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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 <stdarg.h> |
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58 | #include "91x_lib.h" |
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59 | #include "mkprotocol.h" |
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60 | #include "ramfunc.h" |
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61 | #include "usb.h" |
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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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71 | u8 ptr = 0; |
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72 | u16 tmpCRC = 0, i; |
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73 | |||
74 | u8* pdata = NULL; |
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75 | int len = 0; |
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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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81 | pTxBuff->Locked = TRUE; |
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82 | pTxBuff->Position = 0; |
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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 | { |
113 | killagreg | 182 | crc += pRxBuff->pData[i]; |
183 | } |
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184 | crc %= 4096; |
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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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113 | killagreg | 191 | pRxBuff->Position = 0; |
192 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
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193 | // if 2nd byte is an 'R' start bootloader |
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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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210 | } // eof rxd buffer overrrun |
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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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229 | } |
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230 | } |
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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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238 | u8 x,y,z; |
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239 | u8 ptrIn = 3; // start with first data byte in rx buffer |
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240 | u8 ptrOut = 3; |
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112 | killagreg | 241 | 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 | 242 | while(len) |
243 | { |
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244 | a = pRxBuff->pData[ptrIn++] - '='; |
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245 | b = pRxBuff->pData[ptrIn++] - '='; |
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246 | c = pRxBuff->pData[ptrIn++] - '='; |
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247 | d = pRxBuff->pData[ptrIn++] - '='; |
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248 | //if(ptrIn > ReceivedBytes - 3) break; |
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249 | |||
250 | x = (a << 2) | (b >> 4); |
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251 | y = ((b & 0x0f) << 4) | (c >> 2); |
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252 | z = ((c & 0x03) << 6) | d; |
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253 | |||
254 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
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255 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
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256 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
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257 | } |
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258 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
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259 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
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112 | killagreg | 260 | pRxBuff->Position = 0; |
261 | pRxBuff->DataBytes = ptrOut; |
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110 | killagreg | 262 | } |