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Rev 140 | Rev 483 | ||
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1 | #include "fc.h" |
1 | #include "fc.h" |
2 | 2 | ||
3 | - | ||
4 | unsigned char TxBuffer[150]; |
- | |
- | 3 | ||
- | 4 | ||
- | 5 | unsigned char TxBuffer[MAX_BUFF_LEN]; |
|
5 | unsigned char _TxBuffer[150]; |
6 | unsigned char _TxBuffer[MAX_BUFF_LEN]; |
6 | 7 | ||
7 | unsigned char RxBuffer[150]; |
8 | unsigned char RxBuffer[MAX_BUFF_LEN]; |
8 | char PrintableRxBuffer[150]; |
9 | char PrintableRxBuffer[MAX_BUFF_LEN]; |
9 | 10 | ||
10 | 11 | ||
11 | 12 | ||
12 | int mk_socket; |
13 | int mk_socket; |
13 | 14 | ||
14 | int status; |
15 | int status; |
15 | 16 | ||
16 | void AddCRC(unsigned int wieviele) |
17 | void AddCRC(unsigned int wieviele) |
17 | { |
18 | { |
18 | unsigned int tmpCRC = 0,i; |
19 | unsigned int tmpCRC = 0,i; |
19 | for(i = 0; i < wieviele;i++) |
20 | for(i = 0; i < wieviele;i++) |
20 | { |
21 | { |
21 | tmpCRC += TxBuffer[i]; |
22 | tmpCRC += TxBuffer[i]; |
22 | } |
23 | } |
23 | tmpCRC %= 4096; |
24 | tmpCRC %= 4096; |
24 | TxBuffer[i++] = '=' + tmpCRC / 64; |
25 | TxBuffer[i++] = '=' + tmpCRC / 64; |
25 | TxBuffer[i++] = '=' + tmpCRC % 64; |
26 | TxBuffer[i++] = '=' + tmpCRC % 64; |
26 | TxBuffer[i++] = '\r'; |
27 | TxBuffer[i++] = '\r'; |
27 | } |
28 | } |
28 | 29 | ||
29 | 30 | ||
30 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
31 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
31 | { |
32 | { |
- | 33 | // return; |
|
32 | int status =0; |
34 | int status =0; |
33 | unsigned int pt = 0; |
35 | unsigned int pt = 0; |
34 | unsigned char a,b,c; |
36 | unsigned char a,b,c; |
35 | unsigned char ptr = 0; |
37 | unsigned char ptr = 0; |
36 | 38 | ||
37 | TxBuffer[pt++] = '#'; // Startzeichen |
39 | TxBuffer[pt++] = '#'; // Startzeichen |
38 | TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
40 | TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
39 | TxBuffer[pt++] = cmd; // Commando |
41 | TxBuffer[pt++] = cmd; // Commando |
40 | 42 | ||
41 | while(len) |
43 | while(len) |
42 | { |
44 | { |
43 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
45 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
44 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
46 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
45 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
47 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
46 | TxBuffer[pt++] = '=' + (a >> 2); |
48 | TxBuffer[pt++] = '=' + (a >> 2); |
47 | TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
49 | TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
48 | TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
50 | TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
49 | TxBuffer[pt++] = '=' + ( c & 0x3f); |
51 | TxBuffer[pt++] = '=' + ( c & 0x3f); |
50 | } |
52 | } |
51 | 53 | ||
52 | 54 | ||
53 | 55 | ||
54 | AddCRC(pt); |
56 | AddCRC(pt); |
55 | printf("Sending to MK %d \n" , pt); |
57 | printf("Sending to MK %d \n" , pt); |
56 | 58 | ||
57 | status = send(mk_socket,"\r" , 1, 0); |
59 | status = send(mk_socket,"\r" , 1, 0); |
58 | 60 | ||
59 | 61 | ||
60 | // for (c=0;c<pt+2;c++) |
62 | // for (c=0;c<pt+2;c++) |
61 | // { |
63 | // { |
62 | status = write(mk_socket,&TxBuffer , pt+3); |
64 | status = write(mk_socket,&TxBuffer , pt+3); |
63 | 65 | ||
64 | 66 | ||
65 | // printf("Send to MK %d \n" , TxBuffer[c] ); |
67 | // printf("Send to MK %d \n" , TxBuffer[c] ); |
66 | // } |
68 | // } |
67 | /* int i=0; |
69 | /* int i=0; |
68 | while(TxBuffer[i] !='\r' && i<150) |
70 | while(TxBuffer[i] !='\r' && i<150) |
69 | { |
71 | { |
70 | // TxBuffer[i]='#'; |
72 | // TxBuffer[i]='#'; |
71 | status = send(mk_socket,TxBuffer[i] , 1, 0); |
73 | status = send(mk_socket,TxBuffer[i] , 1, 0); |
72 | printf(" +%d%c ",i,TxBuffer[i]); |
74 | printf(" +%d%c ",i,TxBuffer[i]); |
73 | i++; |
75 | i++; |
74 | } |
76 | } |
75 | 77 | ||
76 | // status = send(s,"\r" , 1, 0); |
78 | // status = send(s,"\r" , 1, 0); |
77 | */ |
79 | */ |
78 | status = send(mk_socket,"\r" , 1, 0); |
80 | status = send(mk_socket,"\r" , 1, 0); |
79 | status = send(mk_socket,"\n" , 1, 0); |
81 | status = send(mk_socket,"\n" , 1, 0); |
80 | printf("\n"); |
82 | printf("\n"); |
81 | } |
83 | } |
82 | 84 | ||
83 | 85 | ||
84 | int rx_last_length; |
86 | int rx_last_length; |
85 | 87 | ||
86 | 88 | ||
87 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) |
89 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) |
88 | { |
90 | { |
89 | unsigned char a,b,c,d; |
91 | unsigned char a,b,c,d; |
90 | unsigned char ptr = 0; |
92 | unsigned char ptr = 0; |
91 | unsigned char x,y,z; |
93 | unsigned char x,y,z; |
92 | while(len) |
94 | while(len) |
93 | { |
95 | { |
94 | a = RxBuffer[ptrIn++] - '='; |
96 | a = RxBuffer[ptrIn++] - '='; |
95 | b = RxBuffer[ptrIn++] - '='; |
97 | b = RxBuffer[ptrIn++] - '='; |
96 | c = RxBuffer[ptrIn++] - '='; |
98 | c = RxBuffer[ptrIn++] - '='; |
97 | d = RxBuffer[ptrIn++] - '='; |
99 | d = RxBuffer[ptrIn++] - '='; |
98 | if(ptrIn > max - 2) break; |
100 | if(ptrIn > max - 2) break; |
99 | 101 | ||
100 | x = (a << 2) | (b >> 4); |
102 | x = (a << 2) | (b >> 4); |
101 | y = ((b & 0x0f) << 4) | (c >> 2); |
103 | y = ((b & 0x0f) << 4) | (c >> 2); |
102 | z = ((c & 0x03) << 6) | d; |
104 | z = ((c & 0x03) << 6) | d; |
103 | 105 | ||
104 | if(len--) ptrOut[ptr++] = x; else break; |
106 | if(len--) ptrOut[ptr++] = x; else break; |
105 | if(len--) ptrOut[ptr++] = y; else break; |
107 | if(len--) ptrOut[ptr++] = y; else break; |
106 | if(len--) ptrOut[ptr++] = z; else break; |
108 | if(len--) ptrOut[ptr++] = z; else break; |
107 | } |
109 | } |
108 | 110 | ||
109 | } |
111 | } |
110 | 112 | ||
111 | int read_from_mk() |
113 | int read_from_mk() |
112 | { |
114 | { |
113 | char in_char='#'; |
115 | char in_char='#'; |
114 | int count=0; |
116 | int count=0; |
115 | int r=0; |
117 | int r=0; |
116 | int i=0; |
118 | int i=0; |
- | 119 | ||
117 | 120 | int p=0; |
|
118 | printf("starting read\n"); |
121 | printf("starting read\n"); |
119 | while(in_char!='\n') |
122 | while(in_char!='\r') |
- | 123 | { |
|
120 | { |
124 | p++; |
121 | // printf("b read\n"); |
125 | // printf("b read\n"); |
- | 126 | count=read(mk_socket,&in_char,1); |
|
- | 127 | ||
122 | count=read(mk_socket,&in_char,1); |
128 | // if ( count ==-1) exit(0); |
123 | //printf("a read %d\n",count); |
129 | printf("a read %d %d %c \n",p,count,in_char); |
124 | if (count!=-1) |
130 | if (count!=-1) |
125 | { |
131 | { |
126 | // printf("%c\n",in_char); |
132 | // printf("%c\n",in_char); |
127 | RxBuffer[r]=in_char; |
133 | RxBuffer[r]=in_char; |
128 | 134 | ||
129 | if (in_char!=0) |
135 | if (in_char!=0) |
130 | PrintableRxBuffer[r++]=in_char; |
136 | PrintableRxBuffer[r++]=in_char; |
131 | else |
137 | else |
132 | PrintableRxBuffer[r++]='0'; |
138 | PrintableRxBuffer[r++]='0'; |
133 | } |
139 | } |
134 | 140 | ||
135 | } |
141 | } |
136 | rx_last_length=r; |
142 | rx_last_length=r; |
137 | PrintableRxBuffer[r++]='\0'; // terminate |
143 | PrintableRxBuffer[r++]='\0'; // terminate |
138 | printf("done --->%s\n",PrintableRxBuffer); |
144 | printf("done --->%s\n",PrintableRxBuffer); |
139 | 145 | ||
140 | if (RxBuffer[2]=='D') |
146 | if (RxBuffer[2]=='D') |
141 | { |
147 | { |
142 | debug_sets++; |
148 | debug_sets++; |
143 | Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length); |
149 | Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length); |
144 | printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]); |
150 | printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]); |
145 | } |
151 | } |
146 | return 1; |
152 | return 1; |
147 | } |
153 | } |
148 | 154 | ||
149 | 155 | ||
150 | int connect_mk_bluetooth(char dest[18]) |
156 | int connect_mk_bluetooth(char dest[18]) |
151 | { |
157 | { |
152 | - | ||
153 | struct sockaddr_rc addr ; |
158 | struct sockaddr_rc addr ; |
154 | 159 | ||
155 | // allocate a socket |
160 | // allocate a socket |
156 | mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
161 | mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
157 | 162 | ||
158 | // set the connection parameters (who to connect to) |
163 | // set the connection parameters (who to connect to) |
159 | addr.rc_family = AF_BLUETOOTH; |
164 | addr.rc_family = AF_BLUETOOTH; |
160 | addr.rc_channel = 1; |
165 | addr.rc_channel = 1; |
161 | str2ba( dest, &addr.rc_bdaddr ); |
166 | str2ba( dest, &addr.rc_bdaddr ); |
162 | 167 | ||
163 | // connect to server |
168 | // connect to server |
164 | status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr)); |
169 | status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr)); |
165 | 170 | ||
166 | printf("connection status %d\n",status); |
171 | printf("connection status %d\n",status); |
167 | return status; |
172 | return status; |
168 | - | ||
169 | } |
173 | } |
170 | 174 | ||
- | 175 | ||
- | 176 | int connect_mk_tty(char* tty_filename) |
|
- | 177 | { |
|
- | 178 | ||
- | 179 | mk_socket = open(tty_filename,O_RDWR); |
|
- | 180 | ||
- | 181 | ||
- | 182 | ||
- | 183 | struct termios termattr; |
|
- | 184 | speed_t baudRate; |
|
- | 185 | ||
- | 186 | /* Make a copy of the termios structure. */ |
|
- | 187 | tcgetattr(mk_socket, &termattr); |
|
- | 188 | ||
- | 189 | termattr.c_iflag = IGNBRK | IGNPAR; |
|
- | 190 | termattr.c_cflag=CS8 | CREAD | CLOCAL; |
|
- | 191 | // termattr.speed_t=B57600; |
|
- | 192 | ||
- | 193 | ||
- | 194 | tcsetattr(mk_socket, TCSANOW, &termattr); |
|
- | 195 | ||
- | 196 | ||
- | 197 | /* |
|
- | 198 | usleep(1000000); |
|
- | 199 | char in_char='#'; |
|
- | 200 | int count=0; |
|
- | 201 | int r=0; |
|
- | 202 | int i=0; |
|
- | 203 | ||
- | 204 | int p=0; |
|
- | 205 | printf("starting read %d\n",mk_socket); |
|
- | 206 | while (1) |
|
- | 207 | { |
|
- | 208 | p=0; |
|
- | 209 | r=0; |
|
- | 210 | char in_char='#'; |
|
- | 211 | while((in_char!='\r'))//&&(r<MAX_BUFF_LEN)) |
|
- | 212 | { |
|
- | 213 | // p++; |
|
- | 214 | // printf("b read\n"); |
|
- | 215 | count=read(mk_socket,&in_char,1); |
|
- | 216 | // tcflush( mk_socket, TCOFLUSH ); |
|
- | 217 | |
|
- | 218 | // printf("\np !read %d %d %c \n",p,count,in_char); |
|
- | 219 | ||
- | 220 | //count=read(mk_socket,&in_char,1); |
|
- | 221 | // tcflush( mk_socket, TCOFLUSH ); |
|
- | 222 | |
|
- | 223 | // printf("\np !read %d %d %d %c \n",r,p,count,in_char); |
|
- | 224 | printf("%d %c \n",r, in_char); |
|
- | 225 | |
|
- | 226 | if (count==1) |
|
- | 227 | { |
|
- | 228 | // printf("%c\n",in_char); |
|
- | 229 | RxBuffer[r]=in_char; |
|
- | 230 | |
|
- | 231 | if (in_char!=0) |
|
- | 232 | PrintableRxBuffer[r]=in_char; |
|
- | 233 | else |
|
- | 234 | PrintableRxBuffer[r]='0'; |
|
- | 235 | r++; |
|
- | 236 | } |
|
- | 237 | //else |
|
- | 238 | //printf("%d/%d",errno,EBADF); |
|
- | 239 | |
|
- | 240 | } |
|
- | 241 | PrintableRxBuffer[r]=0; |
|
- | 242 | printf("buff> %d\n %s\n", r, PrintableRxBuffer); |
|
- | 243 | } |
|
- | 244 | */ |
|
- | 245 | if (mk_socket<0) |
|
- | 246 | return 0; |
|
- | 247 | else |
|
- | 248 | return 1; |
|
- | 249 | ||
171 | 250 | } |
|
172 | 251 | ||
173 | 252 | ||
174 | int connect_mk_localhost_socket(int port) |
253 | int connect_mk_localhost_socket(int port) |
175 | { |
254 | { |
176 | - | ||
177 | int status; |
- | |
178 | struct sockaddr_in sa; |
255 | struct sockaddr_in sa; |
179 | 256 | ||
180 | sa.sin_family = AF_INET; |
257 | sa.sin_family = AF_INET; |
181 | sa.sin_addr.s_addr = htonl(0x0); |
258 | sa.sin_addr.s_addr = htonl(0x0); |
182 | sa.sin_port = htons(port); |
259 | sa.sin_port = htons(port); |
183 | - | ||
184 | // allocate a socket |
- | |
185 | // s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
260 | |
186 | mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); |
- | |
187 | //); |
- | |
188 | - | ||
189 | // set the connection parameters (who to connect to) |
- | |
190 | - | ||
191 | // connect to server |
261 | mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); |
192 | // status = connect(s, (struct sockaddr *)&addr, sizeof(addr)); |
- | |
193 | status = connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in)); |
- | |
194 | - | ||
195 | printf("connection status %d\n",status); |
262 | |
196 | return status; |
263 | return connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in)); |
197 | 264 | ||
198 | } |
265 | } |
199 | 266 | ||
200 | 267 |