ESPC3-wireless/app/drivers/sertrf/protocol/MSP.h

#pragma once

#include "stdint.h"
#include "stdbool.h"

#define MSP_API_VERSION 1
#define MSP_FC_VARIANT 2
#define MSP_FC_VERSION 3
#define MSP_BOARD_INFO 4
#define MSP_BUILD_INFO 5
#define MSP_NAME 10 // out message          Returns user set board name - betaflight
#define MSP_CALIBRATION_DATA 14
#define MSP_FEATURE 36
#define MSP_BOARD_ALIGNMENT 38
#define MSP_CURRENT_METER_CONFIG 40
#define MSP_RX_CONFIG 44
#define MSP_SONAR_ALTITUDE 58
#define MSP_ARMING_CONFIG 61
#define MSP_RX_MAP 64    // get channel map (also returns number of channels total)
#define MSP_LOOP_TIME 73 // FC cycle time i.e looptime parameter
#define MSP_STATUS 101
#define MSP_RAW_IMU 102
#define MSP_SERVO 103
#define MSP_MOTOR 104
#define MSP_RC 105
#define MSP_RAW_GPS 106
#define MSP_COMP_GPS 107 // distance home, direction home
#define MSP_ATTITUDE 108
#define MSP_ALTITUDE 109
#define MSP_ANALOG 110
#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112       // P I D coeff
#define MSP_MISC 114
#define MSP_SERVO_CONFIGURATIONS 120
#define MSP_NAV_STATUS 121       // navigation status
#define MSP_SENSOR_ALIGNMENT 126 // orientation of acc,gyro,mag

#define MSP_FC_DATA 148 // 请求飞控信息

#define MSP_STATUS_EX 150
#define MSP_SENSOR_STATUS 151
#define MSP_BOXIDS 119
#define MSP_UID 160           // Unique device ID
#define MSP_GPSSVINFO 164     // get Signal Strength (only U-Blox)
#define MSP_GPSSTATISTICS 166 // get GPS debugging data
#define MSP_SET_PID 202       // set P I D coeff

// commands
#define MSP_SET_HEAD 211    // define a new heading hold direction
#define MSP_SET_RAW_RC 200  // 8 rc chan
#define MSP_SET_RAW_GPS 201 // fix, numsat, lat, lon, alt, speed
#define MSP_SET_WP 209      // sets a given WP (WP#, lat, lon, alt, flags)

// radar commands
#define MSP_SET_RADAR_POS 248 // SET radar position information
#define MSP_SET_RADAR_ITD 249 // SET radar information to display

// v2 commands
#define MSP2_ESP32 0x2040

#define MSP2_COMMON_SET_RADAR_POS 0x100B // SET radar position information
#define MSP2_COMMON_SET_RADAR_GCS 0x7537 // SET radar position information
#define MSP2_COMMON_SET_RADAR_ITD 0x100C // SET radar information to display

#define MSP2_SENSOR_GPS 0x1F03 // INAV expects this, instead of MSP_SET_RAW_GPS

#define MSP_GCS_DATA 0x7578 // 接收地面站信息

#define MSP_PORT_OUTBUF_SIZE 512
#define MSP_V2_FRAME_ID 255
#define MSP_PORT_INBUF_SIZE 192
#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
#define MSP_ARRAYEND(x) (&(x)[ARRAY_SIZE(x)])
#define MSP_UNUSED(x) (void)(x)

// 接收数据类型
typedef enum
{
  MSP_V1 = 0,
  MSP_V2_OVER_V1 = 1,
  MSP_V2_NATIVE = 2,
  MSP_VERSION_COUNT
} msp_version_e;
// 接收状态
typedef enum
{
  MSP_IDLE,
  MSP_HEADER_START,
  MSP_HEADER_M,
  MSP_HEADER_X,

  MSP_HEADER_V1,
  MSP_PAYLOAD_V1,
  MSP_CHECKSUM_V1,

  MSP_HEADER_V2_OVER_V1,
  MSP_PAYLOAD_V2_OVER_V1,
  MSP_CHECKSUM_V2_OVER_V1,

  MSP_HEADER_V2_NATIVE,
  MSP_PAYLOAD_V2_NATIVE,
  MSP_CHECKSUM_V2_NATIVE,

  MSP_COMMAND_RECEIVED
} msp_state_e;
// return positive for ACK, negative on error, zero for no reply
typedef enum
{
  MSP_RESULT_ACK = 1,
  MSP_RESULT_ERROR = -1,
  MSP_RESULT_NO_REPLY = 0
} MSPCommandResult;

// V1接收消息头部与数据大小
typedef struct __attribute__((packed))
{
  uint8_t size;
  uint8_t cmd;
} msp_header_v1_t;
// V2接收消息头部与数据大小与命令标志
typedef struct __attribute__((packed))
{
  uint8_t flags;
  uint16_t cmd;
  uint16_t size;
} msp_header_v2_t;

typedef union 
{
    int uart_fd;
}msp_device_t;
typedef struct msp_port_s
{
  msp_device_t* device;
  msp_state_e c_state;
  uint8_t msp_packet_type;
  uint8_t in_buf[MSP_PORT_INBUF_SIZE];
  uint_fast16_t offset;
  uint_fast16_t data_size;
  msp_version_e msp_version;
  uint8_t cmd_flags;
  uint16_t cmd_msp;
  uint8_t checksum1;
  uint8_t checksum2;

  int (*read)(void *data, uint32_t size, uint32_t wait_ms);
  int (*write)(const void *data, uint32_t size, uint32_t wait_ms);
} msp_port_t;
// 解析成功后接收到的数据内容
typedef struct sbuf_s
{
  uint8_t *ptr; // data pointer must be first (sbuff_t* is equivalent to uint8_t **)
  uint8_t *end;
} sbuf_t;
// 接收到的数据包
typedef struct msp_packet_s
{
  sbuf_t buf;
  int16_t cmd;
  uint8_t flags;
  int16_t result;
  uint8_t msp_packet_type;
} msp_packet_t;

// MSP_FC_VARIANT 接收到的消息包内容
typedef struct msp_apm_data_s
{
  uint8_t variant[4];
} msp_apm_data_t;

/**************数据类型结构体*****************/
// MSP_RAW_GPS reply
typedef struct __attribute__((packed))
{
  uint8_t fixType; // MSP_GPS_NO_FIX, MSP_GPS_FIX_2D, MSP_GPS_FIX_3D
  uint8_t numSat;
  int32_t lat;          // 1 / 10000000 deg
  int32_t lon;          // 1 / 10000000 deg
  int16_t alt;          // meters
  int16_t groundSpeed;  // cm/s
  int16_t groundCourse; // unit: degree x 10
  uint16_t hdop;
} msp_raw_gps_t;

typedef struct __attribute__((packed))
{
  uint8_t sysid;
  int8_t _off_alt;
  int8_t _interval;
  uint8_t from_mode;        // 队列信息
  uint8_t filt_factor;      // 防止超调的阻尼系数
  uint8_t _min_alt;         // 最低高度
  int8_t Open_follow;       // 是否切入guided模式
  int8_t armed;             // 是否解锁
  int16_t curr_nav_roll_cd; // 期望翻滚角
  float throttle_input;     // 油门杆量
  float yaw_input;          // 偏航杆量
} msp_fc_t;

typedef struct __attribute__((packed))
{
  uint8_t vbat;      // 0...255
  uint16_t mAhDrawn; // milliamp hours drawn from battery
  uint16_t rssi;     // 0..1023
  int16_t amperage;  // send amperage in 0.01 A steps, range is -320A to 320A
} msp_analog_t;

typedef struct __attribute__((packed))
{
  uint8_t target_id;       // 要修改那个ID雷达
  uint8_t change_id;       // 要修改为什么ID
  int8_t off_alt;          // 要修改什么高度差
  int8_t _interval;        // 要修改什么水平差
  uint8_t from_mode;       // 要修改什么队形
  uint32_t Formation_char; // 队形表
  uint8_t test[3];
} msp_gcs_t;

typedef struct __attribute__((packed))
{
  uint8_t id;
  uint8_t state;    // disarmed(0) armed (1)
  int32_t lat;      // decimal degrees latitude * 10000000
  int32_t lon;      // decimal degrees longitude * 10000000
  int32_t alt;      // cm
  uint16_t heading; // deg
  uint16_t speed;   // cm/s
  int16_t target_nav_roll_cd;
  uint8_t lq; // lq

  uint8_t sys_id;      // 目标ID
  uint8_t curr_id;     // 雷达ID
  uint16_t time_cycle; // 雷达数据接收间隔
  uint32_t lost_pack;  // 丢包数

  uint8_t gcs_target_id; // 地面站发送需要修改的雷达号
  uint8_t form_mode;     // 队形模式
  int8_t off_alt;        // 修改高度差
  int8_t interval;       // 队形水平间距

  // 控制所需数据
  int32_t lat_form;
  int32_t lon_form;
  int32_t alt_form;
  int32_t target_yaw_gps;
  int32_t curr_yaw_gps;
  float target_distance_control_error; // 目标距离误差
  int32_t target_sight_yaw;            // 目标基于视线的航向
  int32_t target_bearing_yaw;          // 目标前置角
  int32_t target_clip_yaw;             // 目标夹角
  uint8_t error_num_type;              // 错误码
} msp_radar_pos_t;

typedef struct __attribute__((packed))
{
  uint8_t id;
  uint8_t state;    // disarmed(0) armed (1)
  int32_t lat;      // decimal degrees latitude * 10000000
  int32_t lon;      // decimal degrees longitude * 10000000
  int32_t alt;      // cm
  uint16_t heading; // deg
  uint16_t speed;   // cm/s
  uint8_t lq;       // lq

  uint8_t sys_id;      // 目标ID
  uint16_t time_cycle; // 雷达数据接收间隔
  uint32_t lost_pack;  // 丢包数
  int8_t off_alt;      // 高度差
  int8_t interval;     // 队形水平间距
  uint8_t form_mode;   // 队形模式
  uint8_t vbat;        // 目标飞控电压值
  int8_t Open_follow;  // 是否跟随
  int8_t armed;        // 是否解锁
} msp_radar_gcs_t;

extern msp_port_t msp;

/**
 * @brief MSP初始化
 * 
 * @param msp 接口
 */
void msp_init(msp_port_t *msp);
// MSP消息解析包
/**
 * @brief MSP消息解析包
 * 
 * @param crc 原先CRC值
 * @param a   需要添加校验对象
 * @return uint8_t
 */
uint8_t crc8_dvb_s2_apm(uint8_t crc, unsigned char a);
/**
 * @brief MSPV1消息发送包
 * 
 * @param messageID 消息ID
 * @param payload   消息内容
 * @param size      消息长度
 */
void msp_send(msp_port_t *msp, uint8_t messageID, void *payload, uint8_t size);
/**
 * @brief MSPV2消息发送包
 * 
 * @param messageID 消息ID
 * @param payload   消息内容
 * @param size      消息长度
 */
void msp_send2(msp_port_t *msp, uint16_t messageID, void *payload, uint16_t size);
/**
 * @brief MSP数据接收处理
 * 
 * @param msp 接口
 */
void msp_recv_loop(msp_port_t *msp);
/**
 * @brief MSP数据接收处理(data赋值方式)
 * 
 * @param msp 接口
 * @param data 接收数据
 * @param size 接收数据长度
 * @retval 解析成功次数
 */
int msp_recv_buf(msp_port_t *msp,void *data, uint32_t size);
/**
 * @brief MSP数据包解析
 * 
 * @param msp 接口
 * @param c   数据
 * @return true 
 * @return false
 */
bool msp_parse_received_data(msp_port_t *msp, uint8_t c);
/**
 * @brief MSP封装数据为命令数据和传输数据
 * 
 * @param msp 接口
 */
void msp_process_received_command(msp_port_t *msp);
/**
 * @brief MSP数据包处理，根据命令速度或者传输数据调用对应的处理
 * 
 * @param cmd  命令数据
 * @param reply 传输数据
 */
MSPCommandResult msp_process_command(msp_packet_t *cmd, msp_packet_t *reply);
/**
 * @brief MSP传输数据处理
 * 
 * @param cmd_msp 命令数据
 * @param src 传输数据
 */
MSPCommandResult msp_process_sensor_command(uint16_t cmd_msp, sbuf_t *src);
/**
 * @brief MSP命令数据处理
 * 
 * @param cmd_msp 命令数据
 * @param dst 传输数据
 */
MSPCommandResult msp_process_out_command(uint16_t cmd_msp, sbuf_t *dst);
// 接收数据包处理
void msp_handle_fc(msp_apm_data_t pkt);
void msp_handle_get_gps(msp_raw_gps_t pkt);
void msp_handle_get_fc(msp_fc_t pkt);
void msp_handle_get_analog(msp_analog_t pkt);
void msp_handle_get_gcs(msp_gcs_t pkt);
// 回复请求包处理
void fc_put_ack(void);


// 接口层
int MSP_wirite(const void *data, uint32_t size, uint32_t wait_ms);
int MSP_read(void *data, uint32_t size, uint32_t wait_ms);
uint32_t MSP_get_rx_length(void);