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1 | #include "fc.h" |
1 | #include "fc.h" |
2 | 2 | ||
3 | 3 | ||
4 | unsigned char TxBuffer[150]; |
4 | unsigned char TxBuffer[150]; |
5 | unsigned char _TxBuffer[150]; |
5 | unsigned char _TxBuffer[150]; |
6 | 6 | ||
7 | char RxBuffer[150]; |
7 | unsigned char RxBuffer[150]; |
8 | char PrintableRxBuffer[150]; |
8 | char PrintableRxBuffer[150]; |
9 | 9 | ||
10 | 10 | ||
11 | 11 | ||
12 | int mk_socket; |
12 | int mk_socket; |
13 | 13 | ||
14 | int status; |
14 | int status; |
15 | 15 | ||
16 | void AddCRC(unsigned int wieviele) |
16 | void AddCRC(unsigned int wieviele) |
17 | { |
17 | { |
18 | unsigned int tmpCRC = 0,i; |
18 | unsigned int tmpCRC = 0,i; |
19 | for(i = 0; i < wieviele;i++) |
19 | for(i = 0; i < wieviele;i++) |
20 | { |
20 | { |
21 | tmpCRC += TxBuffer[i]; |
21 | tmpCRC += TxBuffer[i]; |
22 | } |
22 | } |
23 | tmpCRC %= 4096; |
23 | tmpCRC %= 4096; |
24 | TxBuffer[i++] = '=' + tmpCRC / 64; |
24 | TxBuffer[i++] = '=' + tmpCRC / 64; |
25 | TxBuffer[i++] = '=' + tmpCRC % 64; |
25 | TxBuffer[i++] = '=' + tmpCRC % 64; |
26 | TxBuffer[i++] = '\r'; |
26 | TxBuffer[i++] = '\r'; |
27 | } |
27 | } |
28 | 28 | ||
29 | 29 | ||
30 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
30 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
31 | { |
31 | { |
32 | int status =0; |
32 | int status =0; |
33 | unsigned int pt = 0; |
33 | unsigned int pt = 0; |
34 | unsigned char a,b,c; |
34 | unsigned char a,b,c; |
35 | unsigned char ptr = 0; |
35 | unsigned char ptr = 0; |
36 | 36 | ||
37 | TxBuffer[pt++] = '#'; // Startzeichen |
37 | TxBuffer[pt++] = '#'; // Startzeichen |
38 | TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
38 | TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
39 | TxBuffer[pt++] = cmd; // Commando |
39 | TxBuffer[pt++] = cmd; // Commando |
40 | 40 | ||
41 | while(len) |
41 | while(len) |
42 | { |
42 | { |
43 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
43 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
44 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
44 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
45 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
45 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
46 | TxBuffer[pt++] = '=' + (a >> 2); |
46 | TxBuffer[pt++] = '=' + (a >> 2); |
47 | TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
47 | TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
48 | TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
48 | TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
49 | TxBuffer[pt++] = '=' + ( c & 0x3f); |
49 | TxBuffer[pt++] = '=' + ( c & 0x3f); |
50 | } |
50 | } |
51 | 51 | ||
52 | 52 | ||
53 | 53 | ||
54 | AddCRC(pt); |
54 | AddCRC(pt); |
55 | printf("Sending to MK %d \n" , pt); |
55 | printf("Sending to MK %d \n" , pt); |
56 | 56 | ||
57 | status = send(mk_socket,"\r" , 1, 0); |
57 | status = send(mk_socket,"\r" , 1, 0); |
58 | 58 | ||
59 | 59 | ||
60 | // for (c=0;c<pt+2;c++) |
60 | // for (c=0;c<pt+2;c++) |
61 | // { |
61 | // { |
62 | status = write(mk_socket,&TxBuffer , pt+3); |
62 | status = write(mk_socket,&TxBuffer , pt+3); |
63 | 63 | ||
64 | 64 | ||
65 | // printf("Send to MK %d \n" , TxBuffer[c] ); |
65 | // printf("Send to MK %d \n" , TxBuffer[c] ); |
66 | // } |
66 | // } |
67 | /* int i=0; |
67 | /* int i=0; |
68 | while(TxBuffer[i] !='\r' && i<150) |
68 | while(TxBuffer[i] !='\r' && i<150) |
69 | { |
69 | { |
70 | // TxBuffer[i]='#'; |
70 | // TxBuffer[i]='#'; |
71 | status = send(mk_socket,TxBuffer[i] , 1, 0); |
71 | status = send(mk_socket,TxBuffer[i] , 1, 0); |
72 | printf(" +%d%c ",i,TxBuffer[i]); |
72 | printf(" +%d%c ",i,TxBuffer[i]); |
73 | i++; |
73 | i++; |
74 | } |
74 | } |
75 | 75 | ||
76 | // status = send(s,"\r" , 1, 0); |
76 | // status = send(s,"\r" , 1, 0); |
77 | */ |
77 | */ |
78 | status = send(mk_socket,"\r" , 1, 0); |
78 | status = send(mk_socket,"\r" , 1, 0); |
79 | status = send(mk_socket,"\n" , 1, 0); |
79 | status = send(mk_socket,"\n" , 1, 0); |
80 | printf("\n"); |
80 | printf("\n"); |
81 | } |
81 | } |
82 | 82 | ||
83 | 83 | ||
84 | int rx_last_length; |
84 | int rx_last_length; |
- | 85 | ||
- | 86 | ||
- | 87 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) |
|
- | 88 | { |
|
- | 89 | unsigned char a,b,c,d; |
|
- | 90 | unsigned char ptr = 0; |
|
- | 91 | unsigned char x,y,z; |
|
- | 92 | while(len) |
|
- | 93 | { |
|
- | 94 | a = RxBuffer[ptrIn++] - '='; |
|
- | 95 | b = RxBuffer[ptrIn++] - '='; |
|
- | 96 | c = RxBuffer[ptrIn++] - '='; |
|
- | 97 | d = RxBuffer[ptrIn++] - '='; |
|
- | 98 | if(ptrIn > max - 2) break; |
|
- | 99 | ||
- | 100 | x = (a << 2) | (b >> 4); |
|
- | 101 | y = ((b & 0x0f) << 4) | (c >> 2); |
|
- | 102 | z = ((c & 0x03) << 6) | d; |
|
- | 103 | ||
- | 104 | if(len--) ptrOut[ptr++] = x; else break; |
|
- | 105 | if(len--) ptrOut[ptr++] = y; else break; |
|
- | 106 | if(len--) ptrOut[ptr++] = z; else break; |
|
- | 107 | } |
|
- | 108 | ||
- | 109 | } |
|
85 | 110 | ||
86 | int read_from_mk() |
111 | int read_from_mk() |
87 | { |
112 | { |
88 | char in_char='#'; |
113 | char in_char='#'; |
89 | int count=0; |
114 | int count=0; |
90 | int r=0; |
115 | int r=0; |
- | 116 | int i=0; |
|
91 | 117 | ||
92 | printf("starting read\n"); |
118 | printf("starting read\n"); |
93 | while(in_char!='\n') |
119 | while(in_char!='\n') |
94 | { |
120 | { |
95 | // printf("b read\n"); |
121 | // printf("b read\n"); |
96 | count=read(mk_socket,&in_char,1); |
122 | count=read(mk_socket,&in_char,1); |
97 | //printf("a read %d\n",count); |
123 | //printf("a read %d\n",count); |
98 | if (count!=-1) |
124 | if (count!=-1) |
99 | { |
125 | { |
100 | // printf("%c\n",in_char); |
126 | // printf("%c\n",in_char); |
101 | RxBuffer[r]=in_char; |
127 | RxBuffer[r]=in_char; |
102 | 128 | ||
103 | if (in_char!=0) |
129 | if (in_char!=0) |
104 | PrintableRxBuffer[r++]=in_char; |
130 | PrintableRxBuffer[r++]=in_char; |
105 | else |
131 | else |
106 | PrintableRxBuffer[r++]='0'; |
132 | PrintableRxBuffer[r++]='0'; |
107 | } |
133 | } |
108 | 134 | ||
109 | } |
135 | } |
110 | rx_last_length=r; |
136 | rx_last_length=r; |
111 | PrintableRxBuffer[r++]='\0'; // terminate |
137 | PrintableRxBuffer[r++]='\0'; // terminate |
112 | printf("done --->%s\n",PrintableRxBuffer); |
138 | printf("done --->%s\n",PrintableRxBuffer); |
113 | 139 | ||
114 | if (RxBuffer[2]=='D') |
140 | if (RxBuffer[2]=='D') |
- | 141 | { |
|
115 | debug_sets++; |
142 | debug_sets++; |
- | 143 | Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length); |
|
- | 144 | printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]); |
|
116 | 145 | } |
|
117 | return 1; |
146 | return 1; |
118 | } |
147 | } |
119 | 148 | ||
120 | 149 | ||
121 | int connect_mk_bluetooth(char dest[18]) |
150 | int connect_mk_bluetooth(char dest[18]) |
122 | { |
151 | { |
123 | 152 | ||
124 | struct sockaddr_rc addr ; |
153 | struct sockaddr_rc addr ; |
125 | 154 | ||
126 | // allocate a socket |
155 | // allocate a socket |
127 | mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
156 | mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
128 | 157 | ||
129 | // set the connection parameters (who to connect to) |
158 | // set the connection parameters (who to connect to) |
130 | addr.rc_family = AF_BLUETOOTH; |
159 | addr.rc_family = AF_BLUETOOTH; |
131 | addr.rc_channel = 1; |
160 | addr.rc_channel = 1; |
132 | str2ba( dest, &addr.rc_bdaddr ); |
161 | str2ba( dest, &addr.rc_bdaddr ); |
133 | 162 | ||
134 | // connect to server |
163 | // connect to server |
135 | status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr)); |
164 | status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr)); |
136 | 165 | ||
137 | printf("connection status %d\n",status); |
166 | printf("connection status %d\n",status); |
138 | return status; |
167 | return status; |
139 | 168 | ||
140 | } |
169 | } |
141 | 170 | ||
142 | 171 | ||
143 | 172 | ||
144 | 173 | ||
145 | int connect_mk_localhost_socket(int port) |
174 | int connect_mk_localhost_socket(int port) |
146 | { |
175 | { |
147 | 176 | ||
148 | int status; |
177 | int status; |
149 | struct sockaddr_in sa; |
178 | struct sockaddr_in sa; |
150 | 179 | ||
151 | sa.sin_family = AF_INET; |
180 | sa.sin_family = AF_INET; |
152 | sa.sin_addr.s_addr = htonl(0x0); |
181 | sa.sin_addr.s_addr = htonl(0x0); |
153 | sa.sin_port = htons(port); |
182 | sa.sin_port = htons(port); |
154 | 183 | ||
155 | // allocate a socket |
184 | // allocate a socket |
156 | // s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
185 | // s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
157 | mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); |
186 | mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); |
158 | //); |
187 | //); |
159 | 188 | ||
160 | // set the connection parameters (who to connect to) |
189 | // set the connection parameters (who to connect to) |
161 | 190 | ||
162 | // connect to server |
191 | // connect to server |
163 | // status = connect(s, (struct sockaddr *)&addr, sizeof(addr)); |
192 | // status = connect(s, (struct sockaddr *)&addr, sizeof(addr)); |
164 | status = connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in)); |
193 | status = connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in)); |
165 | 194 | ||
166 | printf("connection status %d\n",status); |
195 | printf("connection status %d\n",status); |
167 | return status; |
196 | return status; |
168 | 197 | ||
169 | } |
198 | } |
170 | 199 | ||
171 | 200 |