mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-19 22:35:19 +03:00
Delete MSP telemetry. Saves ~350 bytes of code space on F1 targets and
reduces ram usage. MSP telemetry was not used by many people. MSP is not considered a good telemetry protocol - it is bandwidth heavy when compared to LTM, Mavlink, etc. Closes #1106.
This commit is contained in:
Dominic Clifton
parent
d11609f00f
commit
1e098bf199
6 changed files with 6 additions and 237 deletions
1
Makefile
1
Makefile
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@ -271,7 +271,6 @@ HIGHEND_SRC = \
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telemetry/telemetry.c \
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telemetry/frsky.c \
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telemetry/hott.c \
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telemetry/msp.c \
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telemetry/smartport.c \
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sensors/sonar.c \
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sensors/barometer.c \
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@ -29,7 +29,7 @@ typedef enum {
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FUNCTION_GPS = (1 << 1), // 2
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FUNCTION_TELEMETRY_FRSKY = (1 << 2), // 4
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FUNCTION_TELEMETRY_HOTT = (1 << 3), // 8
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FUNCTION_TELEMETRY_MSP = (1 << 4), // 16
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FUNCTION_TELEMETRY_MSP = (1 << 4), // 16 - Note: Unused since Cleanflight 1.12.0, likely use this bitmask for flag for LTM in the future.
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FUNCTION_TELEMETRY_SMARTPORT = (1 << 5), // 32
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FUNCTION_RX_SERIAL = (1 << 6), // 64
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FUNCTION_BLACKBOX = (1 << 7) // 128
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@ -388,14 +388,8 @@ typedef enum {
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COMMAND_RECEIVED
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} mspState_e;
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typedef enum {
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UNUSED_PORT = 0,
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FOR_GENERAL_MSP,
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FOR_TELEMETRY
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} mspPortUsage_e;
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typedef struct mspPort_s {
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serialPort_t *port;
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serialPort_t *port; // null when port unused.
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uint8_t offset;
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uint8_t dataSize;
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uint8_t checksum;
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@ -403,7 +397,6 @@ typedef struct mspPort_s {
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uint8_t inBuf[INBUF_SIZE];
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mspState_e c_state;
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uint8_t cmdMSP;
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mspPortUsage_e mspPortUsage;
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} mspPort_t;
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static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
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@ -584,12 +577,11 @@ static void serializeDataflashReadReply(uint32_t address, uint8_t size)
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}
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#endif
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static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, mspPortUsage_e usage)
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static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
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{
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memset(mspPortToReset, 0, sizeof(mspPort_t));
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mspPortToReset->port = serialPort;
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mspPortToReset->mspPortUsage = usage;
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}
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void mspAllocateSerialPorts(serialConfig_t *serialConfig)
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@ -604,14 +596,14 @@ void mspAllocateSerialPorts(serialConfig_t *serialConfig)
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while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
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mspPort_t *mspPort = &mspPorts[portIndex];
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if (mspPort->mspPortUsage != UNUSED_PORT) {
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if (mspPort->port) {
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portIndex++;
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continue;
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}
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serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
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if (serialPort) {
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resetMspPort(mspPort, serialPort, FOR_GENERAL_MSP);
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resetMspPort(mspPort, serialPort);
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portIndex++;
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}
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@ -1886,7 +1878,7 @@ void mspProcess(void)
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for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
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candidatePort = &mspPorts[portIndex];
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if (candidatePort->mspPortUsage != FOR_GENERAL_MSP) {
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if (!candidatePort->port) {
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continue;
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}
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@ -1915,72 +1907,3 @@ void mspProcess(void)
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}
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}
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}
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static const uint8_t mspTelemetryCommandSequence[] = {
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MSP_BOXNAMES, // repeat boxnames, in case the first transmission was lost or never received.
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MSP_STATUS,
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MSP_IDENT,
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MSP_RAW_IMU,
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MSP_ALTITUDE,
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MSP_RAW_GPS,
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MSP_RC,
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MSP_MOTOR_PINS,
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MSP_ATTITUDE,
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MSP_SERVO
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};
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#define TELEMETRY_MSP_COMMAND_SEQUENCE_ENTRY_COUNT (sizeof(mspTelemetryCommandSequence) / sizeof(mspTelemetryCommandSequence[0]))
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static mspPort_t *mspTelemetryPort = NULL;
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void mspSetTelemetryPort(serialPort_t *serialPort)
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{
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uint8_t portIndex;
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mspPort_t *candidatePort = NULL;
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mspPort_t *matchedPort = NULL;
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// find existing telemetry port
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for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
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candidatePort = &mspPorts[portIndex];
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if (candidatePort->mspPortUsage == FOR_TELEMETRY) {
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matchedPort = candidatePort;
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break;
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}
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}
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if (!matchedPort) {
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// find unused port
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for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
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candidatePort = &mspPorts[portIndex];
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if (candidatePort->mspPortUsage == UNUSED_PORT) {
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matchedPort = candidatePort;
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break;
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}
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}
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}
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mspTelemetryPort = matchedPort;
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if (!mspTelemetryPort) {
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return;
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}
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resetMspPort(mspTelemetryPort, serialPort, FOR_TELEMETRY);
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}
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void sendMspTelemetry(void)
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{
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static uint32_t sequenceIndex = 0;
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if (!mspTelemetryPort) {
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return;
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}
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setCurrentPort(mspTelemetryPort);
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processOutCommand(mspTelemetryCommandSequence[sequenceIndex]);
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tailSerialReply();
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sequenceIndex++;
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if (sequenceIndex >= TELEMETRY_MSP_COMMAND_SEQUENCE_ENTRY_COUNT) {
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sequenceIndex = 0;
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}
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}
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@ -1,114 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* telemetry_MSP.c
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*
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* Created on: 22 Apr 2014
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* Author: trey marc
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build_config.h"
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#ifdef TELEMETRY
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "io/serial_msp.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/msp.h"
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static telemetryConfig_t *telemetryConfig;
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static serialPortConfig_t *portConfig;
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static bool mspTelemetryEnabled = false;
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static portSharing_e mspPortSharing;
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#define TELEMETRY_MSP_INITIAL_PORT_MODE MODE_TX
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static serialPort_t *mspTelemetryPort = NULL;
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void initMSPTelemetry(telemetryConfig_t *initialTelemetryConfig)
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{
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telemetryConfig = initialTelemetryConfig;
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portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_MSP);
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mspPortSharing = determinePortSharing(portConfig, FUNCTION_TELEMETRY_MSP);
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}
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void checkMSPTelemetryState(void)
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{
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bool newTelemetryEnabledValue = telemetryDetermineEnabledState(mspPortSharing);
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if (newTelemetryEnabledValue == mspTelemetryEnabled) {
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return;
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}
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if (newTelemetryEnabledValue)
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configureMSPTelemetryPort();
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else
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freeMSPTelemetryPort();
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}
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void handleMSPTelemetry(void)
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{
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if (!mspTelemetryEnabled) {
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return;
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}
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if (!mspTelemetryPort) {
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return;
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}
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sendMspTelemetry();
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}
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void freeMSPTelemetryPort(void)
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{
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mspReleasePortIfAllocated(mspTelemetryPort);
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closeSerialPort(mspTelemetryPort);
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mspTelemetryPort = NULL;
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mspTelemetryEnabled = false;
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}
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void configureMSPTelemetryPort(void)
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{
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if (!portConfig) {
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return;
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}
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baudRate_e baudRateIndex = portConfig->telemetry_baudrateIndex;
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if (baudRateIndex == BAUD_AUTO) {
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baudRateIndex = BAUD_19200;
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}
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mspTelemetryPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_MSP, NULL, baudRates[baudRateIndex], TELEMETRY_MSP_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
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if (!mspTelemetryPort) {
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return;
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}
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mspSetTelemetryPort(mspTelemetryPort);
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mspTelemetryEnabled = true;
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}
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#endif
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@ -1,35 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* telemetry_MSP.h
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*
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* Created on: 22 Apr 2014
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* Author: trey marc
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*/
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#ifndef TELEMETRY_MSP_H_
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#define TELEMETRY_MSP_H_
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void initMSPTelemetry(telemetryConfig_t *initialTelemetryConfig);
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void handleMSPTelemetry(void);
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void checkMSPTelemetryState(void);
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void freeMSPTelemetryPort(void);
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void configureMSPTelemetryPort(void);
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#endif /* TELEMETRY_MSP_H_ */
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@ -38,7 +38,6 @@
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#include "telemetry/telemetry.h"
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#include "telemetry/frsky.h"
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#include "telemetry/hott.h"
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#include "telemetry/msp.h"
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#include "telemetry/smartport.h"
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static telemetryConfig_t *telemetryConfig;
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@ -52,7 +51,6 @@ void telemetryInit(void)
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{
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initFrSkyTelemetry(telemetryConfig);
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initHoTTTelemetry(telemetryConfig);
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initMSPTelemetry(telemetryConfig);
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initSmartPortTelemetry(telemetryConfig);
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telemetryCheckState();
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@ -76,7 +74,6 @@ void telemetryCheckState(void)
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{
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checkFrSkyTelemetryState();
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checkHoTTTelemetryState();
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checkMSPTelemetryState();
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checkSmartPortTelemetryState();
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}
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@ -84,7 +81,6 @@ void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
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{
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handleFrSkyTelemetry(rxConfig, deadband3d_throttle);
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handleHoTTTelemetry();
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handleMSPTelemetry();
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handleSmartPortTelemetry();
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}
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