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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
- | |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
- | |
7 | // + FOR NON COMMERCIAL USE ONLY |
- | |
8 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
- | |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
22 | // + eindeutig als Ursprung verlinkt werden |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
25 | // + Benutzung auf eigene Gefahr |
22 | // + des Mitverschuldens offen. |
- | 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. |
|
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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 |
|
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + mit unserer Zustimmung zulässig |
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // + Software LICENSING TERMS |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + this list of conditions and the following disclaimer. |
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 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + from this software without specific prior written permission. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + for non-commercial use (directly or indirectly) |
- | |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + with our written permission |
40 | // + agreement shall be the property of the Licensor. |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + clearly linked as origin |
- | |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
44 | // |
- | |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + The customer shall be responsible for taking reasonable precautions |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + #### END OF LICENSING TERMS #### |
- | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
|
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <stdarg.h> |
56 | #include <stdarg.h> |
58 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
59 | #include "mkprotocol.h" |
58 | #include "mkprotocol.h" |
60 | #include "ramfunc.h" |
59 | #include "ramfunc.h" |
61 | #include "usb.h" |
60 | #include "usb.h" |
62 | 61 | ||
63 | /**************************************************************/ |
62 | /**************************************************************/ |
64 | /* Create serial output frame */ |
63 | /* Create serial output frame */ |
65 | /**************************************************************/ |
64 | /**************************************************************/ |
66 | u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
65 | u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
67 | { |
66 | { |
68 | va_list ap; |
67 | va_list ap; |
69 | 68 | ||
70 | u8 a,b,c; |
69 | u8 a,b,c; |
71 | u16 ptr = 0; |
70 | u16 ptr = 0; |
72 | u16 tmpCRC = 0, i; |
71 | u16 tmpCRC = 0, i; |
73 | 72 | ||
74 | u8* pdata = NULL; |
73 | u8* pdata = NULL; |
75 | int len = 0; |
74 | int len = 0; |
76 | 75 | ||
77 | if(pTxBuff->Locked == TRUE) return(0); |
76 | if(pTxBuff->Locked == TRUE) return(0); |
78 | 77 | ||
79 | // tx-buffer is not in use |
78 | // tx-buffer is not in use |
80 | // lock the buffer |
79 | // lock the buffer |
81 | pTxBuff->Locked = TRUE; |
80 | pTxBuff->Locked = TRUE; |
82 | pTxBuff->Position = 0; |
81 | pTxBuff->Position = 0; |
83 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
82 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
84 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
83 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
85 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
84 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
86 | 85 | ||
87 | va_start(ap, numofbuffers); |
86 | va_start(ap, numofbuffers); |
88 | if(numofbuffers) |
87 | if(numofbuffers) |
89 | { |
88 | { |
90 | pdata = va_arg(ap, u8*); |
89 | pdata = va_arg(ap, u8*); |
91 | len = va_arg(ap, int); |
90 | len = va_arg(ap, int); |
92 | ptr = 0; |
91 | ptr = 0; |
93 | numofbuffers--; |
92 | numofbuffers--; |
94 | } |
93 | } |
95 | while(len) |
94 | while(len) |
96 | { |
95 | { |
97 | if(len) |
96 | if(len) |
98 | { |
97 | { |
99 | a = pdata[ptr++]; |
98 | a = pdata[ptr++]; |
100 | len--; |
99 | len--; |
101 | if((!len) && numofbuffers) // try to jump to next buffer |
100 | if((!len) && numofbuffers) // try to jump to next buffer |
102 | { |
101 | { |
103 | pdata = va_arg(ap, u8*); |
102 | pdata = va_arg(ap, u8*); |
104 | len = va_arg(ap, int); |
103 | len = va_arg(ap, int); |
105 | ptr = 0; |
104 | ptr = 0; |
106 | numofbuffers--; |
105 | numofbuffers--; |
107 | } |
106 | } |
108 | } |
107 | } |
109 | else a = 0; |
108 | else a = 0; |
110 | if(len) |
109 | if(len) |
111 | { |
110 | { |
112 | b = pdata[ptr++]; |
111 | b = pdata[ptr++]; |
113 | len--; |
112 | len--; |
114 | if((!len) && numofbuffers) // try to jump to next buffer |
113 | if((!len) && numofbuffers) // try to jump to next buffer |
115 | { |
114 | { |
116 | pdata = va_arg(ap, u8*); |
115 | pdata = va_arg(ap, u8*); |
117 | len = va_arg(ap, int); |
116 | len = va_arg(ap, int); |
118 | ptr = 0; |
117 | ptr = 0; |
119 | numofbuffers--; |
118 | numofbuffers--; |
120 | } |
119 | } |
121 | } |
120 | } |
122 | else b = 0; |
121 | else b = 0; |
123 | if(len) |
122 | if(len) |
124 | { |
123 | { |
125 | c = pdata[ptr++]; |
124 | c = pdata[ptr++]; |
126 | len--; |
125 | len--; |
127 | if((!len) && numofbuffers) // try to jump to next buffer |
126 | if((!len) && numofbuffers) // try to jump to next buffer |
128 | { |
127 | { |
129 | pdata = va_arg(ap, u8*); |
128 | pdata = va_arg(ap, u8*); |
130 | len = va_arg(ap, int); |
129 | len = va_arg(ap, int); |
131 | ptr = 0; |
130 | ptr = 0; |
132 | numofbuffers--; |
131 | numofbuffers--; |
133 | } |
132 | } |
134 | } |
133 | } |
135 | else c = 0; |
134 | else c = 0; |
136 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
135 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
137 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
136 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
138 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
137 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
139 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
138 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
140 | } |
139 | } |
141 | va_end(ap); |
140 | va_end(ap); |
142 | // add crc |
141 | // add crc |
143 | for(i = 0; i < pTxBuff->Position; i++) |
142 | for(i = 0; i < pTxBuff->Position; i++) |
144 | { |
143 | { |
145 | tmpCRC += pTxBuff->pData[i]; |
144 | tmpCRC += pTxBuff->pData[i]; |
146 | } |
145 | } |
147 | tmpCRC %= 4096; |
146 | tmpCRC %= 4096; |
148 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64; |
147 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64; |
149 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64; |
148 | pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64; |
150 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
149 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
151 | pTxBuff->DataBytes = pTxBuff->Position; |
150 | pTxBuff->DataBytes = pTxBuff->Position; |
152 | pTxBuff->Position = 0; // reset buffer position for transmision |
151 | pTxBuff->Position = 0; // reset buffer position for transmision |
153 | return(pTxBuff->Locked); |
152 | return(pTxBuff->Locked); |
154 | } |
153 | } |
155 | 154 | ||
156 | // typical called in an UART Rx ISR |
155 | // typical called in an UART Rx ISR |
157 | /**************************************************************/ |
156 | /**************************************************************/ |
158 | /* Collect serial frame */ |
157 | /* Collect serial frame */ |
159 | /**************************************************************/ |
158 | /**************************************************************/ |
160 | u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
159 | u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
161 | { |
160 | { |
162 | if(pRxBuff->Locked == FALSE) |
161 | if(pRxBuff->Locked == FALSE) |
163 | { // rx buffer not locked |
162 | { // rx buffer not locked |
164 | if(c == '#') // if syncronisation character is received |
163 | if(c == '#') // if syncronisation character is received |
165 | { |
164 | { |
166 | pRxBuff->Position = 0; // reset buffer |
165 | pRxBuff->Position = 0; // reset buffer |
167 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
166 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
168 | pRxBuff->DataBytes = 1; |
167 | pRxBuff->DataBytes = 1; |
169 | } |
168 | } |
170 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
169 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
171 | { |
170 | { |
172 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
171 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
173 | pRxBuff->DataBytes++; |
172 | pRxBuff->DataBytes++; |
174 | // termination character received and sync has been established |
173 | // termination character received and sync has been established |
175 | if ((c == '\r') && (pRxBuff->pData[0]== '#')) |
174 | if ((c == '\r') && (pRxBuff->pData[0]== '#')) |
176 | { |
175 | { |
177 | // calculate checksum from transmitted data |
176 | // calculate checksum from transmitted data |
178 | u16 crc = 0, i; |
177 | u16 crc = 0, i; |
179 | u8 crc1, crc2; |
178 | u8 crc1, crc2; |
180 | for(i = 0; i < (pRxBuff->Position-3); i++) |
179 | for(i = 0; i < (pRxBuff->Position-3); i++) |
181 | { |
180 | { |
182 | crc += pRxBuff->pData[i]; |
181 | crc += pRxBuff->pData[i]; |
183 | } |
182 | } |
184 | crc %= 4096; |
183 | crc %= 4096; |
185 | crc1 = '=' + crc / 64; |
184 | crc1 = '=' + crc / 64; |
186 | crc2 = '=' + crc % 64; |
185 | crc2 = '=' + crc % 64; |
187 | // compare checksum to transmitted checksum bytes |
186 | // compare checksum to transmitted checksum bytes |
188 | if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2])) |
187 | if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2])) |
189 | { |
188 | { |
190 | // checksum is valid |
189 | // checksum is valid |
191 | pRxBuff->Position = 0; |
190 | pRxBuff->Position = 0; |
192 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
191 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
193 | // if 2nd byte is an 'R' start bootloader |
192 | // if 2nd byte is an 'R' start bootloader |
194 | if(pRxBuff->pData[2] == 'R') |
193 | if(pRxBuff->pData[2] == 'R') |
195 | { |
194 | { |
196 | PowerOff(); |
195 | PowerOff(); |
197 | VIC_DeInit(); |
196 | VIC_DeInit(); |
198 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
197 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
199 | } |
198 | } |
200 | } // eof checksum valid |
199 | } // eof checksum valid |
201 | else |
200 | else |
202 | { // checksum is invalid |
201 | { // checksum is invalid |
203 | Buffer_Clear(pRxBuff); |
202 | Buffer_Clear(pRxBuff); |
204 | } // eof checksum invalid |
203 | } // eof checksum invalid |
205 | } // eof termination character received |
204 | } // eof termination character received |
206 | } // rxd buffer not full |
205 | } // rxd buffer not full |
207 | else // rxd buffer overrun |
206 | else // rxd buffer overrun |
208 | { |
207 | { |
209 | Buffer_Clear(pRxBuff); |
208 | Buffer_Clear(pRxBuff); |
210 | } // eof rxd buffer overrun |
209 | } // eof rxd buffer overrun |
211 | } |
210 | } |
212 | return(pRxBuff->Locked); |
211 | return(pRxBuff->Locked); |
213 | } |
212 | } |
214 | 213 | ||
215 | /**************************************************************/ |
214 | /**************************************************************/ |
216 | /* Decode detination address */ |
215 | /* Decode detination address */ |
217 | /**************************************************************/ |
216 | /**************************************************************/ |
218 | void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
217 | void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
219 | { |
218 | { |
220 | if(pRxBuff->Locked) |
219 | if(pRxBuff->Locked) |
221 | { |
220 | { |
222 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
221 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
223 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
222 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
224 | } |
223 | } |
225 | else |
224 | else |
226 | { |
225 | { |
227 | pSerialMsg->Address = 0; |
226 | pSerialMsg->Address = 0; |
228 | pSerialMsg->CmdID = ' '; |
227 | pSerialMsg->CmdID = ' '; |
229 | } |
228 | } |
230 | } |
229 | } |
231 | 230 | ||
232 | /**************************************************************/ |
231 | /**************************************************************/ |
233 | /* Decode data */ |
232 | /* Decode data */ |
234 | /**************************************************************/ |
233 | /**************************************************************/ |
235 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
234 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
236 | { |
235 | { |
237 | u8 a,b,c,d; |
236 | u8 a,b,c,d; |
238 | u8 x,y,z; |
237 | u8 x,y,z; |
239 | u8 ptrIn = 3; // start with first data byte in rx buffer |
238 | u8 ptrIn = 3; // start with first data byte in rx buffer |
240 | u8 ptrOut = 3; |
239 | u8 ptrOut = 3; |
241 | u8 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
240 | u8 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
242 | while(len) |
241 | while(len) |
243 | { |
242 | { |
244 | a = pRxBuff->pData[ptrIn++] - '='; |
243 | a = pRxBuff->pData[ptrIn++] - '='; |
245 | b = pRxBuff->pData[ptrIn++] - '='; |
244 | b = pRxBuff->pData[ptrIn++] - '='; |
246 | c = pRxBuff->pData[ptrIn++] - '='; |
245 | c = pRxBuff->pData[ptrIn++] - '='; |
247 | d = pRxBuff->pData[ptrIn++] - '='; |
246 | d = pRxBuff->pData[ptrIn++] - '='; |
248 | //if(ptrIn > ReceivedBytes - 3) break; |
247 | //if(ptrIn > ReceivedBytes - 3) break; |
249 | 248 | ||
250 | x = (a << 2) | (b >> 4); |
249 | x = (a << 2) | (b >> 4); |
251 | y = ((b & 0x0f) << 4) | (c >> 2); |
250 | y = ((b & 0x0f) << 4) | (c >> 2); |
252 | z = ((c & 0x03) << 6) | d; |
251 | z = ((c & 0x03) << 6) | d; |
253 | 252 | ||
254 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
253 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
255 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
254 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
256 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
255 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
257 | } |
256 | } |
258 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
257 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
259 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
258 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
260 | pRxBuff->Position = 0; |
259 | pRxBuff->Position = 0; |
261 | pRxBuff->DataBytes = ptrOut; |
260 | pRxBuff->DataBytes = ptrOut; |
262 | } |
261 | } |
263 | 262 |