Subversion Repositories NaviCtrl

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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdarg.h>

#include <stdio.h>

#include "91x_lib.h"

#include "mkprotocol.h" 

#include "ramfunc.h"

#include "uart1.h"

#include "main.h"

#include "GPS.h"

/**************************************************************/

/* Create serial output frame                                 */

/**************************************************************/

u8 AddSerialData(Buffer_t* pTxBuff, u8 *buffer, u16 size) //u8 *data, u8 len, ....

{

  unsigned int i;

        if(pTxBuff->Locked == TRUE) return(0);

        // tx-buffer is not in use

        // lock the buffer

        pTxBuff->Locked = TRUE;

        pTxBuff->Position = 0;

        for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];                     

        pTxBuff->DataBytes = pTxBuff->Position;

        pTxBuff->Position = 0;  // reset buffer position for transmision

        return(pTxBuff->Locked);

}

/**************************************************************/

/* Create serial output frame                                 */

/**************************************************************/

u16 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....

{

        va_list ap;

        u8 a,b,c;

        u16 ptr = 0;

        u16 tmpCRC = 0, i;

        u8* pdata = NULL;

        int len = 0;

        if(pTxBuff->Locked == TRUE) return(0);

        // tx-buffer is not in use

        // lock the buffer

        pTxBuff->Locked = TRUE;

        pTxBuff->Position = 0;

        pTxBuff->pData[pTxBuff->Position++] = '#';                          // Start character

        pTxBuff->pData[pTxBuff->Position++] = 'a' + Address;    // Address (a=0; b=1,...)

        pTxBuff->pData[pTxBuff->Position++] = CmdID;                    // Command

        va_start(ap, numofbuffers);

        if(numofbuffers)

        {

                pdata = va_arg(ap, u8*);

                len = va_arg(ap, int);

                ptr = 0;

                numofbuffers--;

        }

        while(len)

        {

                if(len)

                {

                        a = pdata[ptr++];

                        len--;

                        if((!len) && numofbuffers) // try to jump to next buffer

                        {

                                pdata = va_arg(ap, u8*);

                                len = va_arg(ap, int);

                                ptr = 0;

                                numofbuffers--;

                        }

                }

                else a = 0;

                if(len)

                {

                        b = pdata[ptr++];

                        len--;

                        if((!len) && numofbuffers) // try to jump to next buffer

                        {

                                pdata = va_arg(ap, u8*);

                                len = va_arg(ap, int);

                                ptr = 0;

                                numofbuffers--;

                        }

                }

                else b = 0;

                if(len)

                {

                        c = pdata[ptr++];

                        len--;

                        if((!len) && numofbuffers) // try to jump to next buffer

                        {

                                pdata = va_arg(ap, u8*);

                                len = va_arg(ap, int);

                                ptr = 0;

                                numofbuffers--;

                        }

                }

                else c = 0;

                pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);

                pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

                pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

                pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);

        }

        va_end(ap);

        // add crc

        for(i = 0; i < pTxBuff->Position; i++)

        {

                tmpCRC += pTxBuff->pData[i];

        }

        tmpCRC %= 4096;

        pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;

        pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;

        pTxBuff->pData[pTxBuff->Position++] = '\r';

        pTxBuff->DataBytes = pTxBuff->Position;

        pTxBuff->Position = 0;  // reset buffer position for transmision

//      return(pTxBuff->Locked);

        return(pTxBuff->DataBytes);

}

// typical called in an UART Rx ISR

/**************************************************************/

/* Collect serial frame                                       */

/**************************************************************/

u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)

{

        if(pRxBuff->Locked == FALSE)

        { // rx buffer not locked

                if(c == '#') // if syncronisation character is received

                {

                        pRxBuff->Position = 0;                                          // reset buffer

                        pRxBuff->pData[pRxBuff->Position++] = c;        // copy 1st byte to buffer

                        pRxBuff->DataBytes = 1;

                }

                else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full

                {

                        pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer

                        pRxBuff->DataBytes++;

                        // termination character received and sync has been established

                        if ((c == '\r') && (pRxBuff->pData[0]== '#'))

                        {

                                // calculate checksum from transmitted data

                                u16 crc = 0, i;

                                u8 crc1, crc2;

                                for(i = 0; i < (pRxBuff->Position-3); i++)

                                {

                                        crc +=  pRxBuff->pData[i];  

                                }              

                                crc %= 4096;

                                crc1 = '=' + crc / 64;

                                crc2 = '=' + crc % 64;

                                // compare checksum to transmitted checksum bytes

                                if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))

                                {

                                    // checksum is valid

                                        pRxBuff->Position = 0;                                 

                                        pRxBuff->Locked = TRUE;                                     // lock the rxd buffer 

                                        // if 2nd byte is an 'R' start bootloader

                                        if(pRxBuff->pData[2] == 'R' && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)

                                        {

                                                VIC_DeInit();

                                                Execute_Bootloader(); // Reset-Commando - Bootloader starten

                                        }

                                } // eof checksum valid

                                else

                                {       // checksum is invalid

                                        Buffer_Clear(pRxBuff);

                                }  // eof checksum invalid

                        } // eof termination character received

                } // rxd buffer not full

                else // rxd buffer overrun

                {

                        Buffer_Clear(pRxBuff);

                } // eof rxd buffer overrun

        }

        return(pRxBuff->Locked);

}

/**************************************************************/

/* Decode detination address                                  */

/**************************************************************/

void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)

{

        if(pRxBuff->Locked)

        {

                pSerialMsg->Address = pRxBuff->pData[1] - 'a';

                pSerialMsg->CmdID = pRxBuff->pData[2];

        }

        else

        {

                pSerialMsg->Address = 0;

                pSerialMsg->CmdID = ' ';

        }      

}

/**************************************************************/

/* Decode data                                                */

/**************************************************************/

void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)

{

        u8 a,b,c,d;

        u16 ptrIn = 3; // start with first data byte in rx buffer

        u16 ptrOut = 3;

        u16 len = pRxBuff->DataBytes - 6;        // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )

        len/=4;   // number of 4 byte blocks

        while(len--)

        {

                a = pRxBuff->pData[ptrIn++] - '=';

                b = pRxBuff->pData[ptrIn++] - '=';

                c = pRxBuff->pData[ptrIn++] - '=';

                d = pRxBuff->pData[ptrIn++] - '=';

                pRxBuff->pData[ptrOut++] = (a << 2) | (b >> 4);

                pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2);

                pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) | d;

        }

        pSerialMsg->pData = &(pRxBuff->pData[3]);

        pSerialMsg->DataLen = ptrOut - 3;       // return number of data in bytes

        pRxBuff->Position = 0;

        pRxBuff->DataBytes = ptrOut;

}

/*

void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)

{

        u8 a,b,c,d;

        u8 x,y,z;

        u16 ptrIn = 3; // start with first data byte in rx buffer

        u16 ptrOut = 3;

        u16 len = pRxBuff->DataBytes - 6;        // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )

        while(len)

        {

                a = pRxBuff->pData[ptrIn++] - '=';

                b = pRxBuff->pData[ptrIn++] - '=';

                c = pRxBuff->pData[ptrIn++] - '=';

                d = pRxBuff->pData[ptrIn++] - '=';

                //if(ptrIn > ReceivedBytes - 3) break;

                x = (a << 2) | (b >> 4);

                y = ((b & 0x0f) << 4) | (c >> 2);

                z = ((c & 0x03) << 6) | d;

                if(len--) pRxBuff->pData[ptrOut++] = x; else break;

                if(len--) pRxBuff->pData[ptrOut++] = y; else break;

                if(len--) pRxBuff->pData[ptrOut++] = z; else break;

        }

        pSerialMsg->pData = &(pRxBuff->pData[3]);

        pSerialMsg->DataLen = ptrOut - 3;       // return number of data in bytes

        pRxBuff->Position = 0;

        pRxBuff->DataBytes = ptrOut;

}

*/