Implement latest draft of the FLOCK protocol

Includes FLOCK, FLOCK-SERIAL and FLOCK-MSP
iNavFlight · Apr 13, 2019 · 57dcae5 · 57dcae5
1 parent a27c4ff
commit 57dcae5
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Showing 9 changed files with 543 additions and 113 deletions.
diff --git a/make/source.mk b/make/source.mk
@@ -167,6 +167,7 @@ COMMON_SRC = \
             io/displayport_max7456.c \
             io/displayport_msp.c \
             io/displayport_oled.c \
+            io/flock_serial.c \
             io/gps.c \
             io/gps_ublox.c \
             io/gps_nmea.c \

diff --git a/src/main/common/log.h b/src/main/common/log.h
@@ -28,6 +28,7 @@ typedef enum {
     LOG_TOPIC_IMU,              // 6, mask = 64
     LOG_TOPIC_TEMPERATURE,      // 7, mask = 128
     LOG_TOPIC_POS_ESTIMATOR,    // 8, mask = 256
+    LOG_TOPIC_FLOCK,            // 9, mask = 512
 
     LOG_TOPIC_COUNT,
 } logTopic_e;

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -3077,7 +3077,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
             size_t srcSize = sbufBytesRemaining(src);
             void *dstPtr = sbufPtr(dst);
             size_t dstSize = sbufBytesRemaining(dst);
-            int ret = flockWrite(srcPtr, srcSize, dstPtr, dstSize);
+            int ret = flockReceivedMSP(srcPtr, srcSize, dstPtr, dstSize);
             if (ret > 0) {
                 dst->ptr += ret;
             }