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