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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include "91x_lib.h" |
| #include "mkprotocol.h" |
| #include "ramfunc.h" |
| #include "usb.h" |
| |
| /**************************************************************/ |
| /* Create serial output frame */ |
| /**************************************************************/ |
| u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
| { |
| va_list ap; |
| |
| u8 a,b,c; |
| u8 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); |
| } |
| |
| // 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') |
| { |
| PowerOff(); |
| 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; |
| u8 x,y,z; |
| u8 ptrIn = 3; // start with first data byte in rx buffer |
| u8 ptrOut = 3; |
| u8 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; |
| } |