mirror of https://github.com/ArduPilot/ardupilot
153 lines
4.0 KiB
C++
153 lines
4.0 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef HAL_MSP_ENABLED
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#define HAL_MSP_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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// define for enabling MSP sensor drivers
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#ifndef HAL_MSP_SENSORS_ENABLED
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#define HAL_MSP_SENSORS_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH)
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#endif
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// define for enabling MSP DisplayPort
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#ifndef HAL_WITH_MSP_DISPLAYPORT
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#define HAL_WITH_MSP_DISPLAYPORT HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH)
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#endif
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#include <AP_HAL/UARTDriver.h>
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#include "msp_osd.h"
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#include "msp_protocol.h"
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#include "msp_sbuf.h"
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#include "msp_version.h"
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#include "msp_sensors.h"
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#if HAL_MSP_ENABLED
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// betaflight/src/main/common/utils.h
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#define MSP_ARRAYEND(x) (&(x)[ARRAY_SIZE(x)])
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#define MSP_UNUSED(x) (void)(x)
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// betaflight/src/main/msp/msp_serial.c
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#define JUMBO_FRAME_SIZE_LIMIT 255
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// betaflight/src/main/msp/msp.h
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#define MSP_V2_FRAME_ID 255
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#define MSP_VERSION_MAGIC_INITIALIZER { 'M', 'M', 'X' }
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#define MSP_PORT_INBUF_SIZE 192
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#define MSP_PORT_OUTBUF_SIZE 512
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#define MSP_MAX_HEADER_SIZE 9
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// inav/src/main/msp/msp_protocol_v2_sensor.h
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#define MSP2_IS_SENSOR_MESSAGE(x) ((x) >= 0x1F00U && (x) <= 0x1FFFU)
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// betaflight/src/main/io/displayport_msp.h
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// MSP displayport V2 attribute byte bit functions
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#define DISPLAYPORT_MSP_ATTR_VERSION 1U<<7 // Format indicator; must be zero for V2 (and V1)
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#define DISPLAYPORT_MSP_ATTR_BLINK 1U<<6 // Device local blink
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#define DISPLAYPORT_MSP_ATTR_MASK (~(DISPLAYPORT_MSP_ATTR_VERSION|DISPLAYPORT_MSP_ATTR_BLINK))
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// betaflight/src/main/io/displayport_msp.c
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#define OSD_MSP_DISPLAYPORT_MAX_STRING_LENGTH 30
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class AP_MSP_Telem_Backend;
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namespace MSP
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{
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typedef enum {
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MSP_V1 = 0,
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MSP_V2_OVER_V1 = 1,
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MSP_V2_NATIVE = 2,
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MSP_VERSION_COUNT
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} msp_version_e;
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// return positive for ACK, negative on error, zero for no reply
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typedef enum {
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MSP_RESULT_ACK = 1,
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MSP_RESULT_ERROR = -1,
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MSP_RESULT_NO_REPLY = 0
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} MSPCommandResult;
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typedef struct msp_packet_s {
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sbuf_t buf;
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int16_t cmd;
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uint8_t flags;
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int16_t result;
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} msp_packet_t;
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typedef enum {
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MSP_FLAG_DONT_REPLY = (1 << 0),
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} msp_flags_e;
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typedef enum {
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MSP_IDLE,
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MSP_HEADER_START,
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MSP_HEADER_M,
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MSP_HEADER_X,
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MSP_HEADER_V1,
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MSP_PAYLOAD_V1,
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MSP_CHECKSUM_V1,
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MSP_HEADER_V2_OVER_V1,
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MSP_PAYLOAD_V2_OVER_V1,
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MSP_CHECKSUM_V2_OVER_V1,
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MSP_HEADER_V2_NATIVE,
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MSP_PAYLOAD_V2_NATIVE,
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MSP_CHECKSUM_V2_NATIVE,
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MSP_COMMAND_RECEIVED
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} msp_state_e;
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typedef enum : uint8_t {
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MSP_DISPLAYPORT_HEARTBEAT = 0,
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MSP_DISPLAYPORT_RELEASE = 1,
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MSP_DISPLAYPORT_CLEAR_SCREEN = 2,
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MSP_DISPLAYPORT_WRITE_STRING = 3,
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MSP_DISPLAYPORT_DRAW_SCREEN = 4,
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MSP_DISPLAYPORT_SET_OPTIONS = 5,
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} msp_displayport_subcmd_e;
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typedef struct PACKED {
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uint8_t size;
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uint8_t cmd;
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} msp_header_v1_t;
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typedef struct PACKED {
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uint16_t size;
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} msp_header_jumbo_t;
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typedef struct PACKED {
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uint8_t flags;
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uint16_t cmd;
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uint16_t size;
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} msp_header_v2_t;
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typedef struct msp_port_s {
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AP_HAL::UARTDriver *uart;
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msp_state_e c_state;
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uint8_t in_buf[MSP_PORT_INBUF_SIZE];
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uint_fast16_t offset;
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uint_fast16_t data_size;
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msp_version_e msp_version;
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uint8_t cmd_flags;
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uint16_t cmd_msp;
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uint8_t checksum1;
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uint8_t checksum2;
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} msp_port_t;
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// betaflight/src/main/sensors/battery.h
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typedef enum : uint8_t {
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MSP_BATTERY_OK = 0,
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MSP_BATTERY_WARNING,
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MSP_BATTERY_CRITICAL,
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MSP_BATTERY_NOT_PRESENT,
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MSP_BATTERY_INIT
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} battery_state_e;
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uint8_t msp_serial_checksum_buf(uint8_t checksum, const uint8_t *data, uint32_t len);
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uint32_t msp_serial_send_frame(msp_port_t *msp, const uint8_t * hdr, uint32_t hdr_len, const uint8_t * data, uint32_t data_len, const uint8_t * crc, uint32_t crc_len);
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uint32_t msp_serial_encode(msp_port_t *msp, msp_packet_t *packet, msp_version_e msp_version, bool is_request=false);
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bool msp_parse_received_data(msp_port_t *msp, uint8_t c);
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}
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#endif //HAL_MSP_ENABLED
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