0,0 → 1,292 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <string.h> |
#include <stdarg.h> |
#include "91x_lib.h" |
#include "mkprotocol.h" |
#include "ramfunc.h" |
#include "usb.h" |
|
void Buffer_Clear(Buffer_t* pBuffer) |
{ |
pBuffer->DataBytes = 0; |
pBuffer->Position = 0; |
pBuffer->Locked = FALSE; |
} |
|
void Buffer_Init(Buffer_t* pBuffer, u8* pDataBuffer, u16 DataBufferSize) |
{ |
pBuffer->pData = pDataBuffer; |
pBuffer->Size = DataBufferSize; |
Buffer_Clear(pBuffer); |
} |
|
u8 Buffer_Copy(Buffer_t* pSrcBuffer, Buffer_t* pDstBuffer) |
{ |
u8 retval = 0; |
|
if( (pSrcBuffer != NULL) && (pDstBuffer != NULL) ) |
{ |
if(pSrcBuffer->Locked && !(pDstBuffer->Locked) && (pDstBuffer->Size >= pSrcBuffer->DataBytes)) |
{ |
memcpy(pDstBuffer->pData, pSrcBuffer->pData, pSrcBuffer->DataBytes); |
pDstBuffer->DataBytes = pSrcBuffer->DataBytes; |
pDstBuffer->Position = 0; |
pDstBuffer->Locked = TRUE; |
retval = 1; |
} |
} |
return retval; |
} |
|
/**************************************************************/ |
/* Create serial output frame */ |
/**************************************************************/ |
void MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
{ |
va_list ap; |
|
u8 a,b,c; |
u8 ptr = 0; |
u16 tmpCRC = 0, i; |
|
u8* pdata = NULL; |
int len = 0; |
|
if(pTxBuff->Locked == FALSE) |
{ // 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 |
} // EOF buffer not in use |
} |
|
// 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++; |
if (c == '\r') // termination character received |
{ |
// 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') |
{ |
PowerOff(); |
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 overrrun |
} |
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; |
u8 x,y,z; |
u8 ptrIn = 3; // start with first data byte in rx buffer |
u8 ptrOut = 3; |
u8 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; |
} |