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391 | Brean | 1 | #include <Parser.h> |
2 | |||
449 | Brean | 3 | /** |
4 | * create a frame that can be send to the MK using the |
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5 | * connection class. |
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6 | * see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
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7 | * how the protocol is encoded and |
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8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
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9 | * to look at the possible commands that are already coded |
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10 | * in data |
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11 | */ |
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12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
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13 | //if # is cmd we do not touch anything, because |
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14 | // the command is already encoded in data |
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15 | if (cmd != '#') { |
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16 | /* |
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17 | //calculate buffer length |
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18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
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19 | //(the rest for the data length - see encode how this is calculated) |
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20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
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21 | |||
22 | //allociate memory for the data we want to send |
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23 | char * send_data = (char *)malloc(buf_len); |
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24 | */ |
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25 | char send_data[150]; |
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26 | send_data[0]='#'; |
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27 | send_data[1]=(char)address; |
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28 | send_data[2]=cmd; |
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29 | for (int i = 0; i < length; i++) |
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30 | send_data[i+3] = data[i]; |
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31 | //TODO: abgleich mit MKCommunication::send_command |
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32 | Parser::encode64(send_data, length); |
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33 | address = 'a' + address; |
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34 | |||
35 | } |
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36 | } |
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37 | |||
38 | |||
39 | /** |
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40 | * Base64 Decoder |
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41 | * see Parser.h for details about sRxData |
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42 | * data = data that will be decoded |
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43 | * len = length of data |
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44 | * ptrOut = pointer to decoded data |
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45 | * offset = offset in data |
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46 | */ |
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47 | int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
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391 | Brean | 48 | { |
49 | unsigned char a,b,c,d; |
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50 | unsigned char ptr = 0; |
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51 | unsigned char x,y,z; |
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52 | |||
53 | int decLen = 0; |
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449 | Brean | 54 | /* |
55 | //FIXME: dies wieder einklammern! |
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56 | if (data[ptrIn] == 0) { |
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57 | return -1; |
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396 | Brean | 58 | //TODO: catch error to show that something went wrong during the decode process |
59 | //throw "Nothing received"; |
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391 | Brean | 60 | } |
449 | Brean | 61 | */ |
62 | //decode data |
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63 | while(len) { |
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64 | a = data[offset++] - '='; |
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65 | b = data[offset++] - '='; |
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66 | c = data[offset++] - '='; |
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67 | d = data[offset++] - '='; |
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391 | Brean | 68 | |
449 | Brean | 69 | //if(offset > max - 2) break; |
391 | Brean | 70 | |
71 | x = (a << 2) | (b >> 4); |
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72 | y = ((b & 0x0f) << 4) | (c >> 2); |
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73 | z = ((c & 0x03) << 6) | d; |
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74 | |||
75 | if(len--) ptrOut[ptr++] = x; else break; |
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76 | if(len--) ptrOut[ptr++] = y; else break; |
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77 | if(len--) ptrOut[ptr++] = z; else break; |
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78 | } |
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449 | Brean | 79 | //decoded data |
80 | unsigned char * decData; |
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391 | Brean | 81 | for (int a=0; a<ptr; a++) { |
449 | Brean | 82 | if (len) { |
83 | decData[decLen] = ptrOut[a]; |
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84 | decLen++; |
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85 | } else { |
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391 | Brean | 86 | int b1, b2, b3; |
87 | |||
88 | b1 = ptrOut[a++]; |
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89 | b2 = ptrOut[a]; |
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90 | |||
91 | b3 = (b2 << 8) | b1; |
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92 | |||
93 | if (b3 > 32767) |
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94 | b3 = b3 - 65536; |
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95 | |||
449 | Brean | 96 | decData[decLen] = b3; |
396 | Brean | 97 | decLen++; |
391 | Brean | 98 | } |
99 | } |
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449 | Brean | 100 | ptrOut = decData; |
101 | return decLen; |
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391 | Brean | 102 | } |
103 | |||
449 | Brean | 104 | /** |
105 | * base64 encoder |
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106 | */ |
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107 | void Parser::encode64(char data[150],unsigned int length) |
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391 | Brean | 108 | { |
109 | unsigned int pt = 0; |
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110 | unsigned char a,b,c; |
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111 | unsigned char ptr = 0; |
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112 | |||
113 | char tx_buff[150]; |
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114 | |||
396 | Brean | 115 | while(length > 0) |
391 | Brean | 116 | { |
396 | Brean | 117 | if(length) { a = data[ptr++]; length--;} else a = 0; |
118 | if(length) { b = data[ptr++]; length--;} else b = 0; |
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119 | if(length) { c = data[ptr++]; length--;} else c = 0; |
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391 | Brean | 120 | |
121 | tx_buff[pt++] = '=' + (a >> 2); |
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122 | tx_buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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123 | tx_buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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124 | tx_buff[pt++] = '=' + ( c & 0x3f); |
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125 | } |
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126 | tx_buff[pt] = 0; |
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127 | |||
449 | Brean | 128 | //move pointer of tx_buff to data |
129 | data = tx_buff; |
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391 | Brean | 130 | } |
131 | |||
132 | // Datensatz nach 8bit Integer |
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133 | int Parser::dataToChar(int *data , int start, bool is_signed) { |
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134 | int out = (data[start]); |
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135 | |||
136 | if ((out > 128) && (is_signed)) |
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137 | out = out - 256; |
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138 | |||
139 | return out; |
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140 | } |
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141 | |||
449 | Brean | 142 | /** |
143 | * received char to 8 bit integer |
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144 | */ |
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391 | Brean | 145 | int Parser::charToData(int data) { |
146 | if (data < 0) |
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147 | return data + 256; |
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148 | return data; |
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149 | } |
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150 | |||
449 | Brean | 151 | /** |
152 | * convert data to 16bit Integer |
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153 | */ |
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391 | Brean | 154 | int Parser::dataToInt(int *Data , int Start, bool is_signed) |
155 | { |
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156 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
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157 | |||
158 | if ((Out > 32767) && (is_signed)) |
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159 | Out = Out - 65536; |
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160 | |||
161 | return Out; |
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162 | |||
163 | } |
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164 | |||
449 | Brean | 165 | /** |
166 | * convert data to 32bit Long |
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167 | */ |
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391 | Brean | 168 | long Parser::dataToLong(int *Data , int Start, bool is_signed) |
169 | { |
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170 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
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171 | |||
172 | if ((Out > 32767) && (is_signed)) |
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173 | Out = Out; |
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174 | |||
175 | return Out; |
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176 | } |
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177 | |||
178 | float Parser::getFloat(long value, int count) |
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179 | { |
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396 | Brean | 180 | long num = pow(10, count); |
391 | Brean | 181 | |
182 | float temp = value; |
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183 | |||
396 | Brean | 184 | return temp / num; |
391 | Brean | 185 | } |
186 | |||
449 | Brean | 187 | /** |
188 | * check CRC |
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189 | */ |
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190 | bool Parser::check_CRC(char * rx, int length) |
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391 | Brean | 191 | { |
192 | int CRC = 0; |
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193 | |||
449 | Brean | 194 | if (rx[1] == 127) |
391 | Brean | 195 | { |
449 | Brean | 196 | rx[1] = 0; |
391 | Brean | 197 | } |
198 | |||
199 | for(int i=0; i < length-2; i++) |
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200 | { |
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449 | Brean | 201 | CRC+=rx[i]; |
391 | Brean | 202 | } |
203 | |||
204 | CRC = CRC % 4096; |
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205 | |||
449 | Brean | 206 | if(rx[length - 2] != ('=' + (CRC / 64))) |
391 | Brean | 207 | { |
208 | return false; |
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209 | } |
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210 | |||
449 | Brean | 211 | if(rx[length - 1] != ('=' + CRC % 64)) |
391 | Brean | 212 | { |
213 | return false; |
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214 | } |
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215 | |||
216 | return true; |
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217 | } |
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218 | |||
449 | Brean | 219 | /** |
220 | * create CRC and add it to tx |
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221 | */ |
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222 | void Parser::add_CRC(char * tx, int length) |
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391 | Brean | 223 | { |
224 | unsigned int tmpCRC = 0; |
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225 | |||
226 | for(int i = 0; i < length; i++) |
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227 | { |
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449 | Brean | 228 | tmpCRC += tx[i]; |
391 | Brean | 229 | } |
230 | |||
231 | tmpCRC %= 4096; |
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232 | |||
449 | Brean | 233 | tx[length-2] = '=' + tmpCRC / 64; |
234 | tx[length-1] = '=' + tmpCRC % 64; |
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235 | tx[length] = '\0'; |
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391 | Brean | 236 | } |
237 |