WebSVN - NaviCtrl - Diff - Rev 360 and 378


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdarg.h>
#include "91x_lib.h"
#include "mkprotocol.h" 
#include "ramfunc.h"
#include "usb.h"
#include "uart1.h"
 
/**************************************************************/
/* Create serial output frame                                 */
/**************************************************************/
u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
{
        va_list ap;
 
        u8 a,b,c;
        u16 ptr = 0;
        u16 tmpCRC = 0, i;
 
        u8* pdata = NULL;
        int len = 0;
       
        if(pTxBuff->Locked == TRUE) return(0);
 
        // 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
        return(pTxBuff->Locked);
}
 
// 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++;
                        // termination character received and sync has been established
                        if ((c == '\r') && (pRxBuff->pData[0]== '#'))
                        {
                                // 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 overrun
        }
        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;
        u16 ptrIn = 3; // start with first data byte in rx buffer
        u16 ptrOut = 3;
        u16 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;
}
 

Rev 360	Rev 378
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	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.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
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	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
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	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.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	#include <stdarg.h>	56	#include <stdarg.h>
57	#include "91x_lib.h"	57	#include "91x_lib.h"
58	#include "mkprotocol.h"	58	#include "mkprotocol.h"
59	#include "ramfunc.h"	59	#include "ramfunc.h"
60	#include "usb.h"	60	#include "usb.h"
-		61	#include "uart1.h"
61		62
62	/**************************************************************/	63	/**************************************************************/
63	/* Create serial output frame */	64	/* Create serial output frame */
64	/**************************************************************/	65	/**************************************************************/
65	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....	66	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
66	{	67	{
67	va_list ap;	68	va_list ap;
68		69
69	u8 a,b,c;	70	u8 a,b,c;
70	u16 ptr = 0;	71	u16 ptr = 0;
71	u16 tmpCRC = 0, i;	72	u16 tmpCRC = 0, i;
72		73
73	u8* pdata = NULL;	74	u8* pdata = NULL;
74	int len = 0;	75	int len = 0;
75		76
76	if(pTxBuff->Locked == TRUE) return(0);	77	if(pTxBuff->Locked == TRUE) return(0);
77		78
78	// tx-buffer is not in use	79	// tx-buffer is not in use
79	// lock the buffer	80	// lock the buffer
80	pTxBuff->Locked = TRUE;	81	pTxBuff->Locked = TRUE;
81	pTxBuff->Position = 0;	82	pTxBuff->Position = 0;
82	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character	83	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character
83	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)	84	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)
84	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command	85	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command
85		86
86	va_start(ap, numofbuffers);	87	va_start(ap, numofbuffers);
87	if(numofbuffers)	88	if(numofbuffers)
88	{	89	{
89	pdata = va_arg(ap, u8*);	90	pdata = va_arg(ap, u8*);
90	len = va_arg(ap, int);	91	len = va_arg(ap, int);
91	ptr = 0;	92	ptr = 0;
92	numofbuffers--;	93	numofbuffers--;
93	}	94	}
94	while(len)	95	while(len)
95	{	96	{
96	if(len)	97	if(len)
97	{	98	{
98	a = pdata[ptr++];	99	a = pdata[ptr++];
99	len--;	100	len--;
100	if((!len) && numofbuffers) // try to jump to next buffer	101	if((!len) && numofbuffers) // try to jump to next buffer
101	{	102	{
102	pdata = va_arg(ap, u8*);	103	pdata = va_arg(ap, u8*);
103	len = va_arg(ap, int);	104	len = va_arg(ap, int);
104	ptr = 0;	105	ptr = 0;
105	numofbuffers--;	106	numofbuffers--;
106	}	107	}
107	}	108	}
108	else a = 0;	109	else a = 0;
109	if(len)	110	if(len)
110	{	111	{
111	b = pdata[ptr++];	112	b = pdata[ptr++];
112	len--;	113	len--;
113	if((!len) && numofbuffers) // try to jump to next buffer	114	if((!len) && numofbuffers) // try to jump to next buffer
114	{	115	{
115	pdata = va_arg(ap, u8*);	116	pdata = va_arg(ap, u8*);
116	len = va_arg(ap, int);	117	len = va_arg(ap, int);
117	ptr = 0;	118	ptr = 0;
118	numofbuffers--;	119	numofbuffers--;
119	}	120	}
120	}	121	}
121	else b = 0;	122	else b = 0;
122	if(len)	123	if(len)
123	{	124	{
124	c = pdata[ptr++];	125	c = pdata[ptr++];
125	len--;	126	len--;
126	if((!len) && numofbuffers) // try to jump to next buffer	127	if((!len) && numofbuffers) // try to jump to next buffer
127	{	128	{
128	pdata = va_arg(ap, u8*);	129	pdata = va_arg(ap, u8*);
129	len = va_arg(ap, int);	130	len = va_arg(ap, int);
130	ptr = 0;	131	ptr = 0;
131	numofbuffers--;	132	numofbuffers--;
132	}	133	}
133	}	134	}
134	else c = 0;	135	else c = 0;
135	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);	136	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);
136	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	137	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
137	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	138	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
138	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);	139	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);
139	}	140	}
140	va_end(ap);	141	va_end(ap);
141	// add crc	142	// add crc
142	for(i = 0; i < pTxBuff->Position; i++)	143	for(i = 0; i < pTxBuff->Position; i++)
143	{	144	{
144	tmpCRC += pTxBuff->pData[i];	145	tmpCRC += pTxBuff->pData[i];
145	}	146	}
146	tmpCRC %= 4096;	147	tmpCRC %= 4096;
147	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;	148	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;
148	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;	149	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;
149	pTxBuff->pData[pTxBuff->Position++] = '\r';	150	pTxBuff->pData[pTxBuff->Position++] = '\r';
150	pTxBuff->DataBytes = pTxBuff->Position;	151	pTxBuff->DataBytes = pTxBuff->Position;
151	pTxBuff->Position = 0; // reset buffer position for transmision	152	pTxBuff->Position = 0; // reset buffer position for transmision
152	return(pTxBuff->Locked);	153	return(pTxBuff->Locked);
153	}	154	}
154		155
155	// typical called in an UART Rx ISR	156	// typical called in an UART Rx ISR
156	/**************************************************************/	157	/**************************************************************/
157	/* Collect serial frame */	158	/* Collect serial frame */
158	/**************************************************************/	159	/**************************************************************/
159	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)	160	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)
160	{	161	{
161	if(pRxBuff->Locked == FALSE)	162	if(pRxBuff->Locked == FALSE)
162	{ // rx buffer not locked	163	{ // rx buffer not locked
163	if(c == '#') // if syncronisation character is received	164	if(c == '#') // if syncronisation character is received
164	{	165	{
165	pRxBuff->Position = 0; // reset buffer	166	pRxBuff->Position = 0; // reset buffer
166	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer	167	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer
167	pRxBuff->DataBytes = 1;	168	pRxBuff->DataBytes = 1;
168	}	169	}
169	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full	170	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full
170	{	171	{
171	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer	172	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer
172	pRxBuff->DataBytes++;	173	pRxBuff->DataBytes++;
173	// termination character received and sync has been established	174	// termination character received and sync has been established
174	if ((c == '\r') && (pRxBuff->pData[0]== '#'))	175	if ((c == '\r') && (pRxBuff->pData[0]== '#'))
175	{	176	{
176	// calculate checksum from transmitted data	177	// calculate checksum from transmitted data
177	u16 crc = 0, i;	178	u16 crc = 0, i;
178	u8 crc1, crc2;	179	u8 crc1, crc2;
179	for(i = 0; i < (pRxBuff->Position-3); i++)	180	for(i = 0; i < (pRxBuff->Position-3); i++)
180	{	181	{
181	crc += pRxBuff->pData[i];	182	crc += pRxBuff->pData[i];
182	}	183	}
183	crc %= 4096;	184	crc %= 4096;
184	crc1 = '=' + crc / 64;	185	crc1 = '=' + crc / 64;
185	crc2 = '=' + crc % 64;	186	crc2 = '=' + crc % 64;
186	// compare checksum to transmitted checksum bytes	187	// compare checksum to transmitted checksum bytes
187	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))	188	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))
188	{	189	{
189	// checksum is valid	190	// checksum is valid
190	pRxBuff->Position = 0;	191	pRxBuff->Position = 0;
191	pRxBuff->Locked = TRUE; // lock the rxd buffer	192	pRxBuff->Locked = TRUE; // lock the rxd buffer
192	// if 2nd byte is an 'R' start bootloader	193	// if 2nd byte is an 'R' start bootloader
193	if(pRxBuff->pData[2] == 'R')	194	if(pRxBuff->pData[2] == 'R')
194	{	195	{
195	PowerOff();	196	PowerOff();
196	VIC_DeInit();	197	VIC_DeInit();
197	Execute_Bootloader(); // Reset-Commando - Bootloader starten	198	Execute_Bootloader(); // Reset-Commando - Bootloader starten
198	}	199	}
199	} // eof checksum valid	200	} // eof checksum valid
200	else	201	else
201	{ // checksum is invalid	202	{ // checksum is invalid
202	Buffer_Clear(pRxBuff);	203	Buffer_Clear(pRxBuff);
203	} // eof checksum invalid	204	} // eof checksum invalid
204	} // eof termination character received	205	} // eof termination character received
205	} // rxd buffer not full	206	} // rxd buffer not full
206	else // rxd buffer overrun	207	else // rxd buffer overrun
207	{	208	{
208	Buffer_Clear(pRxBuff);	209	Buffer_Clear(pRxBuff);
209	} // eof rxd buffer overrun	210	} // eof rxd buffer overrun
210	}	211	}
211	return(pRxBuff->Locked);	212	return(pRxBuff->Locked);
212	}	213	}
213		214
214	/**************************************************************/	215	/**************************************************************/
215	/* Decode detination address */	216	/* Decode detination address */
216	/**************************************************************/	217	/**************************************************************/
217	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	218	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
218	{	219	{
219	if(pRxBuff->Locked)	220	if(pRxBuff->Locked)
220	{	221	{
221	pSerialMsg->Address = pRxBuff->pData[1] - 'a';	222	pSerialMsg->Address = pRxBuff->pData[1] - 'a';
222	pSerialMsg->CmdID = pRxBuff->pData[2];	223	pSerialMsg->CmdID = pRxBuff->pData[2];
223	}	224	}
224	else	225	else
225	{	226	{
226	pSerialMsg->Address = 0;	227	pSerialMsg->Address = 0;
227	pSerialMsg->CmdID = ' ';	228	pSerialMsg->CmdID = ' ';
228	}	229	}
229	}	230	}
230		231
231	/**************************************************************/	232	/**************************************************************/
232	/* Decode data */	233	/* Decode data */
233	/**************************************************************/	234	/**************************************************************/
234	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	235	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
235	{	236	{
236	u8 a,b,c,d;	237	u8 a,b,c,d;
237	u8 x,y,z;	238	u8 x,y,z;
238	u8 ptrIn = 3; // start with first data byte in rx buffer	239	u16 ptrIn = 3; // start with first data byte in rx buffer
239	u8 ptrOut = 3;	240	u16 ptrOut = 3;
240	u8 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	241	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
241	while(len)	242	while(len)
242	{	243	{
243	a = pRxBuff->pData[ptrIn++] - '=';	244	a = pRxBuff->pData[ptrIn++] - '=';
244	b = pRxBuff->pData[ptrIn++] - '=';	245	b = pRxBuff->pData[ptrIn++] - '=';
245	c = pRxBuff->pData[ptrIn++] - '=';	246	c = pRxBuff->pData[ptrIn++] - '=';
246	d = pRxBuff->pData[ptrIn++] - '=';	247	d = pRxBuff->pData[ptrIn++] - '=';
247	//if(ptrIn > ReceivedBytes - 3) break;	248	//if(ptrIn > ReceivedBytes - 3) break;
248		249
249	x = (a << 2) \| (b >> 4);	250	x = (a << 2) \| (b >> 4);
250	y = ((b & 0x0f) << 4) \| (c >> 2);	251	y = ((b & 0x0f) << 4) \| (c >> 2);
251	z = ((c & 0x03) << 6) \| d;	252	z = ((c & 0x03) << 6) \| d;
252		253
253	if(len--) pRxBuff->pData[ptrOut++] = x; else break;	254	if(len--) pRxBuff->pData[ptrOut++] = x; else break;
254	if(len--) pRxBuff->pData[ptrOut++] = y; else break;	255	if(len--) pRxBuff->pData[ptrOut++] = y; else break;
255	if(len--) pRxBuff->pData[ptrOut++] = z; else break;	256	if(len--) pRxBuff->pData[ptrOut++] = z; else break;
256	}	257	}
257	pSerialMsg->pData = &(pRxBuff->pData[3]);	258	pSerialMsg->pData = &(pRxBuff->pData[3]);
258	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	259	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
259	pRxBuff->Position = 0;	260	pRxBuff->Position = 0;
260	pRxBuff->DataBytes = ptrOut;	261	pRxBuff->DataBytes = ptrOut;
261	}	262	}
262		263

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(root)/tags/V0.28m/mkprotocol.c @ 453 - Rev 360 → 378