From 6ef4dec59ffec7f4ac0f156c39141dc431fae50d Mon Sep 17 00:00:00 2001 From: pip Date: Mon, 31 Jan 2011 21:46:42 +0000 Subject: [PATCH] Added more comms code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2643 ebee16cc-31ac-478f-84a7-5cbb03baadba --- .../src/plugins/pipxtreme/pipxtreme.ui | 30 +-- .../pipxtreme/pipxtremegadgetwidget.cpp | 219 +++++++++++++++++- .../plugins/pipxtreme/pipxtremegadgetwidget.h | 84 ++++--- 3 files changed, 276 insertions(+), 57 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtreme.ui b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtreme.ui index f193842ec..e5fd9c106 100644 --- a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtreme.ui +++ b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtreme.ui @@ -16,21 +16,11 @@ - - - - Serial Baudrate - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - + - 200 + 100 0 @@ -39,7 +29,7 @@ - + @@ -68,7 +58,7 @@ - + Refresh the list of serial and USB ports available @@ -91,7 +81,7 @@ - + Qt::Horizontal @@ -104,6 +94,16 @@ + + + + Serial Baudrate + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + diff --git a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.cpp index af02f1771..564497bea 100644 --- a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.cpp @@ -30,8 +30,49 @@ //#include -#define SERIAL_PORT 1 -#define USB_PORT 2 +#define SERIAL_PORT 1 +#define USB_PORT 2 + +#define pipx_header_marker 0x76b38a52 + +// *************************************************************************************** + +#define Poly32 0x04c11db7 // 32-bit polynomial .. this should produce the same as the STM32 hardware CRC + +uint32_t CRC_Table32[] = { + 0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005, + 0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd, + 0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75, + 0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd, + 0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5, + 0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d, + 0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95, + 0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d, + 0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072, + 0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca, + 0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02, + 0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba, + 0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692, + 0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a, + 0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2, + 0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a, + 0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb, + 0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53, + 0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b, + 0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623, + 0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b, + 0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3, + 0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b, + 0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3, + 0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c, + 0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24, + 0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec, + 0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654, + 0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c, + 0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4, + 0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c, + 0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4 +}; // *************************************************************************************** @@ -44,6 +85,10 @@ PipXtremeGadgetWidget::PipXtremeGadgetWidget(QWidget *parent) : m_widget = new Ui_PipXtremeWidget(); m_widget->setupUi(this); + device_input_buffer.size = 8192; + device_input_buffer.used = 0; + device_input_buffer.buffer = new quint8 [device_input_buffer.size]; + m_widget->comboBox_SerialBaudrate->clear(); m_widget->comboBox_SerialBaudrate->addItem("1200", 1200); m_widget->comboBox_SerialBaudrate->addItem("2400", 2400); @@ -123,6 +168,16 @@ PipXtremeGadgetWidget::PipXtremeGadgetWidget(QWidget *parent) : PipXtremeGadgetWidget::~PipXtremeGadgetWidget() { disconnectPort(false); + + device_input_buffer.mutex.lock(); + if (device_input_buffer.buffer) + { + delete [] device_input_buffer.buffer; + device_input_buffer.buffer = NULL; + device_input_buffer.size = 0; + device_input_buffer.used = 0; + } + device_input_buffer.mutex.unlock(); } // *************************************************************************************** @@ -162,6 +217,29 @@ void PipXtremeGadgetWidget::onComboBoxPorts_currentIndexChanged(int index) // *************************************************************************************** +uint32_t PipXtremeGadgetWidget::updateCRC32Data(uint32_t crc, void *data, int len) +{ + uint8_t *p = (uint8_t *)data; + uint32_t _crc = crc; + for (int i = len; i > 0; i--) + _crc = (_crc << 8) ^ CRC_Table32[(_crc >> 24) ^ *p++]; + return _crc; +} + +// Generate the CRC table +void PipXtremeGadgetWidget::makeCRC_Table32() +{ + for (int i = 0; i < 256; i++) + { + uint32_t crc = i; + for (int j = 8; j > 0; j--) + crc = (crc & 1) ? (crc << 1) ^ Poly32 : crc << 1; + CRC_Table32[i] = crc; + } +} + +// *************************************************************************************** + QString PipXtremeGadgetWidget::getSerialPortDevice(const QString &friendName) { QList ports = QextSerialEnumerator::getPorts(); @@ -187,8 +265,6 @@ bool sortSerialPorts(const QextPortInfo &s1, const QextPortInfo &s2) void PipXtremeGadgetWidget::getPorts() { - QStringList list; - disconnect(m_widget->comboBox_Ports, 0, 0, 0); m_widget->comboBox_Ports->clear(); @@ -200,6 +276,8 @@ void PipXtremeGadgetWidget::getPorts() qSort(serial_ports.begin(), serial_ports.end(), sortSerialPorts); + QStringList list; + foreach (QextPortInfo port, serial_ports) list.append(port.friendName); @@ -295,7 +373,9 @@ void PipXtremeGadgetWidget::enableTelemetry() void PipXtremeGadgetWidget::processOutputStream() { - if (!m_ioDevice) + QMutexLocker locker_dev(&device_mutex); + + if (!m_ioDevice) return; if (!m_ioDevice->isOpen()) @@ -309,10 +389,11 @@ void PipXtremeGadgetWidget::processOutputStream() void PipXtremeGadgetWidget::processInputStream() { + QMutexLocker locker_dev(&device_mutex); + QMutexLocker locker_inbuf(&device_input_buffer.mutex); + while (m_ioDevice) { - quint8 buf; - if (!m_ioDevice->isOpen()) break; @@ -320,28 +401,142 @@ void PipXtremeGadgetWidget::processInputStream() if (bytes_available <= 0) break; - qint64 bytes_read = m_ioDevice->read((char *)&buf, sizeof(buf)); + if (!device_input_buffer.buffer) + { // allocate a buffer for the data + device_input_buffer.size = bytes_available * 2; + device_input_buffer.used = 0; + device_input_buffer.buffer = new quint8 [device_input_buffer.size]; + if (!device_input_buffer.buffer) + break; + } + else + { + if ((device_input_buffer.used + (bytes_available * 2)) > device_input_buffer.size) + { // need to increase the size of the input buffer + + // create a new larger buffer + int new_size = device_input_buffer.used + bytes_available * 2; + quint8 *new_buf = new quint8 [new_size]; + if (!new_buf) + break; + + // copy the data from the old buffer into the new buffer + memmove(new_buf, device_input_buffer.buffer, device_input_buffer.used); + + // delete the old buffer + delete [] device_input_buffer.buffer; + + // keep the new buffer + device_input_buffer.buffer = new_buf; + device_input_buffer.size = new_size; + } + } + + // add the new data into the input buffer + qint64 bytes_read = m_ioDevice->read((char *)(device_input_buffer.buffer + device_input_buffer.used), bytes_available); if (bytes_read <= 0) break; + device_input_buffer.used += bytes_available; - processInputBytes(&buf, sizeof(buf)); + processInputBuffer(); } } -void PipXtremeGadgetWidget::processInputBytes(quint8 *buf, int count) +void PipXtremeGadgetWidget::processInputBuffer() +{ // scan the buffer for a valid packet + + if (!device_input_buffer.buffer || device_input_buffer.used < sizeof(t_pipx_config_header)) + return; // no data as yet or not yet enough data + + while (device_input_buffer.used >= sizeof(t_pipx_config_header)) + { + uint32_t crc1, crc2; + + t_pipx_config_header *header = (t_pipx_config_header *)device_input_buffer.buffer; + uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header); + + // check packet marker + if (header->marker != pipx_header_marker) + { // marker not yet found + // remove a byte + int i = 1; + if (i < device_input_buffer.used) + memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i); + device_input_buffer.used -= i; + continue; + } + + // check the header CRC + 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 + int i = 1; + if (i < device_input_buffer.used) + memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i); + device_input_buffer.used -= i; + continue; + } + + int total_packet_size = sizeof(t_pipx_config_header) + header->data_size; + + if (device_input_buffer.used < total_packet_size) + break; // not yet got a full packet + + if (header->data_size > 0) + { + // check the data crc + crc1 = header->data_crc; + crc2 = updateCRC32Data(0xffffffff, data, header->data_size); + if (crc2 != crc1) + { // faulty data + int i = 1; + if (i < device_input_buffer.used) + memmove(device_input_buffer.buffer, device_input_buffer.buffer + i, device_input_buffer.used - i); + device_input_buffer.used -= i; + continue; + } + } + + processInputPacket(device_input_buffer.buffer, total_packet_size); + + // remove the packet from the buffer + if (total_packet_size < device_input_buffer.used) + memmove(device_input_buffer.buffer, device_input_buffer.buffer + total_packet_size, device_input_buffer.used - total_packet_size); + device_input_buffer.used -= total_packet_size; + } +} + +void PipXtremeGadgetWidget::processInputPacket(quint8 *packet, int packet_size) { - if (!buf || count <= 0) + if (!packet || packet_size <= 0) return; +// t_pipx_config_header *header = (t_pipx_config_header *)packet; +// uint8_t *data = (uint8_t *)header + sizeof(t_pipx_config_header); + + + + + + } + // *************************************************************************************** void PipXtremeGadgetWidget::disconnectPort(bool enable_telemetry) { // disconnect the comms port + QMutexLocker locker_dev(&device_mutex); + QMutexLocker locker_inbuf(&device_input_buffer.mutex); + + device_input_buffer.used = 0; + if (!m_ioDevice) return; @@ -367,6 +562,8 @@ void PipXtremeGadgetWidget::connectPort() disconnectPort(true); + QMutexLocker locker_dev(&device_mutex); + int device_idx = m_widget->comboBox_Ports->currentIndex(); if (device_idx < 0) return; diff --git a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.h b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.h index b001b770e..25469ae0f 100644 --- a/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetwidget.h @@ -48,6 +48,8 @@ #include #include #include +#include +#include // ************************* // 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 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);