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添加MSP消息解析

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OPTOC
2025-09-02 14:20:13 +08:00
parent e86459d8f3
commit 6f67d8d773
2 changed files with 858 additions and 0 deletions
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486
app/drivers/sertrf/protocol/MSP.c Normal file
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#include "MSP.h"
#include <string.h>
#include <stdio.h>
void msp_init(msp_port_t *msp)
{
}
uint8_t crc8_dvb_s2_apm(uint8_t crc, unsigned char a)
{
crc ^= a;
for (int ii = 0; ii < 8; ++ii)
{
if (crc & 0x80)
{
crc = (crc << 1) ^ 0xD5;
}
else
{
crc = crc << 1;
}
}
return crc;
}
void msp_send(msp_port_t *msp, uint8_t messageID, void *payload, uint8_t size)
{
uint8_t msp_data_packet[6 + size];
msp_data_packet[0] = '$';
msp_data_packet[1] = 'M';
msp_data_packet[2] = '<';
msp_data_packet[3] = size;
msp_data_packet[4] = messageID;
uint8_t checksum = size ^ messageID;
uint8_t *payloadPtr = (uint8_t *)payload;
for (int i = 0; i < size; i++)
{
uint8_t b = *(payloadPtr++);
checksum ^= b;
msp_data_packet[5 + i] = b;
}
msp_data_packet[6 + size - 1] = checksum;
msp->write(&msp_data_packet[0], 6 + size, 10);
}
void msp_send2(msp_port_t *msp, uint16_t messageID, void *payload, uint16_t size)
{
uint8_t _crc = 0;
uint8_t msp_data_packet[size + 9];
msp_data_packet[0] = '$';
msp_data_packet[1] = 'X';
msp_data_packet[2] = '<';
msp_data_packet[3] = 0; // flag
msp_data_packet[4] = messageID; // function
msp_data_packet[5] = messageID >> 8;
msp_data_packet[6] = size; // payload size
msp_data_packet[7] = size >> 8;
for (uint8_t i = 3; i < 8; i++)
{
_crc = crc8_dvb_s2_apm(_crc, msp_data_packet[i]);
}
// Start of Payload
uint8_t *payloadPtr = (uint8_t *)payload;
for (uint16_t i = 0; i < size; ++i)
{
msp_data_packet[i + 8] = *(payloadPtr++);
_crc = crc8_dvb_s2_apm(_crc, msp_data_packet[i + 8]);
}
msp_data_packet[size + 8] = _crc;
msp->write(&msp_data_packet[0], 9 + size, 10);
}
// 解析接收数据是否正确
bool msp_parse_received_data(msp_port_t *msp, uint8_t c)
{
switch (msp->c_state)
{
default:
case MSP_IDLE: // Waiting for '$' character
if (c == '$')
{
msp->msp_version = MSP_V1;
msp->c_state = MSP_HEADER_START;
}
else
{
return false;
}
break;
case MSP_HEADER_START: // Waiting for 'M' (MSPv1 / MSPv2_over_v1) or 'X' (MSPv2 native)
switch (c)
{
case 'M':
msp->c_state = MSP_HEADER_M;
break;
case 'X':
msp->c_state = MSP_HEADER_X;
break;
default:
msp->c_state = MSP_IDLE;
break;
}
break;
case MSP_HEADER_M: // Waiting for '<'
if (c == '<' || c == '>')
{
msp->offset = 0;
msp->checksum1 = 0;
msp->checksum2 = 0;
msp->c_state = MSP_HEADER_V1;
}
else
{
msp->c_state = MSP_IDLE;
}
break;
case MSP_HEADER_X:
if (c == '<' || c == '>')
{
msp->offset = 0;
msp->checksum2 = 0;
msp->msp_version = MSP_V2_NATIVE;
msp->c_state = MSP_HEADER_V2_NATIVE;
}
else
{
msp->c_state = MSP_IDLE;
}
break;
case MSP_HEADER_V1: // Now receive v1 header (size/cmd), this is already checksummable
msp->in_buf[msp->offset++] = c;
msp->checksum1 ^= c;
if (msp->offset == sizeof(msp_header_v1_t))
{
msp_header_v1_t *hdr = (msp_header_v1_t *)&msp->in_buf[0];
// Check incoming buffer size limit
if (hdr->size > MSP_PORT_INBUF_SIZE)
{
msp->c_state = MSP_IDLE;
}
else if (hdr->cmd == MSP_V2_FRAME_ID)
{
// MSPv1 payload must be big enough to hold V2 header + extra checksum
if (hdr->size >= sizeof(msp_header_v2_t) + 1)
{
msp->msp_version = MSP_V2_OVER_V1;
msp->c_state = MSP_HEADER_V2_OVER_V1;
}
else
{
msp->c_state = MSP_IDLE;
}
}
else
{
msp->data_size = hdr->size;
msp->cmd_msp = hdr->cmd;
msp->cmd_flags = 0;
msp->offset = 0; // re-use buffer
msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V1 : MSP_CHECKSUM_V1; // If no payload - jump to checksum byte
msp->msp_packet_type = msp->data_size > 0 ? 1 : 2;
}
}
break;
case MSP_PAYLOAD_V1:
msp->in_buf[msp->offset++] = c;
msp->checksum1 ^= c;
if (msp->offset == msp->data_size)
{
msp->c_state = MSP_CHECKSUM_V1;
}
break;
case MSP_CHECKSUM_V1:
if (msp->checksum1 == c)
{
msp->c_state = MSP_COMMAND_RECEIVED;
}
else
{
msp->c_state = MSP_IDLE;
}
break;
case MSP_HEADER_V2_OVER_V1: // V2 header is part of V1 payload - we need to calculate both checksums now
msp->in_buf[msp->offset++] = c;
msp->checksum1 ^= c;
msp->checksum2 = crc8_dvb_s2_apm(msp->checksum2, c);
if (msp->offset == (sizeof(msp_header_v2_t) + sizeof(msp_header_v1_t)))
{
msp_header_v2_t *hdrv2 = (msp_header_v2_t *)&msp->in_buf[sizeof(msp_header_v1_t)];
msp->data_size = hdrv2->size;
// Check for potential buffer overflow
if (hdrv2->size > MSP_PORT_INBUF_SIZE)
{
msp->c_state = MSP_IDLE;
}
else
{
msp->cmd_msp = hdrv2->cmd;
msp->cmd_flags = hdrv2->flags;
msp->offset = 0; // re-use buffer
msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_OVER_V1 : MSP_CHECKSUM_V2_OVER_V1;
msp->msp_packet_type = msp->data_size > 0 ? 1 : 2;
}
}
break;
case MSP_PAYLOAD_V2_OVER_V1:
msp->checksum2 = crc8_dvb_s2_apm(msp->checksum2, c);
msp->checksum1 ^= c;
msp->in_buf[msp->offset++] = c;
if (msp->offset == msp->data_size)
{
msp->c_state = MSP_CHECKSUM_V2_OVER_V1;
}
break;
case MSP_CHECKSUM_V2_OVER_V1:
msp->checksum1 ^= c;
if (msp->checksum2 == c)
{
msp->c_state = MSP_CHECKSUM_V1; // Checksum 2 correct - verify v1 checksum
}
else
{
msp->c_state = MSP_IDLE;
}
break;
case MSP_HEADER_V2_NATIVE:
msp->in_buf[msp->offset++] = c;
msp->checksum2 = crc8_dvb_s2_apm(msp->checksum2, c);
if (msp->offset == sizeof(msp_header_v2_t))
{
msp_header_v2_t *hdrv2 = (msp_header_v2_t *)&msp->in_buf[0];
// Check for potential buffer overflow
if (hdrv2->size > MSP_PORT_INBUF_SIZE)
{
msp->c_state = MSP_IDLE;
}
else
{
msp->data_size = hdrv2->size;
msp->cmd_msp = hdrv2->cmd;
msp->cmd_flags = hdrv2->flags;
msp->offset = 0; // re-use buffer
msp->c_state = msp->data_size > 0 ? MSP_PAYLOAD_V2_NATIVE : MSP_CHECKSUM_V2_NATIVE;
msp->msp_packet_type = msp->data_size > 0 ? 1 : 2;
}
}
break;
case MSP_PAYLOAD_V2_NATIVE:
msp->checksum2 = crc8_dvb_s2_apm(msp->checksum2, c);
msp->in_buf[msp->offset++] = c;
if (msp->offset == msp->data_size)
{
msp->c_state = MSP_CHECKSUM_V2_NATIVE;
}
break;
case MSP_CHECKSUM_V2_NATIVE:
if (msp->checksum2 == c)
{
msp->c_state = MSP_COMMAND_RECEIVED;
}
else
{
msp->c_state = MSP_IDLE;
}
break;
}
return true;
}
// MSP解析成功还会进行数据处理
void msp_process_received_command(msp_port_t *msp)
{
uint8_t out_buf[MSP_PORT_OUTBUF_SIZE];
msp_packet_t reply = {
.buf = {
.ptr = out_buf,
.end = MSP_ARRAYEND(out_buf),
},
.cmd = -1,
.flags = 0,
.result = 0,
.msp_packet_type = msp->msp_packet_type,
};
// uint8_t *out_buf_head = reply.buf.ptr;
msp_packet_t command = {
.buf = {
.ptr = msp->in_buf,
.end = msp->in_buf + msp->data_size,
},
.cmd = (int16_t)msp->cmd_msp,
.flags = msp->cmd_flags,
.result = 0,
.msp_packet_type = msp->msp_packet_type,
};
const MSPCommandResult status = msp_process_command(&command, &reply);
if (status != MSP_RESULT_NO_REPLY)
{
// sbuf_switch_to_reader(&reply.buf, out_buf_head); // change streambuf direction
// msp_serial_encode(msp, &reply, msp->msp_version);
}
msp->c_state = MSP_IDLE;
}
MSPCommandResult msp_process_command(msp_packet_t *cmd, msp_packet_t *reply)
{
MSPCommandResult ret = MSP_RESULT_ACK;
sbuf_t *dst = &reply->buf;
sbuf_t *src = &cmd->buf;
const uint16_t cmd_msp = cmd->cmd;
// initialize reply by default
reply->cmd = cmd->cmd;
// 收到有数据包
if (cmd->msp_packet_type == 1)
{
ret = msp_process_sensor_command(cmd_msp, src);
}
else if (cmd->msp_packet_type == 2)
{ // 收到无数据包
ret = msp_process_out_command(cmd_msp, dst);
}
// Process DONT_REPLY flag
if (cmd->flags & 0x1)
{
ret = MSP_RESULT_NO_REPLY;
}
reply->result = ret;
return ret;
}
// MSP解析数据处理
MSPCommandResult msp_process_sensor_command(uint16_t cmd_msp, sbuf_t *src)
{
MSP_UNUSED(src);
switch (cmd_msp)
{
case 1:
{
}
break;
case MSP_FC_VARIANT:
{
const msp_apm_data_t *pkt = (const msp_apm_data_t *)src->ptr;
msp_handle_fc(*pkt);
}
break;
case MSP_GCS_DATA:
{
const msp_gcs_t *pkt = (const msp_gcs_t *)src->ptr;
msp_handle_get_gcs(*pkt);
}
break;
case MSP_FC_DATA:
{
const msp_fc_t *pkt = (const msp_fc_t *)src->ptr;
msp_handle_get_fc(*pkt);
}
break;
case MSP_RAW_GPS:
{
const msp_raw_gps_t *pkt = (const msp_raw_gps_t *)src->ptr;
msp_handle_get_gps(*pkt);
}
break;
case MSP_ANALOG:
{
const msp_analog_t *pkt = (const msp_analog_t *)src->ptr;
msp_handle_get_analog(*pkt);
}
break;
case MSP_ATTITUDE:
{
// const msp_attitude_t *pkt = (const msp_attitude_t *)src->ptr;
// msp_handle_get_attitude(*pkt);
printf("ATTITUDE\n");
}
break;
}
return MSP_RESULT_NO_REPLY;
}
// 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)
{
}
// MSP回复请求包处理
MSPCommandResult msp_process_out_command(uint16_t cmd_msp, sbuf_t *dst)
{
switch (cmd_msp)
{
case MSP_FC_VARIANT:
{
fc_put_ack();
return MSP_RESULT_ACK;
}
break;
default:
// MSP always requires an ACK even for unsupported messages
return MSP_RESULT_ACK;
}
}
// 请求回复包
void fc_put_ack(void)
{
// uint8_t data[5] = {'T', 'X', 'S', 'T', 0};
// msp_send(2, &data[0], 5);
// printf("ACK\n");
}
// MSP数据读取,并根据读取的数据进行处理
void msp_recv_loop(msp_port_t *msp)
{
uint8_t c;
while (msp->read(&c, 1, 0) > 0)
{
if (msp_parse_received_data(msp, c))
{
if (msp->c_state == MSP_COMMAND_RECEIVED)
{
msp_process_received_command(msp);
break;
}
}
}
}
void msp_recv_buf(msp_port_t *msp, void *data, uint32_t size)
{
uint32_t size_lat = size;
uint8_t* data_char = (uint8_t*)data;
while (size_lat --)
{
uint8_t c = data_char[size - size_lat - 1];
if (msp_parse_received_data(msp, c))
{
if (msp->c_state == MSP_COMMAND_RECEIVED)
{
msp_process_received_command(msp);
// break;
}
}
}
}

372
app/drivers/sertrf/protocol/MSP.h Normal file
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#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
*/
void 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);