void pgResetFn_serialConfig(serialConfig_t *serialConfig)
{
memset(serialConfig, 0, sizeof(serialConfig_t));
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
serialConfig->portConfigs[i].identifier = serialPortIdentifiers[i];
serialConfig->portConfigs[i].msp_baudrateIndex = BAUD_115200;
serialConfig->portConfigs[i].gps_baudrateIndex = BAUD_38400;
serialConfig->portConfigs[i].telemetry_baudrateIndex = BAUD_AUTO;
serialConfig->portConfigs[i].blackbox_baudrateIndex = BAUD_115200;
}
serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
#ifdef USE_VCP
if (serialConfig->portConfigs[0].identifier == SERIAL_PORT_USB_VCP) {
serialPortConfig_t * uart1Config = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (uart1Config) {
uart1Config->functionMask = FUNCTION_MSP;
}
}
#endif
serialConfig->reboot_character = 'R';
}
void pgResetFn_serialConfig(serialConfig_t *serialConfig)
{
memset(serialConfig, 0, sizeof(serialConfig_t));
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
serialConfig->portConfigs[i].identifier = serialPortIdentifiers[i];
serialConfig->portConfigs[i].msp_baudrateIndex = BAUD_115200;
serialConfig->portConfigs[i].gps_baudrateIndex = BAUD_38400;
serialConfig->portConfigs[i].telemetry_baudrateIndex = BAUD_AUTO;
serialConfig->portConfigs[i].peripheral_baudrateIndex = BAUD_115200;
}
serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
#ifdef SERIALRX_UART
serialPortConfig_t *serialRxUartConfig = serialFindPortConfiguration(SERIALRX_UART);
if (serialRxUartConfig) {
serialRxUartConfig->functionMask = FUNCTION_RX_SERIAL;
}
#endif
#ifdef GPS_UART
serialPortConfig_t *gpsUartConfig = serialFindPortConfiguration(GPS_UART);
if (gpsUartConfig) {
gpsUartConfig->functionMask = FUNCTION_GPS;
}
#endif
#ifdef SMARTAUDIO_UART
serialPortConfig_t *gpsUartConfig = serialFindPortConfiguration(SMARTAUDIO_UART);
if (SMARTAUDIO_UART) {
gpsUartConfig->functionMask = FUNCTION_VTX_SMARTAUDIO;
}
#endif
#ifdef USE_VCP
if (serialConfig->portConfigs[0].identifier == SERIAL_PORT_USB_VCP) {
serialPortConfig_t * uart1Config = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (uart1Config && uart1Config->functionMask == 0) {
uart1Config->functionMask = FUNCTION_MSP;
}
}
#endif
serialConfig->reboot_character = 'R';
}
void targetPreInit(void)
{
switch (hardwareRevision) {
case BJF4_REV3:
case BJF4_MINI_REV3A:
case BJF4_REV4:
break;
default:
return;
}
IO_t inverter = IOGetByTag(IO_TAG(UART1_INVERTER));
IOInit(inverter, OWNER_INVERTER, 1);
IOConfigGPIO(inverter, IOCFG_OUT_PP);
bool high = false;
serialPortConfig_t *portConfig = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (portConfig) {
bool smartportEnabled = (portConfig->functionMask & FUNCTION_TELEMETRY_SMARTPORT);
if (smartportEnabled && (telemetryConfig()->telemetry_inversion) && (feature(FEATURE_TELEMETRY))) {
high = true;
}
}
/* reverse this for rev4, as it does not use the XOR gate */
if (hardwareRevision == BJF4_REV4) {
high = !high;
}
IOWrite(inverter, high);
/* ensure the CS pin for the flash is pulled hi so any SD card initialisation does not impact the chip */
if (hardwareRevision == BJF4_REV3) {
IO_t flashIo = IOGetByTag(IO_TAG(M25P16_CS_PIN));
IOConfigGPIO(flashIo, IOCFG_OUT_PP);
IOHi(flashIo);
IO_t sdcardIo = IOGetByTag(IO_TAG(SDCARD_SPI_CS_PIN));
IOConfigGPIO(sdcardIo, IOCFG_OUT_PP);
IOHi(sdcardIo);
}
}
bool doesConfigurationUsePort(serialPortIdentifier_e identifier)
{
serialPortConfig_t *candidate = serialFindPortConfiguration(identifier);
return candidate != NULL && candidate->functionMask;
}
int mspServerCommandHandler(mspPacket_t *cmd, mspPacket_t *reply)
{
sbuf_t *src = &cmd->buf;
sbuf_t *dst = &reply->buf;
int len = sbufBytesRemaining(src);
switch (cmd->cmd) {
case MSP_API_VERSION:
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU8(dst, API_VERSION_MAJOR);
sbufWriteU8(dst, API_VERSION_MINOR);
break;
case MSP_FC_VARIANT:
sbufWriteData(dst, flightControllerIdentifier, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
break;
case MSP_FC_VERSION:
sbufWriteU8(dst, FC_VERSION_MAJOR);
sbufWriteU8(dst, FC_VERSION_MINOR);
sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
break;
case MSP_BOARD_INFO:
sbufWriteData(dst, boardIdentifier, BOARD_IDENTIFIER_LENGTH);
sbufWriteU16(dst, 0); // hardware revision
sbufWriteU8(dst, 1); // 0 == FC, 1 == OSD
break;
case MSP_BUILD_INFO:
sbufWriteData(dst, buildDate, BUILD_DATE_LENGTH);
sbufWriteData(dst, buildTime, BUILD_TIME_LENGTH);
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, 0); // mixer mode
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_DYNBALANCE); // "capability"
break;
case MSP_STATUS_EX:
case MSP_STATUS:
sbufWriteU16(dst, cycleTime);
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, 0); // sensors
sbufWriteU32(dst, 0); // flight mode flags
sbufWriteU8(dst, 0); // profile index
if(cmd->cmd == MSP_STATUS_EX) {
sbufWriteU16(dst, averageSystemLoadPercent);
}
break;
case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++)
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
break;
case MSP_UID:
sbufWriteU32(dst, U_ID_0);
sbufWriteU32(dst, U_ID_1);
sbufWriteU32(dst, U_ID_2);
break;
case MSP_VOLTAGE_METER_CONFIG:
for (int i = 0; i < MAX_VOLTAGE_METERS; i++) {
// FIXME update for multiple voltage sources i.e. use `i` and support at least OSD VBAT, OSD 12V, OSD 5V
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
}
break;
case MSP_CURRENT_METER_CONFIG:
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
sbufWriteU8(dst, batteryConfig()->currentMeterType);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
break;
case MSP_CF_SERIAL_CONFIG:
for (int i = 0; i < serialGetAvailablePortCount(); i++) {
if (!serialIsPortAvailable(serialConfig()->portConfigs[i].identifier)) {
continue;
};
sbufWriteU8(dst, serialConfig()->portConfigs[i].identifier);
sbufWriteU16(dst, serialConfig()->portConfigs[i].functionMask);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_MSP_SERVER]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_MSP_CLIENT]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_RESERVED1]);
sbufWriteU8(dst, serialConfig()->portConfigs[i].baudRates[BAUDRATE_RESERVED2]);
}
break;
case MSP_BF_BUILD_INFO:
sbufWriteData(dst, buildDate, 11); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
sbufWriteU32(dst, 0); // future exp
sbufWriteU32(dst, 0); // future exp
break;
case MSP_DATAFLASH_SUMMARY: // FIXME update GUI and remove this.
sbufWriteU8(dst, 0); // FlashFS is neither ready nor supported
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
break;
case MSP_BATTERY_STATES:
// write out battery states, once for each battery
sbufWriteU8(dst, (uint8_t)getBatteryState() == BATTERY_NOT_PRESENT ? 0 : 1); // battery connected - 0 not connected, 1 connected
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
break;
case MSP_CURRENT_METERS:
// write out amperage, once for each current meter.
sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
break;
case MSP_VOLTAGE_METERS:
// write out voltage, once for each meter.
for (int i = 0; i < 3; i++) {
// FIXME hack that needs cleanup, see issue #2221
// This works for now, but the vbat scale also changes the 12V and 5V readings.
switch(i) {
case 0:
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
break;
case 1:
sbufWriteU8(dst, (uint8_t)constrain(batteryAdcToVoltage(adcGetChannel(ADC_12V)), 0, 255));
break;
case 2:
sbufWriteU8(dst, (uint8_t)constrain(batteryAdcToVoltage(adcGetChannel(ADC_5V)), 0, 255));
break;
}
}
break;
case MSP_OSD_VIDEO_CONFIG:
sbufWriteU8(dst, osdVideoConfig()->videoMode); // 0 = NTSC, 1 = PAL
break;
case MSP_RESET_CONF:
resetEEPROM();
readEEPROM();
break;
case MSP_EEPROM_WRITE:
writeEEPROM();
readEEPROM();
break;
case MSP_SET_VOLTAGE_METER_CONFIG: {
uint8_t i = sbufReadU8(src);
if (i >= MAX_VOLTAGE_METERS) {
return -1;
}
// FIXME use `i`, see MSP_VOLTAGE_METER_CONFIG
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
}
case MSP_SET_CURRENT_METER_CONFIG:
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src);
break;
case MSP_SET_CF_SERIAL_CONFIG: {
int portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4);
if (len % portConfigSize != 0)
return -1;
while (sbufBytesRemaining(src) >= portConfigSize) {
uint8_t identifier = sbufReadU8(src);
serialPortConfig_t *portConfig = serialFindPortConfiguration(identifier);
if (!portConfig)
return -1;
portConfig->identifier = identifier;
portConfig->functionMask = sbufReadU16(src);
portConfig->baudRates[BAUDRATE_MSP_SERVER] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_MSP_CLIENT] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_RESERVED1] = sbufReadU8(src);
portConfig->baudRates[BAUDRATE_RESERVED2] = sbufReadU8(src);
}
break;
}
case MSP_REBOOT:
mspPostProcessFn = mspRebootFn;
break;
case MSP_SET_OSD_VIDEO_CONFIG:
osdVideoConfig()->videoMode = sbufReadU8(src);
mspPostProcessFn = mspApplyVideoConfigurationFn;
break;
default:
// we do not know how to handle the message
return 0;
}
return 1; // message was handled successfully
}