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| 110 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <string.h> |
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| 58 | #include <stdarg.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "mkprotocol.h" |
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| 61 | #include "ramfunc.h" |
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| 62 | #include "usb.h" |
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| 63 | |||
| 112 | killagreg | 64 | void Buffer_Clear(Buffer_t* pBuffer) |
| 65 | { |
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| 66 | pBuffer->DataBytes = 0; |
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| 67 | pBuffer->Position = 0; |
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| 68 | pBuffer->Locked = FALSE; |
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| 69 | } |
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| 110 | killagreg | 70 | |
| 112 | killagreg | 71 | void Buffer_Init(Buffer_t* pBuffer, u8* pDataBuffer, u16 DataBufferSize) |
| 72 | { |
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| 73 | pBuffer->pData = pDataBuffer; |
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| 74 | pBuffer->Size = DataBufferSize; |
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| 75 | Buffer_Clear(pBuffer); |
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| 76 | } |
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| 77 | |||
| 110 | killagreg | 78 | /**************************************************************/ |
| 79 | /* Create serial output frame */ |
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| 80 | /**************************************************************/ |
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| 81 | void MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
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| 82 | { |
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| 83 | va_list ap; |
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| 84 | |||
| 85 | u8 a,b,c; |
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| 86 | u8 ptr = 0; |
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| 87 | u16 tmpCRC = 0, i; |
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| 88 | |||
| 89 | u8* pdata = NULL; |
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| 90 | int len = 0; |
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| 91 | |||
| 92 | if(pTxBuff->Locked == FALSE) |
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| 93 | { // tx-buffer is not in use |
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| 94 | pTxBuff->Position = 0; |
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| 112 | killagreg | 95 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
| 110 | killagreg | 96 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
| 97 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
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| 98 | |||
| 99 | va_start(ap, numofbuffers); |
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| 100 | if(numofbuffers) |
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| 101 | { |
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| 102 | pdata = va_arg(ap, u8*); |
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| 103 | len = va_arg(ap, int); |
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| 104 | ptr = 0; |
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| 105 | numofbuffers--; |
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| 106 | } |
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| 107 | while(len) |
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| 108 | { |
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| 109 | if(len) |
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| 110 | { |
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| 111 | a = pdata[ptr++]; |
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| 112 | len--; |
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| 113 | if((!len) && numofbuffers) // try to jump to next buffer |
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| 114 | { |
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| 115 | pdata = va_arg(ap, u8*); |
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| 116 | len = va_arg(ap, int); |
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| 117 | ptr = 0; |
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| 118 | numofbuffers--; |
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| 119 | } |
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| 120 | } |
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| 121 | else a = 0; |
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| 122 | if(len) |
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| 123 | { |
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| 124 | b = pdata[ptr++]; |
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| 125 | len--; |
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| 126 | if((!len) && numofbuffers) // try to jump to next buffer |
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| 127 | { |
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| 128 | pdata = va_arg(ap, u8*); |
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| 129 | len = va_arg(ap, int); |
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| 130 | ptr = 0; |
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| 131 | numofbuffers--; |
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| 132 | } |
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| 133 | } |
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| 134 | else b = 0; |
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| 135 | if(len) |
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| 136 | { |
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| 137 | c = pdata[ptr++]; |
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| 138 | len--; |
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| 139 | if((!len) && numofbuffers) // try to jump to next buffer |
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| 140 | { |
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| 141 | pdata = va_arg(ap, u8*); |
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| 142 | len = va_arg(ap, int); |
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| 143 | ptr = 0; |
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| 144 | numofbuffers--; |
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| 145 | } |
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| 146 | } |
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| 147 | else c = 0; |
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| 148 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
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| 149 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 150 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 151 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
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| 152 | } |
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| 153 | va_end(ap); |
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| 154 | // add crc |
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| 155 | for(i = 0; i < pTxBuff->Position; i++) |
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| 156 | { |
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| 157 | tmpCRC += pTxBuff->pData[i]; |
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| 158 | } |
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| 159 | tmpCRC %= 4096; |
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| 160 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64; |
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| 161 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64; |
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| 162 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
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| 112 | killagreg | 163 | pTxBuff->DataBytes = pTxBuff->Position; |
| 110 | killagreg | 164 | pTxBuff->Position = 0; // reset buffer position for transmision |
| 165 | pTxBuff->Locked = TRUE; // mark as used |
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| 166 | } // EOF buffer not in use |
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| 167 | } |
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| 168 | |||
| 169 | // typical called in an UART Rx ISR |
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| 170 | /**************************************************************/ |
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| 171 | /* Collect serial frame */ |
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| 172 | /**************************************************************/ |
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| 173 | void MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
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| 174 | { |
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| 175 | if(pRxBuff->Locked == FALSE) |
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| 176 | { // rx buffer not locked |
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| 113 | killagreg | 177 | if(c == '#') // if syncronisation character is received |
| 178 | { |
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| 179 | pRxBuff->Position = 0; // reset buffer |
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| 180 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
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| 181 | pRxBuff->DataBytes = 1; |
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| 182 | } |
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| 183 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
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| 184 | { |
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| 185 | if (c != '\r') // no termination character received |
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| 186 | { |
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| 187 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
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| 188 | pRxBuff->DataBytes++; |
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| 110 | killagreg | 189 | } |
| 113 | killagreg | 190 | else // termination character received |
| 110 | killagreg | 191 | { |
| 113 | killagreg | 192 | // calculate checksum from transmitted data |
| 193 | u16 crc = 0, i; |
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| 194 | u8 crc1, crc2; |
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| 195 | for(i = 0; i < (pRxBuff->Position-2); i++) |
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| 110 | killagreg | 196 | { |
| 113 | killagreg | 197 | crc += pRxBuff->pData[i]; |
| 198 | } |
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| 199 | crc %= 4096; |
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| 200 | crc1 = '=' + crc / 64; |
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| 201 | crc2 = '=' + crc % 64; |
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| 202 | // compare checksum to transmitted checksum bytes |
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| 203 | if((crc1 == pRxBuff->pData[pRxBuff->Position-2]) && (crc2 == pRxBuff->pData[pRxBuff->Position-1])) |
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| 204 | { // checksum is valid |
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| 205 | pRxBuff->pData[pRxBuff->Position++] = '\r'; // set termination character |
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| 206 | pRxBuff->DataBytes = pRxBuff->Position; |
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| 207 | pRxBuff->Position = 0; |
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| 208 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
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| 209 | // if 2nd byte is an 'R' start bootloader |
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| 210 | if(pRxBuff->pData[2] == 'R') |
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| 211 | { |
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| 212 | PowerOff(); |
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| 213 | VIC_DeInit(); |
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| 214 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
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| 215 | } |
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| 216 | } // eof checksum valid |
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| 217 | else |
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| 218 | { // checksum is invalid |
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| 219 | Buffer_Clear(pRxBuff); |
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| 220 | } // eof checksum invalid |
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| 221 | } // eof termination character received |
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| 222 | } // rxd buffer not full |
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| 223 | else // rxd buffer overrun |
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| 224 | { |
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| 225 | Buffer_Clear(pRxBuff); |
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| 226 | } // eof rxd buffer overrrun |
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| 110 | killagreg | 227 | } |
| 228 | } |
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| 229 | |||
| 230 | /**************************************************************/ |
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| 231 | /* Decode data */ |
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| 232 | /**************************************************************/ |
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| 233 | void MKProtocol_DecodeSerialFrame(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
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| 234 | { |
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| 235 | u8 a,b,c,d; |
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| 236 | u8 x,y,z; |
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| 237 | u8 ptrIn = 3; // start with first data byte in rx buffer |
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| 238 | u8 ptrOut = 3; |
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| 112 | killagreg | 239 | u8 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
| 110 | killagreg | 240 | while(len) |
| 241 | { |
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| 242 | a = pRxBuff->pData[ptrIn++] - '='; |
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| 243 | b = pRxBuff->pData[ptrIn++] - '='; |
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| 244 | c = pRxBuff->pData[ptrIn++] - '='; |
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| 245 | d = pRxBuff->pData[ptrIn++] - '='; |
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| 246 | //if(ptrIn > ReceivedBytes - 3) break; |
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| 247 | |||
| 248 | x = (a << 2) | (b >> 4); |
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| 249 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 250 | z = ((c & 0x03) << 6) | d; |
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| 251 | |||
| 252 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
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| 253 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
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| 254 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
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| 255 | } |
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| 256 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
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| 257 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
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| 258 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
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| 259 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
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| 112 | killagreg | 260 | pRxBuff->Position = 0; |
| 261 | pRxBuff->DataBytes = ptrOut; |
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| 110 | killagreg | 262 | } |