void mspmsg_RAW_GPS_parse(struct S_MSP_RAW_GPS *target, struct S_MSG *msg) {
dbg(DBG_MSP|DBG_VERBOSE,"Parsing MSP_RAW_GPS\n");
target->fix = *msg->data;
target->num_sat = *(msg->data+1);
target->lat = *reverse32(msg->data+2);
target->lon = *reverse32(msg->data+6);
target->alt = *reverse16(msg->data+10);
target->speed = *reverse16(msg->data+12);
target->ground_course = *reverse16(msg->data+14);
}
void mspmsg_WP_parse(struct S_MSP_WP *target, struct S_MSG *msg) {
dbg(DBG_MSP|DBG_VERBOSE,"Parsing MSP_WP\n");
target->wp_no = *msg->data;
target->action = *(msg->data+1);
target->lat = *reverse32(msg->data+2);
target->lon = *reverse32(msg->data+6);
target->alt_hold = *reverse32(msg->data+10);
target->param1 = *reverse16(msg->data+14);
target->param2 = *reverse16(msg->data+16);
target->param3 = *reverse16(msg->data+18);
target->flag = *reverse16(msg->data+20);
}
bool TessdataManager::Init(const char *data_file_name, int debug_level) {
int i;
debug_level_ = debug_level;
data_file_ = fopen(data_file_name, "rb");
if (data_file_ == NULL) {
tprintf("Error opening data file %s\n", data_file_name);
tprintf("Please make sure the TESSDATA_PREFIX environment variable is set "
"to the parent directory of your \"tessdata\" directory.\n");
return false;
}
fread(&actual_tessdata_num_entries_, sizeof(inT32), 1, data_file_);
swap_ = (actual_tessdata_num_entries_ > kMaxNumTessdataEntries);
if (swap_) {
actual_tessdata_num_entries_ = reverse32(actual_tessdata_num_entries_);
}
ASSERT_HOST(actual_tessdata_num_entries_ <= TESSDATA_NUM_ENTRIES);
fread(offset_table_, sizeof(inT64),
actual_tessdata_num_entries_, data_file_);
if (swap_) {
for (i = 0 ; i < actual_tessdata_num_entries_; ++i) {
offset_table_[i] = reverse64(offset_table_[i]);
}
}
if (debug_level_) {
tprintf("TessdataManager loaded %d types of tesseract data files.\n",
actual_tessdata_num_entries_);
for (i = 0; i < actual_tessdata_num_entries_; ++i) {
tprintf("Offset for type %d is %lld\n", i, offset_table_[i]);
}
}
return true;
}
DictionaryReader::DictionaryReader(IBitStream *bstr)
: _bstr(bstr), _isSupported(true), _decoderLoaded(false)
{
_bstr->readSome(&_header, sizeof(LSDHeader));
if (strcmp("LingVo", _header.magic) != 0)
throw NotLSDException();
if (_header.version == 0x142001 || _header.version == 0x152001) {
_decoder.reset(new UserDictionaryDecoder());
} else if (_header.version == 0x141004) {
_decoder.reset(new SystemDictionaryDecoder(false));
} else if (_header.version == 0x145001 || _header.version == 0x155001) {
_decoder.reset(new AbbreviationDictionaryDecoder());
} else if (_header.version == 0x151005) {
_decoder.reset(new SystemDictionaryDecoder(true));
} else {
_isSupported = false;
return;
}
uint8_t nameLen;
bstr->readSome(&nameLen, 1);
_name = readUnicodeString(bstr, nameLen, false);
auto firstHeading = readUnicodeString(bstr, bstr->read(8), false); (void)firstHeading;
auto lastHeading = readUnicodeString(bstr, bstr->read(8), false); (void)lastHeading;
auto capitals = readUnicodeString(bstr, reverse32(bstr->read(32)), false); (void)capitals;
uint16_t iconLen;
bstr->readSome(&iconLen, 2);
_icon.resize(iconLen);
bstr->readSome(&_icon[0], iconLen);
bstr->seek(bstr->tell() + 4); // checksum
bstr->readSome(&_pagesEnd, 4);
bstr->readSome(&_overlayData, 4);
}
bool TessdataManager::Init(const char *data_file_name, int debug_level) {
int i;
debug_level_ = debug_level;
data_file_ = fopen(data_file_name, "rb");
if (data_file_ == NULL) {
// WILLUS MOD: Insert "if (debug_level_)" line below to avoid printing error msg.
if (debug_level_)
tprintf("Error opening data file %s\n", data_file_name);
return false;
}
fread(&actual_tessdata_num_entries_, sizeof(inT32), 1, data_file_);
bool swap = (actual_tessdata_num_entries_ > kMaxNumTessdataEntries);
if (swap) {
actual_tessdata_num_entries_ = reverse32(actual_tessdata_num_entries_);
}
ASSERT_HOST(actual_tessdata_num_entries_ <= TESSDATA_NUM_ENTRIES);
fread(offset_table_, sizeof(inT64),
actual_tessdata_num_entries_, data_file_);
if (swap) {
for (i = 0 ; i < actual_tessdata_num_entries_; ++i) {
offset_table_[i] = reverse64(offset_table_[i]);
}
}
if (debug_level_) {
tprintf("TessdataManager loaded %d types of tesseract data files.\n",
actual_tessdata_num_entries_);
for (i = 0; i < actual_tessdata_num_entries_; ++i) {
tprintf("Offset for type %d is %lld\n", i, offset_table_[i]);
}
}
return true;
}
static ERL_NIF_TERM tree_pair_dsha256_hash_nif(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
ErlNifBinary bin1, bin2;
if (!enif_inspect_binary(env, argv[0], &bin1) || bin1.size != 32 || !enif_inspect_binary(env, argv[1], &bin2) || bin2.size != 32)
return enif_make_badarg(env);
ERL_NIF_TERM ret;
unsigned char in[64];
unsigned char *final_hash = enif_make_new_binary(env, 32, &ret);
reverse32(&in[0], bin1.data);
reverse32(&in[32], bin2.data);
double_sha256(in, 64, final_hash);
reverse32(final_hash, final_hash);
return ret;
}
/**
* Transfer a 25bit packet to RTC6705
* This will just send it as a 32bit packet LSB meaning
* extra 0's get truncated on RTC6705 end
*/
static void rtc6705Transfer(uint32_t command)
{
command = reverse32(command);
ENABLE_RTC6705;
spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 24) & 0xFF);
spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 16) & 0xFF);
spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 8) & 0xFF);
spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 0) & 0xFF);
DISABLE_RTC6705;
}
static ERL_NIF_TERM scrypt_hash_nif(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
ErlNifBinary bin;
if (!enif_inspect_binary(env, argv[0], &bin) || bin.size != 80)
return enif_make_badarg(env);
ERL_NIF_TERM ret;
unsigned char *final_hash = enif_make_new_binary(env, 32, &ret);
scrypt_1024_1_1_256(bin.data, final_hash);
reverse32(final_hash, final_hash);
return ret;
}
static ERL_NIF_TERM dsha256_hash_nif(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
ErlNifBinary bin;
if (!enif_inspect_binary(env, argv[0], &bin))
return enif_make_badarg(env);
ERL_NIF_TERM ret;
unsigned char *final_hash = enif_make_new_binary(env, 32, &ret);
double_sha256(bin.data, bin.size, final_hash);
reverse32(final_hash, final_hash);
return ret;
}
void mspmsg_MISC_parse(struct S_MSP_MISC *misc, struct S_MSG *msg) {
dbg(DBG_MSP|DBG_VERBOSE,"Parsing MSP_MISC\n");
misc->intPowerTrigger1 = *reverse16(msg->data);
misc->minthrottle = *reverse16(msg->data+2);
misc->maxthrottle = *reverse16(msg->data+4);
misc->mincommand = *reverse16(msg->data+6);
misc->failsafe_throttle = *reverse16(msg->data+8);
misc->arm = *reverse16(msg->data+10);
misc->lifetime = *reverse32(msg->data+12);
misc->mag_declination = *reverse16(msg->data+16);
misc->vbatscale = *(msg->data+18);
misc->vbatlevel_warn1 = *(msg->data+19);
misc->vbatlevel_warn2 = *(msg->data+20);
misc->vbatlevel_crit = *(msg->data+21);
}
void mspmsg_SET_MISC_serialize(struct S_MSG *target, struct S_MSP_MISC *src) {
dbg(DBG_MSP|DBG_VERBOSE,"Preparing MSP_SET_MISC\n");
target->message_id = MSP_SET_MISC;
if (src==NULL) {
target->size = 0;
return;
}
memcpy(target->data,reverse16(&src->intPowerTrigger1),2);
memcpy(target->data+2,reverse16(&src->minthrottle),2);
memcpy(target->data+4,reverse16(&src->maxthrottle),2);
memcpy(target->data+6,reverse16(&src->mincommand),2);
memcpy(target->data+8,reverse16(&src->failsafe_throttle),2);
memcpy(target->data+10,reverse16(&src->arm),2);
memcpy(target->data+12,reverse32(&src->lifetime),4);
memcpy(target->data+16,reverse16(&src->mag_declination),2);
target->data[18] = src->vbatscale;
target->data[19] = src->vbatlevel_warn1;
target->data[20] = src->vbatlevel_warn2;
target->data[21] = src->vbatlevel_crit;
target->size = 22;
}
void mspmsg_ALTITUDE_parse(struct S_MSP_ALTITUDE *target, struct S_MSG *msg) {
dbg(DBG_MSP|DBG_VERBOSE,"Parsing MSP_ALTITUDE\n");
target->EstAlt = *reverse32(msg->data);
target->vario = *reverse16(msg->data+4);
}
