WebSVN - NaviCtrl - Diff - Rev 558 and 596


/*#######################################################################################*/
/* !!! 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;
}
*/
 
 

Rev 558	Rev 596
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
35	// + 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	35	// + 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
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + The Software may only be used with the Licensor's products.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	#include <stdarg.h>	56	#include <stdarg.h>
57	#include <stdio.h>	57	#include <stdio.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "mkprotocol.h"	59	#include "mkprotocol.h"
60	#include "ramfunc.h"	60	#include "ramfunc.h"
61	#include "uart1.h"	61	#include "uart1.h"
62	#include "main.h"	62	#include "main.h"
63	#include "GPS.h"	63	#include "GPS.h"
64		64
65	/**************************************************************/	65	/**************************************************************/
66	/* Create serial output frame */	66	/* Create serial output frame */
67	/**************************************************************/	67	/**************************************************************/
68	u8 AddSerialData(Buffer_t* pTxBuff, u8 buffer, u16 size) //u8 data, u8 len, ....	68	u8 AddSerialData(Buffer_t* pTxBuff, u8 buffer, u16 size) //u8 data, u8 len, ....
69	{	69	{
70	unsigned int i;	70	unsigned int i;
71	if(pTxBuff->Locked == TRUE) return(0);	71	if(pTxBuff->Locked == TRUE) return(0);
72	// tx-buffer is not in use	72	// tx-buffer is not in use
73	// lock the buffer	73	// lock the buffer
74	pTxBuff->Locked = TRUE;	74	pTxBuff->Locked = TRUE;
75	pTxBuff->Position = 0;	75	pTxBuff->Position = 0;
76	for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];	76	for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];
77	pTxBuff->DataBytes = pTxBuff->Position;	77	pTxBuff->DataBytes = pTxBuff->Position;
78	pTxBuff->Position = 0; // reset buffer position for transmision	78	pTxBuff->Position = 0; // reset buffer position for transmision
79	return(pTxBuff->Locked);	79	return(pTxBuff->Locked);
80	}	80	}
81		81
82	/**************************************************************/	82	/**************************************************************/
83	/* Create serial output frame */	83	/* Create serial output frame */
84	/**************************************************************/	84	/**************************************************************/
85	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....	85	u16 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
86	{	86	{
87	va_list ap;	87	va_list ap;
88		88
89	u8 a,b,c;	89	u8 a,b,c;
90	u16 ptr = 0;	90	u16 ptr = 0;
91	u16 tmpCRC = 0, i;	91	u16 tmpCRC = 0, i;
92		92
93	u8* pdata = NULL;	93	u8* pdata = NULL;
94	int len = 0;	94	int len = 0;
95		95
96	if(pTxBuff->Locked == TRUE) return(0);	96	if(pTxBuff->Locked == TRUE) return(0);
97		97
98	// tx-buffer is not in use	98	// tx-buffer is not in use
99	// lock the buffer	99	// lock the buffer
100	pTxBuff->Locked = TRUE;	100	pTxBuff->Locked = TRUE;
101	pTxBuff->Position = 0;	101	pTxBuff->Position = 0;
102	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character	102	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character
103	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)	103	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)
104	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command	104	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command
105		105
106	va_start(ap, numofbuffers);	106	va_start(ap, numofbuffers);
107	if(numofbuffers)	107	if(numofbuffers)
108	{	108	{
109	pdata = va_arg(ap, u8*);	109	pdata = va_arg(ap, u8*);
110	len = va_arg(ap, int);	110	len = va_arg(ap, int);
111	ptr = 0;	111	ptr = 0;
112	numofbuffers--;	112	numofbuffers--;
113	}	113	}
114	while(len)	114	while(len)
115	{	115	{
116	if(len)	116	if(len)
117	{	117	{
118	a = pdata[ptr++];	118	a = pdata[ptr++];
119	len--;	119	len--;
120	if((!len) && numofbuffers) // try to jump to next buffer	120	if((!len) && numofbuffers) // try to jump to next buffer
121	{	121	{
122	pdata = va_arg(ap, u8*);	122	pdata = va_arg(ap, u8*);
123	len = va_arg(ap, int);	123	len = va_arg(ap, int);
124	ptr = 0;	124	ptr = 0;
125	numofbuffers--;	125	numofbuffers--;
126	}	126	}
127	}	127	}
128	else a = 0;	128	else a = 0;
129	if(len)	129	if(len)
130	{	130	{
131	b = pdata[ptr++];	131	b = pdata[ptr++];
132	len--;	132	len--;
133	if((!len) && numofbuffers) // try to jump to next buffer	133	if((!len) && numofbuffers) // try to jump to next buffer
134	{	134	{
135	pdata = va_arg(ap, u8*);	135	pdata = va_arg(ap, u8*);
136	len = va_arg(ap, int);	136	len = va_arg(ap, int);
137	ptr = 0;	137	ptr = 0;
138	numofbuffers--;	138	numofbuffers--;
139	}	139	}
140	}	140	}
141	else b = 0;	141	else b = 0;
142	if(len)	142	if(len)
143	{	143	{
144	c = pdata[ptr++];	144	c = pdata[ptr++];
145	len--;	145	len--;
146	if((!len) && numofbuffers) // try to jump to next buffer	146	if((!len) && numofbuffers) // try to jump to next buffer
147	{	147	{
148	pdata = va_arg(ap, u8*);	148	pdata = va_arg(ap, u8*);
149	len = va_arg(ap, int);	149	len = va_arg(ap, int);
150	ptr = 0;	150	ptr = 0;
151	numofbuffers--;	151	numofbuffers--;
152	}	152	}
153	}	153	}
154	else c = 0;	154	else c = 0;
155	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);	155	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);
156	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	156	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
157	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	157	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
158	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);	158	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);
159	}	159	}
160	va_end(ap);	160	va_end(ap);
161	// add crc	161	// add crc
162	for(i = 0; i < pTxBuff->Position; i++)	162	for(i = 0; i < pTxBuff->Position; i++)
163	{	163	{
164	tmpCRC += pTxBuff->pData[i];	164	tmpCRC += pTxBuff->pData[i];
165	}	165	}
166	tmpCRC %= 4096;	166	tmpCRC %= 4096;
167	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;	167	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;
168	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;	168	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;
169	pTxBuff->pData[pTxBuff->Position++] = '\r';	169	pTxBuff->pData[pTxBuff->Position++] = '\r';
170	pTxBuff->DataBytes = pTxBuff->Position;	170	pTxBuff->DataBytes = pTxBuff->Position;
171	pTxBuff->Position = 0; // reset buffer position for transmision	171	pTxBuff->Position = 0; // reset buffer position for transmision
172	return(pTxBuff->Locked);	172	// return(pTxBuff->Locked);
-		173	return(pTxBuff->DataBytes);
173	}	174	}
174		175
175	// typical called in an UART Rx ISR	176	// typical called in an UART Rx ISR
176	/**************************************************************/	177	/**************************************************************/
177	/* Collect serial frame */	178	/* Collect serial frame */
178	/**************************************************************/	179	/**************************************************************/
179	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)	180	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)
180	{	181	{
181	if(pRxBuff->Locked == FALSE)	182	if(pRxBuff->Locked == FALSE)
182	{ // rx buffer not locked	183	{ // rx buffer not locked
183	if(c == '#') // if syncronisation character is received	184	if(c == '#') // if syncronisation character is received
184	{	185	{
185	pRxBuff->Position = 0; // reset buffer	186	pRxBuff->Position = 0; // reset buffer
186	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer	187	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer
187	pRxBuff->DataBytes = 1;	188	pRxBuff->DataBytes = 1;
188	}	189	}
189	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full	190	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full
190	{	191	{
191	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer	192	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer
192	pRxBuff->DataBytes++;	193	pRxBuff->DataBytes++;
193	// termination character received and sync has been established	194	// termination character received and sync has been established
194	if ((c == '\r') && (pRxBuff->pData[0]== '#'))	195	if ((c == '\r') && (pRxBuff->pData[0]== '#'))
195	{	196	{
196	// calculate checksum from transmitted data	197	// calculate checksum from transmitted data
197	u16 crc = 0, i;	198	u16 crc = 0, i;
198	u8 crc1, crc2;	199	u8 crc1, crc2;
199	for(i = 0; i < (pRxBuff->Position-3); i++)	200	for(i = 0; i < (pRxBuff->Position-3); i++)
200	{	201	{
201	crc += pRxBuff->pData[i];	202	crc += pRxBuff->pData[i];
202	}	203	}
203	crc %= 4096;	204	crc %= 4096;
204	crc1 = '=' + crc / 64;	205	crc1 = '=' + crc / 64;
205	crc2 = '=' + crc % 64;	206	crc2 = '=' + crc % 64;
206	// compare checksum to transmitted checksum bytes	207	// compare checksum to transmitted checksum bytes
207	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))	208	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))
208	{	209	{
209	// checksum is valid	210	// checksum is valid
210	pRxBuff->Position = 0;	211	pRxBuff->Position = 0;
211	pRxBuff->Locked = TRUE; // lock the rxd buffer	212	pRxBuff->Locked = TRUE; // lock the rxd buffer
212	// if 2nd byte is an 'R' start bootloader	213	// if 2nd byte is an 'R' start bootloader
213	if(pRxBuff->pData[2] == 'R' && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)	214	if(pRxBuff->pData[2] == 'R' && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)
214	{	215	{
215	VIC_DeInit();	216	VIC_DeInit();
216	Execute_Bootloader(); // Reset-Commando - Bootloader starten	217	Execute_Bootloader(); // Reset-Commando - Bootloader starten
217	}	218	}
218	} // eof checksum valid	219	} // eof checksum valid
219	else	220	else
220	{ // checksum is invalid	221	{ // checksum is invalid
221	Buffer_Clear(pRxBuff);	222	Buffer_Clear(pRxBuff);
222	} // eof checksum invalid	223	} // eof checksum invalid
223	} // eof termination character received	224	} // eof termination character received
224	} // rxd buffer not full	225	} // rxd buffer not full
225	else // rxd buffer overrun	226	else // rxd buffer overrun
226	{	227	{
227	Buffer_Clear(pRxBuff);	228	Buffer_Clear(pRxBuff);
228	} // eof rxd buffer overrun	229	} // eof rxd buffer overrun
229	}	230	}
230	return(pRxBuff->Locked);	231	return(pRxBuff->Locked);
231	}	232	}
232		233
233	/**************************************************************/	234	/**************************************************************/
234	/* Decode detination address */	235	/* Decode detination address */
235	/**************************************************************/	236	/**************************************************************/
236	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	237	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
237	{	238	{
238	if(pRxBuff->Locked)	239	if(pRxBuff->Locked)
239	{	240	{
240	pSerialMsg->Address = pRxBuff->pData[1] - 'a';	241	pSerialMsg->Address = pRxBuff->pData[1] - 'a';
241	pSerialMsg->CmdID = pRxBuff->pData[2];	242	pSerialMsg->CmdID = pRxBuff->pData[2];
242	}	243	}
243	else	244	else
244	{	245	{
245	pSerialMsg->Address = 0;	246	pSerialMsg->Address = 0;
246	pSerialMsg->CmdID = ' ';	247	pSerialMsg->CmdID = ' ';
247	}	248	}
248	}	249	}
249		250
250	/**************************************************************/	251	/**************************************************************/
251	/* Decode data */	252	/* Decode data */
252	/**************************************************************/	253	/**************************************************************/
253	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	254	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
254	{	255	{
255	u8 a,b,c,d;	256	u8 a,b,c,d;
256	u16 ptrIn = 3; // start with first data byte in rx buffer	257	u16 ptrIn = 3; // start with first data byte in rx buffer
257	u16 ptrOut = 3;	258	u16 ptrOut = 3;
258	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	259	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
259		260
260	len/=4; // number of 4 byte blocks	261	len/=4; // number of 4 byte blocks
261	while(len--)	262	while(len--)
262	{	263	{
263	a = pRxBuff->pData[ptrIn++] - '=';	264	a = pRxBuff->pData[ptrIn++] - '=';
264	b = pRxBuff->pData[ptrIn++] - '=';	265	b = pRxBuff->pData[ptrIn++] - '=';
265	c = pRxBuff->pData[ptrIn++] - '=';	266	c = pRxBuff->pData[ptrIn++] - '=';
266	d = pRxBuff->pData[ptrIn++] - '=';	267	d = pRxBuff->pData[ptrIn++] - '=';
267		268
268	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);	269	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);
269	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);	270	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);
270	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;	271	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;
271	}	272	}
272	pSerialMsg->pData = &(pRxBuff->pData[3]);	273	pSerialMsg->pData = &(pRxBuff->pData[3]);
273	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	274	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
274	pRxBuff->Position = 0;	275	pRxBuff->Position = 0;
275	pRxBuff->DataBytes = ptrOut;	276	pRxBuff->DataBytes = ptrOut;
276	}	277	}
277		278
278	/*	279	/*
279	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	280	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
280	{	281	{
281	u8 a,b,c,d;	282	u8 a,b,c,d;
282	u8 x,y,z;	283	u8 x,y,z;
283	u16 ptrIn = 3; // start with first data byte in rx buffer	284	u16 ptrIn = 3; // start with first data byte in rx buffer
284	u16 ptrOut = 3;	285	u16 ptrOut = 3;
285	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	286	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
286	while(len)	287	while(len)
287	{	288	{
288	a = pRxBuff->pData[ptrIn++] - '=';	289	a = pRxBuff->pData[ptrIn++] - '=';
289	b = pRxBuff->pData[ptrIn++] - '=';	290	b = pRxBuff->pData[ptrIn++] - '=';
290	c = pRxBuff->pData[ptrIn++] - '=';	291	c = pRxBuff->pData[ptrIn++] - '=';
291	d = pRxBuff->pData[ptrIn++] - '=';	292	d = pRxBuff->pData[ptrIn++] - '=';
292	//if(ptrIn > ReceivedBytes - 3) break;	293	//if(ptrIn > ReceivedBytes - 3) break;
293		294
294	x = (a << 2) \| (b >> 4);	295	x = (a << 2) \| (b >> 4);
295	y = ((b & 0x0f) << 4) \| (c >> 2);	296	y = ((b & 0x0f) << 4) \| (c >> 2);
296	z = ((c & 0x03) << 6) \| d;	297	z = ((c & 0x03) << 6) \| d;
297		298
298	if(len--) pRxBuff->pData[ptrOut++] = x; else break;	299	if(len--) pRxBuff->pData[ptrOut++] = x; else break;
299	if(len--) pRxBuff->pData[ptrOut++] = y; else break;	300	if(len--) pRxBuff->pData[ptrOut++] = y; else break;
300	if(len--) pRxBuff->pData[ptrOut++] = z; else break;	301	if(len--) pRxBuff->pData[ptrOut++] = z; else break;
301	}	302	}
302	pSerialMsg->pData = &(pRxBuff->pData[3]);	303	pSerialMsg->pData = &(pRxBuff->pData[3]);
303	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	304	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
304	pRxBuff->Position = 0;	305	pRxBuff->Position = 0;
305	pRxBuff->DataBytes = ptrOut;	306	pRxBuff->DataBytes = ptrOut;
306	}	307	}
307	*/	308	*/
308		309
309		310

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(root)/tags/V2.18a/mkprotocol.c @ 814 - Rev 558 → 596