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betaflight-configurator
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rework & tiny optimizations

10.3.x-maintenance
cTn 2014-03-02 18:36:28 +01:00
parent f457b84dff
commit 2d1099a3a9
2 changed files with 106 additions and 103 deletions
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207
js/msp.js
View File

@ -52,7 +52,7 @@ var MSP_codes = {
};
var char_counter = 0;
var char_counter = 0; // this need to be redone or removed
var MSP = {
state: 0,
@ -84,21 +84,21 @@ var MSP = {
}
};
function MSP_char_read(readInfo) {
MSP.read = function(readInfo) {
var data = new Uint8Array(readInfo.data);
for (var i = 0; i < data.length; i++) {
switch (MSP.state) {
switch (this.state) {
case 0: // sync char 1
if (data[i] == 36) { // $
MSP.state++;
this.state++;
}
break;
case 1: // sync char 2
if (data[i] == 77) { // M
MSP.state++;
this.state++;
} else { // restart and try again
MSP.state = 0;
this.state = 0;
}
break;
case 2: // direction (should be >)
@ -108,126 +108,60 @@ function MSP_char_read(readInfo) {
message_status = 0;
}
MSP.state++;
this.state++;
break;
case 3:
MSP.message_length_expected = data[i];
this.message_length_expected = data[i];
MSP.message_checksum = data[i];
this.message_checksum = data[i];
// setup arraybuffer
MSP.message_buffer = new ArrayBuffer(MSP.message_length_expected);
MSP.message_buffer_uint8_view = new Uint8Array(MSP.message_buffer);
this.message_buffer = new ArrayBuffer(this.message_length_expected);
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
MSP.state++;
this.state++;
break;
case 4:
MSP.code = data[i];
MSP.message_checksum ^= data[i];
this.code = data[i];
this.message_checksum ^= data[i];
if (MSP.message_length_expected != 0) { // standard message
MSP.state++;
if (this.message_length_expected != 0) { // standard message
this.state++;
} else { // MSP_ACC_CALIBRATION, etc...
MSP.state += 2;
this.state += 2;
}
break;
case 5: // payload
MSP.message_buffer_uint8_view[MSP.message_length_received] = data[i];
MSP.message_checksum ^= data[i];
MSP.message_length_received++;
this.message_buffer_uint8_view[this.message_length_received] = data[i];
this.message_checksum ^= data[i];
this.message_length_received++;
if (MSP.message_length_received >= MSP.message_length_expected) {
MSP.state++;
if (this.message_length_received >= this.message_length_expected) {
this.state++;
}
break;
case 6:
if (MSP.message_checksum == data[i]) {
if (this.message_checksum == data[i]) {
// message received, process
process_data(MSP.code, MSP.message_buffer, MSP.message_length_expected);
this.process_data(this.code, this.message_buffer, this.message_length_expected);
} else {
console.log('code: ' + MSP.code + ' - crc failed');
console.log('code: ' + this.code + ' - crc failed');
MSP.packet_error++;
$('span.packet-error').html(MSP.packet_error);
this.packet_error++;
$('span.packet-error').html(this.packet_error);
}
// Reset variables
MSP.message_length_received = 0;
MSP.state = 0;
this.message_length_received = 0;
this.state = 0;
break;
}
char_counter++;
}
}
};
function send_message(code, data, callback_sent, callback_msp) {
var bufferOut;
var bufView;
// always reserve 6 bytes for protocol overhead !
if (typeof data === 'object') {
var size = data.length + 6;
var checksum = 0;
bufferOut = new ArrayBuffer(size);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = data.length;
bufView[4] = code;
checksum = bufView[3] ^ bufView[4];
for (var i = 0; i < data.length; i++) {
bufView[i + 5] = data[i];
checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
} else {
bufferOut = new ArrayBuffer(7);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = data; // data
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
}
// utilizing callback/timeout system for all commands
for (var i = 0; i < MSP.callbacks.length; i++) {
if (MSP.callbacks[i].code == code) {
// request already exist
return false; // skips the code below
}
}
var obj = {'code': code, 'callback': (callback_msp) ? callback_msp : false};
obj.timer = setInterval(function() {
console.log('MSP data request timed-out: ' + code);
serial.send(bufferOut, function(writeInfo) {});
}, 1000); // we should be able to define timeout in the future
MSP.callbacks.push(obj);
serial.send(bufferOut, function(writeInfo) {
if (writeInfo.bytesSent > 0) {
if (callback_sent) {
callback_sent();
}
}
});
}
function process_data(code, message_buffer, message_length) {
MSP.process_data = function(code, message_buffer, message_length) {
var data = new DataView(message_buffer, 0); // DataView (allowing us to view arrayBuffer as struct/union)
switch (code) {
@ -508,15 +442,16 @@ function process_data(code, message_buffer, message_length) {
}
}
break;
default:
console.log('Unknown code detected: ' + code);
}
// trigger callbacks, cleanup/remove callback after trigger
for (var i = (MSP.callbacks.length - 1); i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
if (MSP.callbacks[i].code == code) {
for (var i = (this.callbacks.length - 1); i >= 0; i--) { // itterating in reverse because we use .splice which modifies array length
if (this.callbacks[i].code == code) {
// saving current obj for after-callback comparison
var obj = MSP.callbacks[i];
var obj = this.callbacks[i];
// remove timeout
clearInterval(obj.timer);
@ -525,8 +460,76 @@ function process_data(code, message_buffer, message_length) {
if (obj.callback) obj.callback({'command': code, 'data': data, 'length': message_length});
// remove object from array
// we need to check if the callback object still exists as it could have been touched/removed in callback routine
if (MSP.callbacks.indexOf(obj) > -1) MSP.callbacks.splice(MSP.callbacks.indexOf(obj), 1);
// we need to check if the callback object still exists as it could have been touched/moved/removed in callback routine
var index = this.callbacks.indexOf(obj);
if (index > -1) this.callbacks.splice(index, 1);
}
}
};
function send_message(code, data, callback_sent, callback_msp) {
var bufferOut;
var bufView;
// always reserve 6 bytes for protocol overhead !
if (typeof data === 'object') {
var size = data.length + 6;
var checksum = 0;
bufferOut = new ArrayBuffer(size);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = data.length;
bufView[4] = code;
checksum = bufView[3] ^ bufView[4];
for (var i = 0; i < data.length; i++) {
bufView[i + 5] = data[i];
checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
} else {
bufferOut = new ArrayBuffer(7);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = data; // data
bufView[6] = bufView[3] ^ bufView[4] ^ bufView[5]; // checksum
}
// utilizing callback/timeout system for all commands
for (var i = 0; i < MSP.callbacks.length; i++) {
if (MSP.callbacks[i].code == code) {
// request already exist
return false; // skips the code below
}
}
var obj = {'code': code, 'callback': (callback_msp) ? callback_msp : false};
obj.timer = setInterval(function() {
console.log('MSP data request timed-out: ' + code);
serial.send(bufferOut, function(writeInfo) {});
}, 1000); // we should be able to define timeout in the future
MSP.callbacks.push(obj);
serial.send(bufferOut, function(writeInfo) {
if (writeInfo.bytesSent > 0) {
if (callback_sent) callback_sent();
}
});
return true;
}

2
js/serial_backend.js
View File

@ -188,7 +188,7 @@ function onClosed(result) {
function read_serial(info) {
if (!CLI_active) {
MSP_char_read(info);
MSP.read(info);
} else {
handle_CLI(info);
}