mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
Added more comms code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2643 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
2dfc907a8c
commit
6ef4dec59f
@ -16,21 +16,11 @@
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="2" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Serial Baudrate</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<item row="3" column="4">
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<widget class="QComboBox" name="comboBox_SerialBaudrate">
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<property name="minimumSize">
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<size>
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<width>200</width>
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<width>100</width>
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<height>0</height>
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</size>
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</property>
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@ -39,7 +29,7 @@
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<item row="1" column="3" colspan="2">
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<widget class="QComboBox" name="comboBox_Ports">
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<property name="minimumSize">
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<size>
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@ -68,7 +58,7 @@
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<item row="1" column="5">
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<widget class="QToolButton" name="refreshPorts">
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<property name="toolTip">
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<string>Refresh the list of serial and USB ports available</string>
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@ -91,7 +81,7 @@
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</property>
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</spacer>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<spacer name="horizontalSpacer_2">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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@ -104,6 +94,16 @@
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</property>
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</spacer>
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</item>
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<item row="3" column="3">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Serial Baudrate</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@ -30,8 +30,49 @@
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//#include <aggregation/aggregate.h>
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#define SERIAL_PORT 1
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#define USB_PORT 2
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#define SERIAL_PORT 1
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#define USB_PORT 2
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#define pipx_header_marker 0x76b38a52
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// ***************************************************************************************
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#define Poly32 0x04c11db7 // 32-bit polynomial .. this should produce the same as the STM32 hardware CRC
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uint32_t CRC_Table32[] = {
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0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
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0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
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0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75,
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0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd,
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0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5,
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0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d,
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0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95,
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0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d,
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0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072,
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0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca,
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0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02,
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0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba,
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0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692,
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0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a,
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0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2,
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0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a,
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0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb,
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0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53,
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0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b,
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0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623,
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0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b,
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0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3,
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0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b,
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0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3,
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0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c,
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0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24,
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0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec,
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0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654,
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0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c,
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0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4,
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0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c,
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0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4
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};
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// ***************************************************************************************
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@ -44,6 +85,10 @@ PipXtremeGadgetWidget::PipXtremeGadgetWidget(QWidget *parent) :
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m_widget = new Ui_PipXtremeWidget();
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m_widget->setupUi(this);
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device_input_buffer.size = 8192;
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device_input_buffer.used = 0;
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device_input_buffer.buffer = new quint8 [device_input_buffer.size];
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m_widget->comboBox_SerialBaudrate->clear();
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m_widget->comboBox_SerialBaudrate->addItem("1200", 1200);
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m_widget->comboBox_SerialBaudrate->addItem("2400", 2400);
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@ -123,6 +168,16 @@ PipXtremeGadgetWidget::PipXtremeGadgetWidget(QWidget *parent) :
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PipXtremeGadgetWidget::~PipXtremeGadgetWidget()
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{
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disconnectPort(false);
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device_input_buffer.mutex.lock();
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if (device_input_buffer.buffer)
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{
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delete [] device_input_buffer.buffer;
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device_input_buffer.buffer = NULL;
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device_input_buffer.size = 0;
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device_input_buffer.used = 0;
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}
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device_input_buffer.mutex.unlock();
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}
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// ***************************************************************************************
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@ -162,6 +217,29 @@ void PipXtremeGadgetWidget::onComboBoxPorts_currentIndexChanged(int index)
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// ***************************************************************************************
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uint32_t PipXtremeGadgetWidget::updateCRC32Data(uint32_t crc, void *data, int len)
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{
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uint8_t *p = (uint8_t *)data;
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uint32_t _crc = crc;
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for (int i = len; i > 0; i--)
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_crc = (_crc << 8) ^ CRC_Table32[(_crc >> 24) ^ *p++];
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return _crc;
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}
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// Generate the CRC table
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void PipXtremeGadgetWidget::makeCRC_Table32()
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{
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for (int i = 0; i < 256; i++)
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{
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uint32_t crc = i;
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for (int j = 8; j > 0; j--)
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crc = (crc & 1) ? (crc << 1) ^ Poly32 : crc << 1;
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CRC_Table32[i] = crc;
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}
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}
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// ***************************************************************************************
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QString PipXtremeGadgetWidget::getSerialPortDevice(const QString &friendName)
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{
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QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
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@ -187,8 +265,6 @@ bool sortSerialPorts(const QextPortInfo &s1, const QextPortInfo &s2)
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void PipXtremeGadgetWidget::getPorts()
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{
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QStringList list;
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disconnect(m_widget->comboBox_Ports, 0, 0, 0);
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m_widget->comboBox_Ports->clear();
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@ -200,6 +276,8 @@ void PipXtremeGadgetWidget::getPorts()
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qSort(serial_ports.begin(), serial_ports.end(), sortSerialPorts);
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QStringList list;
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foreach (QextPortInfo port, serial_ports)
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list.append(port.friendName);
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@ -295,7 +373,9 @@ void PipXtremeGadgetWidget::enableTelemetry()
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void PipXtremeGadgetWidget::processOutputStream()
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{
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if (!m_ioDevice)
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QMutexLocker locker_dev(&device_mutex);
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if (!m_ioDevice)
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return;
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if (!m_ioDevice->isOpen())
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@ -309,10 +389,11 @@ void PipXtremeGadgetWidget::processOutputStream()
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void PipXtremeGadgetWidget::processInputStream()
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{
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QMutexLocker locker_dev(&device_mutex);
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QMutexLocker locker_inbuf(&device_input_buffer.mutex);
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while (m_ioDevice)
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{
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quint8 buf;
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if (!m_ioDevice->isOpen())
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break;
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@ -320,28 +401,142 @@ void PipXtremeGadgetWidget::processInputStream()
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if (bytes_available <= 0)
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break;
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qint64 bytes_read = m_ioDevice->read((char *)&buf, sizeof(buf));
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if (!device_input_buffer.buffer)
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{ // allocate a buffer for the data
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device_input_buffer.size = bytes_available * 2;
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device_input_buffer.used = 0;
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device_input_buffer.buffer = new quint8 [device_input_buffer.size];
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if (!device_input_buffer.buffer)
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break;
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}
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else
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{
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if ((device_input_buffer.used + (bytes_available * 2)) > device_input_buffer.size)
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{ // need to increase the size of the input buffer
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// create a new larger buffer
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int new_size = device_input_buffer.used + bytes_available * 2;
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quint8 *new_buf = new quint8 [new_size];
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if (!new_buf)
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break;
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// copy the data from the old buffer into the new buffer
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memmove(new_buf, device_input_buffer.buffer, device_input_buffer.used);
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// delete the old buffer
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delete [] device_input_buffer.buffer;
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// keep the new buffer
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device_input_buffer.buffer = new_buf;
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device_input_buffer.size = new_size;
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}
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}
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// add the new data into the input buffer
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qint64 bytes_read = m_ioDevice->read((char *)(device_input_buffer.buffer + device_input_buffer.used), bytes_available);
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if (bytes_read <= 0)
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break;
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device_input_buffer.used += bytes_available;
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processInputBytes(&buf, sizeof(buf));
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processInputBuffer();
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}
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}
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void PipXtremeGadgetWidget::processInputBytes(quint8 *buf, int count)
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void PipXtremeGadgetWidget::processInputBuffer()
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{ // scan the buffer for a valid packet
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if (!device_input_buffer.buffer || device_input_buffer.used < sizeof(t_pipx_config_header))
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return; // no data as yet or not yet enough data
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while (device_input_buffer.used >= sizeof(t_pipx_config_header))
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{
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uint32_t crc1, crc2;
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t_pipx_config_header *header = (t_pipx_config_header *)device_input_buffer.buffer;
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uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header);
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// check packet marker
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if (header->marker != pipx_header_marker)
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{ // marker not yet found
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// remove a byte
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int i = 1;
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if (i < device_input_buffer.used)
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memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i);
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device_input_buffer.used -= i;
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continue;
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}
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// check the header CRC
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crc1 = header->header_crc;
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header->header_crc = 0;
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crc2 = updateCRC32Data(0xffffffff, header, sizeof(t_pipx_config_header));
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header->header_crc = crc1;
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if (crc2 != crc1)
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{ // faulty header
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int i = 1;
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if (i < device_input_buffer.used)
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memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i);
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device_input_buffer.used -= i;
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continue;
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}
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int total_packet_size = sizeof(t_pipx_config_header) + header->data_size;
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if (device_input_buffer.used < total_packet_size)
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break; // not yet got a full packet
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if (header->data_size > 0)
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{
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// check the data crc
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crc1 = header->data_crc;
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crc2 = updateCRC32Data(0xffffffff, data, header->data_size);
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if (crc2 != crc1)
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{ // faulty data
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int i = 1;
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if (i < device_input_buffer.used)
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memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i);
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device_input_buffer.used -= i;
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continue;
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}
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}
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processInputPacket(device_input_buffer.buffer, total_packet_size);
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// remove the packet from the buffer
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if (total_packet_size < device_input_buffer.used)
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memmove(device_input_buffer.buffer, device_input_buffer.buffer + total_packet_size, device_input_buffer.used - total_packet_size);
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device_input_buffer.used -= total_packet_size;
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}
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}
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void PipXtremeGadgetWidget::processInputPacket(quint8 *packet, int packet_size)
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{
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if (!buf || count <= 0)
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if (!packet || packet_size <= 0)
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return;
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// t_pipx_config_header *header = (t_pipx_config_header *)packet;
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// uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header);
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}
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// ***************************************************************************************
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void PipXtremeGadgetWidget::disconnectPort(bool enable_telemetry)
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{ // disconnect the comms port
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QMutexLocker locker_dev(&device_mutex);
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QMutexLocker locker_inbuf(&device_input_buffer.mutex);
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device_input_buffer.used = 0;
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if (!m_ioDevice)
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return;
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@ -367,6 +562,8 @@ void PipXtremeGadgetWidget::connectPort()
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disconnectPort(true);
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|
||||
QMutexLocker locker_dev(&device_mutex);
|
||||
|
||||
int device_idx = m_widget->comboBox_Ports->currentIndex();
|
||||
if (device_idx < 0)
|
||||
return;
|
||||
|
||||
@ -48,6 +48,8 @@
|
||||
#include <QtCore/QVector>
|
||||
#include <QtCore/QIODevice>
|
||||
#include <QtCore/QLinkedList>
|
||||
#include <QMutex>
|
||||
#include <QMutexLocker>
|
||||
|
||||
// *************************
|
||||
// pipx config comms packets
|
||||
@ -56,57 +58,68 @@
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32_t marker;
|
||||
uint32_t serial_number;
|
||||
uint8_t type;
|
||||
uint8_t spare;
|
||||
uint16_t data_size;
|
||||
uint32_t crc;
|
||||
uint8_t data[0];
|
||||
} t_pipx_header;
|
||||
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];
|
||||
} t_pipx_config_header;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t mode;
|
||||
uint8_t state;
|
||||
} t_pipx_data_mode_state;
|
||||
uint8_t mode;
|
||||
uint8_t state;
|
||||
} t_pipx_config_data_mode_state;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32_t serial_baudrate; // serial uart baudrate
|
||||
uint32_t serial_baudrate; // serial uart baudrate
|
||||
|
||||
uint32_t destination_id;
|
||||
uint32_t destination_id;
|
||||
|
||||
uint32_t min_frequency_Hz;
|
||||
uint32_t max_frequency_Hz;
|
||||
uint32_t frequency_Hz;
|
||||
uint32_t min_frequency_Hz;
|
||||
uint32_t max_frequency_Hz;
|
||||
uint32_t frequency_Hz;
|
||||
|
||||
uint32_t max_rf_bandwidth;
|
||||
uint32_t max_rf_bandwidth;
|
||||
|
||||
uint8_t max_tx_power;
|
||||
uint8_t max_tx_power;
|
||||
|
||||
uint8_t frequency_band;
|
||||
uint8_t frequency_band;
|
||||
|
||||
uint8_t rf_xtal_cap;
|
||||
uint8_t rf_xtal_cap;
|
||||
|
||||
bool aes_enable;
|
||||
uint8_t aes_key[16];
|
||||
bool aes_enable;
|
||||
uint8_t aes_key[16];
|
||||
|
||||
uint16_t frequency_step_size;
|
||||
} t_pipx_data_settings;
|
||||
uint16_t frequency_step_size;
|
||||
} t_pipx_config_data_settings;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32_t start_frequency;
|
||||
uint16_t frequency_step_size;
|
||||
uint16_t magnitudes;
|
||||
int8_t magnitude[0];
|
||||
} t_pipx_data_spectrum;
|
||||
uint32_t start_frequency;
|
||||
uint16_t frequency_step_size;
|
||||
uint16_t magnitudes;
|
||||
// int8_t magnitude[0];
|
||||
} t_pipx_config_data_spectrum;
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
// *************************
|
||||
|
||||
typedef struct
|
||||
{
|
||||
quint8 *buffer;
|
||||
int size;
|
||||
int used;
|
||||
QMutex mutex;
|
||||
} t_buffer;
|
||||
|
||||
// *************************
|
||||
|
||||
class PipXtremeGadgetWidget : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
@ -133,6 +146,14 @@ private:
|
||||
Ui_PipXtremeWidget *m_widget;
|
||||
|
||||
QIODevice *m_ioDevice;
|
||||
QMutex device_mutex;
|
||||
|
||||
t_buffer device_input_buffer;
|
||||
|
||||
// QVector<quint8> buffer;
|
||||
|
||||
uint32_t updateCRC32Data(uint32_t crc, void *data, int len);
|
||||
void makeCRC_Table32();
|
||||
|
||||
QString getSerialPortDevice(const QString &friendName);
|
||||
|
||||
@ -140,13 +161,14 @@ private:
|
||||
void enableTelemetry();
|
||||
|
||||
void processOutputStream();
|
||||
|
||||
void processInputStream();
|
||||
void processInputBuffer();
|
||||
void processInputPacket(quint8 *packet, int packet_size);
|
||||
|
||||
void disconnectPort(bool enable_telemetry);
|
||||
void connectPort();
|
||||
|
||||
void processInputBytes(quint8 *buf, int count);
|
||||
|
||||
private slots:
|
||||
void connectDisconnect();
|
||||
void error(QString errorString, int errorNumber);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user