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https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-14 20:10:11 +03:00
rework & tiny optimizations
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cTn
parent
f457b84dff
commit
2d1099a3a9
2 changed files with 106 additions and 103 deletions
207
js/msp.js
207
js/msp.js
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@ -52,7 +52,7 @@ var MSP_codes = {
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};
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};
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var char_counter = 0;
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var char_counter = 0; // this need to be redone or removed
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var MSP = {
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var MSP = {
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state: 0,
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state: 0,
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@ -84,21 +84,21 @@ var MSP = {
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}
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}
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};
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};
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function MSP_char_read(readInfo) {
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MSP.read = function(readInfo) {
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var data = new Uint8Array(readInfo.data);
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var data = new Uint8Array(readInfo.data);
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for (var i = 0; i < data.length; i++) {
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for (var i = 0; i < data.length; i++) {
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switch (MSP.state) {
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switch (this.state) {
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case 0: // sync char 1
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case 0: // sync char 1
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if (data[i] == 36) { // $
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if (data[i] == 36) { // $
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MSP.state++;
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this.state++;
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}
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}
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break;
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break;
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case 1: // sync char 2
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case 1: // sync char 2
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if (data[i] == 77) { // M
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if (data[i] == 77) { // M
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MSP.state++;
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this.state++;
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} else { // restart and try again
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} else { // restart and try again
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MSP.state = 0;
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this.state = 0;
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}
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}
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break;
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break;
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case 2: // direction (should be >)
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case 2: // direction (should be >)
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@ -108,126 +108,60 @@ function MSP_char_read(readInfo) {
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message_status = 0;
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message_status = 0;
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}
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}
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MSP.state++;
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this.state++;
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break;
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break;
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case 3:
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case 3:
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MSP.message_length_expected = data[i];
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this.message_length_expected = data[i];
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MSP.message_checksum = data[i];
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this.message_checksum = data[i];
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// setup arraybuffer
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// setup arraybuffer
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MSP.message_buffer = new ArrayBuffer(MSP.message_length_expected);
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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MSP.message_buffer_uint8_view = new Uint8Array(MSP.message_buffer);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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MSP.state++;
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this.state++;
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break;
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break;
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case 4:
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case 4:
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MSP.code = data[i];
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this.code = data[i];
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MSP.message_checksum ^= data[i];
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this.message_checksum ^= data[i];
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if (MSP.message_length_expected != 0) { // standard message
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if (this.message_length_expected != 0) { // standard message
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MSP.state++;
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this.state++;
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} else { // MSP_ACC_CALIBRATION, etc...
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} else { // MSP_ACC_CALIBRATION, etc...
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MSP.state += 2;
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this.state += 2;
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}
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}
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break;
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break;
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case 5: // payload
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case 5: // payload
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MSP.message_buffer_uint8_view[MSP.message_length_received] = data[i];
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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MSP.message_checksum ^= data[i];
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this.message_checksum ^= data[i];
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MSP.message_length_received++;
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this.message_length_received++;
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if (MSP.message_length_received >= MSP.message_length_expected) {
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if (this.message_length_received >= this.message_length_expected) {
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MSP.state++;
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this.state++;
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}
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}
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break;
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break;
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case 6:
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case 6:
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if (MSP.message_checksum == data[i]) {
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if (this.message_checksum == data[i]) {
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// message received, process
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// message received, process
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process_data(MSP.code, MSP.message_buffer, MSP.message_length_expected);
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this.process_data(this.code, this.message_buffer, this.message_length_expected);
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} else {
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} else {
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console.log('code: ' + MSP.code + ' - crc failed');
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console.log('code: ' + this.code + ' - crc failed');
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MSP.packet_error++;
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this.packet_error++;
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$('span.packet-error').html(MSP.packet_error);
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$('span.packet-error').html(this.packet_error);
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}
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}
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// Reset variables
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// Reset variables
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MSP.message_length_received = 0;
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this.message_length_received = 0;
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MSP.state = 0;
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this.state = 0;
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break;
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break;
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}
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}
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char_counter++;
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char_counter++;
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}
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}
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}
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};
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function send_message(code, data, callback_sent, callback_msp) {
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MSP.process_data = function(code, message_buffer, message_length) {
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var bufferOut;
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var bufView;
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// always reserve 6 bytes for protocol overhead !
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if (typeof data === 'object') {
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var size = data.length + 6;
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var checksum = 0;
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bufferOut = new ArrayBuffer(size);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = data.length;
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bufView[4] = code;
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checksum = bufView[3] ^ bufView[4];
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for (var i = 0; i < data.length; i++) {
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bufView[i + 5] = data[i];
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checksum ^= bufView[i + 5];
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}
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bufView[5 + data.length] = checksum;
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} else {
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bufferOut = new ArrayBuffer(7);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = 0; // data length
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bufView[4] = code; // code
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bufView[5] = data; // data
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bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
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}
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// utilizing callback/timeout system for all commands
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for (var i = 0; i < MSP.callbacks.length; i++) {
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if (MSP.callbacks[i].code == code) {
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// request already exist
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return false; // skips the code below
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}
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}
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var obj = {'code': code, 'callback': (callback_msp) ? callback_msp : false};
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obj.timer = setInterval(function() {
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console.log('MSP data request timed-out: ' + code);
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serial.send(bufferOut, function(writeInfo) {});
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}, 1000); // we should be able to define timeout in the future
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MSP.callbacks.push(obj);
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serial.send(bufferOut, function(writeInfo) {
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if (writeInfo.bytesSent > 0) {
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if (callback_sent) {
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callback_sent();
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}
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}
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});
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}
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function process_data(code, message_buffer, message_length) {
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var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
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var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
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switch (code) {
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switch (code) {
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@ -508,15 +442,16 @@ function process_data(code, message_buffer, message_length) {
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}
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}
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}
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}
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break;
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break;
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default:
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default:
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console.log('Unknown code detected: ' + code);
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console.log('Unknown code detected: ' + code);
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}
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}
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// trigger callbacks, cleanup/remove callback after trigger
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// trigger callbacks, cleanup/remove callback after trigger
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for (var i = (MSP.callbacks.length - 1); i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
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for (var i = (this.callbacks.length - 1); i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
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if (MSP.callbacks[i].code == code) {
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if (this.callbacks[i].code == code) {
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// saving current obj for after-callback comparison
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// saving current obj for after-callback comparison
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var obj = MSP.callbacks[i];
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var obj = this.callbacks[i];
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// remove timeout
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// remove timeout
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clearInterval(obj.timer);
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clearInterval(obj.timer);
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@ -525,8 +460,76 @@ function process_data(code, message_buffer, message_length) {
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if (obj.callback) obj.callback({'command': code, 'data': data, 'length': message_length});
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if (obj.callback) obj.callback({'command': code, 'data': data, 'length': message_length});
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// remove object from array
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// remove object from array
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// we need to check if the callback object still exists as it could have been touched/removed in callback routine
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// we need to check if the callback object still exists as it could have been touched/moved/removed in callback routine
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if (MSP.callbacks.indexOf(obj) > -1) MSP.callbacks.splice(MSP.callbacks.indexOf(obj), 1);
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var index = this.callbacks.indexOf(obj);
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if (index > -1) this.callbacks.splice(index, 1);
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}
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}
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}
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}
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};
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function send_message(code, data, callback_sent, callback_msp) {
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var bufferOut;
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var bufView;
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// always reserve 6 bytes for protocol overhead !
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if (typeof data === 'object') {
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var size = data.length + 6;
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var checksum = 0;
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bufferOut = new ArrayBuffer(size);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = data.length;
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bufView[4] = code;
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checksum = bufView[3] ^ bufView[4];
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for (var i = 0; i < data.length; i++) {
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bufView[i + 5] = data[i];
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checksum ^= bufView[i + 5];
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}
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bufView[5 + data.length] = checksum;
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} else {
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bufferOut = new ArrayBuffer(7);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = 0; // data length
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bufView[4] = code; // code
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bufView[5] = data; // data
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bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
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}
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// utilizing callback/timeout system for all commands
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for (var i = 0; i < MSP.callbacks.length; i++) {
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if (MSP.callbacks[i].code == code) {
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// request already exist
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return false; // skips the code below
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}
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}
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var obj = {'code': code, 'callback': (callback_msp) ? callback_msp : false};
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obj.timer = setInterval(function() {
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console.log('MSP data request timed-out: ' + code);
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serial.send(bufferOut, function(writeInfo) {});
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}, 1000); // we should be able to define timeout in the future
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MSP.callbacks.push(obj);
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serial.send(bufferOut, function(writeInfo) {
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if (writeInfo.bytesSent > 0) {
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if (callback_sent) callback_sent();
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}
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});
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return true;
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}
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}
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@ -188,7 +188,7 @@ function onClosed(result) {
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function read_serial(info) {
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function read_serial(info) {
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if (!CLI_active) {
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if (!CLI_active) {
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MSP_char_read(info);
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MSP.read(info);
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} else {
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} else {
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handle_CLI(info);
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handle_CLI(info);
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}
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}
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