Subversion Repositories NaviCtrl

Rev

Rev 596 | Blame | Compare with Previous | Last modification | View Log | RSS feed

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