WebSVN - NaviCtrl - Diff - Rev 483 and 489


/*#######################################################################################*/
/* !!! 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 <stdio.h>
#include "91x_lib.h"
#include "mkprotocol.h" 
#include "ramfunc.h"
 
#include "uart1.h"
#include "main.h"
 
/**************************************************************/
/* Create serial output frame                                 */
/**************************************************************/
u8 AddSerialData(Buffer_t* pTxBuff, u8 *buffer, u16 size) //u8 *data, u8 len, ....
{
  unsigned int i;
        if(pTxBuff->Locked == TRUE) return(0);
        // tx-buffer is not in use
        // lock the buffer
        pTxBuff->Locked = TRUE;
        pTxBuff->Position = 0;
        for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];                     
        pTxBuff->DataBytes = pTxBuff->Position;
        pTxBuff->Position = 0;  // reset buffer position for transmision
        return(pTxBuff->Locked);
}
 
/**************************************************************/
/* 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' && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)
                                        {
                                                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;
        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 )
 
        len/=4;   // number of 4 byte blocks
        while(len--)
        {
                a = pRxBuff->pData[ptrIn++] - '=';
                b = pRxBuff->pData[ptrIn++] - '=';
                c = pRxBuff->pData[ptrIn++] - '=';
                d = pRxBuff->pData[ptrIn++] - '=';
 
                pRxBuff->pData[ptrOut++] = (a << 2) | (b >> 4);
                pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2);
                pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) | d;
        }
        pSerialMsg->pData = &(pRxBuff->pData[3]);
        pSerialMsg->DataLen = ptrOut - 3;       // return number of data in bytes
        pRxBuff->Position = 0;
        pRxBuff->DataBytes = ptrOut;
}
 
/*
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 483	Rev 489
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 <stdio.h>
57	#include "91x_lib.h"	58	#include "91x_lib.h"
58	#include "mkprotocol.h"	59	#include "mkprotocol.h"
59	#include "ramfunc.h"	60	#include "ramfunc.h"
60	#include "usb.h"	-
61	#include "uart1.h"	61	#include "uart1.h"
62	#include "main.h"	62	#include "main.h"
63		63
64	/**************************************************************/	64	/**************************************************************/
65	/* Create serial output frame */	65	/* Create serial output frame */
66	/**************************************************************/	66	/**************************************************************/
67	u8 AddSerialData(Buffer_t* pTxBuff, u8 buffer, u16 size) //u8 data, u8 len, ....	67	u8 AddSerialData(Buffer_t* pTxBuff, u8 buffer, u16 size) //u8 data, u8 len, ....
68	{	68	{
69	unsigned int i;	69	unsigned int i;
70	if(pTxBuff->Locked == TRUE) return(0);	70	if(pTxBuff->Locked == TRUE) return(0);
71	// tx-buffer is not in use	71	// tx-buffer is not in use
72	// lock the buffer	72	// lock the buffer
73	pTxBuff->Locked = TRUE;	73	pTxBuff->Locked = TRUE;
74	pTxBuff->Position = 0;	74	pTxBuff->Position = 0;
75	for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];	75	for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i];
76	pTxBuff->DataBytes = pTxBuff->Position;	76	pTxBuff->DataBytes = pTxBuff->Position;
77	pTxBuff->Position = 0; // reset buffer position for transmision	77	pTxBuff->Position = 0; // reset buffer position for transmision
78	return(pTxBuff->Locked);	78	return(pTxBuff->Locked);
79	}	79	}
80		80
81	/**************************************************************/	81	/**************************************************************/
82	/* Create serial output frame */	82	/* Create serial output frame */
83	/**************************************************************/	83	/**************************************************************/
84	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....	84	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
85	{	85	{
86	va_list ap;	86	va_list ap;
87		87
88	u8 a,b,c;	88	u8 a,b,c;
89	u16 ptr = 0;	89	u16 ptr = 0;
90	u16 tmpCRC = 0, i;	90	u16 tmpCRC = 0, i;
91		91
92	u8* pdata = NULL;	92	u8* pdata = NULL;
93	int len = 0;	93	int len = 0;
94		94
95	if(pTxBuff->Locked == TRUE) return(0);	95	if(pTxBuff->Locked == TRUE) return(0);
96		96
97	// tx-buffer is not in use	97	// tx-buffer is not in use
98	// lock the buffer	98	// lock the buffer
99	pTxBuff->Locked = TRUE;	99	pTxBuff->Locked = TRUE;
100	pTxBuff->Position = 0;	100	pTxBuff->Position = 0;
101	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character	101	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character
102	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)	102	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)
103	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command	103	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command
104		104
105	va_start(ap, numofbuffers);	105	va_start(ap, numofbuffers);
106	if(numofbuffers)	106	if(numofbuffers)
107	{	107	{
108	pdata = va_arg(ap, u8*);	108	pdata = va_arg(ap, u8*);
109	len = va_arg(ap, int);	109	len = va_arg(ap, int);
110	ptr = 0;	110	ptr = 0;
111	numofbuffers--;	111	numofbuffers--;
112	}	112	}
113	while(len)	113	while(len)
114	{	114	{
115	if(len)	115	if(len)
116	{	116	{
117	a = pdata[ptr++];	117	a = pdata[ptr++];
118	len--;	118	len--;
119	if((!len) && numofbuffers) // try to jump to next buffer	119	if((!len) && numofbuffers) // try to jump to next buffer
120	{	120	{
121	pdata = va_arg(ap, u8*);	121	pdata = va_arg(ap, u8*);
122	len = va_arg(ap, int);	122	len = va_arg(ap, int);
123	ptr = 0;	123	ptr = 0;
124	numofbuffers--;	124	numofbuffers--;
125	}	125	}
126	}	126	}
127	else a = 0;	127	else a = 0;
128	if(len)	128	if(len)
129	{	129	{
130	b = pdata[ptr++];	130	b = pdata[ptr++];
131	len--;	131	len--;
132	if((!len) && numofbuffers) // try to jump to next buffer	132	if((!len) && numofbuffers) // try to jump to next buffer
133	{	133	{
134	pdata = va_arg(ap, u8*);	134	pdata = va_arg(ap, u8*);
135	len = va_arg(ap, int);	135	len = va_arg(ap, int);
136	ptr = 0;	136	ptr = 0;
137	numofbuffers--;	137	numofbuffers--;
138	}	138	}
139	}	139	}
140	else b = 0;	140	else b = 0;
141	if(len)	141	if(len)
142	{	142	{
143	c = pdata[ptr++];	143	c = pdata[ptr++];
144	len--;	144	len--;
145	if((!len) && numofbuffers) // try to jump to next buffer	145	if((!len) && numofbuffers) // try to jump to next buffer
146	{	146	{
147	pdata = va_arg(ap, u8*);	147	pdata = va_arg(ap, u8*);
148	len = va_arg(ap, int);	148	len = va_arg(ap, int);
149	ptr = 0;	149	ptr = 0;
150	numofbuffers--;	150	numofbuffers--;
151	}	151	}
152	}	152	}
153	else c = 0;	153	else c = 0;
154	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);	154	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);
155	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	155	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
156	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	156	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
157	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);	157	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);
158	}	158	}
159	va_end(ap);	159	va_end(ap);
160	// add crc	160	// add crc
161	for(i = 0; i < pTxBuff->Position; i++)	161	for(i = 0; i < pTxBuff->Position; i++)
162	{	162	{
163	tmpCRC += pTxBuff->pData[i];	163	tmpCRC += pTxBuff->pData[i];
164	}	164	}
165	tmpCRC %= 4096;	165	tmpCRC %= 4096;
166	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;	166	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;
167	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;	167	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;
168	pTxBuff->pData[pTxBuff->Position++] = '\r';	168	pTxBuff->pData[pTxBuff->Position++] = '\r';
169	pTxBuff->DataBytes = pTxBuff->Position;	169	pTxBuff->DataBytes = pTxBuff->Position;
170	pTxBuff->Position = 0; // reset buffer position for transmision	170	pTxBuff->Position = 0; // reset buffer position for transmision
171	return(pTxBuff->Locked);	171	return(pTxBuff->Locked);
172	}	172	}
173		173
174	// typical called in an UART Rx ISR	174	// typical called in an UART Rx ISR
175	/**************************************************************/	175	/**************************************************************/
176	/* Collect serial frame */	176	/* Collect serial frame */
177	/**************************************************************/	177	/**************************************************************/
178	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)	178	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)
179	{	179	{
180	if(pRxBuff->Locked == FALSE)	180	if(pRxBuff->Locked == FALSE)
181	{ // rx buffer not locked	181	{ // rx buffer not locked
182	if(c == '#') // if syncronisation character is received	182	if(c == '#') // if syncronisation character is received
183	{	183	{
184	pRxBuff->Position = 0; // reset buffer	184	pRxBuff->Position = 0; // reset buffer
185	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer	185	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer
186	pRxBuff->DataBytes = 1;	186	pRxBuff->DataBytes = 1;
187	}	187	}
188	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full	188	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full
189	{	189	{
190	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer	190	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer
191	pRxBuff->DataBytes++;	191	pRxBuff->DataBytes++;
192	// termination character received and sync has been established	192	// termination character received and sync has been established
193	if ((c == '\r') && (pRxBuff->pData[0]== '#'))	193	if ((c == '\r') && (pRxBuff->pData[0]== '#'))
194	{	194	{
195	// calculate checksum from transmitted data	195	// calculate checksum from transmitted data
196	u16 crc = 0, i;	196	u16 crc = 0, i;
197	u8 crc1, crc2;	197	u8 crc1, crc2;
198	for(i = 0; i < (pRxBuff->Position-3); i++)	198	for(i = 0; i < (pRxBuff->Position-3); i++)
199	{	199	{
200	crc += pRxBuff->pData[i];	200	crc += pRxBuff->pData[i];
201	}	201	}
202	crc %= 4096;	202	crc %= 4096;
203	crc1 = '=' + crc / 64;	203	crc1 = '=' + crc / 64;
204	crc2 = '=' + crc % 64;	204	crc2 = '=' + crc % 64;
205	// compare checksum to transmitted checksum bytes	205	// compare checksum to transmitted checksum bytes
206	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))	206	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))
207	{	207	{
208	// checksum is valid	208	// checksum is valid
209	pRxBuff->Position = 0;	209	pRxBuff->Position = 0;
210	pRxBuff->Locked = TRUE; // lock the rxd buffer	210	pRxBuff->Locked = TRUE; // lock the rxd buffer
211	// if 2nd byte is an 'R' start bootloader	211	// if 2nd byte is an 'R' start bootloader
212	if(pRxBuff->pData[2] == 'R' && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)	212	if(pRxBuff->pData[2] == 'R' && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)
213	{	213	{
214	VIC_DeInit();	214	VIC_DeInit();
215	Execute_Bootloader(); // Reset-Commando - Bootloader starten	215	Execute_Bootloader(); // Reset-Commando - Bootloader starten
216	}	216	}
217	} // eof checksum valid	217	} // eof checksum valid
218	else	218	else
219	{ // checksum is invalid	219	{ // checksum is invalid
220	Buffer_Clear(pRxBuff);	220	Buffer_Clear(pRxBuff);
221	} // eof checksum invalid	221	} // eof checksum invalid
222	} // eof termination character received	222	} // eof termination character received
223	} // rxd buffer not full	223	} // rxd buffer not full
224	else // rxd buffer overrun	224	else // rxd buffer overrun
225	{	225	{
226	Buffer_Clear(pRxBuff);	226	Buffer_Clear(pRxBuff);
227	} // eof rxd buffer overrun	227	} // eof rxd buffer overrun
228	}	228	}
229	return(pRxBuff->Locked);	229	return(pRxBuff->Locked);
230	}	230	}
231		231
232	/**************************************************************/	232	/**************************************************************/
233	/* Decode detination address */	233	/* Decode detination address */
234	/**************************************************************/	234	/**************************************************************/
235	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	235	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
236	{	236	{
237	if(pRxBuff->Locked)	237	if(pRxBuff->Locked)
238	{	238	{
239	pSerialMsg->Address = pRxBuff->pData[1] - 'a';	239	pSerialMsg->Address = pRxBuff->pData[1] - 'a';
240	pSerialMsg->CmdID = pRxBuff->pData[2];	240	pSerialMsg->CmdID = pRxBuff->pData[2];
241	}	241	}
242	else	242	else
243	{	243	{
244	pSerialMsg->Address = 0;	244	pSerialMsg->Address = 0;
245	pSerialMsg->CmdID = ' ';	245	pSerialMsg->CmdID = ' ';
246	}	246	}
247	}	247	}
248		248
249	/**************************************************************/	249	/**************************************************************/
250	/* Decode data */	250	/* Decode data */
251	/**************************************************************/	251	/**************************************************************/
252	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	252	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
253	{	253	{
254	u8 a,b,c,d;	254	u8 a,b,c,d;
255	u16 ptrIn = 3; // start with first data byte in rx buffer	255	u16 ptrIn = 3; // start with first data byte in rx buffer
256	u16 ptrOut = 3;	256	u16 ptrOut = 3;
257	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	257	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
258		258
259	len/=4; // number of 4 byte blocks	259	len/=4; // number of 4 byte blocks
260	while(len--)	260	while(len--)
261	{	261	{
262	a = pRxBuff->pData[ptrIn++] - '=';	262	a = pRxBuff->pData[ptrIn++] - '=';
263	b = pRxBuff->pData[ptrIn++] - '=';	263	b = pRxBuff->pData[ptrIn++] - '=';
264	c = pRxBuff->pData[ptrIn++] - '=';	264	c = pRxBuff->pData[ptrIn++] - '=';
265	d = pRxBuff->pData[ptrIn++] - '=';	265	d = pRxBuff->pData[ptrIn++] - '=';
266		266
267	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);	267	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);
268	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);	268	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);
269	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;	269	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;
270	}	270	}
271	pSerialMsg->pData = &(pRxBuff->pData[3]);	271	pSerialMsg->pData = &(pRxBuff->pData[3]);
272	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	272	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
273	pRxBuff->Position = 0;	273	pRxBuff->Position = 0;
274	pRxBuff->DataBytes = ptrOut;	274	pRxBuff->DataBytes = ptrOut;
275	}	275	}
276		276
277	/*	277	/*
278	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	278	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
279	{	279	{
280	u8 a,b,c,d;	280	u8 a,b,c,d;
281	u8 x,y,z;	281	u8 x,y,z;
282	u16 ptrIn = 3; // start with first data byte in rx buffer	282	u16 ptrIn = 3; // start with first data byte in rx buffer
283	u16 ptrOut = 3;	283	u16 ptrOut = 3;
284	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	284	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
285	while(len)	285	while(len)
286	{	286	{
287	a = pRxBuff->pData[ptrIn++] - '=';	287	a = pRxBuff->pData[ptrIn++] - '=';
288	b = pRxBuff->pData[ptrIn++] - '=';	288	b = pRxBuff->pData[ptrIn++] - '=';
289	c = pRxBuff->pData[ptrIn++] - '=';	289	c = pRxBuff->pData[ptrIn++] - '=';
290	d = pRxBuff->pData[ptrIn++] - '=';	290	d = pRxBuff->pData[ptrIn++] - '=';
291	//if(ptrIn > ReceivedBytes - 3) break;	291	//if(ptrIn > ReceivedBytes - 3) break;
292		292
293	x = (a << 2) \| (b >> 4);	293	x = (a << 2) \| (b >> 4);
294	y = ((b & 0x0f) << 4) \| (c >> 2);	294	y = ((b & 0x0f) << 4) \| (c >> 2);
295	z = ((c & 0x03) << 6) \| d;	295	z = ((c & 0x03) << 6) \| d;
296		296
297	if(len--) pRxBuff->pData[ptrOut++] = x; else break;	297	if(len--) pRxBuff->pData[ptrOut++] = x; else break;
298	if(len--) pRxBuff->pData[ptrOut++] = y; else break;	298	if(len--) pRxBuff->pData[ptrOut++] = y; else break;
299	if(len--) pRxBuff->pData[ptrOut++] = z; else break;	299	if(len--) pRxBuff->pData[ptrOut++] = z; else break;
300	}	300	}
301	pSerialMsg->pData = &(pRxBuff->pData[3]);	301	pSerialMsg->pData = &(pRxBuff->pData[3]);
302	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	302	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
303	pRxBuff->Position = 0;	303	pRxBuff->Position = 0;
304	pRxBuff->DataBytes = ptrOut;	304	pRxBuff->DataBytes = ptrOut;
305	}	305	}
306	*/	306	*/
307		307
308		308

Subversion Repositories NaviCtrl

(root)/tags/V2.06a/mkprotocol.c @ 616 - Rev 483 → 489