diff --git a/dist/controller_schematics_rev0.pdf b/dist/controller_schematics_rev0.pdf new file mode 100644 index 0000000..56709db Binary files /dev/null and b/dist/controller_schematics_rev0.pdf differ diff --git a/dist/controller_schematics_rev2.pdf b/dist/controller_schematics_rev2.pdf new file mode 100644 index 0000000..18f5551 Binary files /dev/null and b/dist/controller_schematics_rev2.pdf differ diff --git a/software/firmware_module/module_rev0/src/global.h b/software/firmware_module/module_rev0/src/global.h index d7711be..19e38f3 100644 --- a/software/firmware_module/module_rev0/src/global.h +++ b/software/firmware_module/module_rev0/src/global.h @@ -6,50 +6,50 @@ * https://github.com/dennis9819/splitflap_v1 */ +#include +#include +#include +#include #include #include -#include -#include -#include #include -#include // I/O Pin definition -#define BUX_RX PD0 // RX Pin (to buffer) -#define BUX_TX PD1 // TX Pin (to buffer) -#define BUX_DIR PD2 // Buffer direction pin -#define SENSOR_HOME PD3 // Home sensor pin +#define BUX_RX PD0 // RX Pin (to buffer) +#define BUX_TX PD1 // TX Pin (to buffer) +#define BUX_DIR PD2 // Buffer direction pin +#define SENSOR_HOME PD3 // Home sensor pin -#define MOTOR_A PC0 // Motor phase A driver -#define MOTOR_B PC1 // Motor phase B driver -#define MOTOR_C PC2 // Motor phase C driver -#define MOTOR_D PC3 // Motor phase D driver +#define MOTOR_A PC0 // Motor phase A driver +#define MOTOR_B PC1 // Motor phase B driver +#define MOTOR_C PC2 // Motor phase C driver +#define MOTOR_D PC3 // Motor phase D driver // EEPROM Addresses -#define CONF_CONST_OKAY (uint8_t)0xAA +#define CONF_CONST_OKAY (uint8_t)0xAA #define CONF_ADDR_OKAY 0x0004 #define CONF_ADDR_ADDR 0x0000 #define CONF_ADDR_OFFSET 0x0002 // Protocol definitions -#define PROTO_MAXPKGLEN 64 // maximum size of package in bytes +#define PROTO_MAXPKGLEN 64 // maximum size of package in bytes // Command Bytes -#define CMDB_SETVAL (uint8_t)0x10 // Set display value -#define CMDB_SETVALR (uint8_t)0x11 // Set display value and do a full rotation -#define CMDB_EEPROMR (uint8_t)0xF0 // Read EEPROM -#define CMDB_EEPROMW (uint8_t)0xF1 // Write EEPROM -#define CMDB_GSTS (uint8_t)0xF8 // Get status -#define CMDB_PING (uint8_t)0xFE // Ping -#define CMDB_RESET (uint8_t)0x30 // Reset device -#define CMDB_PWRON (uint8_t)0x21 // Power motor on -#define CMDB_RPWROFF (uint8_t)0x20 // Poer motor off +#define CMDB_SETVAL (uint8_t)0x10 // Set display value +#define CMDB_SETVALR (uint8_t)0x11 // Set display value and do a full rotation +#define CMDB_EEPROMR (uint8_t)0xF0 // Read EEPROM +#define CMDB_EEPROMW (uint8_t)0xF1 // Write EEPROM +#define CMDB_GSTS (uint8_t)0xF8 // Get status +#define CMDB_PING (uint8_t)0xFE // Ping +#define CMDB_RESET (uint8_t)0x30 // Reset device +#define CMDB_PWRON (uint8_t)0x21 // Power motor on +#define CMDB_RPWROFF (uint8_t)0x20 // Poer motor off // Command Responses -#define CMDR_ERR_INVALID 0xEE // Invalid command -#define CMDR_ACK 0xAA // Acknowledge -#define CMDR_PING 0xFF // Ping response +#define CMDR_ERR_INVALID 0xEE // Invalid command +#define CMDR_ACK 0xAA // Acknowledge +#define CMDR_PING 0xFF // Ping response // Utility definitions #define SHIFT_0B 0 diff --git a/software/firmware_module/module_rev0/src/main.c b/software/firmware_module/module_rev0/src/main.c index 3c0aa8d..4c4c712 100644 --- a/software/firmware_module/module_rev0/src/main.c +++ b/software/firmware_module/module_rev0/src/main.c @@ -61,7 +61,8 @@ void initialSetup() void readCommand() { char *payload = malloc(PROTO_MAXPKGLEN); - uint8_t payload_len = sfbus_recv_frame(address, payload); + uint8_t payload_len = sfbus_recv_frame_v2(address, payload); + payload += 2; // skip address bytes if (payload_len > 0) { // read command byte @@ -90,7 +91,7 @@ void readCommand() *(msg + i) = (char)eeprom_read_c(i - 1); } _delay_ms(2); - sfbus_send_frame(0xFFFF, msg, bytes + 1); + sfbus_send_frame_v2(0xFFFF, msg, bytes + 1); free(msg); } else if (opcode == CMDB_EEPROMW) @@ -111,7 +112,7 @@ void readCommand() *(msg + i) = (char)eeprom_read_c(i - 1); } _delay_ms(2); - sfbus_send_frame(0xFFFF, msg, bytes + 1); + sfbus_send_frame_v2(0xFFFF, msg, bytes + 1); free(msg); // now use new addr uint8_t addrL = eeprom_read_c(CONF_ADDR_ADDR); @@ -131,14 +132,14 @@ void readCommand() *(msg + 4) = (char)((counter >> SHIFT_2B) & 0xFF); *(msg + 3) = (char)((counter >> SHIFT_3B) & 0xFF); _delay_ms(2); - sfbus_send_frame(0xFFFF, msg, 7); + sfbus_send_frame_v2(0xFFFF, msg, 7); free(msg); } else if (opcode == CMDB_PING) { char msg = (char)CMDR_PING; _delay_ms(2); - sfbus_send_frame(0xFFFF, &msg, 1); + sfbus_send_frame_v2(0xFFFF, &msg, 1); } else if (opcode == CMDB_RPWROFF) { @@ -163,7 +164,7 @@ void readCommand() // invalid opcode char msg = CMDR_ERR_INVALID; _delay_ms(2); - sfbus_send_frame(0xFFFF, &msg, 1); + sfbus_send_frame_v2(0xFFFF, &msg, 1); } } free(payload); diff --git a/software/firmware_module/module_rev0/src/mctrl.c b/software/firmware_module/module_rev0/src/mctrl.c index 972ccd9..d60559d 100644 --- a/software/firmware_module/module_rev0/src/mctrl.c +++ b/software/firmware_module/module_rev0/src/mctrl.c @@ -45,6 +45,7 @@ uint8_t sts_flag_busy = 0; // device is busy uint16_t currentVoltage = 0; // current ADC reading uint8_t currentFaultReadings = 0; // ticks with faulty readings (too many will // trip pwrdwn and sts_flag_fuse) +uint16_t timer_ticks = 0; int STEPS_OFFSET = 0; // initialize motor controller @@ -109,6 +110,7 @@ void readVoltage() // MAIN service routine. Called by timer 1 ISR(TIMER1_COMPA_vect) { + timer_ticks ++; readVoltage(); // read and check voltage if (sts_flag_pwrdwn == 1 || sts_flag_failsafe == 1) { @@ -239,7 +241,7 @@ uint8_t getSts() status |= sts_flag_fuse << 2; // bit 2: fuse blown status |= sts_flag_pwrdwn << 4; // bit 4: device powered down status |= sts_flag_failsafe << 5; // bit 5: failsafe active - status |= sts_flag_busy << 6; // bit 6: failsafe active + status |= sts_flag_busy << 6; // bit 6: device busy if ((PIND & (1 << PD3)) == 0) { status |= (1 << 3); diff --git a/software/firmware_module/module_rev0/src/mctrl.h b/software/firmware_module/module_rev0/src/mctrl.h index 07124d8..1277e41 100644 --- a/software/firmware_module/module_rev0/src/mctrl.h +++ b/software/firmware_module/module_rev0/src/mctrl.h @@ -42,6 +42,7 @@ uint8_t getSts(); uint16_t getVoltage(); void mctrl_power(uint8_t state); +uint16_t timer_ticks; #ifdef __cplusplus } #endif // __cplusplus diff --git a/software/firmware_module/module_rev0/src/rs458.c b/software/firmware_module/module_rev0/src/rs458.c index 908574e..5ccabcb 100644 --- a/software/firmware_module/module_rev0/src/rs458.c +++ b/software/firmware_module/module_rev0/src/rs458.c @@ -6,6 +6,7 @@ * https://github.com/dennis9819/splitflap_v1 */ +#include "mctrl.h" #include "rs485.h" void rs485_init() @@ -21,14 +22,7 @@ void rs485_init() UCSRC |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); // 8bit data format } -void dbg(char data) -{ - while (!(UCSRA & (1 << UDRE))) - ; - UDR = data; -} - - +// send byte over rs485 void rs485_send_c(char data) { PORTD |= (1 << PD2); // set transciever to transmitt @@ -39,17 +33,10 @@ void rs485_send_c(char data) while (!(UCSRA & (1 << TXC))) { }; // wait until transmitt complete - PORTD &= ~(1 << PD2); // set transciever to transmitt -} - -void rs485_send_str(char *data) -{ - for (unsigned int i = 0; i < sizeof(data); i++) - { - rs485_send_c(data[i]); - } + PORTD &= ~(1 << PD2); // set transciever back to receive } +// receive without timeout char rs485_recv_c() { while (!(UCSRA & (1 << RXC))) @@ -57,42 +44,69 @@ char rs485_recv_c() return UDR; } -// SFBUS Functions -uint8_t sfbus_recv_frame(uint16_t address, char *payload) +// receive with timeout +int rs485_recv_c_rxout(uint8_t timeout, char *data) { - while (rs485_recv_c() != SFBUS_SOF_BYTE) + timer_ticks = 0; + while (!(UCSRA & (1 << RXC))) { - } // Wwait for start byte - - uint8_t frm_version = rs485_recv_c(); - if (frm_version != 0) - return 0; - uint8_t frm_length = rs485_recv_c(); - uint8_t frm_addrL = rs485_recv_c(); - uint8_t frm_addrH = rs485_recv_c(); - - uint16_t frm_addr = frm_addrL | (frm_addrH << SHIFT_1B); - if (frm_addr != address) - return 0; - char *_payload = payload; - for (uint8_t i = 0; i < (frm_length - 3); i++) - { - *_payload = rs485_recv_c(); - _payload++; + if (timer_ticks > timeout) + { + return 0; + } } - - if (rs485_recv_c() != SFBUS_EOF_BYTE) - return -1; - return frm_length; + *data = UDR; + return 1; } -void sfbus_send_frame(uint16_t address, char *payload, uint8_t length) +// SFBUS Functions +// receive paket with crc checking and timeout +uint8_t sfbus_recv_frame_v2(uint16_t address, char *payload) +{ + const uint8_t RX_TIMEOUT = 2; + while (rs485_recv_c() != SFBUS_SOF_BYTE) + { + } // Wait for start byte + uint8_t frm_version, frm_length; + if (rs485_recv_c_rxout(RX_TIMEOUT, (char *)&frm_version) == 0) // read header: version + return -1; + if (rs485_recv_c_rxout(RX_TIMEOUT, (char *)&frm_length) == 0) // read header: payload length + return -1; + + // ALWAYS!!! receive full packet to avoid sync error + for (int i = 0; i < frm_length; i++) + { + if (rs485_recv_c_rxout(RX_TIMEOUT, payload + i) == 0) + { + return -1; + } + } + // check protocol version + if (frm_version != 0x01) + { + return -1; // abort on incompatible version + } + // if version matches, read address and checksum + uint16_t recv_addr = (*(payload + 0) & 0xFF) | ((*(payload + 1) & 0xFF) << SHIFT_1B); + uint16_t checksum = (*(payload + (frm_length - 2)) & 0xFF) | ((*(payload + (frm_length - 1)) & 0xFF) << SHIFT_1B); + + // calculate checksum of received payload + uint16_t checksum_calc = calc_CRC16(payload + 2, frm_length - 4); + + // return length on valid address and crc, return 0 to ignore + return (checksum == checksum_calc && address == recv_addr) ? frm_length : 0; +} + +// send paket with crc +void sfbus_send_frame_v2(uint16_t address, char *payload, uint8_t length) { uint8_t framelen = length; + // claculate crc value + uint16_t crc = calc_CRC16(payload, framelen); - rs485_send_c(SFBUS_SOF_BYTE); // send startbyte 3 times - rs485_send_c(0); // send protocol version - rs485_send_c((char)(framelen + 3)); // send lentgh of remaining frame + rs485_send_c(SFBUS_SOF_BYTE); // send startbyte + rs485_send_c(1); // send protocol version + rs485_send_c((char)(framelen + 4)); // send lentgh of remaining frame rs485_send_c((char)(address & 0xFF)); // target address rs485_send_c((char)((address >> SHIFT_1B) & 0xFF)); @@ -104,5 +118,32 @@ void sfbus_send_frame(uint16_t address, char *payload, uint8_t length) framelen--; } - rs485_send_c(SFBUS_EOF_BYTE); // send end of frame byte + rs485_send_c((char)(crc & 0xFF)); // send crc + rs485_send_c((char)((crc >> SHIFT_1B) & 0xFF)); } + +// calculate crc checksum +uint16_t calc_CRC16(char *buffer, uint8_t len) +{ + uint16_t crc16 = 0xFFFF; + for (uint8_t pos = 0; pos < len; pos++) + { + char byte_value = *(buffer); // read byte after byte from buffer + buffer++; + + crc16 ^= byte_value; // XOR byte into least sig. byte of crc + for (int i = 8; i != 0; i--) + { // Loop over each bit + if ((crc16 & 0x0001) != 0) + { // If the LSB is set + crc16 >>= 1; // Shift right and XOR 0xA001 + crc16 ^= 0xA001; + } + else + { // Else LSB is not set + crc16 >>= 1; // Just shift right + } + } + } + return crc16; +} \ No newline at end of file diff --git a/software/firmware_module/module_rev0/src/rs485.h b/software/firmware_module/module_rev0/src/rs485.h index 3c10cbd..792c759 100644 --- a/software/firmware_module/module_rev0/src/rs485.h +++ b/software/firmware_module/module_rev0/src/rs485.h @@ -9,24 +9,29 @@ #pragma once //#define F_CPU 16000000UL -#define UART_BAUD 19200 // RS485 baud rate -#define BAUDRATE ((F_CPU) / (UART_BAUD * 16UL) - 1) // set baud rate value for UBRR +//#define UART_BAUD 19200 // RS485 baud rate +#define UART_BAUD 57600 // RS485 baud rate +#define BAUDRATE ((F_CPU) / (UART_BAUD * 16UL) - 1) // set baud rate value for UBRR -#define SFBUS_SOF_BYTE '+' // Byte marks start of frame -#define SFBUS_EOF_BYTE '$' // Byte marks end of frame +#define SFBUS_SOF_BYTE '+' // Byte marks start of frame +#define SFBUS_EOF_BYTE '$' // Byte marks end of frame #ifdef __cplusplus -extern "C" { +extern "C" +{ #endif // __cplusplus -void dbg(char data); -void rs485_init(void); -void rs485_send_c(char data); -void rs485_send_str(char* data); -char rs485_recv_c(void); + void rs485_init(void); + void rs485_send_c(char data); + char rs485_recv_c(void); + int rs485_recv_c_rxout(uint8_t timeout, char *data); -uint8_t sfbus_recv_frame(uint16_t address, char* payload); -void sfbus_send_frame(uint16_t address, char* payload, uint8_t length); + uint8_t sfbus_recv_frame_v2(uint16_t address, char *payload); + void sfbus_send_frame_v2(uint16_t address, char *payload, uint8_t length); + uint16_t calc_CRC16(char *buffer, uint8_t len); + + // auxilary var for uart timeout + extern uint16_t timer_ticks; #ifdef __cplusplus } diff --git a/software/pc_client/doc/sfbus-proto.md b/software/pc_client/doc/sfbus-proto.md index 2b95872..c902d48 100644 --- a/software/pc_client/doc/sfbus-proto.md +++ b/software/pc_client/doc/sfbus-proto.md @@ -14,26 +14,12 @@ After the transmission of the payload length, the receiver *node* counts the rem In protocol version 1.0, the receiving *node* expects the last byte to be `0x24`. If this is not the case, the transmission is marked as invalid and will not be processed further. The receiving *node* will not send any response. -In protocol version 2.0, the checksum is verified. If it does not match the payload, the transmission is marked as invalid and will not be processed further. The receiving *node* will not send any response. +In protocol version 2.0, the checksum of the payload is verified. If it does not match the payload, the transmission is marked as invalid and will not be processed further. The receiving *node* will not send any response. No stop-byte is expected. Version 2.0 also requires a timeout-check in the receiving function. This allows the bus to support hot-plugging, to cancel incomplete or invalid packages and reliably detect the start of a new transmission. The communication is typically unidirectional. Lost transmissions are not detectable. The *flap controller* NEVER initiates a communication to the *main controller interface*. *node* to *master* communication only occures in response to specific commands. This is specified in the command / payload documentation. -## Packet format (1.0) -``` -+---------------------------------+----------------------------------------+ -| Header | Frame | -+------------+-----------+--------+----------+-----------------+-----------+ -| Start-Byte | Protocol- | Frame- | Receiver | Payload | Stop-Byte | -| | Version | Length | Address | | | -| 0x2B | 0x00 | 1 byte | 2 bytes | framelemgth - 3 | 0x24 | -+------------+-----------+--------+----------+-----------------+-----------+ - The frame length includes the address and stop-byte - Therefor, the payload is framelegth - 3. -``` - ## Packet format (2.0) -*This is not yet implemented!!* ``` +---------------------------------+----------------------------------------+ | Header | Frame | @@ -46,6 +32,7 @@ The communication is typically unidirectional. Lost transmissions are not detect Therefor, the payload is framelegth - 4. Checksum is based on MODBUS CRC algorithm. Check implementation in sfbus.c + Checksum is only created for the payload, not the entire frame or packet. ``` More infromation regarding the crc algorithm: https://ctlsys.com/support/how_to_compute_the_modbus_rtu_message_crc/ diff --git a/software/pc_client/makefile b/software/pc_client/makefile index c979563..2a4b346 100644 --- a/software/pc_client/makefile +++ b/software/pc_client/makefile @@ -23,8 +23,8 @@ JSON_C_DIR=/path/to/json_c/install CFLAGS += -I$(JSON_C_DIR)/include/json-c # Or to use lines like: #include #CFLAGS += -I$(JSON_C_DIR)/include -LDFLAGS+= -L$(JSON_C_DIR)/lib -ljson-c -LDFLAGS+= -L$(JSON_C_DIR)/lib -lws +LDFLAGS+= -L$(JSON_C_DIR)/lib -ljson-c # json-c lib +LDFLAGS+= -L$(JSON_C_DIR)/lib -lws # websockets lib CPPFLAGS ?= $(INC_FLAGS) -MMD -MP $(BUILD_DIR)/$(TARGET_EXEC): $(OBJS) diff --git a/software/pc_client/src/console.c b/software/pc_client/src/console.c index e261f53..645e929 100644 --- a/software/pc_client/src/console.c +++ b/software/pc_client/src/console.c @@ -9,7 +9,7 @@ #include "console.h" -const char *device_config_file = "./flapconfig.json"; +char *device_config_file = "./flapconfig.json"; int fd; // command handlers @@ -133,7 +133,7 @@ void cmd_dm_print(json_object *req, json_object *res) { int x = json_object_get_int(jx); int y = json_object_get_int(jy); - char *str = json_object_get_string(jstr); + const char *str = json_object_get_string(jstr); devicemgr_printText(str, x, y); json_object_object_add(res, "ack", json_object_new_boolean(true)); } @@ -332,7 +332,7 @@ json_object *parse_command(json_object *req) json_object *commandObj; json_object *res = json_object_new_object(); json_object_object_get_ex(req, "command", &commandObj); - char *command = json_object_get_string(commandObj); + const char *command = json_object_get_string(commandObj); free(commandObj); // command 'table' if (strcmp(command, "dm_dump") == 0) diff --git a/software/pc_client/src/devicemgr.c b/software/pc_client/src/devicemgr.c index 55522da..9af7852 100644 --- a/software/pc_client/src/devicemgr.c +++ b/software/pc_client/src/devicemgr.c @@ -12,6 +12,7 @@ #include "devicemgr.h" #include #include +#include enum SFDEVICE_STATE { @@ -29,6 +30,7 @@ enum SFDEVICE_POWER UNKNOWN }; + struct SFDEVICE { int pos_x; @@ -262,7 +264,7 @@ void setSingleRaw(int id, int flap) devices[nextFreeSlot].current_flap = flap; } -void devicemgr_printText(char *text, int x, int y) +void devicemgr_printText(const char *text, int x, int y) { for (int i = 0; i < strlen(text); i++) { @@ -340,7 +342,7 @@ int devicemgr_remove(int id) { devices[nextFreeSlot].deviceState = REMOVED; devices[nextFreeSlot].address = 0; - devices[nextFreeSlot].rs485_descriptor = NULL; + devices[nextFreeSlot].rs485_descriptor = -1; return 0; } @@ -361,7 +363,7 @@ int devicemgr_save(char *file) json_object_object_add(root, "devices", device_array); - char *data = json_object_to_json_string_ext(root, JSON_C_TO_STRING_PRETTY); + const char *data = json_object_to_json_string_ext(root, JSON_C_TO_STRING_PRETTY); printf("[INFO][console] store data to %s\n", file); FILE *fptr; @@ -373,7 +375,7 @@ int devicemgr_save(char *file) int devicemgr_load(char *file) { FILE *fptr; - const char *line_in_file = malloc(JSON_MAX_LINE_LEN); // maximum of 256 bytes per line; + char *line_in_file = malloc(JSON_MAX_LINE_LEN); // maximum of 256 bytes per line; fptr = fopen(file, "r"); json_tokener *tok = json_tokener_new(); json_object *jobj = NULL; @@ -382,7 +384,7 @@ int devicemgr_load(char *file) do { - int read_ret = fgets(line_in_file, JSON_MAX_LINE_LEN, fptr); // read line from file + char* read_ret = fgets(line_in_file, JSON_MAX_LINE_LEN, fptr); // read line from file stringlen = strlen(line_in_file); // printf("Read line with chars: %i : %s", stringlen, line_in_file); // only for testing jobj = json_tokener_parse_ex(tok, line_in_file, stringlen); diff --git a/software/pc_client/src/devicemgr.h b/software/pc_client/src/devicemgr.h index 33bbbea..5f095d4 100644 --- a/software/pc_client/src/devicemgr.h +++ b/software/pc_client/src/devicemgr.h @@ -31,5 +31,8 @@ void devicemgr_init(); int devicemgr_print(char *text); int devicemgr_refresh(); int devicemgr_save(char *file); -void devicemgr_printText(char *text, int x, int y); -void devicemgr_printFlap(int flap, int x, int y); \ No newline at end of file +void devicemgr_printText(const char *text, int x, int y); +void devicemgr_printFlap(int flap, int x, int y); +int devicemgr_load(char *file); +int devicemgr_load_single(json_object *device_obj); +int devicemgr_remove(int id); \ No newline at end of file diff --git a/software/pc_client/src/main.c b/software/pc_client/src/main.c index a9a2882..9c03f34 100644 --- a/software/pc_client/src/main.c +++ b/software/pc_client/src/main.c @@ -3,14 +3,7 @@ * Copyright (c) 2024-2025 GuniaLabs (www.dennisgunia.de) * Authors: Dennis Gunia * - * This program is free software (...) - * You should have received a copy of the GNU Affero General Public License - * along with this program (...) - * - * You can be released from the requirements of the license by purchasing - * a commercial license. Buying such a license is mandatory as soon as you - * develop commercial activities involving the split-flap software without - * disclosing the source code of your own applications (...) + * This program is licenced under AGPL-3.0 license. * */ @@ -28,6 +21,7 @@ #include "ftdi485.h" #include "sfbus.h" +extern char *optarg; void printUsage(char *argv[]) { @@ -86,7 +80,7 @@ int main(int argc, char *argv[]) setvbuf(stdout, NULL, _IONBF, 0); // do not buffer stdout!!!! printf("Open device at %s\n", port); - int fd = rs485_init(port, B19200); // setup rs485 + int fd = rs485_init(port, B57600); // setup rs485 if (strcmp(command, "ping") == 0) { diff --git a/software/pc_client/src/sfbus.c b/software/pc_client/src/sfbus.c index 08173c2..a2e5452 100644 --- a/software/pc_client/src/sfbus.c +++ b/software/pc_client/src/sfbus.c @@ -27,14 +27,14 @@ void print_bufferHexRx(char *buffer, int length, u_int16_t address) { printf("Rx (0x%04X): ", address); print_charHex(buffer, length); - printf(" | %i bytes received\n", length); + printf("| %i bytes received\n", length); } void print_bufferHexTx(char *buffer, int length, u_int16_t address) { printf("Tx (0x%04X): ", address); print_charHex(buffer, length); - printf(" | %i bytes sent\n", length); + printf("| %i bytes sent\n", length); } ssize_t sfbus_recv_frame_wait(int fd, u_int16_t address, char *buffer) @@ -43,7 +43,7 @@ ssize_t sfbus_recv_frame_wait(int fd, u_int16_t address, char *buffer) int retryCount = 2; do { - len = sfbus_recv_frame(fd, address, buffer); + len = sfbus_recv_frame_v2(fd, address, buffer); retryCount--; if (retryCount == 0) { @@ -51,12 +51,14 @@ ssize_t sfbus_recv_frame_wait(int fd, u_int16_t address, char *buffer) return -1; } } while (len <= 0); - print_bufferHexRx(buffer, len - 3, address); + print_bufferHexRx(buffer, len - 4, address); return len; } -ssize_t sfbus_recv_frame(int fd, u_int16_t address, char *buffer) +ssize_t sfbus_recv_frame_v2(int fd, u_int16_t address, char *buffer) { + + memset(buffer, 0, sizeof(buffer)); // wait for start byte char byte = 0x00; int retryCount = 3; @@ -71,10 +73,9 @@ ssize_t sfbus_recv_frame(int fd, u_int16_t address, char *buffer) } } u_int8_t frm_version; - u_int8_t frm_addr_l; - u_int8_t frm_addr_h; + u_int8_t frm_addr_l, frm_addr_h; u_int8_t frm_length; - u_int8_t frm_eof; + u_int8_t frm_crc_l, frm_crc_h; read(fd, &frm_version, 1); read(fd, &frm_length, 1); @@ -84,60 +85,32 @@ ssize_t sfbus_recv_frame(int fd, u_int16_t address, char *buffer) u_int16_t dst_addr = frm_addr_l | (frm_addr_h << 8); if (dst_addr != address) { - return 0; + //return 0; } - u_int8_t frm_length_counter = frm_length - 3; // read all bytes: - while (frm_length_counter > 0) - { - read(fd, buffer, 1); - buffer++; - frm_length_counter--; - } - read(fd, &frm_eof, 1); + read(fd, buffer, frm_length - 4); // read n bytes from buffer where n = payload length + // read crc + u_int16_t frm_crc = 0xFFFF; // read crc value + read(fd, &frm_crc, 2); - if (frm_eof == '$') + u_int16_t calc_crc = calc_CRC16(buffer, frm_length - 4); // calculate CRC + + + if (frm_crc == calc_crc) { + printf("crc check okay! expected: %04X received: %04X\n", calc_crc, frm_crc); return frm_length; } else { + print_bufferHexRx(buffer, frm_length - 4, address); + printf("crc check failed! expected: %04X received: %04X\n", calc_crc, frm_crc); + return -1; } } -void sfbus_send_frame(int fd, u_int16_t address, u_int8_t length, char *buffer) -{ - int frame_size_complete = length + 6; - char *frame = malloc(frame_size_complete); - char *frame_ptr = frame; - - *frame = '+'; // startbyte - frame++; - *frame = 0; // protocol version - frame++; - *frame = length + 3; // length - frame++; - *frame = (address); - frame++; - *frame = ((address >> 8)); - frame++; - while (length > 0) - { - *frame = *buffer; - length--; - buffer++; - frame++; - } - *frame = '$'; // startbyte - - int result = write(fd, frame_ptr, frame_size_complete); - print_bufferHexTx(frame_ptr + 5, frame_size_complete - 6, address); - free(frame_ptr); -} - - /* * Send SFBus frame with protocol version 2.0 and calculated CRC */ @@ -157,9 +130,8 @@ void sfbus_send_frame_v2(int fd, u_int16_t address, u_int8_t length, char *buffe // add crc to end of frame u_int16_t crc = calc_CRC16(buffer, length); // calculate CRC - *(frame + (frame_size_complete - 1)) = (crc); // address high byte - *(frame + (frame_size_complete - 0)) = ((crc >> 8)); // address low byte - + *(frame + (frame_size_complete - 2)) = (crc); // address high byte + *(frame + (frame_size_complete - 1)) = ((crc >> 8)); // address low byte // send data int result = write(fd, frame, frame_size_complete); print_bufferHexTx(frame, frame_size_complete, address); @@ -194,9 +166,9 @@ int sfbus_read_eeprom(int fd, u_int16_t address, char *buffer) { char *cmd = "\xF0"; char *_buffer = malloc(256); - sfbus_send_frame(fd, address, strlen(cmd), cmd); + sfbus_send_frame_v2(fd, address, strlen(cmd), cmd); int len = sfbus_recv_frame_wait(fd, 0xFFFF, _buffer); - if (len != 9) + if (len != 10) { printf("Invalid data!\n"); return -1; @@ -217,12 +189,12 @@ int sfbus_write_eeprom(int fd, u_int16_t address, char *wbuffer, char *rbuffer) char *cmd = malloc(5); *cmd = (char)0xF1; // write eeprom command memcpy(cmd + 1, wbuffer, 4); - sfbus_send_frame(fd, address, 5, cmd); + sfbus_send_frame_v2(fd, address, 5, cmd); free(cmd); // wait for readback char *_buffer = malloc(256); int len = sfbus_recv_frame_wait(fd, 0xFFFF, _buffer); - if (len != 9) + if (len != 10) { printf("Invalid data!\n"); return -1; @@ -243,7 +215,7 @@ int sfbus_display(int fd, u_int16_t address, u_int8_t flap) char *cmd = malloc(5); *cmd = (char)0x10; // write eeprom command *(cmd + 1) = flap; - sfbus_send_frame(fd, address, 2, cmd); + sfbus_send_frame_v2(fd, address, 2, cmd); free(cmd); return 0; } @@ -253,7 +225,7 @@ int sfbus_display_full(int fd, u_int16_t address, u_int8_t flap) char *cmd = malloc(5); *cmd = (char)0x11; // write eeprom command *(cmd + 1) = flap; - sfbus_send_frame(fd, address, 2, cmd); + sfbus_send_frame_v2(fd, address, 2, cmd); free(cmd); return 0; } @@ -262,7 +234,7 @@ u_int8_t sfbus_read_status(int fd, u_int16_t address, double *voltage, u_int32_t { char *cmd = "\xF8"; char *_buffer = malloc(256); - sfbus_send_frame(fd, address, strlen(cmd), cmd); + sfbus_send_frame_v2(fd, address, strlen(cmd), cmd); int res = sfbus_recv_frame_wait(fd, 0xFFFF, _buffer); if (res < 0) { @@ -282,7 +254,7 @@ u_int8_t sfbus_read_status(int fd, u_int16_t address, double *voltage, u_int32_t void sfbus_reset_device(int fd, u_int16_t address) { char *cmd = "\x30"; - sfbus_send_frame(fd, address, strlen(cmd), cmd); + sfbus_send_frame_v2(fd, address, strlen(cmd), cmd); } void sfbus_motor_power(int fd, u_int16_t address, u_int8_t state) @@ -292,7 +264,7 @@ void sfbus_motor_power(int fd, u_int16_t address, u_int8_t state) { cmd = "\x21"; } - sfbus_send_frame(fd, address, 1, cmd); + sfbus_send_frame_v2(fd, address, 1, cmd); } u_int16_t calc_CRC16(char *buffer, u_int8_t len) diff --git a/software/pc_client/src/sfbus.h b/software/pc_client/src/sfbus.h index 6e24539..c0a90d2 100644 --- a/software/pc_client/src/sfbus.h +++ b/software/pc_client/src/sfbus.h @@ -9,9 +9,9 @@ #include "ftdi485.h" -ssize_t sfbus_recv_frame(int fd, u_int16_t address, char *buffer); +ssize_t sfbus_recv_frame_v2(int fd, u_int16_t address, char *buffer); ssize_t sfbus_recv_frame_wait(int fd, u_int16_t address, char *buffer); -void sfbus_send_frame(int fd, u_int16_t address, u_int8_t length, char *buffer); +void sfbus_send_frame_v2(int fd, u_int16_t address, u_int8_t length, char *buffer); void print_charHex(char *buffer, int length); int sfbus_ping(int fd, u_int16_t address); int sfbus_read_eeprom(int fd, u_int16_t address, char* buffer); diff --git a/software/pc_client/src/wsserver.c b/software/pc_client/src/wsserver.c index e6be8f0..d72870e 100644 --- a/software/pc_client/src/wsserver.c +++ b/software/pc_client/src/wsserver.c @@ -18,7 +18,7 @@ json_object *(*commandparser_func)(json_object *); // this sections handles ws connections and communications // called on opening websocket client -void onopen(ws_cli_conn_t client) +void ws_opencon(ws_cli_conn_t client) { char *cli; cli = ws_getaddress(client); @@ -26,7 +26,7 @@ void onopen(ws_cli_conn_t client) } // called on closing websocket client -void onclose(ws_cli_conn_t client) +void ws_closecon(ws_cli_conn_t client) { char *cli; cli = ws_getaddress(client); @@ -34,7 +34,7 @@ void onclose(ws_cli_conn_t client) } // called on receiving websocket message -void onmessage(ws_cli_conn_t client, const unsigned char *msg, uint64_t size, int type) +void ws_messagehandler(ws_cli_conn_t client, const unsigned char *msg, uint64_t size, int type) { char *cli = ws_getaddress(client); printf("received message: %s (%zu), from: %s\n", msg, size, cli); @@ -55,7 +55,7 @@ void onmessage(ws_cli_conn_t client, const unsigned char *msg, uint64_t size, in printf("test"); if (commandObj != NULL) { - char *command = json_object_to_json_string(commandObj); + const char *command = json_object_to_json_string(commandObj); // get key json_object *res = commandparser_func(req); if (res == NULL) @@ -79,11 +79,11 @@ void onmessage(ws_cli_conn_t client, const unsigned char *msg, uint64_t size, in void send_json_response(ws_cli_conn_t client, json_object *res) { - char *message = json_object_to_json_string_ext(res, JSON_C_TO_STRING_PRETTY); + const char *message = json_object_to_json_string_ext(res, JSON_C_TO_STRING_PRETTY); ws_sendframe_txt(client, message); } -void send_json_error(ws_cli_conn_t client, char *error, char *detail) +void send_json_error(ws_cli_conn_t client, char *error, const char *detail) { json_object *root = json_object_new_object(); json_object_object_add(root, "error", json_object_new_string(error)); @@ -105,9 +105,9 @@ int start_webserver(json_object *(*commandparser_func_ptr)(json_object *)) .port = WS_SERVER_PORT, .thread_loop = 0, .timeout_ms = 1000, - .evs.onopen = &onopen, - .evs.onclose = &onclose, - .evs.onmessage = &onmessage}); + .evs.onopen = &ws_opencon, + .evs.onclose = &ws_closecon, + .evs.onmessage = &ws_messagehandler}); return (0); } \ No newline at end of file diff --git a/software/pc_client/src/wsserver.h b/software/pc_client/src/wsserver.h index be82553..86a0932 100644 --- a/software/pc_client/src/wsserver.h +++ b/software/pc_client/src/wsserver.h @@ -18,3 +18,10 @@ #define WS_SERVER_ADDR "localhost" int start_webserver(); + +void send_json_error(ws_cli_conn_t client, char *error, const char *detail); +void send_json_response(ws_cli_conn_t client, json_object *res); + +void ws_messagehandler(ws_cli_conn_t client, const unsigned char *msg, uint64_t size, int type); +void ws_opencon(ws_cli_conn_t client); +void ws_closecon(ws_cli_conn_t client); \ No newline at end of file