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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; |
| } |
| */ |
| |