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110 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
110 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
110 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
110 | killagreg | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <string.h> |
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58 | #include <stdarg.h> |
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59 | #include "91x_lib.h" |
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60 | #include "mkprotocol.h" |
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61 | #include "ramfunc.h" |
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62 | #include "usb.h" |
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63 | |||
112 | killagreg | 64 | void Buffer_Clear(Buffer_t* pBuffer) |
65 | { |
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66 | pBuffer->DataBytes = 0; |
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67 | pBuffer->Position = 0; |
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68 | pBuffer->Locked = FALSE; |
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69 | } |
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110 | killagreg | 70 | |
112 | killagreg | 71 | void Buffer_Init(Buffer_t* pBuffer, u8* pDataBuffer, u16 DataBufferSize) |
72 | { |
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73 | pBuffer->pData = pDataBuffer; |
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74 | pBuffer->Size = DataBufferSize; |
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75 | Buffer_Clear(pBuffer); |
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76 | } |
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77 | |||
190 | killagreg | 78 | u8 Buffer_Copy(Buffer_t* pSrcBuffer, Buffer_t* pDstBuffer) |
79 | { |
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80 | u8 retval = 0; |
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81 | |||
82 | if( (pSrcBuffer != NULL) && (pDstBuffer != NULL) ) |
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83 | { |
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84 | if(pSrcBuffer->Locked && !(pDstBuffer->Locked) && (pDstBuffer->Size >= pSrcBuffer->DataBytes)) |
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85 | { |
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86 | memcpy(pDstBuffer->pData, pSrcBuffer->pData, pSrcBuffer->DataBytes); |
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87 | pDstBuffer->DataBytes = pSrcBuffer->DataBytes; |
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88 | pDstBuffer->Position = 0; |
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89 | pDstBuffer->Locked = TRUE; |
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90 | retval = 1; |
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91 | } |
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92 | } |
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93 | return retval; |
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94 | } |
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95 | |||
110 | killagreg | 96 | /**************************************************************/ |
97 | /* Create serial output frame */ |
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98 | /**************************************************************/ |
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99 | void MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
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100 | { |
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101 | va_list ap; |
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102 | |||
103 | u8 a,b,c; |
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104 | u8 ptr = 0; |
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105 | u16 tmpCRC = 0, i; |
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106 | |||
107 | u8* pdata = NULL; |
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108 | int len = 0; |
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109 | |||
110 | if(pTxBuff->Locked == FALSE) |
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111 | { // tx-buffer is not in use |
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151 | killagreg | 112 | // lock the buffer |
113 | pTxBuff->Locked = TRUE; |
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110 | killagreg | 114 | pTxBuff->Position = 0; |
112 | killagreg | 115 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
110 | killagreg | 116 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
117 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
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118 | |||
119 | va_start(ap, numofbuffers); |
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120 | if(numofbuffers) |
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121 | { |
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122 | pdata = va_arg(ap, u8*); |
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123 | len = va_arg(ap, int); |
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124 | ptr = 0; |
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125 | numofbuffers--; |
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126 | } |
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127 | while(len) |
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128 | { |
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129 | if(len) |
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130 | { |
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131 | a = pdata[ptr++]; |
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132 | len--; |
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133 | if((!len) && numofbuffers) // try to jump to next buffer |
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134 | { |
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135 | pdata = va_arg(ap, u8*); |
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136 | len = va_arg(ap, int); |
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137 | ptr = 0; |
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138 | numofbuffers--; |
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139 | } |
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140 | } |
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141 | else a = 0; |
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142 | if(len) |
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143 | { |
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144 | b = pdata[ptr++]; |
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145 | len--; |
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146 | if((!len) && numofbuffers) // try to jump to next buffer |
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147 | { |
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148 | pdata = va_arg(ap, u8*); |
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149 | len = va_arg(ap, int); |
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150 | ptr = 0; |
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151 | numofbuffers--; |
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152 | } |
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153 | } |
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154 | else b = 0; |
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155 | if(len) |
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156 | { |
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157 | c = pdata[ptr++]; |
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158 | len--; |
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159 | if((!len) && numofbuffers) // try to jump to next buffer |
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160 | { |
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161 | pdata = va_arg(ap, u8*); |
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162 | len = va_arg(ap, int); |
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163 | ptr = 0; |
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164 | numofbuffers--; |
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165 | } |
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166 | } |
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167 | else c = 0; |
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168 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
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169 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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170 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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171 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
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172 | } |
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173 | va_end(ap); |
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174 | // add crc |
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175 | for(i = 0; i < pTxBuff->Position; i++) |
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176 | { |
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177 | tmpCRC += pTxBuff->pData[i]; |
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178 | } |
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179 | tmpCRC %= 4096; |
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180 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64; |
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181 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64; |
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182 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
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112 | killagreg | 183 | pTxBuff->DataBytes = pTxBuff->Position; |
110 | killagreg | 184 | pTxBuff->Position = 0; // reset buffer position for transmision |
185 | } // EOF buffer not in use |
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186 | } |
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187 | |||
188 | // typical called in an UART Rx ISR |
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189 | /**************************************************************/ |
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190 | /* Collect serial frame */ |
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191 | /**************************************************************/ |
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153 | killagreg | 192 | u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
110 | killagreg | 193 | { |
194 | if(pRxBuff->Locked == FALSE) |
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195 | { // rx buffer not locked |
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113 | killagreg | 196 | if(c == '#') // if syncronisation character is received |
197 | { |
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198 | pRxBuff->Position = 0; // reset buffer |
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199 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
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200 | pRxBuff->DataBytes = 1; |
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201 | } |
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202 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
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203 | { |
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190 | killagreg | 204 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
205 | pRxBuff->DataBytes++; |
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244 | killagreg | 206 | // termination character received and sync has been established |
207 | if ((c == '\r') && (pRxBuff->pData[0]== '#')) |
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113 | killagreg | 208 | { |
209 | // calculate checksum from transmitted data |
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210 | u16 crc = 0, i; |
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211 | u8 crc1, crc2; |
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190 | killagreg | 212 | for(i = 0; i < (pRxBuff->Position-3); i++) |
110 | killagreg | 213 | { |
113 | killagreg | 214 | crc += pRxBuff->pData[i]; |
215 | } |
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216 | crc %= 4096; |
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217 | crc1 = '=' + crc / 64; |
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218 | crc2 = '=' + crc % 64; |
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219 | // compare checksum to transmitted checksum bytes |
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190 | killagreg | 220 | if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2])) |
244 | killagreg | 221 | { |
222 | // checksum is valid |
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113 | killagreg | 223 | pRxBuff->Position = 0; |
224 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
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225 | // if 2nd byte is an 'R' start bootloader |
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226 | if(pRxBuff->pData[2] == 'R') |
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227 | { |
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228 | PowerOff(); |
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229 | VIC_DeInit(); |
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230 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
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231 | } |
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232 | } // eof checksum valid |
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233 | else |
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234 | { // checksum is invalid |
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235 | Buffer_Clear(pRxBuff); |
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236 | } // eof checksum invalid |
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237 | } // eof termination character received |
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238 | } // rxd buffer not full |
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239 | else // rxd buffer overrun |
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240 | { |
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241 | Buffer_Clear(pRxBuff); |
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242 | } // eof rxd buffer overrrun |
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110 | killagreg | 243 | } |
153 | killagreg | 244 | return(pRxBuff->Locked); |
110 | killagreg | 245 | } |
246 | |||
247 | /**************************************************************/ |
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190 | killagreg | 248 | /* Decode detination address */ |
249 | /**************************************************************/ |
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250 | void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
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251 | { |
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252 | if(pRxBuff->Locked) |
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253 | { |
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254 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
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255 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
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256 | } |
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257 | else |
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258 | { |
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259 | pSerialMsg->Address = 0; |
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260 | pSerialMsg->CmdID = ' '; |
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261 | } |
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262 | } |
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263 | |||
264 | /**************************************************************/ |
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110 | killagreg | 265 | /* Decode data */ |
266 | /**************************************************************/ |
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190 | killagreg | 267 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
110 | killagreg | 268 | { |
269 | u8 a,b,c,d; |
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270 | u8 x,y,z; |
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271 | u8 ptrIn = 3; // start with first data byte in rx buffer |
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272 | u8 ptrOut = 3; |
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112 | killagreg | 273 | u8 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
110 | killagreg | 274 | while(len) |
275 | { |
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276 | a = pRxBuff->pData[ptrIn++] - '='; |
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277 | b = pRxBuff->pData[ptrIn++] - '='; |
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278 | c = pRxBuff->pData[ptrIn++] - '='; |
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279 | d = pRxBuff->pData[ptrIn++] - '='; |
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280 | //if(ptrIn > ReceivedBytes - 3) break; |
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281 | |||
282 | x = (a << 2) | (b >> 4); |
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283 | y = ((b & 0x0f) << 4) | (c >> 2); |
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284 | z = ((c & 0x03) << 6) | d; |
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285 | |||
286 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
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287 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
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288 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
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289 | } |
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290 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
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291 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
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112 | killagreg | 292 | pRxBuff->Position = 0; |
293 | pRxBuff->DataBytes = ptrOut; |
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110 | killagreg | 294 | } |