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| 8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
| 9 | * to look at the possible commands that are already coded |
9 | * to look at the possible commands that are already coded |
| 10 | * in data |
10 | * in data |
| 11 | */ |
11 | */ |
| 12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
| 13 | //if # is cmd we do not touch anything, because |
13 | //if # is cmd we do not touch anything, because |
| 14 | // the command is already encoded in data |
14 | // the command is already encoded in data |
| 15 | if (cmd != '#') { |
15 | if (cmd != '#') { |
| 16 | /* |
16 | /* |
| 17 | //calculate buffer length |
17 | //calculate buffer length |
| 18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
| 19 | //(the rest for the data length - see encode how this is calculated) |
19 | //(the rest for the data length - see encode how this is calculated) |
| 20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
| 21 | 21 | ||
| 22 | //allociate memory for the data we want to send |
22 | //allociate memory for the data we want to send |
| 23 | char * send_data = (char *)malloc(buf_len); |
23 | char * send_data = (char *)malloc(buf_len); |
| 24 | */ |
24 | */ |
| - | 25 | Parser::encode64(data, length); |
|
| 25 | char send_data[150]; |
26 | char send_data[150]; |
| 26 | send_data[0]='#'; |
27 | send_data[0]='#'; |
| 27 | send_data[1]=(char)address; |
28 | send_data[1]=(char)address+'a'; |
| 28 | send_data[2]=cmd; |
29 | send_data[2]=cmd; |
| 29 | for (int i = 0; i < length; i++) |
30 | for (int i = 0; i < length; i++) |
| 30 | send_data[i+3] = data[i]; |
31 | send_data[i+3] = data[i]; |
| 31 | //TODO: abgleich mit MKCommunication::send_command |
- | |
| 32 | Parser::encode64(send_data, length); |
32 | add_CRC(send_data, length+3); |
| 33 | address = 'a' + address; |
33 | data = send_data; |
| 34 | - | ||
| 35 | } |
34 | } |
| 36 | } |
35 | } |
| Line 37... | Line 36... | ||
| 37 | 36 | ||
| 38 | 37 | ||
| Line 128... | Line 127... | ||
| 128 | //move pointer of tx_buff to data |
127 | //move pointer of tx_buff to data |
| 129 | data = tx_buff; |
128 | data = tx_buff; |
| 130 | } |
129 | } |
| Line 131... | Line 130... | ||
| 131 | 130 | ||
| 132 | // Datensatz nach 8bit Integer |
131 | // Datensatz nach 8bit Integer |
| 133 | int Parser::dataToChar(int *data , int start, bool is_signed) { |
132 | int Parser::dataToChar(char *data , int start, bool is_signed) { |
| Line 134... | Line 133... | ||
| 134 | int out = (data[start]); |
133 | int out = (data[start]); |
| 135 | 134 | ||
| Line 149... | Line 148... | ||
| 149 | } |
148 | } |
| Line 150... | Line 149... | ||
| 150 | 149 | ||
| 151 | /** |
150 | /** |
| 152 | * convert data to 16bit Integer |
151 | * convert data to 16bit Integer |
| 153 | */ |
152 | */ |
| 154 | int Parser::dataToInt(int *Data , int Start, bool is_signed) |
153 | int Parser::dataToInt(char *Data , int Start, bool is_signed) |
| 155 | { |
154 | { |
| Line 156... | Line 155... | ||
| 156 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
155 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
| 157 | 156 | ||
| Line 163... | Line 162... | ||
| 163 | } |
162 | } |
| Line 164... | Line 163... | ||
| 164 | 163 | ||
| 165 | /** |
164 | /** |
| 166 | * convert data to 32bit Long |
165 | * convert data to 32bit Long |
| 167 | */ |
166 | */ |
| 168 | long Parser::dataToLong(int *Data , int Start, bool is_signed) |
167 | long Parser::dataToLong(char *Data , int Start, bool is_signed) |
| 169 | { |
168 | { |
| Line 170... | Line 169... | ||
| 170 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
169 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
| 171 | 170 | ||
| Line 172... | Line 171... | ||
| 172 | if ((Out > 32767) && (is_signed)) |
171 | if ((Out > 32767) && (is_signed)) |
| 173 | Out = Out; |
172 | Out = Out; |
| Line -... | Line 173... | ||
| - | 173 | ||
| - | 174 | return Out; |
|
| - | 175 | } |
|
| - | 176 | ||
| - | 177 | std::string Parser::dataToString(char * data, int start, int end) |
|
| - | 178 | { |
|
| - | 179 | char tmp[MAX_DATA_SIZE]; |
|
| - | 180 | for (int i = start; i < end; i++) |
|
| 174 | 181 | tmp[i-start] = data[i]; |
|
| 175 | return Out; |
182 | return std::string(tmp); |
| 176 | } |
183 | } |
| Line 177... | Line 184... | ||
| 177 | 184 | ||
| Line 228... | Line 235... | ||
| 228 | tmpCRC += tx[i]; |
235 | tmpCRC += tx[i]; |
| 229 | } |
236 | } |
| Line 230... | Line 237... | ||
| 230 | 237 | ||
| Line 231... | Line 238... | ||
| 231 | tmpCRC %= 4096; |
238 | tmpCRC %= 4096; |
| 232 | 239 | ||
| 233 | tx[length-2] = '=' + tmpCRC / 64; |
240 | tx[length] = '=' + tmpCRC / 64; |
| 234 | tx[length-1] = '=' + tmpCRC % 64; |
241 | tx[length+1] = '=' + tmpCRC % 64; |