WebSVN - NaviCtrl - Diff - Rev 430 and 432


/*#######################################################################################*/
/* !!! 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"
#include "main.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' && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)
                                        {
                                                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;
        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 430	Rev 432
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	#include "uart1.h"
-		62	#include "main.h"
62		63
63	/**************************************************************/	64	/**************************************************************/
64	/* Create serial output frame */	65	/* Create serial output frame */
65	/**************************************************************/	66	/**************************************************************/
66	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....	67	u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
67	{	68	{
68	va_list ap;	69	va_list ap;
69		70
70	u8 a,b,c;	71	u8 a,b,c;
71	u16 ptr = 0;	72	u16 ptr = 0;
72	u16 tmpCRC = 0, i;	73	u16 tmpCRC = 0, i;
73		74
74	u8* pdata = NULL;	75	u8* pdata = NULL;
75	int len = 0;	76	int len = 0;
76		77
77	if(pTxBuff->Locked == TRUE) return(0);	78	if(pTxBuff->Locked == TRUE) return(0);
78		79
79	// tx-buffer is not in use	80	// tx-buffer is not in use
80	// lock the buffer	81	// lock the buffer
81	pTxBuff->Locked = TRUE;	82	pTxBuff->Locked = TRUE;
82	pTxBuff->Position = 0;	83	pTxBuff->Position = 0;
83	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character	84	pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character
84	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)	85	pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...)
85	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command	86	pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command
86		87
87	va_start(ap, numofbuffers);	88	va_start(ap, numofbuffers);
88	if(numofbuffers)	89	if(numofbuffers)
89	{	90	{
90	pdata = va_arg(ap, u8*);	91	pdata = va_arg(ap, u8*);
91	len = va_arg(ap, int);	92	len = va_arg(ap, int);
92	ptr = 0;	93	ptr = 0;
93	numofbuffers--;	94	numofbuffers--;
94	}	95	}
95	while(len)	96	while(len)
96	{	97	{
97	if(len)	98	if(len)
98	{	99	{
99	a = pdata[ptr++];	100	a = pdata[ptr++];
100	len--;	101	len--;
101	if((!len) && numofbuffers) // try to jump to next buffer	102	if((!len) && numofbuffers) // try to jump to next buffer
102	{	103	{
103	pdata = va_arg(ap, u8*);	104	pdata = va_arg(ap, u8*);
104	len = va_arg(ap, int);	105	len = va_arg(ap, int);
105	ptr = 0;	106	ptr = 0;
106	numofbuffers--;	107	numofbuffers--;
107	}	108	}
108	}	109	}
109	else a = 0;	110	else a = 0;
110	if(len)	111	if(len)
111	{	112	{
112	b = pdata[ptr++];	113	b = pdata[ptr++];
113	len--;	114	len--;
114	if((!len) && numofbuffers) // try to jump to next buffer	115	if((!len) && numofbuffers) // try to jump to next buffer
115	{	116	{
116	pdata = va_arg(ap, u8*);	117	pdata = va_arg(ap, u8*);
117	len = va_arg(ap, int);	118	len = va_arg(ap, int);
118	ptr = 0;	119	ptr = 0;
119	numofbuffers--;	120	numofbuffers--;
120	}	121	}
121	}	122	}
122	else b = 0;	123	else b = 0;
123	if(len)	124	if(len)
124	{	125	{
125	c = pdata[ptr++];	126	c = pdata[ptr++];
126	len--;	127	len--;
127	if((!len) && numofbuffers) // try to jump to next buffer	128	if((!len) && numofbuffers) // try to jump to next buffer
128	{	129	{
129	pdata = va_arg(ap, u8*);	130	pdata = va_arg(ap, u8*);
130	len = va_arg(ap, int);	131	len = va_arg(ap, int);
131	ptr = 0;	132	ptr = 0;
132	numofbuffers--;	133	numofbuffers--;
133	}	134	}
134	}	135	}
135	else c = 0;	136	else c = 0;
136	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);	137	pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);
137	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	138	pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
138	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	139	pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
139	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);	140	pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);
140	}	141	}
141	va_end(ap);	142	va_end(ap);
142	// add crc	143	// add crc
143	for(i = 0; i < pTxBuff->Position; i++)	144	for(i = 0; i < pTxBuff->Position; i++)
144	{	145	{
145	tmpCRC += pTxBuff->pData[i];	146	tmpCRC += pTxBuff->pData[i];
146	}	147	}
147	tmpCRC %= 4096;	148	tmpCRC %= 4096;
148	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;	149	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;
149	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;	150	pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;
150	pTxBuff->pData[pTxBuff->Position++] = '\r';	151	pTxBuff->pData[pTxBuff->Position++] = '\r';
151	pTxBuff->DataBytes = pTxBuff->Position;	152	pTxBuff->DataBytes = pTxBuff->Position;
152	pTxBuff->Position = 0; // reset buffer position for transmision	153	pTxBuff->Position = 0; // reset buffer position for transmision
153	return(pTxBuff->Locked);	154	return(pTxBuff->Locked);
154	}	155	}
155		156
156	// typical called in an UART Rx ISR	157	// typical called in an UART Rx ISR
157	/**************************************************************/	158	/**************************************************************/
158	/* Collect serial frame */	159	/* Collect serial frame */
159	/**************************************************************/	160	/**************************************************************/
160	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)	161	u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)
161	{	162	{
162	if(pRxBuff->Locked == FALSE)	163	if(pRxBuff->Locked == FALSE)
163	{ // rx buffer not locked	164	{ // rx buffer not locked
164	if(c == '#') // if syncronisation character is received	165	if(c == '#') // if syncronisation character is received
165	{	166	{
166	pRxBuff->Position = 0; // reset buffer	167	pRxBuff->Position = 0; // reset buffer
167	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer	168	pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer
168	pRxBuff->DataBytes = 1;	169	pRxBuff->DataBytes = 1;
169	}	170	}
170	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full	171	else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full
171	{	172	{
172	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer	173	pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer
173	pRxBuff->DataBytes++;	174	pRxBuff->DataBytes++;
174	// termination character received and sync has been established	175	// termination character received and sync has been established
175	if ((c == '\r') && (pRxBuff->pData[0]== '#'))	176	if ((c == '\r') && (pRxBuff->pData[0]== '#'))
176	{	177	{
177	// calculate checksum from transmitted data	178	// calculate checksum from transmitted data
178	u16 crc = 0, i;	179	u16 crc = 0, i;
179	u8 crc1, crc2;	180	u8 crc1, crc2;
180	for(i = 0; i < (pRxBuff->Position-3); i++)	181	for(i = 0; i < (pRxBuff->Position-3); i++)
181	{	182	{
182	crc += pRxBuff->pData[i];	183	crc += pRxBuff->pData[i];
183	}	184	}
184	crc %= 4096;	185	crc %= 4096;
185	crc1 = '=' + crc / 64;	186	crc1 = '=' + crc / 64;
186	crc2 = '=' + crc % 64;	187	crc2 = '=' + crc % 64;
187	// compare checksum to transmitted checksum bytes	188	// compare checksum to transmitted checksum bytes
188	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))	189	if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2]))
189	{	190	{
190	// checksum is valid	191	// checksum is valid
191	pRxBuff->Position = 0;	192	pRxBuff->Position = 0;
192	pRxBuff->Locked = TRUE; // lock the rxd buffer	193	pRxBuff->Locked = TRUE; // lock the rxd buffer
193	// if 2nd byte is an 'R' start bootloader	194	// if 2nd byte is an 'R' start bootloader
194	if(pRxBuff->pData[2] == 'R')	195	if(pRxBuff->pData[2] == 'R' && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running)
195	{	196	{
196	PowerOff();	197	PowerOff();
197	VIC_DeInit();	198	VIC_DeInit();
198	Execute_Bootloader(); // Reset-Commando - Bootloader starten	199	Execute_Bootloader(); // Reset-Commando - Bootloader starten
199	}	200	}
200	} // eof checksum valid	201	} // eof checksum valid
201	else	202	else
202	{ // checksum is invalid	203	{ // checksum is invalid
203	Buffer_Clear(pRxBuff);	204	Buffer_Clear(pRxBuff);
204	} // eof checksum invalid	205	} // eof checksum invalid
205	} // eof termination character received	206	} // eof termination character received
206	} // rxd buffer not full	207	} // rxd buffer not full
207	else // rxd buffer overrun	208	else // rxd buffer overrun
208	{	209	{
209	Buffer_Clear(pRxBuff);	210	Buffer_Clear(pRxBuff);
210	} // eof rxd buffer overrun	211	} // eof rxd buffer overrun
211	}	212	}
212	return(pRxBuff->Locked);	213	return(pRxBuff->Locked);
213	}	214	}
214		215
215	/**************************************************************/	216	/**************************************************************/
216	/* Decode detination address */	217	/* Decode detination address */
217	/**************************************************************/	218	/**************************************************************/
218	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	219	void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
219	{	220	{
220	if(pRxBuff->Locked)	221	if(pRxBuff->Locked)
221	{	222	{
222	pSerialMsg->Address = pRxBuff->pData[1] - 'a';	223	pSerialMsg->Address = pRxBuff->pData[1] - 'a';
223	pSerialMsg->CmdID = pRxBuff->pData[2];	224	pSerialMsg->CmdID = pRxBuff->pData[2];
224	}	225	}
225	else	226	else
226	{	227	{
227	pSerialMsg->Address = 0;	228	pSerialMsg->Address = 0;
228	pSerialMsg->CmdID = ' ';	229	pSerialMsg->CmdID = ' ';
229	}	230	}
230	}	231	}
231		232
232	/**************************************************************/	233	/**************************************************************/
233	/* Decode data */	234	/* Decode data */
234	/**************************************************************/	235	/**************************************************************/
235	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	236	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
236	{	237	{
237	u8 a,b,c,d;	238	u8 a,b,c,d;
238	u16 ptrIn = 3; // start with first data byte in rx buffer	239	u16 ptrIn = 3; // start with first data byte in rx buffer
239	u16 ptrOut = 3;	240	u16 ptrOut = 3;
240	u16 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		242
242	len/=4; // number of 4 byte blocks	243	len/=4; // number of 4 byte blocks
243	while(len--)	244	while(len--)
244	{	245	{
245	a = pRxBuff->pData[ptrIn++] - '=';	246	a = pRxBuff->pData[ptrIn++] - '=';
246	b = pRxBuff->pData[ptrIn++] - '=';	247	b = pRxBuff->pData[ptrIn++] - '=';
247	c = pRxBuff->pData[ptrIn++] - '=';	248	c = pRxBuff->pData[ptrIn++] - '=';
248	d = pRxBuff->pData[ptrIn++] - '=';	249	d = pRxBuff->pData[ptrIn++] - '=';
249		250
250	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);	251	pRxBuff->pData[ptrOut++] = (a << 2) \| (b >> 4);
251	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);	252	pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) \| (c >> 2);
252	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;	253	pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) \| d;
253	}	254	}
254	pSerialMsg->pData = &(pRxBuff->pData[3]);	255	pSerialMsg->pData = &(pRxBuff->pData[3]);
255	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	256	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
256	pRxBuff->Position = 0;	257	pRxBuff->Position = 0;
257	pRxBuff->DataBytes = ptrOut;	258	pRxBuff->DataBytes = ptrOut;
258	}	259	}
259		260
260	/*	261	/*
261	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)	262	void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
262	{	263	{
263	u8 a,b,c,d;	264	u8 a,b,c,d;
264	u8 x,y,z;	265	u8 x,y,z;
265	u16 ptrIn = 3; // start with first data byte in rx buffer	266	u16 ptrIn = 3; // start with first data byte in rx buffer
266	u16 ptrOut = 3;	267	u16 ptrOut = 3;
267	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )	268	u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
268	while(len)	269	while(len)
269	{	270	{
270	a = pRxBuff->pData[ptrIn++] - '=';	271	a = pRxBuff->pData[ptrIn++] - '=';
271	b = pRxBuff->pData[ptrIn++] - '=';	272	b = pRxBuff->pData[ptrIn++] - '=';
272	c = pRxBuff->pData[ptrIn++] - '=';	273	c = pRxBuff->pData[ptrIn++] - '=';
273	d = pRxBuff->pData[ptrIn++] - '=';	274	d = pRxBuff->pData[ptrIn++] - '=';
274	//if(ptrIn > ReceivedBytes - 3) break;	275	//if(ptrIn > ReceivedBytes - 3) break;
275		276
276	x = (a << 2) \| (b >> 4);	277	x = (a << 2) \| (b >> 4);
277	y = ((b & 0x0f) << 4) \| (c >> 2);	278	y = ((b & 0x0f) << 4) \| (c >> 2);
278	z = ((c & 0x03) << 6) \| d;	279	z = ((c & 0x03) << 6) \| d;
279		280
280	if(len--) pRxBuff->pData[ptrOut++] = x; else break;	281	if(len--) pRxBuff->pData[ptrOut++] = x; else break;
281	if(len--) pRxBuff->pData[ptrOut++] = y; else break;	282	if(len--) pRxBuff->pData[ptrOut++] = y; else break;
282	if(len--) pRxBuff->pData[ptrOut++] = z; else break;	283	if(len--) pRxBuff->pData[ptrOut++] = z; else break;
283	}	284	}
284	pSerialMsg->pData = &(pRxBuff->pData[3]);	285	pSerialMsg->pData = &(pRxBuff->pData[3]);
285	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes	286	pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes
286	pRxBuff->Position = 0;	287	pRxBuff->Position = 0;
287	pRxBuff->DataBytes = ptrOut;	288	pRxBuff->DataBytes = ptrOut;
288	}	289	}
289	*/	290	*/
290		291
291		292

Subversion Repositories NaviCtrl

(root)/tags/V2.14b/mkprotocol.c @ 779 - Rev 430 → 432