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Code added to allow GCS to configure modem. Not yet finished - modem needs rebooting after uploading new config - for the time being.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2687 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-02-01 23:40:40 +00:00 committed by pip
parent 8a602c8b5e
commit 2c3e540637
12 changed files with 1218 additions and 65 deletions
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3
flight/PipXtreme/Makefile
View File

@ -115,7 +115,8 @@ SRC += $(HOME_DIR)/aes.c
SRC += $(HOME_DIR)/rfm22b.c SRC += $(HOME_DIR)/rfm22b.c
SRC += $(HOME_DIR)/packet_handler.c SRC += $(HOME_DIR)/packet_handler.c
SRC += $(HOME_DIR)/transparent_comms.c SRC += $(HOME_DIR)/transparent_comms.c
SRC += $(HOME_DIR)/api_comms.c #SRC += $(HOME_DIR)/api_comms.c
SRC += $(HOME_DIR)/api_config.c
SRC += $(HOME_DIR)/saved_settings.c SRC += $(HOME_DIR)/saved_settings.c
SRC += $(HOME_DIR)/gpio_in.c SRC += $(HOME_DIR)/gpio_in.c
SRC += $(HOME_DIR)/stopwatch.c SRC += $(HOME_DIR)/stopwatch.c

559
flight/PipXtreme/api_config.c Normal file
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@ -0,0 +1,559 @@
/**
******************************************************************************
*
* @file apiconfig_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <string.h>
#include "stm32f10x.h"
#include "gpio_in.h"
#include "api_config.h"
#include "rfm22b.h"
#include "packet_handler.h"
#include "saved_settings.h"
#include "crc.h"
#include "main.h"
#if defined(PIOS_COM_DEBUG)
#define APICONFIG_DEBUG
#endif
// *****************************************************************************
// modem configuration packets
#define pipx_header_marker 0x76b38a52
#define pipx_packet_type_req_config 1
#define pipx_packet_type_config 2
typedef struct
{
uint32_t marker;
uint32_t serial_number;
uint8_t type;
uint8_t spare;
uint16_t data_size;
uint32_t header_crc;
uint32_t data_crc;
// uint8_t data[0];
} __attribute__((__packed__)) t_pipx_config_header;
typedef struct
{
uint8_t mode;
uint8_t state;
} __attribute__((__packed__)) t_pipx_config_data_mode_state;
typedef struct
{
uint32_t serial_baudrate; // serial uart baudrate
uint32_t destination_id;
uint32_t min_frequency_Hz;
uint32_t max_frequency_Hz;
float frequency_Hz;
uint32_t max_rf_bandwidth;
uint8_t max_tx_power;
uint8_t frequency_band;
uint8_t rf_xtal_cap;
bool aes_enable;
uint8_t aes_key[16];
float frequency_step_size;
} __attribute__((__packed__)) t_pipx_config_data_settings;
typedef struct
{
float start_frequency;
float frequency_step_size;
uint16_t magnitudes;
// int8_t magnitude[0];
} __attribute__((__packed__)) t_pipx_config_data_spectrum;
// *****************************************************************************
// local variables
int8_t apiconfig_previous_com_port = -1;
volatile uint16_t apiconfig_rx_timer = 0;
volatile uint16_t apiconfig_tx_timer = 0;
uint8_t apiconfig_rx_buffer[256] __attribute__ ((aligned(4)));
uint16_t apiconfig_rx_buffer_wr;
uint8_t apiconfig_tx_buffer[256] __attribute__ ((aligned(4)));
uint16_t apiconfig_tx_buffer_wr;
uint8_t apiconfig_tx_config_buffer[128] __attribute__ ((aligned(4)));
uint16_t apiconfig_tx_config_buffer_wr;
// *****************************************************************************
int apiconfig_sendConfigPacket()
{
if (sizeof(apiconfig_tx_config_buffer) - apiconfig_tx_config_buffer_wr < sizeof(t_pipx_config_header) + sizeof(t_pipx_config_data_settings))
return -1; // not enough room in the tx buffer for the packet we were going to send
t_pipx_config_header *header = (t_pipx_config_header *)(apiconfig_tx_config_buffer + apiconfig_tx_config_buffer_wr);
t_pipx_config_data_settings *settings = (t_pipx_config_data_settings *)((uint8_t *)header + sizeof(t_pipx_config_header));
header->marker = pipx_header_marker;
header->serial_number = serial_number_crc32;
header->type = pipx_packet_type_config;
header->spare = 0;
header->data_size = sizeof(t_pipx_config_data_settings);
settings->serial_baudrate = saved_settings.serial_baudrate;
settings->destination_id = saved_settings.destination_id;
settings->min_frequency_Hz = saved_settings.min_frequency_Hz;
settings->max_frequency_Hz = saved_settings.max_frequency_Hz;
settings->frequency_Hz = saved_settings.frequency_Hz;
settings->max_rf_bandwidth = saved_settings.max_rf_bandwidth;
settings->max_tx_power = saved_settings.max_tx_power;
settings->frequency_band = saved_settings.frequency_band;
settings->rf_xtal_cap = saved_settings.rf_xtal_cap;
settings->aes_enable = saved_settings.aes_enable;
memcpy((char *)settings->aes_key, (char *)saved_settings.aes_key, sizeof(settings->aes_key));
settings->frequency_step_size = rfm22_getFrequencyStepSize();
header->data_crc = updateCRC32Data(0xffffffff, settings, header->data_size);
header->header_crc = 0;
header->header_crc = updateCRC32Data(0xffffffff, header, sizeof(t_pipx_config_header));
int total_packet_size = sizeof(t_pipx_config_header) + header->data_size;
apiconfig_tx_config_buffer_wr += total_packet_size;
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("TX api config: config\r\n");
#endif
return total_packet_size;
}
void apiconfig_processInputPacket(void *buf, uint16_t len)
{
if (len <= 0)
return;
t_pipx_config_header *header = (t_pipx_config_header *)buf;
uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header);
switch (header->type)
{
case pipx_packet_type_req_config: // they are requesting our configuration
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("RX api config: req_config\r\n");
#endif
if (header->serial_number == 0 || header->serial_number == 0xffffffff || header->serial_number == serial_number_crc32)
apiconfig_sendConfigPacket();
break;
case pipx_packet_type_config: // they have sent us new configuration settings
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("RX api config: config\r\n");
#endif
if (header->serial_number == serial_number_crc32)
{ // the packet is meant for us
t_pipx_config_data_settings *settings = (t_pipx_config_data_settings *)data;
saved_settings.destination_id = settings->destination_id;
saved_settings.frequency_Hz = settings->frequency_Hz;
saved_settings.max_tx_power = settings->max_tx_power;
saved_settings.max_rf_bandwidth = settings->max_rf_bandwidth;
saved_settings.rf_xtal_cap = settings->rf_xtal_cap;
saved_settings.serial_baudrate = settings->serial_baudrate;
saved_settings.aes_enable = settings->aes_enable;
memcpy((char *)saved_settings.aes_key, (char *)settings->aes_key, sizeof(saved_settings.aes_key));
saved_settings_save(); // save the new settings
}
break;
default:
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("RX api config: unknown type [%u]\r\n", header->type);
#endif
break;
}
}
uint16_t apiconfig_scanForConfigPacket(void *buf, uint16_t *len, bool rf_packet)
{
uint16_t length = *len;
uint16_t i = 0;
while (TRUE)
{
uint32_t crc1, crc2;
t_pipx_config_header *header = (t_pipx_config_header *)buf + i;
uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header);
if (i + sizeof(t_pipx_config_header) > length)
{ // not enough data for a packet
if (i >= sizeof(header->marker))
i -= sizeof(header->marker);
else
i = 0;
break;
}
if (header->marker != pipx_header_marker)
{ // no packet marker found
i++;
continue;
}
// check the header is error free
crc1 = header->header_crc;
header->header_crc = 0;
crc2 = updateCRC32Data(0xffffffff, header, sizeof(t_pipx_config_header));
header->header_crc = crc1;
if (crc2 != crc1)
{ // faulty header or not really a header
i++;
continue;
}
// valid header found!
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("RX api config: header found\r\n");
#endif
if (!rf_packet)
apiconfig_rx_timer = 0; // reset the timer
int total_packet_size = sizeof(t_pipx_config_header) + header->data_size;
if (i + total_packet_size > length)
{ // not yet got a full packet
break;
}
if (header->data_size > 0)
{ // check the data is error free
crc1 = header->data_crc;
crc2 = updateCRC32Data(0xffffffff, data, header->data_size);
if (crc2 != crc1)
{ // faulty data .. remove the entire packet
length -= total_packet_size;
if (length - i > 0)
memmove(buf + i, buf + i + total_packet_size, length - i);
continue;
}
}
if (!rf_packet)
apiconfig_processInputPacket(buf + i, length - i);
// remove the packet from the buffer
length -= total_packet_size;
if (length - i > 0)
memmove(buf + i, buf + i + total_packet_size, length - i);
break;
}
*len = length;
return i;
}
// *****************************************************************************
// can be called from an interrupt if you wish
void apiconfig_1ms_tick(void)
{ // call this once every 1ms
if (apiconfig_rx_timer < 0xffff) apiconfig_rx_timer++;
if (apiconfig_tx_timer < 0xffff) apiconfig_tx_timer++;
}
// *****************************************************************************
// call this as often as possible - not from an interrupt
void apiconfig_process(void)
{ // copy data from comm-port RX buffer to RF packet handler TX buffer, and from RF packet handler RX buffer to comm-port TX buffer
// ********************
// decide which comm-port we are using (usart or usb)
bool usb_comms = false; // TRUE if we are using the usb port for comms.
uint8_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0))
{ // USB comms is up, use the USB comm-port instead of the USART comm-port
usb_comms = true;
comm_port = PIOS_COM_TELEM_USB;
}
#endif
// ********************
// check to see if the local communication port has changed (usart/usb)
if (apiconfig_previous_com_port < 0 && apiconfig_previous_com_port != comm_port)
{ // the local communications port has changed .. remove any data in the buffers
apiconfig_rx_buffer_wr = 0;
apiconfig_tx_buffer_wr = 0;
}
else
if (usb_comms)
{ // we're using the USB for comms - keep the USART rx buffer empty
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
bytes--;
}
}
apiconfig_previous_com_port = comm_port; // remember the current comm-port we are using
// ********************
uint16_t connection_index = 0; // the RF connection we are using
// ********************
// send the data received from the local comm-port to the RF packet handler TX buffer
while (TRUE)
{
// free space size in the RF packet handler tx buffer
uint16_t ph_num = ph_putData_free(connection_index);
// get the number of data bytes received down the comm-port
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
// set the USART RTS handshaking line
if (!usb_comms && ph_connected(connection_index))
{
if (ph_num < 32)
SERIAL_RTS_CLEAR; // lower the USART RTS line - we don't have space in the buffer for anymore bytes
else
SERIAL_RTS_SET; // release the USART RTS line - we have space in the buffer for now bytes
}
else
SERIAL_RTS_SET; // release the USART RTS line
// limit number of bytes we will get to how much space we have in our RX buffer
if (com_num > sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr)
com_num = sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr;
while (com_num > 0)
{ // fetch a byte from the comm-port RX buffer and save it into our RX buffer
apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(comm_port);
com_num--;
}
uint16_t data_size = apiconfig_scanForConfigPacket(apiconfig_rx_buffer, &apiconfig_rx_buffer_wr, false);
if (data_size == 0 && apiconfig_rx_timer >= 10)
{ // no config packet found in the buffer within the timeout period, treat any data in the buffer as data to be sent over the air
data_size = apiconfig_rx_buffer_wr;
}
if (data_size == 0)
break; // no data to send over the air
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("RX api config: data size %u\r\n", data_size);
#endif
if (ph_connected(connection_index))
{ // we have an RF link to a remote modem
if (ph_num < data_size)
break; // not enough room in the RF packet handler TX buffer for the data
// copy the data into the RF packet handler TX buffer for sending over the RF link
data_size = ph_putData(connection_index, apiconfig_rx_buffer, data_size);
}
// remove the data from our RX buffer
apiconfig_rx_buffer_wr -= data_size;
if (apiconfig_rx_buffer_wr > 0)
memmove(apiconfig_rx_buffer, apiconfig_rx_buffer + data_size, apiconfig_rx_buffer_wr);
}
// ********************
// send data down the local comm port
if (apiconfig_tx_config_buffer_wr > 0)
{ // send any config packets in the config buffer
while (TRUE)
{
uint16_t data_size = apiconfig_tx_config_buffer_wr;
if (data_size > 32)
data_size = 32;
if (!usb_comms && !GPIO_IN(SERIAL_CTS_PIN))
break; // we can't yet send data down the comm-port
// send the data out the comm-port
int32_t res;
// if (usb_comms)
// res = PIOS_COM_SendBuffer(comm_port, apiconfig_tx_config_buffer, data_size);
// else
res = PIOS_COM_SendBufferNonBlocking(comm_port, apiconfig_tx_config_buffer, data_size);
if (res < 0)
{ // failed to send the data out the comm-port
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", data_size, res);
#endif
if (apiconfig_tx_timer >= 5000)
{ // seems we can't send our data for at least the last 5 seconds - delete it
apiconfig_tx_config_buffer_wr = 0;
}
break;
}
// data was sent out the comm-port OK .. remove the sent data from our buffer
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("TX api config: data [%u]\r\n", data_size);
#endif
apiconfig_tx_config_buffer_wr -= data_size;
if (apiconfig_tx_config_buffer_wr > 0)
memmove(apiconfig_tx_config_buffer, apiconfig_tx_config_buffer + data_size, apiconfig_tx_config_buffer_wr);
apiconfig_tx_timer = 0;
break;
}
}
else
{ // send the data received via the RF link out the comm-port
while (TRUE)
{
// get number of data bytes received via the RF link
uint16_t ph_num = ph_getData_used(connection_index);
// limit to how much space we have in the temp TX buffer
if (ph_num > sizeof(apiconfig_tx_buffer) - apiconfig_tx_buffer_wr)
ph_num = sizeof(apiconfig_tx_buffer) - apiconfig_tx_buffer_wr;
if (ph_num > 0)
{ // fetch the data bytes received via the RF link and save into our temp buffer
ph_num = ph_getData(connection_index, apiconfig_tx_buffer + apiconfig_tx_buffer_wr, ph_num);
apiconfig_tx_buffer_wr += ph_num;
}
uint16_t data_size = apiconfig_tx_buffer_wr;
if (data_size == 0)
break; // no data to send
// uint16_t data_size = apiconfig_scanForConfigPacket(apiconfig_tx_buffer, &apiconfig_tx_buffer_wr, true);
// if (data_size == 0)
// break; // no data to send
// we have data to send down the comm-port
/*
#if (defined(PIOS_COM_DEBUG) && (PIOS_COM_DEBUG == PIOS_COM_SERIAL))
if (!usb_comms)
{ // the serial-port is being used for debugging - don't send data down it
apiconfig_tx_buffer_wr = 0;
apiconfig_tx_timer = 0;
continue;
}
#endif
*/
if (!usb_comms && !GPIO_IN(SERIAL_CTS_PIN))
break; // we can't yet send data down the comm-port
// send the data out the comm-port
int32_t res;
// if (usb_comms)
// res = PIOS_COM_SendBuffer(comm_port, apiconfig_tx_buffer, data_size);
// else
res = PIOS_COM_SendBufferNonBlocking(comm_port, apiconfig_tx_buffer, data_size);
if (res < 0)
{ // failed to send the data out the comm-port
#if defined(APICONFIG_DEBUG)
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", data_size, res);
#endif
if (apiconfig_tx_timer >= 5000)
{ // seems we can't send our data for at least the last 5 seconds - delete it
apiconfig_tx_buffer_wr = 0;
}
break;
}
// data was sent out the comm-port OK .. remove the sent data from our buffer
apiconfig_tx_buffer_wr -= data_size;
if (apiconfig_tx_buffer_wr > 0)
memmove(apiconfig_tx_buffer, apiconfig_tx_buffer + data_size, apiconfig_tx_buffer_wr);
apiconfig_tx_timer = 0;
}
}
// ********************
}
// *****************************************************************************
void apiconfig_init(void)
{
apiconfig_previous_com_port = -1;
apiconfig_rx_buffer_wr = 0;
apiconfig_tx_buffer_wr = 0;
apiconfig_tx_config_buffer_wr = 0;
apiconfig_rx_timer = 0;
apiconfig_tx_timer = 0;
}
// *****************************************************************************

16
flight/PipXtreme/crc.c
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@ -103,12 +103,12 @@ static const uint32_t CRC_Table32[] = {
// ************************************************************************** // **************************************************************************
// 16-bit CRC // 16-bit CRC
inline uint16_t UpdateCRC16(uint16_t crc, uint8_t b) inline uint16_t updateCRC16(uint16_t crc, uint8_t b)
{ // update the crc - table method { // update the crc - table method
return ((crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ b]); return ((crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ b]);
} }
/* /*
uint16_t UpdateCRC16(uint16_t crc, uint8_t b) uint16_t updateCRC16(uint16_t crc, uint8_t b)
{ // update the fcs - bit band method { // update the fcs - bit band method
register uint8_t f = (uint8_t)(crc >> 8); register uint8_t f = (uint8_t)(crc >> 8);
crc = (crc & 0x00ff) ^ b; crc = (crc & 0x00ff) ^ b;
@ -117,7 +117,7 @@ uint16_t UpdateCRC16(uint16_t crc, uint8_t b)
return (crc ^ f); return (crc ^ f);
} }
*/ */
uint16_t UpdateCRC16Data(uint16_t crc, void *data, uint32_t len) uint16_t updateCRC16Data(uint16_t crc, void *data, uint32_t len)
{ {
register uint8_t *p = (uint8_t *)data; register uint8_t *p = (uint8_t *)data;
register uint16_t _crc = crc; register uint16_t _crc = crc;
@ -128,7 +128,7 @@ uint16_t UpdateCRC16Data(uint16_t crc, void *data, uint32_t len)
} }
/* /*
// Generate the CRC table // Generate the CRC table
void MakeCRC_Table16(void) void makeCRC_Table16(void)
{ {
for (uint16_t i = 0; i < 256; i++) for (uint16_t i = 0; i < 256; i++)
{ {
@ -142,12 +142,12 @@ void MakeCRC_Table16(void)
// ************************************************************************** // **************************************************************************
// 32-bit CRC // 32-bit CRC
inline uint32_t UpdateCRC32(uint32_t crc, uint8_t b) inline uint32_t updateCRC32(uint32_t crc, uint8_t b)
{ {
return ((crc << 8) ^ CRC_Table32[(crc >> 24) ^ b]); return ((crc << 8) ^ CRC_Table32[(crc >> 24) ^ b]);
} }
/* /*
uint32_t UpdateCRC32(uint32_t crc, uint8_t b) uint32_t updateCRC32(uint32_t crc, uint8_t b)
{ // update the crc - bit bang method { // update the crc - bit bang method
register uint32_t f = crc << 8; register uint32_t f = crc << 8;
crc = (crc >> 24) ^ b; crc = (crc >> 24) ^ b;
@ -156,7 +156,7 @@ uint32_t UpdateCRC32(uint32_t crc, uint8_t b)
return (crc ^ f); return (crc ^ f);
} }
*/ */
uint32_t UpdateCRC32Data(uint32_t crc, void *data, uint32_t len) uint32_t updateCRC32Data(uint32_t crc, void *data, uint32_t len)
{ {
register uint8_t *p = (uint8_t *)data; register uint8_t *p = (uint8_t *)data;
register uint32_t _crc = crc; register uint32_t _crc = crc;
@ -167,7 +167,7 @@ uint32_t UpdateCRC32Data(uint32_t crc, void *data, uint32_t len)
} }
/* /*
// Generate the CRC table // Generate the CRC table
void MakeCRC_Table32(void) void makeCRC_Table32(void)
{ {
for (uint32_t i = 0; i < 256; i++) for (uint32_t i = 0; i < 256; i++)
{ {

40
flight/PipXtreme/inc/api_config.h Normal file
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@ -0,0 +1,40 @@
/**
******************************************************************************
*
* @file api_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __API_CONFIG_H__
#define __API_CONFIG_H__
#include "stdint.h"
// *****************************************************************************
void apiconfig_1ms_tick(void);
void apiconfig_process(void);
void apiconfig_init(void);
// *****************************************************************************
#endif

8
flight/PipXtreme/inc/crc.h
View File

@ -30,11 +30,11 @@
// ******************************************************************** // ********************************************************************
uint16_t UpdateCRC16(uint16_t crc, uint8_t b); uint16_t updateCRC16(uint16_t crc, uint8_t b);
uint16_t UpdateCRC16Data(uint16_t crc, void *data, uint32_t len); uint16_t updateCRC16Data(uint16_t crc, void *data, uint32_t len);
uint32_t UpdateCRC32(uint32_t crc, uint8_t b); uint32_t updateCRC32(uint32_t crc, uint8_t b);
uint32_t UpdateCRC32Data(uint32_t crc, void *data, uint32_t len); uint32_t updateCRC32Data(uint32_t crc, void *data, uint32_t len);
void CRC_init(void); void CRC_init(void);

6
flight/PipXtreme/inc/rfm22b.h
View File

@ -578,8 +578,10 @@ uint32_t rfm22_getDatarate(void);
void rfm22_setTxPower(uint8_t tx_pwr); void rfm22_setTxPower(uint8_t tx_pwr);
uint8_t rfm22_getTxPower(void); uint8_t rfm22_getTxPower(void);
void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz); void rfm22_setNominalCarrierFrequency(float frequency_hz);
uint32_t rfm22_getNominalCarrierFrequency(void); float rfm22_getNominalCarrierFrequency(void);
float rfm22_getFrequencyStepSize(void);
void rfm22_setFreqHopChannel(uint8_t channel); void rfm22_setFreqHopChannel(uint8_t channel);
uint8_t rfm22_freqHopChannel(void); uint8_t rfm22_freqHopChannel(void);

56
flight/PipXtreme/main.c
View File

@ -38,7 +38,8 @@
#include "rfm22b.h" #include "rfm22b.h"
#include "packet_handler.h" #include "packet_handler.h"
#include "transparent_comms.h" #include "transparent_comms.h"
#include "api_comms.h" //#include "api_comms.h"
#include "api_config.h"
#include "gpio_in.h" #include "gpio_in.h"
#include "stopwatch.h" #include "stopwatch.h"
#include "watchdog.h" #include "watchdog.h"
@ -273,7 +274,8 @@ void TIMER_INT_FUNC(void)
if (!API_Mode) if (!API_Mode)
trans_1ms_tick(); // transparent communications tick trans_1ms_tick(); // transparent communications tick
else else
api_1ms_tick(); // api communications tick // api_1ms_tick(); // api communications tick
apiconfig_1ms_tick(); // api communications tick
// *********** // ***********
} }
@ -362,8 +364,8 @@ void get_CPUDetails(void)
} }
// create a 32-bit crc from the serial number hex string // create a 32-bit crc from the serial number hex string
serial_number_crc32 = UpdateCRC32Data(0xffffffff, serial_number_str, j); serial_number_crc32 = updateCRC32Data(0xffffffff, serial_number_str, j);
serial_number_crc32 = UpdateCRC32(serial_number_crc32, j); serial_number_crc32 = updateCRC32(serial_number_crc32, j);
// reset_addr = (uint32_t)&Reset_Handler; // reset_addr = (uint32_t)&Reset_Handler;
} }
@ -563,8 +565,8 @@ int main()
// temp_adc = -1; // temp_adc = -1;
// psu_adc = -1; // psu_adc = -1;
API_Mode = FALSE; // API_Mode = FALSE;
// API_Mode = TRUE; // TEST ONLY API_Mode = TRUE; // TEST ONLY
second_tick_timer = 0; second_tick_timer = 0;
second_tick = FALSE; second_tick = FALSE;
@ -626,7 +628,8 @@ int main()
trans_init(); // initialise the tranparent communications module trans_init(); // initialise the tranparent communications module
api_init(); // initialise the API communications module // api_init(); // initialise the API communications module
apiconfig_init(); // initialise the API communications module
setup_TimerInt(1000); // setup a 1kHz timer interrupt setup_TimerInt(1000); // setup a 1kHz timer interrupt
@ -686,13 +689,13 @@ int main()
switch (saved_settings.frequency_band) switch (saved_settings.frequency_band)
{ {
case freqBand_434MHz: case freqBand_434MHz:
// if (saved_settings.frequency_Hz == 0xffffffff) if (saved_settings.min_frequency_Hz == 0xffffffff)
{ {
saved_settings.frequency_Hz = 434000000; saved_settings.frequency_Hz = 434000000;
saved_settings.min_frequency_Hz = 434000000 - 2000000; saved_settings.min_frequency_Hz = saved_settings.frequency_Hz - 2000000;
saved_settings.max_frequency_Hz = 434000000 + 2000000; saved_settings.max_frequency_Hz = saved_settings.frequency_Hz + 2000000;
} }
// if (saved_settings.max_rf_bandwidth == 0xffffffff) if (saved_settings.max_rf_bandwidth == 0xffffffff)
{ {
// saved_settings.max_rf_bandwidth = 500; // saved_settings.max_rf_bandwidth = 500;
// saved_settings.max_rf_bandwidth = 1000; // saved_settings.max_rf_bandwidth = 1000;
@ -708,7 +711,7 @@ int main()
saved_settings.max_rf_bandwidth = 128000; saved_settings.max_rf_bandwidth = 128000;
// saved_settings.max_rf_bandwidth = 192000; // saved_settings.max_rf_bandwidth = 192000;
} }
// if (saved_settings.max_tx_power == 0xff) if (saved_settings.max_tx_power == 0xff)
{ {
// saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW // saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW
// saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW // saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW
@ -722,13 +725,13 @@ int main()
break; break;
case freqBand_868MHz: case freqBand_868MHz:
// if (saved_settings.frequency_Hz == 0xffffffff) if (saved_settings.min_frequency_Hz == 0xffffffff)
{ {
saved_settings.frequency_Hz = 868000000; saved_settings.frequency_Hz = 868000000;
saved_settings.min_frequency_Hz = 868000000 - 10000000; saved_settings.min_frequency_Hz = saved_settings.frequency_Hz - 10000000;
saved_settings.max_frequency_Hz = 868000000 + 10000000; saved_settings.max_frequency_Hz = saved_settings.frequency_Hz + 10000000;
} }
// if (saved_settings.max_rf_bandwidth == 0xffffffff) if (saved_settings.max_rf_bandwidth == 0xffffffff)
{ {
// saved_settings.max_rf_bandwidth = 500; // saved_settings.max_rf_bandwidth = 500;
// saved_settings.max_rf_bandwidth = 1000; // saved_settings.max_rf_bandwidth = 1000;
@ -744,7 +747,7 @@ int main()
saved_settings.max_rf_bandwidth = 128000; saved_settings.max_rf_bandwidth = 128000;
// saved_settings.max_rf_bandwidth = 192000; // saved_settings.max_rf_bandwidth = 192000;
} }
// if (saved_settings.max_tx_power == 0xff) if (saved_settings.max_tx_power == 0xff)
{ {
// saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW // saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW
// saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW // saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW
@ -758,13 +761,13 @@ int main()
break; break;
case freqBand_915MHz: case freqBand_915MHz:
// if (saved_settings.frequency_Hz == 0xffffffff) if (saved_settings.min_frequency_Hz == 0xffffffff)
{ {
saved_settings.frequency_Hz = 915000000; saved_settings.frequency_Hz = 915000000;
saved_settings.min_frequency_Hz = 915000000 - 13000000; saved_settings.min_frequency_Hz = saved_settings.frequency_Hz - 13000000;
saved_settings.max_frequency_Hz = 915000000 + 13000000; saved_settings.max_frequency_Hz = saved_settings.frequency_Hz + 13000000;
} }
// if (saved_settings.max_rf_bandwidth == 0xffffffff) if (saved_settings.max_rf_bandwidth == 0xffffffff)
{ {
// saved_settings.max_rf_bandwidth = 500; // saved_settings.max_rf_bandwidth = 500;
// saved_settings.max_rf_bandwidth = 1000; // saved_settings.max_rf_bandwidth = 1000;
@ -780,7 +783,7 @@ int main()
saved_settings.max_rf_bandwidth = 128000; saved_settings.max_rf_bandwidth = 128000;
// saved_settings.max_rf_bandwidth = 192000; // saved_settings.max_rf_bandwidth = 192000;
} }
// if (saved_settings.max_tx_power == 0xff) if (saved_settings.max_tx_power == 0xff)
{ {
// saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW // saved_settings.max_tx_power = 0; // +1dBm ... 1.25mW
// saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW // saved_settings.max_tx_power = 1; // +2dBm ... 1.6mW
@ -862,8 +865,8 @@ int main()
for (;;) for (;;)
{ {
random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8); random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8);
random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT); random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT);
if (second_tick) if (second_tick)
{ {
@ -913,9 +916,10 @@ int main()
ph_process(); // packet handler processing ph_process(); // packet handler processing
if (!API_Mode) if (!API_Mode)
trans_process(); // tranparent local communication processing (serial port and usb port) trans_process(); // tranparent local communication processing (serial port and usb port)
else else
api_process(); // API local communication processing (serial port and usb port) // api_process(); // API local communication processing (serial port and usb port)
apiconfig_process(); // API local communication processing (serial port and usb port)

26
flight/PipXtreme/packet_handler.c
View File

@ -273,7 +273,7 @@ uint16_t ph_getData(const int connection_index, void *data, uint16_t len)
int ph_startConnect(int connection_index, uint32_t sn) int ph_startConnect(int connection_index, uint32_t sn)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS) if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS)
return -1; return -1;
@ -443,7 +443,7 @@ bool ph_sendPacket(int connection_index, bool encrypt, uint8_t packet_type, bool
// ensure the 1st byte is not zero - to indicate this packet is encrypted // ensure the 1st byte is not zero - to indicate this packet is encrypted
while (enc_cbc[0] == 0) while (enc_cbc[0] == 0)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
enc_cbc[0] ^= random32; enc_cbc[0] ^= random32;
} }
@ -481,9 +481,9 @@ bool ph_sendPacket(int connection_index, bool encrypt, uint8_t packet_type, bool
// complete the packet header by adding the CRC // complete the packet header by adding the CRC
if (encrypt) if (encrypt)
header->crc = UpdateCRC32Data(0xffffffff, header, packet_size - AES_BLOCK_SIZE); header->crc = updateCRC32Data(0xffffffff, header, packet_size - AES_BLOCK_SIZE);
else else
header->crc = UpdateCRC32Data(0xffffffff, header, packet_size - 1); header->crc = updateCRC32Data(0xffffffff, header, packet_size - 1);
// ****************** // ******************
// encrypt the packet // encrypt the packet
@ -600,7 +600,7 @@ void ph_processPacket2(bool was_encrypted, t_packet_header *header, uint8_t *dat
uint16_t data_size = header->data_size; uint16_t data_size = header->data_size;
// update the ramdon number // update the ramdon number
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
// ********************* // *********************
// debug stuff // debug stuff
@ -1105,7 +1105,7 @@ void ph_processRxPacket(void)
return; return;
} }
random32 = UpdateCRC32(random32 ^ header->crc, 0xff); // help randomize the random number random32 = updateCRC32(random32 ^ header->crc, 0xff); // help randomize the random number
// ********************* // *********************
// help to randomize the tx aes cbc bytes by using the received packet // help to randomize the tx aes cbc bytes by using the received packet
@ -1192,9 +1192,9 @@ void ph_processRxPacket(void)
crc1 = header->crc; crc1 = header->crc;
header->crc = 0; header->crc = 0;
if (encrypted) if (encrypted)
crc2 = UpdateCRC32Data(0xffffffff, header, packet_size - AES_BLOCK_SIZE); crc2 = updateCRC32Data(0xffffffff, header, packet_size - AES_BLOCK_SIZE);
else else
crc2 = UpdateCRC32Data(0xffffffff, header, packet_size - 1); crc2 = updateCRC32Data(0xffffffff, header, packet_size - 1);
if (crc1 != crc2) if (crc1 != crc2)
{ // corrupt packet { // corrupt packet
#if defined(PACKET_DEBUG) #if defined(PACKET_DEBUG)
@ -1222,7 +1222,7 @@ void ph_processLinks(int connection_index)
if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS) if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS)
return; return;
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
t_connection *conn = &connection[connection_index]; t_connection *conn = &connection[connection_index];
@ -1427,7 +1427,7 @@ void ph_set_AES128_key(const void *key)
int ph_set_remote_serial_number(int connection_index, uint32_t sn) int ph_set_remote_serial_number(int connection_index, uint32_t sn)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
if (ph_startConnect(connection_index, sn) >= 0) if (ph_startConnect(connection_index, sn) >= 0)
{ {
@ -1453,7 +1453,7 @@ void ph_1ms_tick(void)
register uint32_t *cbc = (uint32_t *)&enc_cbc; register uint32_t *cbc = (uint32_t *)&enc_cbc;
for (int i = 0; i < sizeof(enc_cbc) / 4; i++) for (int i = 0; i < sizeof(enc_cbc) / 4; i++)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
*cbc++ ^= random32; *cbc++ ^= random32;
} }
@ -1516,7 +1516,7 @@ void ph_init(uint32_t our_sn, uint32_t datarate_bps, uint8_t tx_power)
for (int i = 0; i < PH_MAX_CONNECTIONS; i++) for (int i = 0; i < PH_MAX_CONNECTIONS; i++)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
t_connection *conn = &connection[i]; t_connection *conn = &connection[i];
@ -1570,7 +1570,7 @@ void ph_init(uint32_t our_sn, uint32_t datarate_bps, uint8_t tx_power)
// try too randomize the tx AES CBC bytes // try too randomize the tx AES CBC bytes
for (uint32_t j = 0, k = 0; j < 123 + (random32 & 1023); j++) for (uint32_t j = 0, k = 0; j < 123 + (random32 & 1023); j++)
{ {
random32 = UpdateCRC32(random32, 0xff); random32 = updateCRC32(random32, 0xff);
enc_cbc[k] ^= random32 >> 3; enc_cbc[k] ^= random32 >> 3;
if (++k >= sizeof(enc_cbc)) k = 0; if (++k >= sizeof(enc_cbc)) k = 0;
} }

500
flight/PipXtreme/reserved/api_comms.c Normal file
View File

@ -0,0 +1,500 @@
/**
******************************************************************************
*
* @file api_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// see http://newwiki.openpilot.org/display/Doc/UAVTalk .. for UAVTalk protocol description
//
// This module scans for OP UAVTalk packets in the comm-port or RF data streams.
// It will discard any corrupt/invalid packets and only pass valid ones.
#include <string.h>
#include "stm32f10x.h"
#include "gpio_in.h"
#include "api_comms.h"
#include "packet_handler.h"
#include "main.h"
#if defined(PIOS_COM_DEBUG)
#define API_DEBUG
#endif
// *****************************************************************************
// modem configuration packets
typedef struct
{
uint32_t marker;
uint32_t serial_number;
uint8_t type;
uint8_t spare;
uint16_t data_size;
uint32_t header_crc;
uint32_t data_crc;
// uint8_t data[0];
} __attribute__((__packed__)) t_pipx_config_header;
typedef struct
{
uint8_t mode;
uint8_t state;
} __attribute__((__packed__)) t_pipx_config_data_mode_state;
typedef struct
{
uint32_t serial_baudrate; // serial uart baudrate
uint32_t destination_id;
uint32_t min_frequency_Hz;
uint32_t max_frequency_Hz;
uint32_t frequency_Hz;
uint32_t max_rf_bandwidth;
uint8_t max_tx_power;
uint8_t frequency_band;
uint8_t rf_xtal_cap;
bool aes_enable;
uint8_t aes_key[16];
uint16_t frequency_step_size;
} __attribute__((__packed__)) t_pipx_config_data_settings;
typedef struct
{
uint32_t start_frequency;
uint16_t frequency_step_size;
uint16_t magnitudes;
// int8_t magnitude[0];
} __attribute__((__packed__)) t_pipx_config_data_spectrum;
// *****************************************************************************
typedef struct
{
uint8_t sync_byte;
uint8_t message_type;
uint16_t packet_size; // not including CRC byte
uint32_t object_id;
} __attribute__((__packed__)) t_uav_header1;
typedef struct
{
uint8_t sync_byte;
uint8_t message_type;
uint16_t packet_size; // not including CRC byte
uint32_t object_id;
uint16_t instance_id;
} __attribute__((__packed__)) t_uav_header2;
#define SYNC_VAL 0x3C
#define TYPE_MASK 0xFC
#define TYPE_VER 0x20
#define TYPE_OBJ (TYPE_VER | 0x00)
#define TYPE_OBJ_REQ (TYPE_VER | 0x01)
#define TYPE_OBJ_ACK (TYPE_VER | 0x02)
#define TYPE_ACK (TYPE_VER | 0x03)
#define MIN_HEADER_LENGTH sizeof(t_uav_header1)
#define MAX_HEADER_LENGTH sizeof(t_uav_header2)
#define MAX_PAYLOAD_LENGTH 256
#define CHECKSUM_LENGTH 1
#define MAX_PACKET_LENGTH (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
// CRC lookup table
static const uint8_t crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
// *****************************************************************************
// local variables
int8_t api_previous_com_port = -1;
volatile uint16_t api_rx_timer = 0;
volatile uint16_t api_tx_timer = 0;
uint8_t api_rx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
uint16_t api_rx_buffer_wr;
uint8_t api_tx_buffer[MAX_PACKET_LENGTH] __attribute__ ((aligned(4)));
uint16_t api_tx_buffer_wr;
// *****************************************************************************
// 8-bit CRC updating
uint8_t api_updateCRC_byte(uint8_t crc, uint8_t b)
{
return crc_table[crc ^ b];
}
uint8_t api_updateCRC_buffer(uint8_t crc, const void *data, int32_t length)
{
// use registers for speed
register uint8_t crc8 = crc;
register const uint8_t *p = (uint8_t *)data;
for (register int32_t i = length; i > 0; i--)
crc8 = crc_table[crc8 ^ *p++];
return crc8;
}
// returned value < 0 if no valid packet detected.
// otherwise returned value is the total size of the valid UAVTalk packet found in the buffer.
//
// any corrupt/invalid UAVTalk packets/data are deleted from the buffer and we scan for the next valid packet.
int16_t api_scanForUAVTalkPacket(void *buf, uint16_t *len)
{
uint8_t *buffer = (uint8_t *)buf;
t_uav_header1 *header1 = (t_uav_header1 *)buf;
// t_uav_header2 *header2 = (t_uav_header2 *)buf;
register uint16_t num_bytes = *len;
if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
return -1; // not yet enough bytes for a complete packet
while (TRUE)
{
// scan the buffer for the start of a UAVTalk packet
for (uint16_t i = 0; i < num_bytes; i++)
{
if (api_rx_buffer[i] != SYNC_VAL)
continue; // not the start of a packet - move on to the next byte in the buffer
// possible start of packet found - we found a SYNC byte
if (i > 0)
{ // remove/delete leading bytes before the SYNC byte
num_bytes -= i;
if (num_bytes > 0)
memmove(buffer, buffer + i, num_bytes);
*len = num_bytes;
}
break;
}
if (num_bytes < MIN_HEADER_LENGTH + CHECKSUM_LENGTH)
return -2; // not yet enough bytes for a complete packet
if (header1->sync_byte != SYNC_VAL)
{ // SYNC byte was not found - start of UAVTalk packet not found in any of the data in the buffer
*len = 0; // empty the entire buffer
return -3;
}
if (header1->packet_size < MIN_HEADER_LENGTH || header1->packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
{ // the packet size value is too small or too big - assume either a corrupt UAVTalk packet or we are at the start of a packet
// if (--num_bytes > 0)
// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
// *len = num_bytes;
buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
continue; // continue scanning for a valid packet in the buffer
}
if (num_bytes < header1->packet_size + CHECKSUM_LENGTH)
{ // not yet enough bytes for a complete packet
return -4;
}
// check the packet CRC
uint8_t crc1 = api_updateCRC_buffer(0, buffer, header1->packet_size);
uint8_t crc2 = buffer[header1->packet_size];
if (crc1 != crc2)
{ // faulty CRC
// if (--num_bytes > 0)
// memmove(buffer, buffer + 1, num_bytes); // remove 1st byte
// *len = num_bytes;
buffer[0] ^= 0xaa; // corrupt the sync byte - we'll move the buffer bytes down further up in the code
#if defined(API_DEBUG)
DEBUG_PRINTF("UAVTalk packet corrupt %d\r\n", header1->packet_size + 1);
#endif
continue; // continue scanning for a valid packet in the buffer
}
#if defined(API_DEBUG)
DEBUG_PRINTF("UAVTalk packet found %d\r\n", header1->packet_size + 1);
#endif
return (header1->packet_size + CHECKSUM_LENGTH); // return the size of the UAVTalk packet
}
return -5;
}
// *****************************************************************************
int16_t api_scanForConfigPacket(void *buf, uint16_t *len)
{
return -1;
}
// *****************************************************************************
// can be called from an interrupt if you wish
void api_1ms_tick(void)
{ // call this once every 1ms
if (api_rx_timer < 0xffff) api_rx_timer++;
if (api_tx_timer < 0xffff) api_tx_timer++;
}
// *****************************************************************************
// call this as often as possible - not from an interrupt
void api_process(void)
{ // copy data from comm-port RX buffer to RF packet handler TX buffer, and from RF packet handler RX buffer to comm-port TX buffer
// ********************
// decide which comm-port we are using (usart or usb)
bool usb_comms = false; // TRUE if we are using the usb port for comms.
uint8_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0))
{ // USB comms is up, use the USB comm-port instead of the USART comm-port
usb_comms = true;
comm_port = PIOS_COM_TELEM_USB;
}
#endif
// ********************
// check to see if the local communication port has changed (usart/usb)
if (api_previous_com_port < 0 && api_previous_com_port != comm_port)
{ // the local communications port has changed .. remove any data in the buffers
api_rx_buffer_wr = 0;
api_tx_buffer_wr = 0;
}
else
if (usb_comms)
{ // we're using the USB for comms - keep the USART rx buffer empty
int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
while (bytes > 0)
{
PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
bytes--;
}
}
api_previous_com_port = comm_port; // remember the current comm-port we are using
// ********************
uint16_t connection_index = 0; // the RF connection we are using
// ********************
// send the data received from the local comm-port to the RF packet handler TX buffer
while (TRUE)
{
int16_t packet_size;
// free space size in the RF packet handler tx buffer
uint16_t ph_num = ph_putData_free(connection_index);
// get the number of data bytes received down the comm-port
int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
// set the USART RTS handshaking line
if (!usb_comms && ph_connected(connection_index))
{
if (ph_num < 32)
SERIAL_RTS_CLEAR; // lower the USART RTS line - we don't have space in the buffer for anymore bytes
else
SERIAL_RTS_SET; // release the USART RTS line - we have space in the buffer for now bytes
}
else
SERIAL_RTS_SET; // release the USART RTS line
// limit number of bytes we will get to how much space we have in our RX buffer
if (com_num > sizeof(api_rx_buffer) - api_rx_buffer_wr)
com_num = sizeof(api_rx_buffer) - api_rx_buffer_wr;
while (com_num > 0)
{ // fetch a byte from the comm-port RX buffer and save it into our RX buffer
api_rx_buffer[api_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(comm_port);
com_num--;
}
// packet_size = api_scanForConfigPacket(api_rx_buffer, &api_rx_buffer_wr);
packet_size = api_scanForUAVTalkPacket(api_rx_buffer, &api_rx_buffer_wr);
if (packet_size < 0)
break; // no UAVTalk packet in our RX buffer
api_rx_timer = 0;
if (!ph_connected(connection_index))
{ // we don't have a link to a remote modem .. remove the UAVTalk packet from our RX buffer
if (api_rx_buffer_wr > packet_size)
{
api_rx_buffer_wr -= packet_size;
memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
}
else
api_rx_buffer_wr = 0;
continue;
}
if (ph_num < packet_size)
break; // not enough room in the RF packet handler TX buffer for the UAVTalk packet
// copy the rx'ed UAVTalk packet into the RF packet handler TX buffer for sending over the RF link
ph_putData(connection_index, api_rx_buffer, packet_size);
// remove the UAVTalk packet from our RX buffer
if (api_rx_buffer_wr > packet_size)
{
api_rx_buffer_wr -= packet_size;
memmove(api_rx_buffer, api_rx_buffer + packet_size, api_rx_buffer_wr);
}
else
api_rx_buffer_wr = 0;
}
// ********************
// send the data received via the RF link out the comm-port
while (TRUE)
{
// get number of data bytes received via the RF link
uint16_t ph_num = ph_getData_used(connection_index);
// limit to how much space we have in the temp TX buffer
if (ph_num > sizeof(api_tx_buffer) - api_tx_buffer_wr)
ph_num = sizeof(api_tx_buffer) - api_tx_buffer_wr;
if (ph_num > 0)
{ // fetch the data bytes received via the RF link and save into our temp buffer
ph_num = ph_getData(connection_index, api_tx_buffer + api_tx_buffer_wr, ph_num);
api_tx_buffer_wr += ph_num;
}
int16_t packet_size = api_scanForUAVTalkPacket(api_tx_buffer, &api_tx_buffer_wr);
if (packet_size <= 0)
break; // no UAV Talk packet found
// we have a UAVTalk packet to send down the comm-port
/*
#if (defined(PIOS_COM_DEBUG) && (PIOS_COM_DEBUG == PIOS_COM_SERIAL))
if (!usb_comms)
{ // the serial-port is being used for debugging - don't send data down it
api_tx_buffer_wr = 0;
api_tx_timer = 0;
continue;
}
#endif
*/
if (!usb_comms && !GPIO_IN(SERIAL_CTS_PIN))
break; // we can't yet send data down the comm-port
// send the data out the comm-port
int32_t res;
// if (usb_comms)
// res = PIOS_COM_SendBuffer(comm_port, api_tx_buffer, packet_size);
// else
res = PIOS_COM_SendBufferNonBlocking(comm_port, api_tx_buffer, packet_size); // this one doesn't work properly with USB :(
if (res < 0)
{ // failed to send the data out the comm-port
#if defined(API_DEBUG)
DEBUG_PRINTF("PIOS_COM_SendBuffer %d %d\r\n", packet_size, res);
#endif
if (api_tx_timer >= 5000)
{ // seems we can't send our data for at least the last 5 seconds - delete it
if (api_tx_buffer_wr > packet_size)
{
api_tx_buffer_wr -= packet_size;
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
}
else
api_tx_buffer_wr = 0;
}
break;
}
// data was sent out the comm-port OK .. remove the sent data from our buffer
if (api_tx_buffer_wr > packet_size)
{
api_tx_buffer_wr -= packet_size;
memmove(api_tx_buffer, api_tx_buffer + packet_size, api_tx_buffer_wr);
}
else
api_tx_buffer_wr = 0;
api_tx_timer = 0;
}
// ********************
}
// *****************************************************************************
void api_init(void)
{
api_previous_com_port = -1;
api_rx_buffer_wr = 0;
api_tx_buffer_wr = 0;
api_rx_timer = 0;
api_tx_timer = 0;
}
// *****************************************************************************

40
flight/PipXtreme/reserved/api_comms.h Normal file
View File

@ -0,0 +1,40 @@
/**
******************************************************************************
*
* @file api_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __API_COMMS_H__
#define __API_COMMS_H__
#include "stdint.h"
// *****************************************************************************
void api_1ms_tick(void);
void api_process(void);
void api_init(void);
// *****************************************************************************
#endif

21
flight/PipXtreme/rfm22b.c
View File

@ -175,7 +175,7 @@ volatile uint8_t rf_mode; // holds our current RF mode
uint32_t lower_carrier_frequency_limit_Hz; // the minimum RF frequency we can use uint32_t lower_carrier_frequency_limit_Hz; // the minimum RF frequency we can use
uint32_t upper_carrier_frequency_limit_Hz; // the maximum RF frequency we can use uint32_t upper_carrier_frequency_limit_Hz; // the maximum RF frequency we can use
uint32_t carrier_frequency_hz; // the current RF frequency we are on float carrier_frequency_hz; // the current RF frequency we are on
uint32_t carrier_datarate_bps; // the RF data rate we are using uint32_t carrier_datarate_bps; // the RF data rate we are using
@ -547,7 +547,7 @@ uint8_t rfm22_getTxPower(void)
// ************************************ // ************************************
void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz) void rfm22_setNominalCarrierFrequency(float frequency_hz)
{ {
#if defined(RFM22_EXT_INT_USE) #if defined(RFM22_EXT_INT_USE)
@ -562,13 +562,13 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
carrier_frequency_hz = frequency_hz; carrier_frequency_hz = frequency_hz;
if (frequency_hz < 480000000ul) if (frequency_hz < 480000000)
hbsel = 1; hbsel = 1;
else else
hbsel = 2; hbsel = 2;
uint8_t fb = frequency_hz / (10000000ul * hbsel); uint8_t fb = (uint8_t)(frequency_hz / (10000000 * hbsel));
uint32_t fc = frequency_hz - (10000000ul * hbsel * fb); uint32_t fc = (uint32_t)(frequency_hz - (10000000 * hbsel * fb));
fc = (fc * 64u) / (10000ul * hbsel); fc = (fc * 64u) / (10000ul * hbsel);
fb -= 24; fb -= 24;
@ -592,7 +592,7 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
// ******* // *******
#if defined(RFM22_DEBUG) #if defined(RFM22_DEBUG)
DEBUG_PRINTF("rf setFreq: %u\r\n", carrier_frequency_hz); DEBUG_PRINTF("rf setFreq: %0.2f\r\n", carrier_frequency_hz);
#endif #endif
#if defined(RFM22_EXT_INT_USE) #if defined(RFM22_EXT_INT_USE)
@ -601,11 +601,16 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
} }
uint32_t rfm22_getNominalCarrierFrequency(void) float rfm22_getNominalCarrierFrequency(void)
{ {
return carrier_frequency_hz; return carrier_frequency_hz;
} }
float rfm22_getFrequencyStepSize(void)
{
return frequency_step_size;
}
void rfm22_setFreqHopChannel(uint8_t channel) void rfm22_setFreqHopChannel(uint8_t channel)
{ // set the frequency hopping channel { // set the frequency hopping channel
frequency_hop_channel = channel; frequency_hop_channel = channel;
@ -1541,7 +1546,7 @@ void rfm22_process(void)
if (power_on_reset) if (power_on_reset)
{ // we need to re-initialize the RF module - it told us it's reset itself { // we need to re-initialize the RF module - it told us it's reset itself
uint32_t current_freq = carrier_frequency_hz; // fetch current rf nominal frequency float current_freq = carrier_frequency_hz; // fetch current rf nominal frequency
uint32_t freq_hop_step_size = (uint32_t)frequency_hop_step_size_reg * 10000; // fetch the frequency hoppping step size uint32_t freq_hop_step_size = (uint32_t)frequency_hop_step_size_reg * 10000; // fetch the frequency hoppping step size
rfm22_init(lower_carrier_frequency_limit_Hz, upper_carrier_frequency_limit_Hz, freq_hop_step_size); rfm22_init(lower_carrier_frequency_limit_Hz, upper_carrier_frequency_limit_Hz, freq_hop_step_size);
rfm22_setNominalCarrierFrequency(current_freq); // restore the nominal carrier frequency rfm22_setNominalCarrierFrequency(current_freq); // restore the nominal carrier frequency

8
flight/PipXtreme/saved_settings.c
View File

@ -109,7 +109,7 @@ int32_t saved_settings_read(void)
// calculate and check the CRC // calculate and check the CRC
uint32_t crc1 = tmp_settings.crc; uint32_t crc1 = tmp_settings.crc;
tmp_settings.crc = 0; tmp_settings.crc = 0;
uint32_t crc2 = UpdateCRC32Data(0xffffffff, (void *)&tmp_settings, sizeof(t_saved_settings)); uint32_t crc2 = updateCRC32Data(0xffffffff, (void *)&tmp_settings, sizeof(t_saved_settings));
if (crc2 != crc1) if (crc2 != crc1)
{ {
#if defined(SAVED_SETTINGS_DEBUG) #if defined(SAVED_SETTINGS_DEBUG)
@ -151,7 +151,7 @@ int32_t saved_settings_save(void)
// calculate and add the CRC // calculate and add the CRC
saved_settings.crc = 0; saved_settings.crc = 0;
saved_settings.crc = UpdateCRC32Data(0xffffffff, (void *)&saved_settings, sizeof(t_saved_settings)); saved_settings.crc = updateCRC32Data(0xffffffff, (void *)&saved_settings, sizeof(t_saved_settings));
// ***************************************** // *****************************************
// first check to see if we need to save the settings // first check to see if we need to save the settings
@ -304,8 +304,10 @@ void saved_settings_init(void)
saved_settings.aes_enable = FALSE; saved_settings.aes_enable = FALSE;
memmove((void *)&saved_settings.aes_key, saved_settings_default_aes_key, sizeof(saved_settings.aes_key)); memmove((void *)&saved_settings.aes_key, saved_settings_default_aes_key, sizeof(saved_settings.aes_key));
saved_settings.serial_baudrate = 57600;
// saved_settings.crc = 0; // saved_settings.crc = 0;
// saved_settings.crc = UpdateCRC32Data(0xffffffff, (void *)&saved_settings, sizeof(t_saved_settings)); // saved_settings.crc = updateCRC32Data(0xffffffff, (void *)&saved_settings, sizeof(t_saved_settings));
// ********** // **********