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Update MSP protocol #409

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merged 1 commit into from
Dec 14, 2021
Merged

Update MSP protocol #409

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38 changes: 19 additions & 19 deletions src/SCRIPTS/BF/MSP/common.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ local MSP_STARTFLAG = bit32.lshift(1,4)
local mspSeq = 0
local mspRemoteSeq = 0
local mspRxBuf = {}
local mspRxSize = 0
local mspRxCRC = 0
local mspRxReq = 0
local mspStarted = false
Expand Down Expand Up @@ -37,12 +38,6 @@ function mspProcessTxQ()
end
if i <= protocol.maxTxBufferSize then
payload[i] = mspTxCRC
i = i + 1
-- zero fill
while i <= protocol.maxTxBufferSize do
payload[i] = 0
i = i + 1
end
protocol.mspSend(payload)
mspTxBuf = {}
mspTxIdx = 1
Expand All @@ -68,25 +63,30 @@ function mspSendRequest(cmd, payload)
end

function mspReceivedReply(payload)
local idx = 1
local head = payload[idx]
local err_flag = (bit32.band(head,0x20) ~= 0)
local idx = 1
local status = payload[idx]
local err = bit32.btest(status, 0x80)
local version = bit32.rshift(bit32.band(status, 0x60), 5)
local start = bit32.btest(status, 0x10)
local seq = bit32.band(status, 0x0F)
idx = idx + 1
if err_flag then
-- error flag set
if err then
mspStarted = false
return nil
end
local start = (bit32.band(head,0x10) ~= 0)
local seq = bit32.band(head,0x0F)
if start then
-- start flag set
mspRxBuf = {}
mspRxSize = payload[idx]
mspRxCRC = bit32.bxor(mspRxSize,mspLastReq)
mspRxReq = mspLastReq
mspRxReq = mspLastReq
idx = idx + 1
mspStarted = true
if version == 1 then
mspRxReq = payload[idx]
idx = idx + 1
end
mspRxCRC = bit32.bxor(mspRxSize, mspRxReq)
if mspRxReq == mspLastReq then
mspStarted = true
end
elseif not mspStarted then
return nil
elseif bit32.band(mspRemoteSeq + 1, 0x0F) ~= seq then
Expand All @@ -95,7 +95,7 @@ function mspReceivedReply(payload)
end
while (idx <= protocol.maxRxBufferSize) and (#mspRxBuf < mspRxSize) do
mspRxBuf[#mspRxBuf + 1] = payload[idx]
mspRxCRC = bit32.bxor(mspRxCRC,payload[idx])
mspRxCRC = bit32.bxor(mspRxCRC, payload[idx])
idx = idx + 1
end
if idx > protocol.maxRxBufferSize then
Expand All @@ -104,7 +104,7 @@ function mspReceivedReply(payload)
end
mspStarted = false
-- check CRC
if mspRxCRC ~= payload[idx] then
if mspRxCRC ~= payload[idx] and version == 0 then
return nil
end
return mspRxBuf
Expand Down
8 changes: 5 additions & 3 deletions src/SCRIPTS/BF/MSP/sp.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,11 @@ local REPLY_FRAME_ID = 0x32
local lastSensorId, lastFrameId, lastDataId, lastValue

protocol.mspSend = function(payload)
local dataId = payload[1] + bit32.lshift(payload[2],8)
local value = payload[3] + bit32.lshift(payload[4],8)
+ bit32.lshift(payload[5],16) + bit32.lshift(payload[6],24)
local dataId = payload[1] + bit32.lshift(payload[2], 8)
local value = 0
for i = 3, #payload do
value = value + bit32.lshift(payload[i], (i - 3) * 8)
end
return protocol.push(LOCAL_SENSOR_ID, REQUEST_FRAME_ID, dataId, value)
end

Expand Down