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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 <stdio.h> |
58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
59 | #include "mkprotocol.h" |
59 | #include "mkprotocol.h" |
60 | #include "ramfunc.h" |
60 | #include "ramfunc.h" |
61 | #include "uart1.h" |
61 | #include "uart1.h" |
62 | #include "main.h" |
62 | #include "main.h" |
- | 63 | #include "GPS.h" |
|
63 | 64 | ||
64 | /**************************************************************/ |
65 | /**************************************************************/ |
65 | /* Create serial output frame */ |
66 | /* Create serial output frame */ |
66 | /**************************************************************/ |
67 | /**************************************************************/ |
67 | u8 AddSerialData(Buffer_t* pTxBuff, u8 *buffer, u16 size) //u8 *data, u8 len, .... |
68 | u8 AddSerialData(Buffer_t* pTxBuff, u8 *buffer, u16 size) //u8 *data, u8 len, .... |
68 | { |
69 | { |
69 | unsigned int i; |
70 | unsigned int i; |
70 | if(pTxBuff->Locked == TRUE) return(0); |
71 | if(pTxBuff->Locked == TRUE) return(0); |
71 | // tx-buffer is not in use |
72 | // tx-buffer is not in use |
72 | // lock the buffer |
73 | // lock the buffer |
73 | pTxBuff->Locked = TRUE; |
74 | pTxBuff->Locked = TRUE; |
74 | pTxBuff->Position = 0; |
75 | pTxBuff->Position = 0; |
75 | for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i]; |
76 | for(i=0; i<size; i++) pTxBuff->pData[pTxBuff->Position++] = buffer[i]; |
76 | pTxBuff->DataBytes = pTxBuff->Position; |
77 | pTxBuff->DataBytes = pTxBuff->Position; |
77 | pTxBuff->Position = 0; // reset buffer position for transmision |
78 | pTxBuff->Position = 0; // reset buffer position for transmision |
78 | return(pTxBuff->Locked); |
79 | return(pTxBuff->Locked); |
79 | } |
80 | } |
80 | 81 | ||
81 | /**************************************************************/ |
82 | /**************************************************************/ |
82 | /* Create serial output frame */ |
83 | /* Create serial output frame */ |
83 | /**************************************************************/ |
84 | /**************************************************************/ |
84 | u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
85 | u8 MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
85 | { |
86 | { |
86 | va_list ap; |
87 | va_list ap; |
87 | 88 | ||
88 | u8 a,b,c; |
89 | u8 a,b,c; |
89 | u16 ptr = 0; |
90 | u16 ptr = 0; |
90 | u16 tmpCRC = 0, i; |
91 | u16 tmpCRC = 0, i; |
91 | 92 | ||
92 | u8* pdata = NULL; |
93 | u8* pdata = NULL; |
93 | int len = 0; |
94 | int len = 0; |
94 | 95 | ||
95 | if(pTxBuff->Locked == TRUE) return(0); |
96 | if(pTxBuff->Locked == TRUE) return(0); |
96 | 97 | ||
97 | // tx-buffer is not in use |
98 | // tx-buffer is not in use |
98 | // lock the buffer |
99 | // lock the buffer |
99 | pTxBuff->Locked = TRUE; |
100 | pTxBuff->Locked = TRUE; |
100 | pTxBuff->Position = 0; |
101 | pTxBuff->Position = 0; |
101 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
102 | pTxBuff->pData[pTxBuff->Position++] = '#'; // Start character |
102 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
103 | pTxBuff->pData[pTxBuff->Position++] = 'a' + Address; // Address (a=0; b=1,...) |
103 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
104 | pTxBuff->pData[pTxBuff->Position++] = CmdID; // Command |
104 | 105 | ||
105 | va_start(ap, numofbuffers); |
106 | va_start(ap, numofbuffers); |
106 | if(numofbuffers) |
107 | if(numofbuffers) |
107 | { |
108 | { |
108 | pdata = va_arg(ap, u8*); |
109 | pdata = va_arg(ap, u8*); |
109 | len = va_arg(ap, int); |
110 | len = va_arg(ap, int); |
110 | ptr = 0; |
111 | ptr = 0; |
111 | numofbuffers--; |
112 | numofbuffers--; |
112 | } |
113 | } |
113 | while(len) |
114 | while(len) |
114 | { |
115 | { |
115 | if(len) |
116 | if(len) |
116 | { |
117 | { |
117 | a = pdata[ptr++]; |
118 | a = pdata[ptr++]; |
118 | len--; |
119 | len--; |
119 | if((!len) && numofbuffers) // try to jump to next buffer |
120 | if((!len) && numofbuffers) // try to jump to next buffer |
120 | { |
121 | { |
121 | pdata = va_arg(ap, u8*); |
122 | pdata = va_arg(ap, u8*); |
122 | len = va_arg(ap, int); |
123 | len = va_arg(ap, int); |
123 | ptr = 0; |
124 | ptr = 0; |
124 | numofbuffers--; |
125 | numofbuffers--; |
125 | } |
126 | } |
126 | } |
127 | } |
127 | else a = 0; |
128 | else a = 0; |
128 | if(len) |
129 | if(len) |
129 | { |
130 | { |
130 | b = pdata[ptr++]; |
131 | b = pdata[ptr++]; |
131 | len--; |
132 | len--; |
132 | if((!len) && numofbuffers) // try to jump to next buffer |
133 | if((!len) && numofbuffers) // try to jump to next buffer |
133 | { |
134 | { |
134 | pdata = va_arg(ap, u8*); |
135 | pdata = va_arg(ap, u8*); |
135 | len = va_arg(ap, int); |
136 | len = va_arg(ap, int); |
136 | ptr = 0; |
137 | ptr = 0; |
137 | numofbuffers--; |
138 | numofbuffers--; |
138 | } |
139 | } |
139 | } |
140 | } |
140 | else b = 0; |
141 | else b = 0; |
141 | if(len) |
142 | if(len) |
142 | { |
143 | { |
143 | c = pdata[ptr++]; |
144 | c = pdata[ptr++]; |
144 | len--; |
145 | len--; |
145 | if((!len) && numofbuffers) // try to jump to next buffer |
146 | if((!len) && numofbuffers) // try to jump to next buffer |
146 | { |
147 | { |
147 | pdata = va_arg(ap, u8*); |
148 | pdata = va_arg(ap, u8*); |
148 | len = va_arg(ap, int); |
149 | len = va_arg(ap, int); |
149 | ptr = 0; |
150 | ptr = 0; |
150 | numofbuffers--; |
151 | numofbuffers--; |
151 | } |
152 | } |
152 | } |
153 | } |
153 | else c = 0; |
154 | else c = 0; |
154 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
155 | pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2); |
155 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
156 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
156 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
157 | pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
157 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
158 | pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f); |
158 | } |
159 | } |
159 | va_end(ap); |
160 | va_end(ap); |
160 | // add crc |
161 | // add crc |
161 | for(i = 0; i < pTxBuff->Position; i++) |
162 | for(i = 0; i < pTxBuff->Position; i++) |
162 | { |
163 | { |
163 | tmpCRC += pTxBuff->pData[i]; |
164 | tmpCRC += pTxBuff->pData[i]; |
164 | } |
165 | } |
165 | tmpCRC %= 4096; |
166 | tmpCRC %= 4096; |
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++] = '=' + tmpCRC % 64; |
168 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
169 | pTxBuff->pData[pTxBuff->Position++] = '\r'; |
169 | pTxBuff->DataBytes = pTxBuff->Position; |
170 | pTxBuff->DataBytes = pTxBuff->Position; |
170 | pTxBuff->Position = 0; // reset buffer position for transmision |
171 | pTxBuff->Position = 0; // reset buffer position for transmision |
171 | return(pTxBuff->Locked); |
172 | return(pTxBuff->Locked); |
172 | } |
173 | } |
173 | 174 | ||
174 | // typical called in an UART Rx ISR |
175 | // typical called in an UART Rx ISR |
175 | /**************************************************************/ |
176 | /**************************************************************/ |
176 | /* Collect serial frame */ |
177 | /* Collect serial frame */ |
177 | /**************************************************************/ |
178 | /**************************************************************/ |
178 | u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
179 | u8 MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c) |
179 | { |
180 | { |
180 | if(pRxBuff->Locked == FALSE) |
181 | if(pRxBuff->Locked == FALSE) |
181 | { // rx buffer not locked |
182 | { // rx buffer not locked |
182 | if(c == '#') // if syncronisation character is received |
183 | if(c == '#') // if syncronisation character is received |
183 | { |
184 | { |
184 | pRxBuff->Position = 0; // reset buffer |
185 | pRxBuff->Position = 0; // reset buffer |
185 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
186 | pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer |
186 | pRxBuff->DataBytes = 1; |
187 | pRxBuff->DataBytes = 1; |
187 | } |
188 | } |
188 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
189 | else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full |
189 | { |
190 | { |
190 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
191 | pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer |
191 | pRxBuff->DataBytes++; |
192 | pRxBuff->DataBytes++; |
192 | // termination character received and sync has been established |
193 | // termination character received and sync has been established |
193 | if ((c == '\r') && (pRxBuff->pData[0]== '#')) |
194 | if ((c == '\r') && (pRxBuff->pData[0]== '#')) |
194 | { |
195 | { |
195 | // calculate checksum from transmitted data |
196 | // calculate checksum from transmitted data |
196 | u16 crc = 0, i; |
197 | u16 crc = 0, i; |
197 | u8 crc1, crc2; |
198 | u8 crc1, crc2; |
198 | for(i = 0; i < (pRxBuff->Position-3); i++) |
199 | for(i = 0; i < (pRxBuff->Position-3); i++) |
199 | { |
200 | { |
200 | crc += pRxBuff->pData[i]; |
201 | crc += pRxBuff->pData[i]; |
201 | } |
202 | } |
202 | crc %= 4096; |
203 | crc %= 4096; |
203 | crc1 = '=' + crc / 64; |
204 | crc1 = '=' + crc / 64; |
204 | crc2 = '=' + crc % 64; |
205 | crc2 = '=' + crc % 64; |
205 | // compare checksum to transmitted checksum bytes |
206 | // compare checksum to transmitted checksum bytes |
206 | if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2])) |
207 | if((crc1 == pRxBuff->pData[pRxBuff->Position-3]) && (crc2 == pRxBuff->pData[pRxBuff->Position-2])) |
207 | { |
208 | { |
208 | // checksum is valid |
209 | // checksum is valid |
209 | pRxBuff->Position = 0; |
210 | pRxBuff->Position = 0; |
210 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
211 | pRxBuff->Locked = TRUE; // lock the rxd buffer |
211 | // if 2nd byte is an 'R' start bootloader |
212 | // 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) |
213 | if(pRxBuff->pData[2] == 'R' && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) // not if the motors are running) |
213 | { |
214 | { |
214 | VIC_DeInit(); |
215 | VIC_DeInit(); |
215 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
216 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
216 | } |
217 | } |
217 | } // eof checksum valid |
218 | } // eof checksum valid |
218 | else |
219 | else |
219 | { // checksum is invalid |
220 | { // checksum is invalid |
220 | Buffer_Clear(pRxBuff); |
221 | Buffer_Clear(pRxBuff); |
221 | } // eof checksum invalid |
222 | } // eof checksum invalid |
222 | } // eof termination character received |
223 | } // eof termination character received |
223 | } // rxd buffer not full |
224 | } // rxd buffer not full |
224 | else // rxd buffer overrun |
225 | else // rxd buffer overrun |
225 | { |
226 | { |
226 | Buffer_Clear(pRxBuff); |
227 | Buffer_Clear(pRxBuff); |
227 | } // eof rxd buffer overrun |
228 | } // eof rxd buffer overrun |
228 | } |
229 | } |
229 | return(pRxBuff->Locked); |
230 | return(pRxBuff->Locked); |
230 | } |
231 | } |
231 | 232 | ||
232 | /**************************************************************/ |
233 | /**************************************************************/ |
233 | /* Decode detination address */ |
234 | /* Decode detination address */ |
234 | /**************************************************************/ |
235 | /**************************************************************/ |
235 | void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
236 | void MKProtocol_DecodeSerialFrameHeader(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
236 | { |
237 | { |
237 | if(pRxBuff->Locked) |
238 | if(pRxBuff->Locked) |
238 | { |
239 | { |
239 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
240 | pSerialMsg->Address = pRxBuff->pData[1] - 'a'; |
240 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
241 | pSerialMsg->CmdID = pRxBuff->pData[2]; |
241 | } |
242 | } |
242 | else |
243 | else |
243 | { |
244 | { |
244 | pSerialMsg->Address = 0; |
245 | pSerialMsg->Address = 0; |
245 | pSerialMsg->CmdID = ' '; |
246 | pSerialMsg->CmdID = ' '; |
246 | } |
247 | } |
247 | } |
248 | } |
248 | 249 | ||
249 | /**************************************************************/ |
250 | /**************************************************************/ |
250 | /* Decode data */ |
251 | /* Decode data */ |
251 | /**************************************************************/ |
252 | /**************************************************************/ |
252 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
253 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
253 | { |
254 | { |
254 | u8 a,b,c,d; |
255 | u8 a,b,c,d; |
255 | u16 ptrIn = 3; // start with first data byte in rx buffer |
256 | u16 ptrIn = 3; // start with first data byte in rx buffer |
256 | u16 ptrOut = 3; |
257 | 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 ) |
258 | u16 len = pRxBuff->DataBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
258 | 259 | ||
259 | len/=4; // number of 4 byte blocks |
260 | len/=4; // number of 4 byte blocks |
260 | while(len--) |
261 | while(len--) |
261 | { |
262 | { |
262 | a = pRxBuff->pData[ptrIn++] - '='; |
263 | a = pRxBuff->pData[ptrIn++] - '='; |
263 | b = pRxBuff->pData[ptrIn++] - '='; |
264 | b = pRxBuff->pData[ptrIn++] - '='; |
264 | c = pRxBuff->pData[ptrIn++] - '='; |
265 | c = pRxBuff->pData[ptrIn++] - '='; |
265 | d = pRxBuff->pData[ptrIn++] - '='; |
266 | d = pRxBuff->pData[ptrIn++] - '='; |
266 | 267 | ||
267 | pRxBuff->pData[ptrOut++] = (a << 2) | (b >> 4); |
268 | pRxBuff->pData[ptrOut++] = (a << 2) | (b >> 4); |
268 | pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2); |
269 | pRxBuff->pData[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2); |
269 | pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) | d; |
270 | pRxBuff->pData[ptrOut++] = ((c & 0x03) << 6) | d; |
270 | } |
271 | } |
271 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
272 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
272 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
273 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
273 | pRxBuff->Position = 0; |
274 | pRxBuff->Position = 0; |
274 | pRxBuff->DataBytes = ptrOut; |
275 | pRxBuff->DataBytes = ptrOut; |
275 | } |
276 | } |
276 | 277 | ||
277 | /* |
278 | /* |
278 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
279 | void MKProtocol_DecodeSerialFrameData(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg) |
279 | { |
280 | { |
280 | u8 a,b,c,d; |
281 | u8 a,b,c,d; |
281 | u8 x,y,z; |
282 | u8 x,y,z; |
282 | u16 ptrIn = 3; // start with first data byte in rx buffer |
283 | u16 ptrIn = 3; // start with first data byte in rx buffer |
283 | u16 ptrOut = 3; |
284 | 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 ) |
285 | 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) |
286 | while(len) |
286 | { |
287 | { |
287 | a = pRxBuff->pData[ptrIn++] - '='; |
288 | a = pRxBuff->pData[ptrIn++] - '='; |
288 | b = pRxBuff->pData[ptrIn++] - '='; |
289 | b = pRxBuff->pData[ptrIn++] - '='; |
289 | c = pRxBuff->pData[ptrIn++] - '='; |
290 | c = pRxBuff->pData[ptrIn++] - '='; |
290 | d = pRxBuff->pData[ptrIn++] - '='; |
291 | d = pRxBuff->pData[ptrIn++] - '='; |
291 | //if(ptrIn > ReceivedBytes - 3) break; |
292 | //if(ptrIn > ReceivedBytes - 3) break; |
292 | 293 | ||
293 | x = (a << 2) | (b >> 4); |
294 | x = (a << 2) | (b >> 4); |
294 | y = ((b & 0x0f) << 4) | (c >> 2); |
295 | y = ((b & 0x0f) << 4) | (c >> 2); |
295 | z = ((c & 0x03) << 6) | d; |
296 | z = ((c & 0x03) << 6) | d; |
296 | 297 | ||
297 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
298 | if(len--) pRxBuff->pData[ptrOut++] = x; else break; |
298 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
299 | if(len--) pRxBuff->pData[ptrOut++] = y; else break; |
299 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
300 | if(len--) pRxBuff->pData[ptrOut++] = z; else break; |
300 | } |
301 | } |
301 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
302 | pSerialMsg->pData = &(pRxBuff->pData[3]); |
302 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
303 | pSerialMsg->DataLen = ptrOut - 3; // return number of data in bytes |
303 | pRxBuff->Position = 0; |
304 | pRxBuff->Position = 0; |
304 | pRxBuff->DataBytes = ptrOut; |
305 | pRxBuff->DataBytes = ptrOut; |
305 | } |
306 | } |
306 | */ |
307 | */ |
307 | 308 | ||
308 | 309 |