BetaFlight模块设计之二：SERIAL任务分析

基于BetaFlight开源代码框架简介的框架设计，逐步分析内部模块功能设计。

SERIAL任务

描述：主要用于BetaFlight飞控与上位机(配置程序)之间的通信。

1.总体情况

 ├──> 初始化
 │   ├──> [v]硬件初始化usbCableDetectInit/mspSerialInit
 │   └──> [v]业务初始化pgResetFn_serialConfig
 ├──> 任务
 │   ├──> [x]实时任务
 │   ├──> [x]事件任务
 │   └──> [v]时间任务[TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW)
 ├──> 驱动
 │   ├──> [v]查询serialRead/serialRxBytesWaiting
 │   └──> [x]中断
 └──> 接口
     ├──> 支持配置工具CLI命令行模式 \\const clicmd_t cmdTable[]\src\main\cli\cli.c
     └──> 支持MSP协议 v1.44

2.主要函数分析

2.1 taskHandleSerial任务

taskHandleSerial
 ├──> <USE_VCP>
 │   ├──> usbCableIsInserted
 │   └──> usbVcpIsConnected
 ├──> <USE_CLI> <cliMode>
 │   └──> cliProcess
 └──> mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand, mspFcProcessReply);
     └──> 遍历支持MSP协议端口
         ├──> <串口有数据>
         │   ├──> serialRead
         │   ├──> mspSerialProcessReceivedData
         │   ├──> <非SOF字符 且 未arm>
         │   │   └──> mspEvaluateNonMspData
         │   ├──> <MSP_COMMAND_RECEIVED>
         │   │   ├──> <MSP_PACKET_COMMAND>
         │	 │   │   └──> mspPostProcessFn=mspSerialProcessReceivedCommand(mspFcProcessCommand)
         │   │   └──> <MSP_PACKET_REPLY>
         │   │       └──> mspSerialProcessReceivedReply(mspFcProcessReply)
         │   └──> <mspPostProcessFn>
         │       ├──> waitForSerialPortToFinishTransmitting
         │       └──> mspPostProcessFn
         └──> <串口无数据>
             └──> mspProcessPendingRequest
                 ├──> <MSP_PENDING_BOOTLOADER_ROM> systemResetToBootloader
                 ├──> <MSP_PENDING_BOOTLOADER_FLASH> systemResetToBootloader
                 └──> <MSP_PENDING_CLI> cliEnter

2.2 命令行处理函数cliProcess

cliProcess
 ├──> cliWriterFlush
 └──> serialRxBytesWaiting
     ├──> serialRead
     └──> processCharacterInteractive
         └──> 循环比对，执行cmdTable中的命令

BetaFlight4.3版本支持的命令汇总；关于Cli模块详细介绍，请参考BetaFlight模块设计之三十：Cli模块分析。

const clicmd_t cmdTable[] = {
    CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", "<index> <unused> <range channel> <start> <end> <function> <select channel> [<center> <scale>]", cliAdjustmentRange),
    CLI_COMMAND_DEF("aux", "configure modes", "<index> <mode> <aux> <start> <end> <logic>", cliAux),
#ifdef USE_CLI_BATCH
    CLI_COMMAND_DEF("batch", "start or end a batch of commands", "start | end", cliBatch),
#endif
#if defined(USE_BEEPER)
#if defined(USE_DSHOT)
    CLI_COMMAND_DEF("beacon", "enable/disable Dshot beacon for a condition", "list\r\n"
        "\t<->[name]", cliBeacon),
#endif
    CLI_COMMAND_DEF("beeper", "enable/disable beeper for a condition", "list\r\n"
        "\t<->[name]", cliBeeper),
#endif // USE_BEEPER
#if defined(USE_RX_BIND)
    CLI_COMMAND_DEF("bind_rx", "initiate binding for RX SPI or SRXL2", NULL, cliRxBind),
#endif
#if defined(USE_FLASH_BOOT_LOADER)
    CLI_COMMAND_DEF("bl", "reboot into bootloader", "[flash|rom]", cliBootloader),
#else
    CLI_COMMAND_DEF("bl", "reboot into bootloader", "[rom]", cliBootloader),
#endif
#if defined(USE_BOARD_INFO)
    CLI_COMMAND_DEF("board_name", "get / set the name of the board model", "[board name]", cliBoardName),
#endif
#ifdef USE_LED_STRIP_STATUS_MODE
        CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
#endif
#if defined(USE_CUSTOM_DEFAULTS)
    CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "{show} {nosave} {bare} {group_id <id>}", cliDefaults),
#else
    CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "{nosave}", cliDefaults),
#endif
    CLI_COMMAND_DEF("diff", "list configuration changes from default", "[master|profile|rates|hardware|all] {defaults|bare}", cliDiff),
#ifdef USE_RESOURCE_MGMT

#ifdef USE_DMA
#ifdef USE_DMA_SPEC
    CLI_COMMAND_DEF("dma", "show/set DMA assignments", "<> | <device> <index> list | <device> <index> [<option>|none] | list | show", cliDma),
#else
    CLI_COMMAND_DEF("dma", "show DMA assignments", "show", cliDma),
#endif
#endif

#endif
#ifdef USE_DSHOT_TELEMETRY
    CLI_COMMAND_DEF("dshot_telemetry_info", "display dshot telemetry info and stats", NULL, cliDshotTelemetryInfo),
#endif
#ifdef USE_DSHOT
    CLI_COMMAND_DEF("dshotprog", "program DShot ESC(s)", "<index> <command>+", cliDshotProg),
#endif
    CLI_COMMAND_DEF("dump", "dump configuration",
        "[master|profile|rates|hardware|all] {defaults|bare}", cliDump),
#ifdef USE_ESCSERIAL
    CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki/cc]> <index>", cliEscPassthrough),
#endif
    CLI_COMMAND_DEF("exit", NULL, NULL, cliExit),
    CLI_COMMAND_DEF("feature", "configure features",
        "list\r\n"
        "\t<->[name]", cliFeature),
#ifdef USE_FLASHFS
    CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
    CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
#ifdef USE_FLASH_TOOLS
    CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
    CLI_COMMAND_DEF("flash_scan", "scan flash device for errors", NULL, cliFlashVerify),
    CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
#endif
    CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),
#ifdef USE_GPS
    CLI_COMMAND_DEF("gpspassthrough", "passthrough gps to serial", NULL, cliGpsPassthrough),
#endif
#if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD)
    CLI_COMMAND_DEF("gyroregisters", "dump gyro config registers contents", NULL, cliDumpGyroRegisters),
#endif
    CLI_COMMAND_DEF("help", "display command help", "[search string]", cliHelp),
#ifdef USE_LED_STRIP_STATUS_MODE
        CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
#endif
#if defined(USE_BOARD_INFO)
    CLI_COMMAND_DEF("manufacturer_id", "get / set the id of the board manufacturer", "[manufacturer id]", cliManufacturerId),
#endif
    CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
    CLI_COMMAND_DEF("mcu_id", "id of the microcontroller", NULL, cliMcuId),
#ifndef USE_QUAD_MIXER_ONLY
    CLI_COMMAND_DEF("mixer", "configure mixer", "list\r\n\t<name>", cliMixer),
#endif
    CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
#ifdef USE_LED_STRIP_STATUS_MODE
    CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),
#endif
    CLI_COMMAND_DEF("motor",  "get/set motor", "<index> [<value>]", cliMotor),
#ifdef USE_USB_MSC
#ifdef USE_RTC_TIME
    CLI_COMMAND_DEF("msc", "switch into msc mode", "[<timezone offset minutes>]", cliMsc),
#else
    CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc),
#endif
#endif
#ifndef MINIMAL_CLI
    CLI_COMMAND_DEF("play_sound", NULL, "[<index>]", cliPlaySound),
#endif
    CLI_COMMAND_DEF("profile", "change profile", "[<index>]", cliProfile),
    CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#ifdef USE_RC_SMOOTHING_FILTER
    CLI_COMMAND_DEF("rc_smoothing_info", "show rc_smoothing operational settings", NULL, cliRcSmoothing),
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_RESOURCE_MGMT
    CLI_COMMAND_DEF("resource", "show/set resources", "<> | <resource name> <index> [<pin>|none] | show [all]", cliResource),
#endif
    CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFailsafe),
    CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
    CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
#ifdef USE_SDCARD
    CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
#endif
    CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#if defined(USE_SERIAL_PASSTHROUGH)
#if defined(USE_PINIO)
    CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data data from port 1 to VCP / port 2", "<id1> [<baud1>] [<mode1>] [none|<dtr pinio>|reset] [<id2>] [<baud2>] [<mode2>]", cliSerialPassthrough),
#else
    CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data from port 1 to VCP / port 2", "<id1> [<baud1>] [<mode1>] [none|reset] [<id2>] [<baud2>] [<mode2>]", cliSerialPassthrough),
#endif
#endif
#ifdef USE_SERVOS
    CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
    CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
#if defined(USE_SIGNATURE)
    CLI_COMMAND_DEF("signature", "get / set the board type signature", "[signature]", cliSignature),
#endif
#if defined(USE_SIMPLIFIED_TUNING)
    CLI_COMMAND_DEF("simplified_tuning", "applies or disables simplified tuning", "apply | disable", cliSimplifiedTuning),
#endif
#ifdef USE_SERVOS
    CLI_COMMAND_DEF("smix", "servo mixer", "<rule> <servo> <source> <rate> <speed> <min> <max> <box>\r\n"
        "\treset\r\n"
        "\tload <mixer>\r\n"
        "\treverse <servo> <source> r|n", cliServoMix),
#endif
    CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
    CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#ifdef USE_TIMER_MGMT
    CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [af<alternate function>|none|<option(deprecated)>] | list | show", cliTimer),
#endif
    CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#ifdef USE_VTX_CONTROL
#ifdef MINIMAL_CLI
    CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
#else
    CLI_COMMAND_DEF("vtx", "vtx channels on switch", "<index> <aux_channel> <vtx_band> <vtx_channel> <vtx_power> <start_range> <end_range>", cliVtx),
#endif
#endif
#ifdef USE_VTX_TABLE
    CLI_COMMAND_DEF("vtx_info", "vtx power config dump", NULL, cliVtxInfo),
    CLI_COMMAND_DEF("vtxtable", "vtx frequency table", "<band> <bandname> <bandletter> [FACTORY|CUSTOM] <freq> ... <freq>\r\n", cliVtxTable),
#endif
};

2.3 MSP协议处理函数mspFcProcessCommand & mspFcProcessReply

mspFcProcessCommand
 ├──> mspCommonProcessOutCommand
 ├──> mspProcessOutCommand
 ├──> mspFcProcessOutCommandWithArg
 ├──> <MSP_SET_PASSTHROUGH>
 │   └──> mspFcSetPassthroughCommand
 ├──> <MSP_DATAFLASH_READ>
 │   └──> mspFcDataFlashReadCommand
 └──> mspCommonProcessInCommand

mspFcProcessReply //当前版本，代码没有处理完，且只有一个ADC模拟数据。

注：在MSP协议上，MSP_ANALOG当前是out message类型，而实际代码并没有类似mspCommonProcessOutCommand操作。

注：关于MSP协议，请参阅BetaFlight模块设计之三十二：MSP协议模块分析