mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-13 19:40:22 +03:00
205d8c2df7
Change MSP.send_message() and MSP.promise() to accept an optional protocol version argument. If null or undefined, the default version set for the MSP instance is used instead. Use this additional argument in FONT.upload(), so we avoid generating 64 byte writes when uploading a font.
388 lines
16 KiB
JavaScript
388 lines
16 KiB
JavaScript
'use strict';
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/**
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*
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* @constructor
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*/
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var MspMessageClass = function () {
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var publicScope = {};
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publicScope.code = null;
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publicScope.messageBody = null;
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publicScope.onFinish = null;
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publicScope.onSend = null;
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publicScope.timer = false;
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publicScope.createdOn = new Date().getTime();
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publicScope.sentOn = null;
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publicScope.retryCounter = 5;
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return publicScope;
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};
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/**
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* @typedef {{state: number, message_direction: number, code: number, message_length_expected: number, message_length_received: number, message_buffer: null, message_buffer_uint8_view: null, message_checksum: number, callbacks: Array, packet_error: number, unsupported: number, ledDirectionLetters: [*], ledFunctionLetters: [*], ledBaseFunctionLetters: [*], ledOverlayLetters: [*], last_received_timestamp: null, analog_last_received_timestamp: number, read: MSP.read, send_message: MSP.send_message, promise: MSP.promise, callbacks_cleanup: MSP.callbacks_cleanup, disconnect_cleanup: MSP.disconnect_cleanup}} MSP
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*/
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var MSP = {
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symbols: {
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BEGIN: '$'.charCodeAt(0),
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PROTO_V1: 'M'.charCodeAt(0),
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PROTO_V2: 'X'.charCodeAt(0),
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FROM_MWC: '>'.charCodeAt(0),
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TO_MWC: '<'.charCodeAt(0),
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UNSUPPORTED: '!'.charCodeAt(0),
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},
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constants: {
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PROTOCOL_V1: 1,
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PROTOCOL_V2: 2,
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JUMBO_FRAME_MIN_SIZE: 255,
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},
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decoder_states: {
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IDLE: 0,
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PROTO_IDENTIFIER: 1,
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DIRECTION_V1: 2,
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DIRECTION_V2: 3,
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FLAG_V2: 4,
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PAYLOAD_LENGTH_V1: 5,
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PAYLOAD_LENGTH_JUMBO_LOW: 6,
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PAYLOAD_LENGTH_JUMBO_HIGH: 7,
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PAYLOAD_LENGTH_V2_LOW: 8,
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PAYLOAD_LENGTH_V2_HIGH: 9,
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CODE_V1: 10,
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CODE_JUMBO_V1: 11,
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CODE_V2_LOW: 12,
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CODE_V2_HIGH: 13,
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PAYLOAD_V1: 14,
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PAYLOAD_V2: 15,
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CHECKSUM_V1: 16,
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CHECKSUM_V2: 17,
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},
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protocolVersion: 1, // this.constants.PROTOCOL_V1
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state: 0, // this.decoder_states.IDLE
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message_direction: 1,
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code: 0,
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message_length_expected: 0,
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message_length_received: 0,
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message_buffer: null,
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message_buffer_uint8_view: null,
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message_checksum: 0,
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callbacks: [],
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packet_error: 0,
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unsupported: 0,
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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last_received_timestamp: null,
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analog_last_received_timestamp: null,
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read: function (readInfo) {
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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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switch (this.state) {
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case this.decoder_states.IDLE: // sync char 1
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if (data[i] == this.symbols.BEGIN) {
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this.state = this.decoder_states.PROTO_IDENTIFIER;
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}
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break;
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case this.decoder_states.PROTO_IDENTIFIER: // sync char 2
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switch (data[i]) {
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case this.symbols.PROTO_V1:
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this.state = this.decoder_states.DIRECTION_V1;
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break;
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case this.symbols.PROTO_V2:
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this.state = this.decoder_states.DIRECTION_V2;
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break;
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default:
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console.log("Unknown protocol char " + String.fromCharCode(data[i]));
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this.state = this.decoder_states.IDLE;
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}
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break;
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case this.decoder_states.DIRECTION_V1: // direction (should be >)
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case this.decoder_states.DIRECTION_V2:
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this.unsupported = 0;
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switch (data[i]) {
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case this.symbols.FROM_MWC:
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this.message_direction = 1;
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break;
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case this.symbols.TO_MWC:
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this.message_direction = 0;
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break;
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case this.symbols.UNSUPPORTED:
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this.unsupported = 1;
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break;
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}
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this.state = this.state == this.decoder_states.DIRECTION_V1 ?
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this.decoder_states.PAYLOAD_LENGTH_V1 :
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this.decoder_states.FLAG_V2;
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break;
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case this.decoder_states.FLAG_V2:
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// Ignored for now
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this.state = this.decoder_states.CODE_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V1:
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this.message_length_expected = data[i];
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if (this.message_length_expected == this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.state = this.decoder_states.CODE_JUMBO_V1;
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} else {
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this._initialize_read_buffer();
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this.state = this.decoder_states.CODE_V1;
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}
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_LOW:
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this.message_length_expected = data[i];
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_HIGH:
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this.message_length_expected |= data[i] << 8;
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this._initialize_read_buffer();
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this.state = this.message_length_expected > 0 ?
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this.decoder_states.PAYLOAD_V2 :
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this.state = this.decoder_states.CHECKSUM_V2;
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break;
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case this.decoder_states.CODE_V1:
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case this.decoder_states.CODE_JUMBO_V1:
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this.code = data[i];
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if (this.message_length_expected > 0) {
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// process payload
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if (this.state == this.decoder_states.CODE_JUMBO_V1) {
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this.state = this.decoder_states.PAYLOAD_LENGTH_JUMBO_LOW;
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} else {
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this.state = this.decoder_states.PAYLOAD_V1;
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}
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} else {
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// no payload
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this.state = this.decoder_states.CHECKSUM_V1;
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}
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break;
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case this.decoder_states.CODE_V2_LOW:
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this.code = data[i];
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this.state = this.decoder_states.CODE_V2_HIGH;
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break;
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case this.decoder_states.CODE_V2_HIGH:
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this.code |= data[i] << 8;
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_LOW:
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this.message_length_expected = data[i];
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this.state = this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH:
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this.message_length_expected |= data[i] << 8;
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this._initialize_read_buffer();
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this.state = this.decoder_states.PAYLOAD_V1;
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break;
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case this.decoder_states.PAYLOAD_V1:
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case this.decoder_states.PAYLOAD_V2:
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_length_received++;
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if (this.message_length_received >= this.message_length_expected) {
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this.state = this.state == this.decoder_states.PAYLOAD_V1 ?
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this.decoder_states.CHECKSUM_V1 :
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this.decoder_states.CHECKSUM_V2;
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}
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break;
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case this.decoder_states.CHECKSUM_V1:
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if (this.message_length_expected >= this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.message_checksum = this.constants.JUMBO_FRAME_MIN_SIZE;
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} else {
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this.message_checksum = this.message_length_expected;
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}
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this.message_checksum ^= this.code;
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if (this.message_length_expected >= this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.message_checksum ^= this.message_length_expected & 0xFF;
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this.message_checksum ^= (this.message_length_expected & 0xFF00) >> 8;
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}
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for (var ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum ^= this.message_buffer_uint8_view[ii];
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}
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this._dispatch_message(data[i]);
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break;
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case this.decoder_states.CHECKSUM_V2:
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this.message_checksum = 0;
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, 0); // flag
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, this.code & 0xFF);
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, (this.code & 0xFF00) >> 8);
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, this.message_length_expected & 0xFF);
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, (this.message_length_expected & 0xFF00) >> 8);
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for (var ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum = this._crc8_dvb_s2(this.message_checksum, this.message_buffer_uint8_view[ii]);
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}
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this._dispatch_message(data[i]);
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break;
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default:
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/*
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* Free port
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*/
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helper.mspQueue.freeHardLock();
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console.log('Unknown state detected: ' + this.state);
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}
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}
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this.last_received_timestamp = Date.now();
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},
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_initialize_read_buffer: function() {
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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},
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_dispatch_message: function(expected_checksum) {
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if (this.message_checksum == expected_checksum) {
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// message received, process
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mspHelper.processData(this);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.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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* Free port
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*/
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helper.mspQueue.freeHardLock();
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// Reset variables
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this.message_length_received = 0;
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this.state = this.decoder_states.IDLE;
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},
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/**
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*
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* @param {MSP} mspData
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*/
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putCallback: function (mspData) {
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MSP.callbacks.push(mspData);
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},
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/**
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* @param {number} code
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*/
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removeCallback: function (code) {
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for (var i in this.callbacks) {
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if (this.callbacks.hasOwnProperty(i) && this.callbacks[i].code == code) {
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clearTimeout(this.callbacks[i].timer);
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this.callbacks.splice(i, 1);
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}
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}
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},
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send_message: function (code, data, callback_sent, callback_msp, protocolVersion) {
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var payloadLength = data && data.length ? data.length : 0;
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var length;
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var buffer;
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var view;
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var checksum;
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var ii;
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if (!protocolVersion) {
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protocolVersion = this.protocolVersion;
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}
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switch (protocolVersion) {
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case this.constants.PROTOCOL_V1:
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// TODO: Error if code is < 255 and MSPv1 is requested
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length = payloadLength + 6;
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buffer = new ArrayBuffer(length);
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view = new Uint8Array(buffer);
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view[0] = this.symbols.BEGIN;
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view[1] = this.symbols.PROTO_V1;
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view[2] = this.symbols.TO_MWC;
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view[3] = payloadLength;
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view[4] = code;
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checksum = view[3] ^ view[4];
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for (ii = 0; ii < payloadLength; ii++) {
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view[ii + 5] = data[ii];
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checksum ^= data[ii];
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}
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view[length-1] = checksum;
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break;
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case this.constants.PROTOCOL_V2:
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length = payloadLength + 9;
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buffer = new ArrayBuffer(length);
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view = new Uint8Array(buffer);
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view[0] = this.symbols.BEGIN;
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view[1] = this.symbols.PROTO_V2;
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view[2] = this.symbols.TO_MWC;
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view[3] = 0; // flag: reserved, set to 0
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view[4] = code & 0xFF; // code lower byte
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view[5] = (code & 0xFF00) >> 8; // code upper byte
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view[6] = payloadLength & 0xFF; // payloadLength lower byte
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view[7] = (payloadLength & 0xFF00) >> 8; // payloadLength upper byte
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for (ii = 0; ii < payloadLength; ii++) {
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view[8+ii] = data[ii];
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}
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checksum = 0;
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for (ii = 3; ii < length-1; ii++) {
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checksum = this._crc8_dvb_s2(checksum, view[ii]);
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}
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view[length-1] = checksum;
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break;
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default:
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throw "Invalid MSP protocol version " + protocolVersion;
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}
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var message = new MspMessageClass();
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message.code = code;
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message.messageBody = buffer;
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message.onFinish = callback_msp;
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message.onSend = callback_sent;
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/*
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* In case of MSP_REBOOT special procedure is required
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*/
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if (code == MSPCodes.MSP_SET_REBOOT || code == MSPCodes.MSP_EEPROM_WRITE) {
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message.retryCounter = 10;
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}
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helper.mspQueue.put(message);
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return true;
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},
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_crc8_dvb_s2: function(crc, ch) {
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crc ^= ch;
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for (var ii = 0; ii < 8; ++ii) {
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if (crc & 0x80) {
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crc = ((crc << 1) & 0xFF) ^ 0xD5;
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} else {
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crc = (crc << 1) & 0xFF;
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}
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}
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return crc;
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},
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promise: function(code, data, protocolVersion) {
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var self = this;
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return new Promise(function(resolve) {
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self.send_message(code, data, false, function(data) {
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resolve(data);
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}, protocolVersion);
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});
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},
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callbacks_cleanup: function () {
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for (var i = 0; i < this.callbacks.length; i++) {
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clearInterval(this.callbacks[i].timer);
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}
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this.callbacks = [];
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},
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disconnect_cleanup: function () {
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this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
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this.packet_error = 0; // reset CRC packet error counter for next session
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this.callbacks_cleanup();
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}
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};
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MSP.SDCARD_STATE_NOT_PRESENT = 0;
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MSP.SDCARD_STATE_FATAL = 1;
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MSP.SDCARD_STATE_CARD_INIT = 2;
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MSP.SDCARD_STATE_FS_INIT = 3;
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MSP.SDCARD_STATE_READY = 4;
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