.getUint16(4, 1);
RC.throttle = view.getUint16(6, 1);
RC.AUX1 = view.getUint16(8, 1);
RC.AUX2 = view.getUint16(10, 1);
RC.AUX3 = view.getUint16(12, 1);
RC.AUX4 = view.getUint16(14, 1);
break;
case MSP_codes.MSP_RAW_GPS:
GPS_DATA.fix = view.getUint8(0);
GPS_DATA.numSat = view.getUint8(1);
GPS_DATA.lat = view.getUint32(2, 1);
GPS_DATA.lon = view.getUint32(6, 1);
GPS_DATA.alt = view.getUint16(10, 1);
GPS_DATA.speed = view.getUint16(12, 1);
break;
case MSP_codes.MSP_COMP_GPS:
GPS_DATA.distanceToHome = view.getUint16(0, 1);
GPS_DATA.directionToHome = view.getUint16(2, 1);
GPS_DATA.update = view.getUint8(4);
break;
case MSP_codes.MSP_ATTITUDE:
SENSOR_DATA.kinematicsX = view.getInt16(0, 1) / 10.0;
SENSOR_DATA.kinematicsY = view.getInt16(2, 1) / 10.0;
SENSOR_DATA.kinematicsZ = view.getInt16(4, 1);
break;
case MSP_codes.MSP_ALTITUDE:
SENSOR_DATA.altitude = parseFloat((view.getInt32(0, 1) / 100.0).toFixed(2)); // correct scale factor
break;
case MSP_codes.MSP_BAT:
BATTERY.voltage = view.getUint8(0) / 10.0;
BATTERY.power = view.getUint16(1, 1);
break;
case MSP_codes.MSP_RC_TUNING:
RC_tuning.RC_RATE = parseFloat((view.getUint8(0) / 100).toFixed(2));
RC_tuning.RC_EXPO = parseFloat((view.getUint8(1) / 100).toFixed(2));
RC_tuning.roll_pitch_rate = parseFloat((view.getUint8(2) / 100).toFixed(2));
RC_tuning.yaw_rate = parseFloat((view.getUint8(3) / 100).toFixed(2));
RC_tuning.dynamic_THR_PID = parseFloat((view.getUint8(4) / 100).toFixed(2));
RC_tuning.throttle_MID = parseFloat((view.getUint8(5) / 100).toFixed(2));
RC_tuning.throttle_EXPO = parseFloat((view.getUint8(6) / 100).toFixed(2));
break;
case MSP_codes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
var needle = 0;
for (var i = 0; i < 10; i++) {
// main for loop selecting the pid section
switch (i) {
case 0:
case 1:
case 2:
case 3:
case 7:
case 8:
case 9:
PIDs[i][0] = view.getUint8(needle) / 10;
PIDs[i][1] = view.getUint8(needle + 1) / 1000;
PIDs[i][2] = view.getUint8(needle + 2);
break;
case 4:
PIDs[i][0] = view.getUint8(needle) / 100;
PIDs[i][1] = view.getUint8(needle + 1) / 100;
PIDs[i][2] = view.getUint8(needle + 2) / 1000;
break;
case 5:
case 6:
PIDs[i][0] = view.getUint8(needle) / 10;
PIDs[i][1] = view.getUint8(needle + 1) / 100;
PIDs[i][2] = view.getUint8(needle + 2) / 1000;
break;
}
needle += 3;
}
break;
case MSP_codes.MSP_BOX:
// dump previous data (if there was any)
AUX_CONFIG_values = new Array();
// fill in current data
for (var i = 0; i < data.byteLength; i += 2) { // + 2 because uint16_t = 2 bytes
AUX_CONFIG_values.push(view.getUint16(i, 1));
}
break;
case MSP_codes.MSP_MISC:
console.log(data);
break;
case MSP_codes.MSP_MOTOR_PINS:
console.log(data);
break;
case MSP_codes.MSP_BOXNAMES:
AUX_CONFIG = []; // empty the array as new data is coming in
var buff = new Array();
for (var i = 0; i < data.byteLength; i++) {
if (view.getUint8(i) == 0x3B) { // ; (delimeter char)
AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
// empty buffer
buff = [];
} else {
buff.push(view.getUint8(i));
}
}
break;
case MSP_codes.MSP_PIDNAMES:
console.log(data);
break;
case MSP_codes.MSP_WP:
console.log(data);
break;
case MSP_codes.MSP_BOXIDS:
console.log(data);
break;
case MSP_codes.MSP_SERVO_CONF:
// drop previous data
SERVO_CONFIG = [];
for (var i = 0; i < bytes; i += 7) {
var arr = {'min': view.getInt16(i, 1), 'max': view.getInt16(i + 2, 1), 'middle': view.getInt16(i + 4, 1), 'rate': view.getInt8(i + 6)};
SERVO_CONFIG.push(arr);
}
break;
case MSP_codes.MSP_SET_RAW_RC:
console.log(data);
break;
case MSP_codes.MSP_SET_RAW_GPS:
console.log(data);
break;
case MSP_codes.MSP_SET_PID:
console.log('PID settings saved');
break;
case MSP_codes.MSP_SET_BOX:
console.log('AUX Configuration saved');
break;
case MSP_codes.MSP_SET_RC_TUNING:
console.log('RC Tuning saved');
break;
case MSP_codes.MSP_ACC_CALIBRATION:
console.log('Accel calibration executed');
break;
case MSP_codes.MSP_MAG_CALIBRATION:
console.log('Mag calibration executed');
break;
case MSP_codes.MSP_SET_MISC:
console.log(data);
break;
case MSP_codes.MSP_RESET_CONF:
console.log('Settings Reset');
// With new flight software settings in place, we have to re-pull
// latest values
send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
send_message(MSP_codes.MSP_PID, MSP_codes.MSP_PID);
send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
send_message(MSP_codes.MSP_BOXNAMES, MSP_codes.MSP_BOXNAMES);
send_message(MSP_codes.MSP_BOX, MSP_codes.MSP_BOX);
// baseflight specific
send_message(MSP_codes.MSP_UID, MSP_codes.MSP_UID);
send_message(MSP_codes.MSP_ACC_TRIM, MSP_codes.MSP_ACC_TRIM);
break;
case MSP_codes.MSP_SELECT_SETTING:
console.log(data);
break;
case MSP_codes.MSP_SET_SERVO_CONF:
console.log('Servo Configuration saved');
break;
/* disabled (find out why ???)
case MSP_codes.MSP_BIND:
console.log(data);
break;
*/
case MSP_codes.MSP_EEPROM_WRITE:
console.log('Settings Saved in EEPROM');
break;
case MSP_codes.MSP_DEBUGMSG:
console.log(data);
break;
case MSP_codes.MSP_DEBUG:
for (var i = 0; i < 4; i++)
SENSOR_DATA.debug[i] = view.getInt16((2 * i), 1);
break;
// Additional baseflight commands that are not compatible with MultiWii
case MSP_codes.MSP_UID:
if (data.byteLength > 0) {
CONFIG.uid[0] = view.getUint32(0, 1);
CONFIG.uid[1] = view.getUint32(4, 1);
CONFIG.uid[2] = view.getUint32(8, 1);
}
break;
case MSP_codes.MSP_ACC_TRIM:
if (data.byteLength > 0) {
CONFIG.accelerometerTrims[0] = view.getInt16(0, 1); // pitch
CONFIG.accelerometerTrims[1] = view.getInt16(2, 1); // roll
}
break;
case MSP_codes.MSP_SET_ACC_TRIM:
console.log('Accelerometer trimms saved.');
break;
case MSP_codes.MSP_GPSSVINFO:
if (data.byteLength > 0) {
var numCh = view.getUint8(0);
var needle = 1;
for (var i = 0; i < numCh; i++) {
GPS_DATA.chn[i] = view.getUint8(needle);
GPS_DATA.svid[i] = view.getUint8(needle + 1);
GPS_DATA.quality[i] = view.getUint8(needle + 2);
GPS_DATA.cno[i] = view.getUint8(needle + 3);
needle += 4;
}
}
break;
default:
console.log('Unknown code detected: ' + code);
}
chrome.serial.read(connectionId, 128, MSP_char_read);
}
function port_usage() {