void serialCom(void)
{
uint8_t c;
static uint8_t offset;
static uint8_t dataSize;
static enum _serial_state {
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD,
} c_state = IDLE;
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
if (cliMode) {
cliProcess();
return;
}
while (serialTotalBytesWaiting(core.mainport)) {
c = serialRead(core.mainport);
if (c_state == IDLE) {
c_state = (c == '$') ? HEADER_START : IDLE;
if (c_state == IDLE)
evaluateOtherData(c); // evaluate all other incoming serial data
} else if (c_state == HEADER_START) {
c_state = (c == 'M') ? HEADER_M : IDLE;
} else if (c_state == HEADER_M) {
c_state = (c == '<') ? HEADER_ARROW : IDLE;
} else if (c_state == HEADER_ARROW) {
if (c > INBUF_SIZE) { // now we are expecting the payload size
c_state = IDLE;
continue;
}
dataSize = c;
offset = 0;
checksum = 0;
indRX = 0;
checksum ^= c;
c_state = HEADER_SIZE; // the command is to follow
} else if (c_state == HEADER_SIZE) {
cmdMSP = c;
checksum ^= c;
c_state = HEADER_CMD;
} else if (c_state == HEADER_CMD && offset < dataSize) {
checksum ^= c;
inBuf[offset++] = c;
} else if (c_state == HEADER_CMD && offset >= dataSize) {
if (checksum == c) { // compare calculated and transferred checksum
evaluateCommand(); // we got a valid packet, evaluate it
}
c_state = IDLE;
}
}
if (!cliMode && feature(FEATURE_TELEMETRY)) { // The first condition should never evaluate to true but I'm putting it here anyway - silpstream
sendTelemetry();
}
}
void serialCom(void)
{
uint8_t c;
static uint8_t offset;
static uint8_t dataSize;
static enum _serial_state
{
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD,
} c_state = IDLE;
// in cli mode, all uart stuff goes to here. enter cli mode by sending #
if (cliMode)
{
cliProcess();
return;
}
while (uartAvailable())
{
c = uartRead();
if (c_state == IDLE)
{
c_state = (c == '$') ? HEADER_START : IDLE;
if (c_state == IDLE && !f.ARMED) // Idea CGiesen, only allow cli and reset when disarmed
evaluateOtherData(c); // evaluate all other incoming serial data
}
else if (c_state == HEADER_START)
{
c_state = (c == 'M') ? HEADER_M : IDLE;
}
else if (c_state == HEADER_M)
{
c_state = (c == '<') ? HEADER_ARROW : IDLE;
}
else if (c_state == HEADER_ARROW)
{
if (c > INBUF_SIZE) // now we are expecting the payload size
{
c_state = IDLE;
continue;
}
dataSize = c;
offset = 0;
checksum = 0;
indRX = 0;
checksum ^= c;
c_state = HEADER_SIZE; // the command is to follow
guiConnected = true;
}
else if (c_state == HEADER_SIZE)
{
cmdMSP = c;
checksum ^= c;
c_state = HEADER_CMD;
}
else if (c_state == HEADER_CMD && offset < dataSize)
{
checksum ^= c;
inBuf[offset++] = c;
}
else if (c_state == HEADER_CMD && offset >= dataSize)
{
if (checksum == c) // compare calculated and transferred checksum
{
evaluateCommand(); // we got a valid packet, evaluate it
}
c_state = IDLE;
}
}
if (!cliMode && !uartAvailable() && feature(FEATURE_TELEMETRY) && f.ARMED) // The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream
{
sendTelemetry();
return;
}
}
