Split off serial parts from MSP

Makefile

@@ -439,6 +439,7 @@ COMMON_SRC = \
             io/serial_4way_avrootloader.c \
             io/serial_4way_stk500v2.c \
             io/serial_cli.c \
+            io/serial_msp.c \
             io/statusindicator.c \
             msp/msp_server_fc.c \
             rx/ibus.c \

src/main/io/serial_msp.c

@@ -0,0 +1,149 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "common/utils.h"
+
+#include "drivers/buf_writer.h"
+#include "drivers/serial.h"
+#include "drivers/system.h"
+
+#include "fc/runtime_config.h"
+
+#include "flight/mixer.h"
+
+#include "io/serial.h"
+#include "io/serial_msp.h"
+
+#include "msp/msp.h"
+
+
+static mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
+serialPort_t *mspSerialPort;
+mspPort_t *currentPort;
+bufWriter_t *writer;
+
+
+static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
+{
+    memset(mspPortToReset, 0, sizeof(mspPort_t));
+
+    mspPortToReset->port = serialPort;
+}
+
+void mspSerialAllocatePorts(serialConfig_t *serialConfig)
+{
+    UNUSED(serialConfig);
+
+    serialPort_t *serialPort;
+
+    uint8_t portIndex = 0;
+
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_MSP);
+
+    while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
+        mspPort_t *mspPort = &mspPorts[portIndex];
+        if (mspPort->port) {
+            portIndex++;
+            continue;
+        }
+
+        serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
+        if (serialPort) {
+            resetMspPort(mspPort, serialPort);
+            portIndex++;
+        }
+
+        portConfig = findNextSerialPortConfig(FUNCTION_MSP);
+    }
+}
+
+void mspSerialReleasePortIfAllocated(serialPort_t *serialPort)
+{
+    uint8_t portIndex;
+    for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
+        mspPort_t *candidateMspPort = &mspPorts[portIndex];
+        if (candidateMspPort->port == serialPort) {
+            closeSerialPort(serialPort);
+            memset(candidateMspPort, 0, sizeof(mspPort_t));
+        }
+    }
+}
+
+void mspSerialInit(serialConfig_t *serialConfig)
+{
+    mspInit();
+    memset(mspPorts, 0x00, sizeof(mspPorts));
+    mspSerialAllocatePorts(serialConfig);
+}
+
+static void setCurrentPort(mspPort_t *port)
+{
+    currentPort = port;
+    mspSerialPort = currentPort->port;
+}
+
+void mspSerialProcess(void)
+{
+    uint8_t portIndex;
+    mspPort_t *candidatePort;
+
+    for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
+        candidatePort = &mspPorts[portIndex];
+        if (!candidatePort->port) {
+            continue;
+        }
+
+        setCurrentPort(candidatePort);
+        // Big enough to fit a MSP_STATUS in one write.
+        uint8_t buf[sizeof(bufWriter_t) + 20];
+        writer = bufWriterInit(buf, sizeof(buf),
+                               (bufWrite_t)serialWriteBufShim, currentPort->port);
+
+        while (serialRxBytesWaiting(mspSerialPort)) {
+
+            uint8_t c = serialRead(mspSerialPort);
+            bool consumed = mspProcessReceivedData(c);
+
+            if (!consumed && !ARMING_FLAG(ARMED)) {
+                evaluateOtherData(mspSerialPort, c);
+            }
+
+            if (currentPort->c_state == COMMAND_RECEIVED) {
+                mspProcessReceivedCommand();
+                break; // process one command at a time so as not to block.
+            }
+        }
+
+        bufWriterFlush(writer);
+
+        if (isRebootScheduled) {
+            waitForSerialPortToFinishTransmitting(candidatePort->port);
+            stopPwmAllMotors();
+            // On real flight controllers, systemReset() will do a soft reset of the device,
+            // reloading the program.  But to support offline testing this flag needs to be
+            // cleared so that the software doesn't continuously attempt to reboot itself.
+            isRebootScheduled = false;
+            systemReset();
+        }
+    }
+}

src/main/io/serial_msp.h

@@ -44,6 +44,16 @@ typedef struct mspPort_s {
     uint8_t cmdMSP;
 } mspPort_t;
 
+
+extern struct serialPort_s *mspSerialPort;
+extern mspPort_t *currentPort;
+
+struct bufWriter_s;
+extern struct bufWriter_s *writer;
+
+extern bool isRebootScheduled;
+
+
 struct serialConfig_s;
 void mspSerialInit(struct serialConfig_s *serialConfig);
 void mspSerialProcess(void);

src/main/msp/msp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+
+void mspInit(void);
+bool mspProcessReceivedData(uint8_t c);
+void mspProcessReceivedCommand(void);

src/main/msp/msp_server_fc.c

@@ -107,8 +107,6 @@
 
 #include "io/serial_4way.h"
 
-static serialPort_t *mspSerialPort;
-
 extern uint16_t cycleTime; // FIXME dependency on mw.c
 extern uint16_t rssi; // FIXME dependency on mw.c
 extern void resetProfile(profile_t *profile);
@@ -168,10 +166,7 @@ static uint8_t activeBoxIdCount = 0;
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
 // cause reboot after MSP processing complete
-static bool isRebootScheduled = false;
+bool isRebootScheduled = false;
-STATIC_UNIT_TESTED mspPort_t mspPorts[MAX_MSP_PORT_COUNT];
-STATIC_UNIT_TESTED mspPort_t *currentPort;
-STATIC_UNIT_TESTED bufWriter_t *writer;
 
 
 static const char pidnames[] =
@@ -448,53 +443,7 @@ static void serializeDataflashReadReply(uint32_t address, uint16_t size, bool us
 }
 #endif
 
-static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort)
+void mspInit(void)
-{
-    memset(mspPortToReset, 0, sizeof(mspPort_t));
-
-    mspPortToReset->port = serialPort;
-}
-
-void mspSerialAllocatePorts(serialConfig_t *serialConfig)
-{
-    UNUSED(serialConfig);
-
-    serialPort_t *serialPort;
-
-    uint8_t portIndex = 0;
-
-    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_MSP);
-
-    while (portConfig && portIndex < MAX_MSP_PORT_COUNT) {
-        mspPort_t *mspPort = &mspPorts[portIndex];
-        if (mspPort->port) {
-            portIndex++;
-            continue;
-        }
-
-        serialPort = openSerialPort(portConfig->identifier, FUNCTION_MSP, NULL, baudRates[portConfig->msp_baudrateIndex], MODE_RXTX, SERIAL_NOT_INVERTED);
-        if (serialPort) {
-            resetMspPort(mspPort, serialPort);
-            portIndex++;
-        }
-
-        portConfig = findNextSerialPortConfig(FUNCTION_MSP);
-    }
-}
-
-void mspSerialReleasePortIfAllocated(serialPort_t *serialPort)
-{
-    uint8_t portIndex;
-    for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
-        mspPort_t *candidateMspPort = &mspPorts[portIndex];
-        if (candidateMspPort->port == serialPort) {
-            closeSerialPort(serialPort);
-            memset(candidateMspPort, 0, sizeof(mspPort_t));
-        }
-    }
-}
-
-static void mspInit(void)
 {
     // calculate used boxes based on features and fill availableBoxes[] array
     memset(activeBoxIds, 0xFF, sizeof(activeBoxIds));
@@ -593,13 +542,6 @@ static void mspInit(void)
 #endif
 }
 
-void mspSerialInit(serialConfig_t *serialConfig)
-{
-    mspInit();
-    memset(mspPorts, 0x00, sizeof(mspPorts));
-    mspSerialAllocatePorts(serialConfig);
-}
-
 #define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
 
 static uint32_t packFlightModeFlags(void)
@@ -1956,7 +1898,8 @@ static bool processInCommand(void)
     return true;
 }
 
-STATIC_UNIT_TESTED void mspProcessReceivedCommand() {
+void mspProcessReceivedCommand()
+{
     if (!(processOutCommand(currentPort->cmdMSP) || processInCommand())) {
         headSerialError(0);
     }
@@ -1964,7 +1907,7 @@ STATIC_UNIT_TESTED void mspProcessReceivedCommand() {
     currentPort->c_state = IDLE;
 }
 
-static bool mspProcessReceivedData(uint8_t c)
+bool mspProcessReceivedData(uint8_t c)
 {
     if (currentPort->c_state == IDLE) {
         if (c == '$') {
@@ -2005,54 +1948,3 @@ static bool mspProcessReceivedData(uint8_t c)
     return true;
 }
 
-STATIC_UNIT_TESTED void setCurrentPort(mspPort_t *port)
-{
-    currentPort = port;
-    mspSerialPort = currentPort->port;
-}
-
-void mspSerialProcess(void)
-{
-    uint8_t portIndex;
-    mspPort_t *candidatePort;
-
-    for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
-        candidatePort = &mspPorts[portIndex];
-        if (!candidatePort->port) {
-            continue;
-        }
-
-        setCurrentPort(candidatePort);
-        // Big enough to fit a MSP_STATUS in one write.
-        uint8_t buf[sizeof(bufWriter_t) + 20];
-        writer = bufWriterInit(buf, sizeof(buf),
-                               (bufWrite_t)serialWriteBufShim, currentPort->port);
-
-        while (serialRxBytesWaiting(mspSerialPort)) {
-
-            uint8_t c = serialRead(mspSerialPort);
-            bool consumed = mspProcessReceivedData(c);
-
-            if (!consumed && !ARMING_FLAG(ARMED)) {
-                evaluateOtherData(mspSerialPort, c);
-            }
-
-            if (currentPort->c_state == COMMAND_RECEIVED) {
-                mspProcessReceivedCommand();
-                break; // process one command at a time so as not to block.
-            }
-        }
-
-        bufWriterFlush(writer);
-
-        if (isRebootScheduled) {
-            waitForSerialPortToFinishTransmitting(candidatePort->port);
-            stopPwmAllMotors();
-            // On real flight controllers, systemReset() will do a soft reset of the device,
-            // reloading the program.  But to support offline testing this flag needs to be
-            // cleared so that the software doesn't continuously attempt to reboot itself.
-            isRebootScheduled = false;
-            systemReset();
-        }
-    }
-}