mirror of
https://bitbucket.org/librepilot/librepilot.git
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3rd attempt to add files!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2506 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
aec73a209d
commit
0d912d130d
18
ground/src/plugins/pipxtreme/SSP/common.h
Normal file
18
ground/src/plugins/pipxtreme/SSP/common.h
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@ -0,0 +1,18 @@
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#ifndef COMMON_H
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#define COMMON_H
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enum decodeState_ {
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decode_len1_e = 0,
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decode_seqNo_e,
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decode_data_e,
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decode_crc1_e,
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decode_crc2_e,
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decode_idle_e
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};
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enum ReceiveState {
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state_escaped_e = 0,
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state_unescaped_e
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};
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#endif // COMMON_H
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46
ground/src/plugins/pipxtreme/SSP/port.cpp
Normal file
46
ground/src/plugins/pipxtreme/SSP/port.cpp
Normal file
@ -0,0 +1,46 @@
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#include "port.h"
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#include "delay.h"
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port::port(PortSettings settings,QString name):mstatus(port::closed)
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{
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timer.start();
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sport = new QextSerialPort(name,settings, QextSerialPort::Polling);
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if(sport->open(QIODevice::ReadWrite|QIODevice::Unbuffered))
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{
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mstatus=port::open;
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// sport->setDtr();
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}
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else
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mstatus=port::error;
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}
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port::~port() {
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sport->close();
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}
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port::portstatus port::status()
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{
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return mstatus;
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}
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int16_t port::pfSerialRead(void)
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{
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char c[1];
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if( sport->bytesAvailable() )
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{
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sport->read(c,1);
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}
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else return -1;
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return (uint8_t)c[0];
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}
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void port::pfSerialWrite(uint8_t c)
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{
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char cc[1];
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cc[0]=c;
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sport->write(cc,1);
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}
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uint32_t port::pfGetTime(void)
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{
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return timer.elapsed();
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}
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49
ground/src/plugins/pipxtreme/SSP/port.h
Normal file
49
ground/src/plugins/pipxtreme/SSP/port.h
Normal file
@ -0,0 +1,49 @@
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#ifndef PORT_H
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#define PORT_H
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#include <stdint.h>
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#include <qextserialport/src/qextserialport.h>
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#include <QTime>
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#include <QDebug>
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#include "common.h"
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class port
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{
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public:
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enum portstatus{open,closed,error};
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virtual int16_t pfSerialRead(void); // function to read a character from the serial input stream
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virtual void pfSerialWrite( uint8_t ); // function to write a byte to be sent out the serial port
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virtual uint32_t pfGetTime(void);
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uint8_t retryCount; // how many times have we tried to transmit the 'send' packet
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uint8_t maxRetryCount; // max. times to try to transmit the 'send' packet
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uint16_t max_retry; // Maximum number of retrys for a single transmit.
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int32_t timeoutLen; // how long to wait for each retry to succeed
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int32_t timeout; // current timeout. when 'time' reaches this point we have timed out
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uint8_t txSeqNo; // current 'send' packet sequence number
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uint16_t rxBufPos; // current buffer position in the receive packet
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uint16_t rxBufLen; // number of 'data' bytes in the buffer
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uint8_t rxSeqNo; // current 'receive' packet number
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uint16_t rxBufSize; // size of the receive buffer.
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uint16_t txBufSize; // size of the transmit buffer.
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uint8_t *txBuf; // transmit buffer. REquired to store a copy of packet data in case a retry is needed.
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uint8_t *rxBuf; // receive buffer. Used to store data as a packet is received.
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uint16_t sendSynch; // flag to indicate that we should send a synchronize packet to the host
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// this is required when switching from the application to the bootloader
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// and vice-versa. This fixes the firwmare download timeout.
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// when this flag is set to true, the next time we send a packet we will first // send a synchronize packet.
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ReceiveState InputState;
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decodeState_ DecodeState;
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uint16_t SendState;
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uint16_t crc;
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uint32_t RxError;
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uint32_t TxError;
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uint16_t flags;
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port(PortSettings settings,QString name);
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~port();
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portstatus status();
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private:
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portstatus mstatus;
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QTime timer;
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QextSerialPort *sport;
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};
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#endif // PORT_H
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781
ground/src/plugins/pipxtreme/SSP/qssp.cpp
Normal file
781
ground/src/plugins/pipxtreme/SSP/qssp.cpp
Normal file
@ -0,0 +1,781 @@
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#include "qssp.h"
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#include <stdint.h>
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#include <string.h>
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#include <stdio.h>
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/** PRIVATE DEFINITIONS **/
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#define SYNC 225 // Sync character used in Serial Protocol
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#define ESC 224 // ESC character used in Serial Protocol
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#define ESC_SYNC 1 // ESC_SYNC character used in Serial Protocol
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#define ACK_BIT 0x80 // Ack bit, bit 7 of sequence number, 1 = Acknowledge, 0 =
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// new packet
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// packet location definitions.
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#define LENGTH 0
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#define SEQNUM 1
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#define DATA 2
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// Make larger sized integers from smaller sized integers
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#define MAKEWORD16( ub, lb ) ((uint16_t)0x0000 | ((uint16_t)(ub) << 8) | (uint16_t)(lb) )
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#define MAKEWORD32( uw, lw ) ((uint32_t)(0x0UL | ((uint32_t)(uw) << 16) | (uint32_t)(lw)) )
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#define MAKEWORD32B( b3, b2, b1, b0 ) ((uint32_t)((uint32_t)(b3)<< 24) | ((uint32_t)(b2)<<16) | ((uint32_t)(b1)<<8) | ((uint32_t)(b0) )
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// Used to extract smaller integers from larger sized intergers
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#define LOWERBYTE( w ) (uint8_t)((w) & 0x00ff )
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#define UPPERBYTE( w ) (uint8_t)(((w) & 0xff00) >> 8 )
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#define UPPERWORD(lw) (uint16_t)(((lw) & 0xffff0000) >> 16 )
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#define LOWERWORD(lw) (uint16_t)((lw) & 0x0000ffff)
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// Macros to operate on a target and bitmask.
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#define CLEARBIT( a, b ) ((a) = (a) & ~(b))
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#define SETBIT( a, b ) ((a) = (a) | (b) )
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#define TOGGLEBIT(a,b) ((a) = (a) ^ (b) )
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// test bit macros operate using a bit mask.
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#define ISBITSET( a, b ) ( ((a) & (b)) == (b) ? TRUE : FALSE )
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#define ISBITCLEAR( a, b) ( (~(a) & (b)) == (b) ? TRUE : FALSE )
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/* Flag bit masks...*/
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#define SENT_SYNCH (0x01)
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#define ACK_RECEIVED (0x02)
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#define ACK_EXPECTED (0x04)
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#define SSP_AWAITING_ACK 0
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#define SSP_ACKED 1
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#define SSP_IDLE 2
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/** PRIVATE DATA **/
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static const uint16_t CRC_TABLE[] = {
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0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
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0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
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0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
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0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
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0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
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0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
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0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
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0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
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0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
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0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
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0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
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0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
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0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
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0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
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0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
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0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
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0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
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0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
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0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
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0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
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0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
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0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
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0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
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0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
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0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
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0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
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0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
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0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
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0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
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0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
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0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
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0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
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};
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/** EXTERNAL DATA **/
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/** EXTERNAL FUNCTIONS **/
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/** VERIFICATION FUNCTIONS **/
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/***********************************************************************************************************/
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/*!
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* \brief Initializes the communication port for use
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* \param thisport = pointer to port structure to initialize
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* \param info = config struct with default values.
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* \return None.
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*
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* \note
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* Must be called before calling the Send or REceive process functions.
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*/
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void qssp::ssp_Init(const PortConfig_t* const info)
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{
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thisport->maxRetryCount = info->max_retry;
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thisport->timeoutLen = info->timeoutLen;
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thisport->txBufSize = info->txBufSize;
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thisport->rxBufSize = info->rxBufSize;
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thisport->txBuf = info->txBuf;
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thisport->rxBuf = info->rxBuf;
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thisport->retryCount = 0;
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thisport->sendSynch = FALSE; //TRUE;
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thisport->rxSeqNo = 255;
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thisport->txSeqNo = 255;
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thisport->SendState = SSP_IDLE;
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thisport->InputState =(ReceiveState)0;
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thisport->DecodeState =(decodeState_)0;
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thisport->TxError =0;
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thisport->RxError =0;
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thisport->txSeqNo =0;
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thisport->rxSeqNo =0;
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}
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/*!
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* \brief Runs the send process, checks for receipt of ack, timeouts and resends if needed.
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* \param thisport = which port to use
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* \return SSP_TX_WAITING - waiting for a valid ACK to arrive
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* \return SSP_TX_TIMEOUT - failed to receive a valid ACK in the timeout period, after retrying.
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* \return SSP_TX_IDLE - not expecting a ACK packet (no current transmissions in progress)
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* \return SSP_TX_ACKED - valid ACK received before timeout period.
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*
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* \note
|
||||
*
|
||||
*/
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int16_t qssp::ssp_SendProcess( )
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{
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int16_t value = SSP_TX_WAITING;
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if (thisport->SendState == SSP_AWAITING_ACK ) {
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if (sf_CheckTimeout() == TRUE) {
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if (thisport->retryCount < thisport->maxRetryCount) {
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// Try again
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sf_SendPacket();
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sf_SetSendTimeout();
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value = SSP_TX_WAITING;
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} else {
|
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// Give up, # of trys has exceded the limit
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value = SSP_TX_TIMEOUT;
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CLEARBIT( thisport->flags, ACK_RECEIVED);
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thisport->SendState = SSP_IDLE;
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if (debug)
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qDebug()<<"Send TimeOut!";
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}
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} else {
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value = SSP_TX_WAITING;
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}
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} else if( thisport->SendState == SSP_ACKED ) {
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SETBIT( thisport->flags, ACK_RECEIVED);
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value = SSP_TX_ACKED;
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thisport->SendState = SSP_IDLE;
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} else {
|
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thisport->SendState = SSP_IDLE;
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value = SSP_TX_IDLE;
|
||||
}
|
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return value;
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}
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||||
|
||||
/*!
|
||||
* \brief Runs the receive process. fetches a byte at a time and runs the byte through the protocol receive state machine.
|
||||
* \param thisport - which port to use.
|
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* \return receive status.
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
int16_t qssp::ssp_ReceiveProcess()
|
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{
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int16_t b;
|
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int16_t packet_status = SSP_RX_IDLE;
|
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|
||||
do {
|
||||
b = thisport->pfSerialRead(); // attempt to read a char from the serial buffer
|
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if (b != -1) {
|
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packet_status = sf_ReceiveState(b); // process the newly received byte in the receive state machine
|
||||
}
|
||||
// keep going until either we received a full packet or there are no more bytes to process
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} while (packet_status != SSP_RX_COMPLETE && b != -1);
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||||
|
||||
return packet_status;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief processes a single byte through the receive state machine.
|
||||
* \param thisport = which port to use
|
||||
* \return current receive status
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
|
||||
int16_t qssp::ssp_ReceiveByte()
|
||||
{
|
||||
int16_t b;
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int16_t packet_status = SSP_RX_IDLE;
|
||||
|
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b = thisport->pfSerialRead();
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if( b != -1 ) {
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packet_status = sf_ReceiveState(b);
|
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}
|
||||
return packet_status;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Sends a data packet and blocks until timeout or ack is received.
|
||||
* \param thisport = which port to use
|
||||
* \param data = pointer to data to send
|
||||
* \param length = number of data bytes to send. Must be less than 254
|
||||
* \return true = ack was received within number of retries
|
||||
* \return false = ack was not received.
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||||
*
|
||||
* \note
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||||
*
|
||||
*/
|
||||
uint16_t qssp::ssp_SendDataBlock(uint8_t *data, uint16_t length )
|
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{
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int16_t packet_status = SSP_TX_WAITING;
|
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uint16_t retval = FALSE;
|
||||
|
||||
packet_status = ssp_SendData(data, length ); // send the data
|
||||
while( packet_status == SSP_TX_WAITING ) { // check the status
|
||||
(void)ssp_ReceiveProcess(); // process any bytes received.
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||||
packet_status = ssp_SendProcess(); // check the send status
|
||||
}
|
||||
if( packet_status == SSP_TX_ACKED ) { // figure out what happened to the packet
|
||||
retval = TRUE;
|
||||
} else {
|
||||
retval = FALSE;
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief sends a chunk of data and does not block
|
||||
* \param thisport = which port to use
|
||||
* \param data = pointer to data to send
|
||||
* \param length = number of bytes to send
|
||||
* \return SSP_TX_BUFOVERRUN = tried to send too much data
|
||||
* \return SSP_TX_WAITING = data sent and waiting for an ack to arrive
|
||||
* \return SSP_TX_BUSY = a packet has already been sent, but not yet acked
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
int16_t qssp::ssp_SendData(const uint8_t *data, const uint16_t length )
|
||||
{
|
||||
|
||||
int16_t value = SSP_TX_WAITING;
|
||||
|
||||
if( (length + 2) > thisport->txBufSize ) {
|
||||
// TRYING to send too much data.
|
||||
value = SSP_TX_BUFOVERRUN;
|
||||
} else if( thisport->SendState == SSP_IDLE ) {
|
||||
#ifdef ACTIVE_SYNCH
|
||||
if( thisport->sendSynch == TRUE ) {
|
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sf_SendSynchPacket();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SYNCH_SEND
|
||||
if( length == 0 ) {
|
||||
// TODO this method could allow a task/user to start a synchronisation step if a zero is mistakenly passed to this function.
|
||||
// could add a check for a NULL data pointer, or use some sort of static flag that can only be accessed by a static function
|
||||
// that must be called before calling this function.
|
||||
// we are attempting to send a synch packet
|
||||
thisport->txSeqNo = 0; // make this zero to cause the other end to re-synch with us
|
||||
SETBIT(thisport->flags, SENT_SYNCH);
|
||||
} else {
|
||||
// we are sending a data packet
|
||||
CLEARBIT( thisport->txSeqNo, ACK_BIT ); // make sure we are not sending a ACK packet
|
||||
thisport->txSeqNo++; // update the sequence number.
|
||||
if( thisport->txSeqNo > 0x7F) { // check for sequence number rollover
|
||||
thisport->txSeqNo = 1; // if we do have rollover then reset to 1 not zero,
|
||||
// zero is reserviced for synchronization requests
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
CLEARBIT( thisport->txSeqNo, ACK_BIT ); // make sure we are not sending a ACK packet
|
||||
thisport->txSeqNo++; // update the sequence number.
|
||||
if( thisport->txSeqNo > 0x7F) { // check for sequence number rollover
|
||||
thisport->txSeqNo = 1; // if we do have rollover then reset to 1 not zero,
|
||||
// zero is reserved for synchronization requests
|
||||
}
|
||||
#endif
|
||||
CLEARBIT( thisport->flags, ACK_RECEIVED);
|
||||
thisport->SendState = SSP_AWAITING_ACK;
|
||||
value = SSP_TX_WAITING;
|
||||
thisport->retryCount = 0; // zero out the retry counter for this transmission
|
||||
sf_MakePacket( thisport->txBuf, data, length, thisport->txSeqNo );
|
||||
sf_SendPacket( ); // punch out the packet to the serial port
|
||||
sf_SetSendTimeout( ); // do the timeout values
|
||||
if (debug)
|
||||
qDebug()<<"Sent DATA PACKET:"<<thisport->txSeqNo;
|
||||
} else {
|
||||
// error we are already sending a packet. Need to wait for the current packet to be acked or timeout.
|
||||
value = SSP_TX_BUSY;
|
||||
if (debug)
|
||||
qDebug()<<"Error sending TX was busy";
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Attempts to synchronize the sequence numbers with the other end of the connectin.
|
||||
* \param thisport = which port to use
|
||||
* \return true = success
|
||||
* \return false = failed to receive an ACK to our synch request
|
||||
*
|
||||
* \note
|
||||
* A. send a packet with a sequence number equal to zero
|
||||
* B. if timed out then:
|
||||
* send synch packet again
|
||||
* increment try counter
|
||||
* if number of tries exceed maximum try limit then exit
|
||||
* C. goto A
|
||||
*/
|
||||
uint16_t qssp::ssp_Synchronise( )
|
||||
{
|
||||
int16_t packet_status;
|
||||
uint16_t retval = FALSE;
|
||||
|
||||
#ifndef USE_SENDPACKET_DATA
|
||||
thisport->txSeqNo = 0; // make this zero to cause the other end to re-synch with us
|
||||
SETBIT(thisport->flags, SENT_SYNCH);
|
||||
// TODO - should this be using ssp_SendPacketData()??
|
||||
sf_MakePacket( thisport->txBuf, NULL, 0, thisport->txSeqNo ); // construct the packet
|
||||
sf_SendPacket( );
|
||||
sf_SetSendTimeout( );
|
||||
thisport->SendState = SSP_AWAITING_ACK;
|
||||
packet_status = SSP_TX_WAITING;
|
||||
#else
|
||||
packet_status = ssp_SendData( NULL, 0 );
|
||||
#endif
|
||||
while( packet_status == SSP_TX_WAITING ) { // we loop until we time out.
|
||||
(void)ssp_ReceiveProcess( ); // do the receive process
|
||||
packet_status = ssp_SendProcess( ); // do the send process
|
||||
}
|
||||
thisport->sendSynch = FALSE;
|
||||
switch( packet_status ) {
|
||||
case SSP_TX_ACKED:
|
||||
retval = TRUE;
|
||||
break;
|
||||
case SSP_TX_BUSY: // intentional fall through.
|
||||
case SSP_TX_TIMEOUT: // intentional fall through.
|
||||
case SSP_TX_BUFOVERRUN:
|
||||
retval = FALSE;
|
||||
break;
|
||||
default:
|
||||
retval = FALSE;
|
||||
break;
|
||||
};
|
||||
return retval;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief sends out a preformatted packet for a give port
|
||||
* \param thisport = which port to use.
|
||||
* \return none.
|
||||
*
|
||||
* \note
|
||||
* Packet should be formed through the use of sf_MakePacket before calling this function.
|
||||
*/
|
||||
void qssp::sf_SendPacket()
|
||||
{
|
||||
// add 3 to packet data length for: 1 length + 2 CRC (packet overhead)
|
||||
uint8_t packetLen = thisport->txBuf[LENGTH] + 3;
|
||||
|
||||
// use the raw serial write function so the SYNC byte does not get 'escaped'
|
||||
thisport->pfSerialWrite(SYNC);
|
||||
for( uint8_t x = 0; x < packetLen; x++ ) {
|
||||
sf_write_byte(thisport->txBuf[x] );
|
||||
}
|
||||
thisport->retryCount++;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief converts data to transport layer protocol packet format.
|
||||
* \param txbuf = buffer to use when forming the packet
|
||||
* \param pdata = pointer to data to use
|
||||
* \param length = number of bytes to use
|
||||
* \param seqNo = sequence number of this packet
|
||||
* \return none.
|
||||
*
|
||||
* \note
|
||||
* 1. This function does not try to interpret ACK or SYNCH packets. This should
|
||||
* be done by the caller of this function.
|
||||
* 2. This function will attempt to format all data upto the size of the tx buffer.
|
||||
* Any extra data beyond that will be ignored.
|
||||
* 3. TODO: Should this function return an error if data length to be sent is greater th tx buffer size?
|
||||
*
|
||||
*/
|
||||
void qssp::sf_MakePacket( uint8_t *txBuf, const uint8_t * pdata, uint16_t length, uint8_t seqNo )
|
||||
{
|
||||
uint16_t crc = 0xffff;
|
||||
uint16_t bufPos = 0;
|
||||
uint8_t b;
|
||||
|
||||
// add 1 for the seq. number
|
||||
txBuf[LENGTH] = length + 1;
|
||||
txBuf[SEQNUM] = seqNo;
|
||||
crc = sf_crc16( crc, seqNo );
|
||||
|
||||
length = length + 2; // add two for the length and seqno bytes which are added before the loop.
|
||||
for( bufPos = 2; bufPos < length; bufPos++ ) {
|
||||
b = *pdata++;
|
||||
txBuf[bufPos] = b;
|
||||
crc = sf_crc16( crc, b ); // update CRC value
|
||||
}
|
||||
txBuf[bufPos++] = LOWERBYTE(crc);
|
||||
txBuf[bufPos] = UPPERBYTE(crc);
|
||||
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief sends out an ack packet to given sequence number
|
||||
* \param thisport = which port to use
|
||||
* \param seqNumber = sequence number of the packet we would like to ack
|
||||
* \return none.
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
|
||||
void qssp::sf_SendAckPacket(uint8_t seqNumber)
|
||||
{
|
||||
uint8_t AckSeqNumber = SETBIT( seqNumber, ACK_BIT );
|
||||
|
||||
// create the packet, note we pass AckSequenceNumber directly
|
||||
sf_MakePacket( thisport->txBuf, NULL, 0, AckSeqNumber );
|
||||
sf_SendPacket( );
|
||||
if (debug)
|
||||
qDebug()<<"Sent ACK PACKET:"<<seqNumber;
|
||||
// we don't set the timeout for an ACK because we don't ACK our ACKs in this protocol
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief writes a byte out the output channel. Adds escape byte where needed
|
||||
* \param thisport = which port to use
|
||||
* \param c = byte to send
|
||||
* \return none.
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
void qssp::sf_write_byte(uint8_t c )
|
||||
{
|
||||
if( c == SYNC ) { // check for SYNC byte
|
||||
thisport->pfSerialWrite( ESC ); // since we are not starting a packet we must ESCAPE the SYNCH byte
|
||||
thisport->pfSerialWrite( ESC_SYNC ); // now send the escaped synch char
|
||||
} else if( c == ESC ) { // Check for ESC character
|
||||
thisport->pfSerialWrite( ESC ); // if it is, we need to send it twice
|
||||
thisport->pfSerialWrite( ESC );
|
||||
} else {
|
||||
thisport->pfSerialWrite( c ); // otherwise write the byte to serial port
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************************************
|
||||
*
|
||||
* NAME: uint16_t ssp_crc16( uint16_t crc, uint16_t data )
|
||||
* DESCRIPTION: Uses crc_table to calculate new crc
|
||||
* ARGUMENTS:
|
||||
* arg1: crc
|
||||
* arg2: data - byte to calculate into CRC
|
||||
* RETURN: New crc
|
||||
* CREATED: 5/8/02
|
||||
*
|
||||
*************************************************************************************************************/
|
||||
/*!
|
||||
* \brief calculates the new CRC value for 'data'
|
||||
* \param crc = current CRC value
|
||||
* \param data = new byte
|
||||
* \return updated CRC value
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
|
||||
uint16_t qssp::sf_crc16( uint16_t crc, uint8_t data )
|
||||
{
|
||||
return (crc >> 8) ^ CRC_TABLE[( crc ^ data ) & 0x00FF ];
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief sets the timeout for the given packet
|
||||
* \param thisport = which port to use
|
||||
* \return none.
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
|
||||
void qssp::sf_SetSendTimeout()
|
||||
{
|
||||
uint32_t timeout;
|
||||
timeout = thisport->pfGetTime() + thisport->timeoutLen;
|
||||
thisport->timeout = timeout;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief checks to see if a timeout occured
|
||||
* \param thisport = which port to use
|
||||
* \return true = a timeout has occurred
|
||||
* \return false = has not timed out
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
uint16_t qssp::sf_CheckTimeout()
|
||||
{
|
||||
uint16_t retval = FALSE;
|
||||
uint32_t current_time;
|
||||
|
||||
current_time = thisport->pfGetTime();
|
||||
if( current_time > thisport->timeout ) {
|
||||
retval = TRUE;
|
||||
}
|
||||
if(retval)
|
||||
if (debug)
|
||||
qDebug()<<"timeout "<<current_time<<thisport->timeout;
|
||||
return retval;
|
||||
}
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* NAME: sf_ReceiveState
|
||||
* DESC: Implements the receive state handling code for escaped and unescaped data
|
||||
* ARGS: thisport - which port to operate on
|
||||
* c - incoming byte
|
||||
* RETURN:
|
||||
* CREATED:
|
||||
* NOTES:
|
||||
* 1. change from using pointer to functions.
|
||||
****************************************************************************/
|
||||
/*!
|
||||
* \brief implements the receive state handling code for escaped and unescaped data
|
||||
* \param thisport = which port to use
|
||||
* \param c = byte to process through the receive state machine
|
||||
* \return receive status
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
int16_t qssp::sf_ReceiveState(uint8_t c )
|
||||
{
|
||||
int16_t retval = SSP_RX_RECEIVING;
|
||||
|
||||
switch( thisport->InputState ) {
|
||||
case state_unescaped_e:
|
||||
if( c == SYNC ) {
|
||||
thisport->DecodeState = decode_len1_e;
|
||||
} else if ( c == ESC ) {
|
||||
thisport->InputState = state_escaped_e;
|
||||
} else {
|
||||
retval = sf_DecodeState(c);
|
||||
}
|
||||
break; // end of unescaped state.
|
||||
case state_escaped_e:
|
||||
thisport->InputState = state_unescaped_e;
|
||||
if( c == SYNC ) {
|
||||
thisport->DecodeState = decode_len1_e;
|
||||
} else if (c == ESC_SYNC ) {
|
||||
retval = sf_DecodeState(SYNC);
|
||||
} else {
|
||||
retval = sf_DecodeState(c);
|
||||
}
|
||||
break; // end of the escaped state.
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* NAME: sf_DecodeState
|
||||
* DESC: Implements the receive state finite state machine
|
||||
* ARGS: thisport - which port to operate on
|
||||
* c - incoming byte
|
||||
* RETURN:
|
||||
* CREATED:
|
||||
* NOTES:
|
||||
* 1. change from using pointer to functions.
|
||||
****************************************************************************/
|
||||
|
||||
/*!
|
||||
* \brief implements the receiving decoding state machine
|
||||
* \param thisport = which port to use
|
||||
* \param c = byte to process
|
||||
* \return receive status
|
||||
*
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
int16_t qssp::sf_DecodeState( uint8_t c )
|
||||
{
|
||||
int16_t retval;
|
||||
switch( thisport->DecodeState ) {
|
||||
case decode_idle_e:
|
||||
// 'c' is ignored in this state as the only way to leave the idle state is
|
||||
// recognition of the SYNC byte in the sf_ReceiveState function.
|
||||
retval = SSP_RX_IDLE;
|
||||
break;
|
||||
case decode_len1_e:
|
||||
thisport->rxBuf[LENGTH]= c;
|
||||
thisport->rxBufLen = c;
|
||||
if( thisport->rxBufLen <= thisport->rxBufSize ) {
|
||||
thisport->DecodeState = decode_seqNo_e;
|
||||
retval = SSP_RX_RECEIVING;
|
||||
} else {
|
||||
thisport->DecodeState = decode_idle_e;
|
||||
retval = SSP_RX_IDLE;
|
||||
}
|
||||
break;
|
||||
case decode_seqNo_e:
|
||||
thisport->rxBuf[SEQNUM] = c;
|
||||
thisport->crc = 0xffff;
|
||||
thisport->rxBufLen--; // subtract 1 for the seq. no.
|
||||
thisport->rxBufPos = 2;
|
||||
|
||||
thisport->crc = sf_crc16( thisport->crc, c );
|
||||
if( thisport->rxBufLen > 0 ) {
|
||||
thisport->DecodeState = decode_data_e;
|
||||
} else {
|
||||
thisport->DecodeState = decode_crc1_e;
|
||||
}
|
||||
retval = SSP_RX_RECEIVING;
|
||||
break;
|
||||
case decode_data_e:
|
||||
thisport->rxBuf[ (thisport->rxBufPos)++] = c;
|
||||
thisport->crc = sf_crc16( thisport->crc, c );
|
||||
if( thisport->rxBufPos == (thisport->rxBufLen+2) ) {
|
||||
thisport->DecodeState = decode_crc1_e;
|
||||
}
|
||||
retval = SSP_RX_RECEIVING;
|
||||
break;
|
||||
case decode_crc1_e:
|
||||
thisport->crc = sf_crc16( thisport->crc, c );
|
||||
thisport->DecodeState = decode_crc2_e;
|
||||
retval = SSP_RX_RECEIVING;
|
||||
break;
|
||||
case decode_crc2_e:
|
||||
thisport->DecodeState = decode_idle_e;
|
||||
// verify the CRC value for the packet
|
||||
if( sf_crc16( thisport->crc, c) == 0) {
|
||||
// TODO shouldn't the return value of sf_ReceivePacket() be checked?
|
||||
sf_ReceivePacket();
|
||||
retval = SSP_RX_COMPLETE;
|
||||
} else {
|
||||
thisport->RxError++;
|
||||
retval = SSP_RX_IDLE;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
thisport->DecodeState = decode_idle_e; // unknown state so reset to idle state and wait for the next start of a packet.
|
||||
retval = SSP_RX_IDLE;
|
||||
break;
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/************************************************************************************************************
|
||||
*
|
||||
* NAME: int16_t sf_ReceivePacket( )
|
||||
* DESCRIPTION: Receive one packet, assumed that data is in rec.buff[]
|
||||
* ARGUMENTS:
|
||||
* RETURN: 0 . no new packet was received, could be ack or same packet
|
||||
* 1 . new packet received
|
||||
* SSP_PACKET_?
|
||||
* SSP_PACKET_COMPLETE
|
||||
* SSP_PACKET_ACK
|
||||
* CREATED: 5/8/02
|
||||
*
|
||||
*************************************************************************************************************/
|
||||
/*!
|
||||
* \brief receive one packet. calls the callback function if needed.
|
||||
* \param thisport = which port to use
|
||||
* \return true = valid data packet received.
|
||||
* \return false = otherwise
|
||||
*
|
||||
* \note
|
||||
*
|
||||
* Created: Oct 7, 2010 12:07:22 AM by joe
|
||||
*/
|
||||
|
||||
int16_t qssp::sf_ReceivePacket()
|
||||
{
|
||||
int16_t value = FALSE;
|
||||
|
||||
if( ISBITSET(thisport->rxBuf[SEQNUM], ACK_BIT ) ) {
|
||||
// Received an ACK packet, need to check if it matches the previous sent packet
|
||||
if( ( thisport->rxBuf[SEQNUM] & 0x7F) == (thisport->txSeqNo & 0x7f)) {
|
||||
// It matches the last packet sent by us
|
||||
SETBIT( thisport->txSeqNo, ACK_BIT );
|
||||
thisport->SendState = SSP_ACKED;
|
||||
value = FALSE;
|
||||
if (debug)
|
||||
qDebug()<<"Received ACK:"<<(thisport->txSeqNo & 0x7F);
|
||||
}
|
||||
// else ignore the ACK packet
|
||||
} else {
|
||||
// Received a 'data' packet, figure out what type of packet we received...
|
||||
if( thisport->rxBuf[SEQNUM] == 0 ) {
|
||||
if (debug)
|
||||
qDebug()<<"Received SYNC Request";
|
||||
// Synchronize sequence number with host
|
||||
#ifdef ACTIVE_SYNCH
|
||||
thisport->sendSynch = TRUE;
|
||||
#endif
|
||||
sf_SendAckPacket(thisport->rxBuf[SEQNUM] );
|
||||
thisport->rxSeqNo = 0;
|
||||
value = FALSE;
|
||||
} else if( thisport->rxBuf[SEQNUM] == thisport->rxSeqNo ) {
|
||||
// Already seen this packet, just ack it, don't act on the packet.
|
||||
sf_SendAckPacket(thisport->rxBuf[SEQNUM] );
|
||||
value = FALSE;
|
||||
} else {
|
||||
//New Packet
|
||||
thisport->rxSeqNo = thisport->rxBuf[SEQNUM];
|
||||
// Let the application do something with the data/packet.
|
||||
|
||||
// skip the first two bytes (length and seq. no.) in the buffer.
|
||||
if (debug)
|
||||
qDebug()<<"Received DATA PACKET seq="<<thisport->rxSeqNo<<"Data="<<(uint8_t)thisport->rxBuf[2]<<(uint8_t)thisport->rxBuf[3]<<(uint8_t)thisport->rxBuf[4];
|
||||
pfCallBack( &(thisport->rxBuf[2]), thisport->rxBufLen);
|
||||
|
||||
// after we send the ACK, it is possible for the host to send a new packet.
|
||||
// Thus the application needs to copy the data and reset the receive buffer
|
||||
// inside of thisport->pfCallBack()
|
||||
sf_SendAckPacket(thisport->rxBuf[SEQNUM] );
|
||||
value = TRUE;
|
||||
}
|
||||
}
|
||||
return value;
|
||||
}
|
||||
qssp::qssp(port * info,bool debug):debug(debug)
|
||||
{
|
||||
|
||||
thisport=info;
|
||||
thisport->maxRetryCount = info->max_retry;
|
||||
thisport->timeoutLen = info->timeoutLen;
|
||||
thisport->txBufSize = info->txBufSize;
|
||||
thisport->rxBufSize = info->rxBufSize;
|
||||
thisport->txBuf = info->txBuf;
|
||||
thisport->rxBuf = info->rxBuf;
|
||||
thisport->retryCount = 0;
|
||||
thisport->sendSynch = FALSE; //TRUE;
|
||||
thisport->rxSeqNo = 255;
|
||||
thisport->txSeqNo = 255;
|
||||
thisport->SendState = SSP_IDLE;
|
||||
thisport->InputState =(ReceiveState)0;
|
||||
thisport->DecodeState =(decodeState_)0;
|
||||
thisport->TxError =0;
|
||||
thisport->RxError =0;
|
||||
thisport->txSeqNo =0;
|
||||
thisport->rxSeqNo =0;
|
||||
}
|
||||
void qssp::pfCallBack( uint8_t * buf, uint16_t size)
|
||||
{
|
||||
if (debug)
|
||||
qDebug()<<"receive callback"<<buf[0]<<buf[1]<<buf[2]<<buf[3]<<buf[4];
|
||||
}
|
||||
96
ground/src/plugins/pipxtreme/SSP/qssp.h
Normal file
96
ground/src/plugins/pipxtreme/SSP/qssp.h
Normal file
@ -0,0 +1,96 @@
|
||||
#ifndef QSSP_H
|
||||
#define QSSP_H
|
||||
#include <stdint.h>
|
||||
#include "port.h"
|
||||
#include "common.h"
|
||||
/** LOCAL DEFINITIONS **/
|
||||
#ifndef TRUE
|
||||
#define TRUE 1
|
||||
#endif
|
||||
|
||||
#ifndef FALSE
|
||||
#define FALSE 0
|
||||
#endif
|
||||
|
||||
#define SSP_TX_IDLE 0 // not expecting a ACK packet (no current transmissions in progress)
|
||||
#define SSP_TX_WAITING 1 // waiting for a valid ACK to arrive
|
||||
#define SSP_TX_TIMEOUT 2 // failed to receive a valid ACK in the timeout period, after retrying.
|
||||
#define SSP_TX_ACKED 3 // valid ACK received before timeout period.
|
||||
#define SSP_TX_BUFOVERRUN 4 // amount of data to send execeds the transmission buffer sizeof
|
||||
#define SSP_TX_BUSY 5 // Attempted to start a transmission while a transmission was already in progress.
|
||||
//#define SSP_TX_FAIL - failure...
|
||||
|
||||
#define SSP_RX_IDLE 0
|
||||
#define SSP_RX_RECEIVING 1
|
||||
#define SSP_RX_COMPLETE 2
|
||||
|
||||
// types of packet that can be received
|
||||
#define SSP_RX_DATA 5
|
||||
#define SSP_RX_ACK 6
|
||||
#define SSP_RX_SYNCH 7
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t *pbuff;
|
||||
uint16_t length;
|
||||
uint16_t crc;
|
||||
uint8_t seqNo;
|
||||
} Packet_t;
|
||||
|
||||
typedef struct {
|
||||
|
||||
uint8_t *rxBuf; // Buffer used to store rcv data
|
||||
uint16_t rxBufSize; // rcv buffer size.
|
||||
uint8_t *txBuf; // Length of data in buffer
|
||||
uint16_t txBufSize; // CRC for data in Packet buff
|
||||
uint16_t max_retry; // Maximum number of retrys for a single transmit.
|
||||
int32_t timeoutLen; // how long to wait for each retry to succeed
|
||||
// function returns time in number of seconds that has elapsed from a given reference point
|
||||
} PortConfig_t;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/** Public Data **/
|
||||
|
||||
|
||||
|
||||
|
||||
/** EXTERNAL FUNCTIONS **/
|
||||
|
||||
class qssp
|
||||
{
|
||||
private:
|
||||
port * thisport;
|
||||
decodeState_ DecodeState_t;
|
||||
/** PRIVATE FUNCTIONS **/
|
||||
//static void sf_SendSynchPacket( Port_t *thisport );
|
||||
uint16_t sf_crc16( uint16_t crc, uint8_t data );
|
||||
void sf_write_byte(uint8_t c );
|
||||
void sf_SetSendTimeout();
|
||||
uint16_t sf_CheckTimeout();
|
||||
int16_t sf_DecodeState(uint8_t c );
|
||||
int16_t sf_ReceiveState(uint8_t c );
|
||||
|
||||
void sf_SendPacket();
|
||||
void sf_SendAckPacket(uint8_t seqNumber);
|
||||
void sf_MakePacket( uint8_t *buf, const uint8_t * pdata, uint16_t length, uint8_t seqNo );
|
||||
int16_t sf_ReceivePacket();
|
||||
uint16_t ssp_SendDataBlock(uint8_t *data, uint16_t length );
|
||||
bool debug;
|
||||
public:
|
||||
/** PUBLIC FUNCTIONS **/
|
||||
virtual void pfCallBack( uint8_t *, uint16_t); // call back function that is called when a full packet has been received
|
||||
int16_t ssp_ReceiveProcess();
|
||||
int16_t ssp_SendProcess();
|
||||
uint16_t ssp_SendString(char *str );
|
||||
int16_t ssp_SendData( const uint8_t * data,const uint16_t length );
|
||||
void ssp_Init( const PortConfig_t* const info);
|
||||
int16_t ssp_ReceiveByte( );
|
||||
uint16_t ssp_Synchronise( );
|
||||
qssp(port * info,bool debug);
|
||||
};
|
||||
|
||||
#endif // QSSP_H
|
||||
76
ground/src/plugins/pipxtreme/SSP/qsspt.cpp
Normal file
76
ground/src/plugins/pipxtreme/SSP/qsspt.cpp
Normal file
@ -0,0 +1,76 @@
|
||||
#include "qsspt.h"
|
||||
|
||||
qsspt::qsspt(port * info,bool debug):qssp(info,debug),endthread(false),datapending(false),debug(debug)
|
||||
{
|
||||
}
|
||||
|
||||
void qsspt::run()
|
||||
{
|
||||
while(!endthread)
|
||||
{
|
||||
receivestatus=this->ssp_ReceiveProcess();
|
||||
sendstatus=this->ssp_SendProcess();
|
||||
msleep(1);
|
||||
sendbufmutex.lock();
|
||||
if(datapending && receivestatus==SSP_TX_IDLE)
|
||||
{
|
||||
this->ssp_SendData(mbuf,msize);
|
||||
datapending=false;
|
||||
}
|
||||
sendbufmutex.unlock();
|
||||
if(sendstatus==SSP_TX_ACKED)
|
||||
sendwait.wakeAll();
|
||||
}
|
||||
|
||||
}
|
||||
bool qsspt::sendData(uint8_t * buf,uint16_t size)
|
||||
{
|
||||
if(datapending)
|
||||
return false;
|
||||
sendbufmutex.lock();
|
||||
datapending=true;
|
||||
mbuf=buf;
|
||||
msize=size;
|
||||
sendbufmutex.unlock();
|
||||
msendwait.lock();
|
||||
sendwait.wait(&msendwait,10000);
|
||||
msendwait.unlock();
|
||||
return true;
|
||||
}
|
||||
|
||||
void qsspt::pfCallBack( uint8_t * buf, uint16_t size)
|
||||
{
|
||||
if (debug)
|
||||
qDebug()<<"receive callback"<<buf[0]<<buf[1]<<buf[2]<<buf[3]<<buf[4]<<"array size="<<queue.count();
|
||||
QByteArray array;
|
||||
for(int x=0;x<size;x++)
|
||||
{
|
||||
array.append(buf[x]);
|
||||
}
|
||||
mutex.lock();
|
||||
queue.enqueue(array);
|
||||
// queue.enqueue((const char *)&buf);
|
||||
mutex.unlock();
|
||||
}
|
||||
int qsspt::packets_Available()
|
||||
{
|
||||
return queue.count();
|
||||
}
|
||||
int qsspt::read_Packet(void * data)
|
||||
{
|
||||
mutex.lock();
|
||||
if(queue.size()==0)
|
||||
{
|
||||
mutex.unlock();
|
||||
return -1;
|
||||
}
|
||||
QByteArray arr=queue.dequeue();
|
||||
memcpy(data,(uint8_t*)arr.data(),arr.length());
|
||||
mutex.unlock();
|
||||
return arr.length();
|
||||
}
|
||||
qsspt::~qsspt()
|
||||
{
|
||||
endthread=true;
|
||||
wait(1000);
|
||||
}
|
||||
33
ground/src/plugins/pipxtreme/SSP/qsspt.h
Normal file
33
ground/src/plugins/pipxtreme/SSP/qsspt.h
Normal file
@ -0,0 +1,33 @@
|
||||
#ifndef QSSPT_H
|
||||
#define QSSPT_H
|
||||
|
||||
#include "qssp.h"
|
||||
#include <QThread>
|
||||
#include <QQueue>
|
||||
#include <QWaitCondition>
|
||||
class qsspt:public qssp, public QThread
|
||||
{
|
||||
public:
|
||||
qsspt(port * info,bool debug);
|
||||
void run();
|
||||
int packets_Available();
|
||||
int read_Packet(void *);
|
||||
~qsspt();
|
||||
bool sendData(uint8_t * buf,uint16_t size);
|
||||
private:
|
||||
virtual void pfCallBack( uint8_t *, uint16_t);
|
||||
uint8_t * mbuf;
|
||||
uint16_t msize;
|
||||
QQueue<QByteArray> queue;
|
||||
QMutex mutex;
|
||||
QMutex sendbufmutex;
|
||||
bool datapending;
|
||||
bool endthread;
|
||||
uint16_t sendstatus;
|
||||
uint16_t receivestatus;
|
||||
QWaitCondition sendwait;
|
||||
QMutex msendwait;
|
||||
bool debug;
|
||||
};
|
||||
|
||||
#endif // QSSPT_H
|
||||
230
ground/src/plugins/pipxtreme/images/view-refresh.svg
Normal file
230
ground/src/plugins/pipxtreme/images/view-refresh.svg
Normal file
@ -0,0 +1,230 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<!-- Created with Inkscape (http://www.inkscape.org/) -->
|
||||
|
||||
<svg
|
||||
xmlns:dc="http://purl.org/dc/elements/1.1/"
|
||||
xmlns:cc="http://creativecommons.org/ns#"
|
||||
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:xlink="http://www.w3.org/1999/xlink"
|
||||
version="1.1"
|
||||
width="48"
|
||||
height="48"
|
||||
id="svg2474">
|
||||
<metadata
|
||||
id="metadata33">
|
||||
<rdf:RDF>
|
||||
<cc:Work
|
||||
rdf:about="">
|
||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type
|
||||
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
|
||||
<dc:title></dc:title>
|
||||
</cc:Work>
|
||||
</rdf:RDF>
|
||||
</metadata>
|
||||
<defs
|
||||
id="defs2476">
|
||||
<linearGradient
|
||||
id="linearGradient3533">
|
||||
<stop
|
||||
id="stop3535"
|
||||
style="stop-color:#93b9dd;stop-opacity:1"
|
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offset="0" />
|
||||
<stop
|
||||
id="stop3545"
|
||||
style="stop-color:#6396cd;stop-opacity:1"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
id="linearGradient3266">
|
||||
<stop
|
||||
id="stop3268"
|
||||
style="stop-color:#387ab8;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop3270"
|
||||
style="stop-color:#387ab8;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
id="linearGradient3276">
|
||||
<stop
|
||||
id="stop3278"
|
||||
style="stop-color:#6396cd;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop3280"
|
||||
style="stop-color:#83acd5;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
x1="108.5625"
|
||||
y1="102.78125"
|
||||
x2="108.5625"
|
||||
y2="71.78125"
|
||||
id="linearGradient5497"
|
||||
xlink:href="#linearGradient5491"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="translate(-95.99949,-49.00038)" />
|
||||
<linearGradient
|
||||
id="linearGradient5491">
|
||||
<stop
|
||||
id="stop5493"
|
||||
style="stop-color:#ffffff;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop5495"
|
||||
style="stop-color:#ffffff;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
x1="102.5625"
|
||||
y1="49.78125"
|
||||
x2="103.5625"
|
||||
y2="72.78125"
|
||||
id="linearGradient5480"
|
||||
xlink:href="#linearGradient5474"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="translate(-95.99949,-49.00038)" />
|
||||
<linearGradient
|
||||
id="linearGradient5474">
|
||||
<stop
|
||||
id="stop5476"
|
||||
style="stop-color:#ffffff;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop5478"
|
||||
style="stop-color:#ffffff;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
x1="118.47968"
|
||||
y1="55.060318"
|
||||
x2="118.47968"
|
||||
y2="91.941895"
|
||||
id="linearGradient4593-5-8-1-5-2"
|
||||
xlink:href="#linearGradient3533"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="translate(-100.99949,-49.00038)" />
|
||||
<linearGradient
|
||||
x1="34.980953"
|
||||
y1="53.837799"
|
||||
x2="35.996098"
|
||||
y2="83.57618"
|
||||
id="linearGradient4593-5-8-1-5-2-3"
|
||||
xlink:href="#linearGradient3533"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="translate(-5,0)" />
|
||||
<radialGradient
|
||||
cx="33.875"
|
||||
cy="197.29688"
|
||||
r="4.84375"
|
||||
fx="33.875"
|
||||
fy="197.29688"
|
||||
id="radialGradient5147-5"
|
||||
xlink:href="#linearGradient6462-6-8-548-9-2-7"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="matrix(1,0,0,0.33870968,0,130.47051)" />
|
||||
<linearGradient
|
||||
id="linearGradient6462-6-8-548-9-2-7">
|
||||
<stop
|
||||
id="stop6464-5-9-94-5-4-4"
|
||||
style="stop-color:#000000;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop6466-3-6-1-7-2-8"
|
||||
style="stop-color:#000000;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<linearGradient
|
||||
id="linearGradient6462-6-8-548-9-5">
|
||||
<stop
|
||||
id="stop6464-5-9-94-5-8"
|
||||
style="stop-color:#000000;stop-opacity:1"
|
||||
offset="0" />
|
||||
<stop
|
||||
id="stop6466-3-6-1-7-5"
|
||||
style="stop-color:#000000;stop-opacity:0"
|
||||
offset="1" />
|
||||
</linearGradient>
|
||||
<radialGradient
|
||||
cx="33.875"
|
||||
cy="197.29688"
|
||||
r="4.84375"
|
||||
fx="33.875"
|
||||
fy="197.29688"
|
||||
id="radialGradient6081"
|
||||
xlink:href="#linearGradient6462-6-8-548-9-5"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="matrix(1,0,0,0.33870968,0,130.47051)" />
|
||||
<linearGradient
|
||||
x1="42.030777"
|
||||
y1="84.719109"
|
||||
x2="53.808601"
|
||||
y2="73.263672"
|
||||
id="linearGradient4008"
|
||||
xlink:href="#linearGradient3276"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="translate(-5,0)" />
|
||||
<linearGradient
|
||||
x1="39.843277"
|
||||
y1="83.781609"
|
||||
x2="50.683601"
|
||||
y2="75.138672"
|
||||
id="linearGradient4018"
|
||||
xlink:href="#linearGradient3266"
|
||||
gradientUnits="userSpaceOnUse" />
|
||||
</defs>
|
||||
<path
|
||||
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||||
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||||
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||||
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||||
<path
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||||
d="M 46.405989,78.610714 A 13.125,13.125 0 0 1 33.62701,84.097034"
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||||
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||||
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||||
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|
||||
<path
|
||||
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||||
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||||
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||||
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||||
<path
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||||
d="M 35.542313,84.24974 A 13.125,13.125 0 1 1 47.171703,64.884866"
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||||
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||||
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||||
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After Width: | Height: | Size: 12 KiB |
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Reference in New Issue
Block a user