WebSVN - Projects - Diff - Rev 483 and 487


#include "fc.h"
 
 
 
unsigned char TxBuffer[MAX_BUFF_LEN];
unsigned char _TxBuffer[MAX_BUFF_LEN];
 
unsigned char RxBuffer[MAX_BUFF_LEN];
char PrintableRxBuffer[MAX_BUFF_LEN];
 
 
 
int mk_socket;
 
int status;
 
void AddCRC(unsigned int wieviele)
{
  unsigned int tmpCRC = 0,i;
  for(i = 0; i < wieviele;i++)
    {
      tmpCRC += TxBuffer[i];
    }
  tmpCRC %= 4096;
  TxBuffer[i++] = '=' + tmpCRC / 64;
  TxBuffer[i++] = '=' + tmpCRC % 64;
  TxBuffer[i++] = '\r';
}
 
 
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
{
  //  return;
  int status =0;
  unsigned int pt = 0;
  unsigned char a,b,c;
  unsigned char ptr = 0;
 
  TxBuffer[pt++] = '#';               // Startzeichen
  TxBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)
  TxBuffer[pt++] = cmd;                 // Commando
 
  while(len)
    {
      if(len) { a = snd[ptr++]; len--;} else a = 0;
      if(len) { b = snd[ptr++]; len--;} else b = 0;
      if(len) { c = snd[ptr++]; len--;} else c = 0;
      TxBuffer[pt++] = '=' + (a >> 2);
      TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
      TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
      TxBuffer[pt++] = '=' + ( c & 0x3f);
    }
 
 
 
  AddCRC(pt);
  printf("Sending to MK %d \n" , pt);
 
  status = send(mk_socket,"\r" , 1, 0);
 
 
  //  for (c=0;c<pt+2;c++)
  // {
  status = write(mk_socket,&TxBuffer , pt+3);
 
 
  //   printf("Send to MK %d \n" , TxBuffer[c] );
  // }
  /* int i=0;
  while(TxBuffer[i] !='\r' && i<150)
    {
    //     TxBuffer[i]='#';
    status = send(mk_socket,TxBuffer[i] , 1, 0);
    printf(" +%d%c ",i,TxBuffer[i]);
    i++;
    }
 
  //  status = send(s,"\r" , 1, 0);
  */
   status = send(mk_socket,"\r" , 1, 0);
   status = send(mk_socket,"\n" , 1, 0);
  printf("\n");
}
 
 
int rx_last_length;
 
 
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)
{
 unsigned char a,b,c,d;
 unsigned char ptr = 0;
 unsigned char x,y,z;
 while(len)
  {
   a = RxBuffer[ptrIn++] - '=';
   b = RxBuffer[ptrIn++] - '=';
   c = RxBuffer[ptrIn++] - '=';
   d = RxBuffer[ptrIn++] - '=';
   if(ptrIn > max - 2) break;    
 
   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;
 
   if(len--) ptrOut[ptr++] = x; else break;
   if(len--) ptrOut[ptr++] = y; else break;
   if(len--) ptrOut[ptr++] = z; else break;
  }
 
}
 
int read_from_mk()
{      
  char in_char='#';
  int count=0;
  int r=0;
  int i=0;
 
  int p=0;
  printf("starting read\n");
  while(in_char!='\r')
    {
      p++;
      //      printf("b read\n");
      count=read(mk_socket,&in_char,1);
     
      //      if ( count ==-1) exit(0);
      printf("a read %d %d %c \n",p,count,in_char);
      if (count!=-1)
        {
          //  printf("%c\n",in_char);
          RxBuffer[r]=in_char;
     
          if (in_char!=0)
            PrintableRxBuffer[r++]=in_char;
          else
            PrintableRxBuffer[r++]='0';
        }
 
    }
  rx_last_length=r;
  PrintableRxBuffer[r++]='\0'; // terminate 
  printf("done --->%s\n",PrintableRxBuffer);
 
  if (RxBuffer[2]=='D')
    {
      debug_sets++;
      Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length);
      printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]);
    }
  return 1;
}
 
 
int connect_mk_bluetooth(char dest[18])
{
  struct sockaddr_rc addr ;
 
  // allocate a socket
  mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
 
  // set the connection parameters (who to connect to)
  addr.rc_family = AF_BLUETOOTH;
  addr.rc_channel = 1;
  str2ba( dest, &addr.rc_bdaddr );
 
  // connect to server
  status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr));
 
  printf("connection status %d\n",status);
  return status;
}
 
 
int connect_mk_tty(char* tty_filename)
{
 
  mk_socket = open(tty_filename,O_RDWR);
 
 
 
  struct termios termattr;
   speed_t baudRate;
 
      /* Make a copy of the termios structure. */
   tcgetattr(mk_socket, &termattr);
 
   termattr.c_iflag = IGNBRK | IGNPAR;
   termattr.c_cflag=CS8 | CREAD | CLOCAL ;
   termattr.c_cflag&= ~CBAUD;
 
   termattr.c_cflag|=B57600;
 
 
 
 
   tcsetattr(mk_socket, TCSANOW, &termattr);
 
 
   /*
   usleep(1000000);  
  char in_char='#';
  int count=0;
  int r=0;
  int i=0;
 
  int p=0;
  printf("starting read %d\n",mk_socket);
  while  (1)
    {
      p=0;
      r=0;
  char in_char='#';
  while((in_char!='\r'))//&&(r<MAX_BUFF_LEN))
        {
          //      p++;
          //      printf("b read\n");
          count=read(mk_socket,&in_char,1);
          // tcflush( mk_socket, TCOFLUSH );
         
          //      printf("\np !read %d %d %c \n",p,count,in_char);
 
          //count=read(mk_socket,&in_char,1);
          // tcflush( mk_socket, TCOFLUSH );
         
          //      printf("\np !read %d %d %d %c \n",r,p,count,in_char);
          printf("%d %c \n",r, in_char);
         
                  if (count==1)
                  {
                  //  printf("%c\n",in_char);
                    RxBuffer[r]=in_char;
                 
                  if (in_char!=0)
                  PrintableRxBuffer[r]=in_char;
                  else
                  PrintableRxBuffer[r]='0';
                  r++;
                  }
          //else
                         //printf("%d/%d",errno,EBADF);
         
        }
  PrintableRxBuffer[r]=0;
      printf("buff> %d\n %s\n", r, PrintableRxBuffer);
    }
*/
  if (mk_socket<0)
    return 0;
  else
    return  1;
 
}
 
 
int connect_mk_localhost_socket(int port)
{
  struct sockaddr_in sa;
 
  sa.sin_family = AF_INET;
  sa.sin_addr.s_addr = htonl(0x0);
  sa.sin_port = htons(port);
 
  mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
 
  return  connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in));
 
}
 
 

Rev 483	Rev 487
1	#include "fc.h"	1	#include "fc.h"
2		2
3		3
4		4
5	unsigned char TxBuffer[MAX_BUFF_LEN];	5	unsigned char TxBuffer[MAX_BUFF_LEN];
6	unsigned char _TxBuffer[MAX_BUFF_LEN];	6	unsigned char _TxBuffer[MAX_BUFF_LEN];
7		7
8	unsigned char RxBuffer[MAX_BUFF_LEN];	8	unsigned char RxBuffer[MAX_BUFF_LEN];
9	char PrintableRxBuffer[MAX_BUFF_LEN];	9	char PrintableRxBuffer[MAX_BUFF_LEN];
10		10
11		11
12		12
13	int mk_socket;	13	int mk_socket;
14		14
15	int status;	15	int status;
16		16
17	void AddCRC(unsigned int wieviele)	17	void AddCRC(unsigned int wieviele)
18	{	18	{
19	unsigned int tmpCRC = 0,i;	19	unsigned int tmpCRC = 0,i;
20	for(i = 0; i < wieviele;i++)	20	for(i = 0; i < wieviele;i++)
21	{	21	{
22	tmpCRC += TxBuffer[i];	22	tmpCRC += TxBuffer[i];
23	}	23	}
24	tmpCRC %= 4096;	24	tmpCRC %= 4096;
25	TxBuffer[i++] = '=' + tmpCRC / 64;	25	TxBuffer[i++] = '=' + tmpCRC / 64;
26	TxBuffer[i++] = '=' + tmpCRC % 64;	26	TxBuffer[i++] = '=' + tmpCRC % 64;
27	TxBuffer[i++] = '\r';	27	TxBuffer[i++] = '\r';
28	}	28	}
29		29
30		30
31	void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)	31	void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
32	{	32	{
33	// return;	33	// return;
34	int status =0;	34	int status =0;
35	unsigned int pt = 0;	35	unsigned int pt = 0;
36	unsigned char a,b,c;	36	unsigned char a,b,c;
37	unsigned char ptr = 0;	37	unsigned char ptr = 0;
38		38
39	TxBuffer[pt++] = '#'; // Startzeichen	39	TxBuffer[pt++] = '#'; // Startzeichen
40	TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...)	40	TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
41	TxBuffer[pt++] = cmd; // Commando	41	TxBuffer[pt++] = cmd; // Commando
42		42
43	while(len)	43	while(len)
44	{	44	{
45	if(len) { a = snd[ptr++]; len--;} else a = 0;	45	if(len) { a = snd[ptr++]; len--;} else a = 0;
46	if(len) { b = snd[ptr++]; len--;} else b = 0;	46	if(len) { b = snd[ptr++]; len--;} else b = 0;
47	if(len) { c = snd[ptr++]; len--;} else c = 0;	47	if(len) { c = snd[ptr++]; len--;} else c = 0;
48	TxBuffer[pt++] = '=' + (a >> 2);	48	TxBuffer[pt++] = '=' + (a >> 2);
49	TxBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	49	TxBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
50	TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	50	TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
51	TxBuffer[pt++] = '=' + ( c & 0x3f);	51	TxBuffer[pt++] = '=' + ( c & 0x3f);
52	}	52	}
53		53
54		54
55		55
56	AddCRC(pt);	56	AddCRC(pt);
57	printf("Sending to MK %d \n" , pt);	57	printf("Sending to MK %d \n" , pt);
58		58
59	status = send(mk_socket,"\r" , 1, 0);	59	status = send(mk_socket,"\r" , 1, 0);
60		60
61		61
62	// for (c=0;c<pt+2;c++)	62	// for (c=0;c<pt+2;c++)
63	// {	63	// {
64	status = write(mk_socket,&TxBuffer , pt+3);	64	status = write(mk_socket,&TxBuffer , pt+3);
65		65
66		66
67	// printf("Send to MK %d \n" , TxBuffer[c] );	67	// printf("Send to MK %d \n" , TxBuffer[c] );
68	// }	68	// }
69	/* int i=0;	69	/* int i=0;
70	while(TxBuffer[i] !='\r' && i<150)	70	while(TxBuffer[i] !='\r' && i<150)
71	{	71	{
72	// TxBuffer[i]='#';	72	// TxBuffer[i]='#';
73	status = send(mk_socket,TxBuffer[i] , 1, 0);	73	status = send(mk_socket,TxBuffer[i] , 1, 0);
74	printf(" +%d%c ",i,TxBuffer[i]);	74	printf(" +%d%c ",i,TxBuffer[i]);
75	i++;	75	i++;
76	}	76	}
77		77
78	// status = send(s,"\r" , 1, 0);	78	// status = send(s,"\r" , 1, 0);
79	*/	79	*/
80	status = send(mk_socket,"\r" , 1, 0);	80	status = send(mk_socket,"\r" , 1, 0);
81	status = send(mk_socket,"\n" , 1, 0);	81	status = send(mk_socket,"\n" , 1, 0);
82	printf("\n");	82	printf("\n");
83	}	83	}
84		84
85		85
86	int rx_last_length;	86	int rx_last_length;
87		87
88		88
89	void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)	89	void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)
90	{	90	{
91	unsigned char a,b,c,d;	91	unsigned char a,b,c,d;
92	unsigned char ptr = 0;	92	unsigned char ptr = 0;
93	unsigned char x,y,z;	93	unsigned char x,y,z;
94	while(len)	94	while(len)
95	{	95	{
96	a = RxBuffer[ptrIn++] - '=';	96	a = RxBuffer[ptrIn++] - '=';
97	b = RxBuffer[ptrIn++] - '=';	97	b = RxBuffer[ptrIn++] - '=';
98	c = RxBuffer[ptrIn++] - '=';	98	c = RxBuffer[ptrIn++] - '=';
99	d = RxBuffer[ptrIn++] - '=';	99	d = RxBuffer[ptrIn++] - '=';
100	if(ptrIn > max - 2) break;	100	if(ptrIn > max - 2) break;
101		101
102	x = (a << 2) \| (b >> 4);	102	x = (a << 2) \| (b >> 4);
103	y = ((b & 0x0f) << 4) \| (c >> 2);	103	y = ((b & 0x0f) << 4) \| (c >> 2);
104	z = ((c & 0x03) << 6) \| d;	104	z = ((c & 0x03) << 6) \| d;
105		105
106	if(len--) ptrOut[ptr++] = x; else break;	106	if(len--) ptrOut[ptr++] = x; else break;
107	if(len--) ptrOut[ptr++] = y; else break;	107	if(len--) ptrOut[ptr++] = y; else break;
108	if(len--) ptrOut[ptr++] = z; else break;	108	if(len--) ptrOut[ptr++] = z; else break;
109	}	109	}
110		110
111	}	111	}
112		112
113	int read_from_mk()	113	int read_from_mk()
114	{	114	{
115	char in_char='#';	115	char in_char='#';
116	int count=0;	116	int count=0;
117	int r=0;	117	int r=0;
118	int i=0;	118	int i=0;
119		119
120	int p=0;	120	int p=0;
121	printf("starting read\n");	121	printf("starting read\n");
122	while(in_char!='\r')	122	while(in_char!='\r')
123	{	123	{
124	p++;	124	p++;
125	// printf("b read\n");	125	// printf("b read\n");
126	count=read(mk_socket,&in_char,1);	126	count=read(mk_socket,&in_char,1);
127		127
128	// if ( count ==-1) exit(0);	128	// if ( count ==-1) exit(0);
129	printf("a read %d %d %c \n",p,count,in_char);	129	printf("a read %d %d %c \n",p,count,in_char);
130	if (count!=-1)	130	if (count!=-1)
131	{	131	{
132	// printf("%c\n",in_char);	132	// printf("%c\n",in_char);
133	RxBuffer[r]=in_char;	133	RxBuffer[r]=in_char;
134		134
135	if (in_char!=0)	135	if (in_char!=0)
136	PrintableRxBuffer[r++]=in_char;	136	PrintableRxBuffer[r++]=in_char;
137	else	137	else
138	PrintableRxBuffer[r++]='0';	138	PrintableRxBuffer[r++]='0';
139	}	139	}
140		140
141	}	141	}
142	rx_last_length=r;	142	rx_last_length=r;
143	PrintableRxBuffer[r++]='\0'; // terminate	143	PrintableRxBuffer[r++]='\0'; // terminate
144	printf("done --->%s\n",PrintableRxBuffer);	144	printf("done --->%s\n",PrintableRxBuffer);
145		145
146	if (RxBuffer[2]=='D')	146	if (RxBuffer[2]=='D')
147	{	147	{
148	debug_sets++;	148	debug_sets++;
149	Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length);	149	Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length);
150	printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]);	150	printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]);
151	}	151	}
152	return 1;	152	return 1;
153	}	153	}
154		154
155		155
156	int connect_mk_bluetooth(char dest[18])	156	int connect_mk_bluetooth(char dest[18])
157	{	157	{
158	struct sockaddr_rc addr ;	158	struct sockaddr_rc addr ;
159		159
160	// allocate a socket	160	// allocate a socket
161	mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);	161	mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
162		162
163	// set the connection parameters (who to connect to)	163	// set the connection parameters (who to connect to)
164	addr.rc_family = AF_BLUETOOTH;	164	addr.rc_family = AF_BLUETOOTH;
165	addr.rc_channel = 1;	165	addr.rc_channel = 1;
166	str2ba( dest, &addr.rc_bdaddr );	166	str2ba( dest, &addr.rc_bdaddr );
167		167
168	// connect to server	168	// connect to server
169	status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr));	169	status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr));
170		170
171	printf("connection status %d\n",status);	171	printf("connection status %d\n",status);
172	return status;	172	return status;
173	}	173	}
174		174
175		175
176	int connect_mk_tty(char* tty_filename)	176	int connect_mk_tty(char* tty_filename)
177	{	177	{
178		178
179	mk_socket = open(tty_filename,O_RDWR);	179	mk_socket = open(tty_filename,O_RDWR);
180		180
181		181
182		182
183	struct termios termattr;	183	struct termios termattr;
184	speed_t baudRate;	184	speed_t baudRate;
185		185
186	/* Make a copy of the termios structure. */	186	/* Make a copy of the termios structure. */
187	tcgetattr(mk_socket, &termattr);	187	tcgetattr(mk_socket, &termattr);
188		188
189	termattr.c_iflag = IGNBRK \| IGNPAR;	189	termattr.c_iflag = IGNBRK \| IGNPAR;
190	termattr.c_cflag=CS8 \| CREAD \| CLOCAL;	190	termattr.c_cflag=CS8 \| CREAD \| CLOCAL ;
-		191	termattr.c_cflag&= ~CBAUD;
-		192
191	// termattr.speed_t=B57600;	193	termattr.c_cflag\|=B57600;
-		194
-		195
192		196
193		197
194	tcsetattr(mk_socket, TCSANOW, &termattr);	198	tcsetattr(mk_socket, TCSANOW, &termattr);
195		199
196		200
197	/*	201	/*
198	usleep(1000000);	202	usleep(1000000);
199	char in_char='#';	203	char in_char='#';
200	int count=0;	204	int count=0;
201	int r=0;	205	int r=0;
202	int i=0;	206	int i=0;
203		207
204	int p=0;	208	int p=0;
205	printf("starting read %d\n",mk_socket);	209	printf("starting read %d\n",mk_socket);
206	while (1)	210	while (1)
207	{	211	{
208	p=0;	212	p=0;
209	r=0;	213	r=0;
210	char in_char='#';	214	char in_char='#';
211	while((in_char!='\r'))//&&(r<MAX_BUFF_LEN))	215	while((in_char!='\r'))//&&(r<MAX_BUFF_LEN))
212	{	216	{
213	// p++;	217	// p++;
214	// printf("b read\n");	218	// printf("b read\n");
215	count=read(mk_socket,&in_char,1);	219	count=read(mk_socket,&in_char,1);
216	// tcflush( mk_socket, TCOFLUSH );	220	// tcflush( mk_socket, TCOFLUSH );
217		221
218	// printf("\np !read %d %d %c \n",p,count,in_char);	222	// printf("\np !read %d %d %c \n",p,count,in_char);
219		223
220	//count=read(mk_socket,&in_char,1);	224	//count=read(mk_socket,&in_char,1);
221	// tcflush( mk_socket, TCOFLUSH );	225	// tcflush( mk_socket, TCOFLUSH );
222		226
223	// printf("\np !read %d %d %d %c \n",r,p,count,in_char);	227	// printf("\np !read %d %d %d %c \n",r,p,count,in_char);
224	printf("%d %c \n",r, in_char);	228	printf("%d %c \n",r, in_char);
225		229
226	if (count==1)	230	if (count==1)
227	{	231	{
228	// printf("%c\n",in_char);	232	// printf("%c\n",in_char);
229	RxBuffer[r]=in_char;	233	RxBuffer[r]=in_char;
230		234
231	if (in_char!=0)	235	if (in_char!=0)
232	PrintableRxBuffer[r]=in_char;	236	PrintableRxBuffer[r]=in_char;
233	else	237	else
234	PrintableRxBuffer[r]='0';	238	PrintableRxBuffer[r]='0';
235	r++;	239	r++;
236	}	240	}
237	//else	241	//else
238	//printf("%d/%d",errno,EBADF);	242	//printf("%d/%d",errno,EBADF);
239		243
240	}	244	}
241	PrintableRxBuffer[r]=0;	245	PrintableRxBuffer[r]=0;
242	printf("buff> %d\n %s\n", r, PrintableRxBuffer);	246	printf("buff> %d\n %s\n", r, PrintableRxBuffer);
243	}	247	}
244	*/	248	*/
245	if (mk_socket<0)	249	if (mk_socket<0)
246	return 0;	250	return 0;
247	else	251	else
248	return 1;	252	return 1;
249		253
250	}	254	}
251		255
252		256
253	int connect_mk_localhost_socket(int port)	257	int connect_mk_localhost_socket(int port)
254	{	258	{
255	struct sockaddr_in sa;	259	struct sockaddr_in sa;
256		260
257	sa.sin_family = AF_INET;	261	sa.sin_family = AF_INET;
258	sa.sin_addr.s_addr = htonl(0x0);	262	sa.sin_addr.s_addr = htonl(0x0);
259	sa.sin_port = htons(port);	263	sa.sin_port = htons(port);
260		264
261	mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);	265	mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
262		266
263	return connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in));	267	return connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in));
264		268
265	}	269	}
266		270
267		271

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(root)/Riddim/fc.c - Rev 483 → 487