void
eb_recv_data_prepare(const unsigned char *buf, int buflen)
{
unsigned char tmp[SERIAL_BUFSIZE];
int tmplen, crc;
memset(tmp, '\0', sizeof(tmp));
/* reset struct */
memset(&recv_data, '\0', sizeof(recv_data));
/* set recv_data.msg_esc */
memcpy(&recv_data.msg_esc[0], buf, buflen);
recv_data.len_esc = buflen;
/* set recv_data.crc_calc and .crc_recv */
if (buf[buflen - 2] == EBUS_SYN_ESC_A9) {
recv_data.crc_calc = eb_calc_crc(buf, buflen - 2);
if (buf[buflen - 1] == EBUS_SYN_ESC_01)
recv_data.crc_recv = EBUS_SYN;
else
recv_data.crc_recv = EBUS_SYN_ESC_A9;
crc = 2;
} else {
recv_data.crc_calc = eb_calc_crc(buf, buflen - 1);
recv_data.crc_recv = buf[buflen - 1];
crc = 1;
}
/* set recv_data.msg */
memcpy(tmp, buf, buflen - crc);
tmplen = buflen - crc;
eb_unesc(tmp, &tmplen);
memcpy(&recv_data.msg[0], tmp, tmplen);
recv_data.len = tmplen;
}
void
eb_send_data_prepare(const unsigned char *buf, int buflen)
{
unsigned char crc[2], tmp[SERIAL_BUFSIZE];
int tmplen, crclen;
/* reset struct */
memset(&send_data, '\0', sizeof(send_data));
/* set send_data.msg */
memcpy(&send_data.msg[0], buf, buflen);
send_data.len = buflen;
/* set send_data.msg_esc + send_data.crc */
memset(tmp, '\0', sizeof(tmp));
memcpy(tmp, buf, buflen);
tmplen = buflen;
eb_esc(tmp, &tmplen);
memcpy(&send_data.msg_esc[0], &qq, 1);
memcpy(&send_data.msg_esc[1], tmp, tmplen);
tmplen++;
memset(crc, '\0', sizeof(crc));
send_data.crc = eb_calc_crc(&send_data.msg_esc[0], tmplen);
crc[0] = send_data.crc;
crclen = 1;
if (crc[0] == EBUS_SYN || crc[0] == EBUS_SYN_ESC_A9) {
/* esc crc */
eb_esc(crc, &crclen);
send_data.msg_esc[tmplen] = crc[0];
tmplen++;
send_data.msg_esc[tmplen] = crc[1];
tmplen++;
} else {
send_data.msg_esc[tmplen] = crc[0];
tmplen++;
}
send_data.len_esc = tmplen;
}
int
eb_cyc_data_process(const unsigned char *buf, int buflen)
{
unsigned char msg[CMD_DATA_SIZE], hlp[CMD_DATA_SIZE];
unsigned char crcm_recv, crcm_calc, acks, crcs_recv, crcs_calc, ackm;
int id, msgtype, msglen, hlplen, mlen, slen, len;
memset(msg, '\0', sizeof(msg));
/* search command definition */
id = eb_cmd_search_com_cyc(&buf[1], buflen - 1);
if (id >= 0) {
msgtype = eb_cmd_get_s_type(id);
err_ret_if(msgtype < 0, -1);
/* unescape */
memcpy(msg, buf, buflen);
msglen = buflen;
eb_unesc(msg, &msglen);
/* calc crc vom master */
mlen = 5 + (int) msg[4];
if (((int) msg[4]) > EBUS_MSG_MASTER_MAX_DB_LEN) {
log_print(L_WAR, "%s (%d > %d)", "Master DB Len Error",
((int) msg[4]), EBUS_MSG_MASTER_MAX_DB_LEN);
return -2;
}
memset(hlp, '\0', sizeof(hlp));
memcpy(hlp, msg, mlen);
hlplen = mlen;
eb_esc(hlp, &hlplen);
crcm_calc = eb_calc_crc(hlp, hlplen);
crcm_recv = msg[mlen];
if (crcm_calc != crcm_recv) {
log_print(L_WAR, "%s", "Master CRC Error");
return -2;
}
/* set len */
len = mlen + 1;
if (msgtype != EBUS_MSG_BROADCAST) {
/* get ack from slave */
acks = msg[mlen + 1];
if (acks == EBUS_NAK) {
log_print(L_WAR, "%s", "Slave ACK Error");
return -2;
}
/* set len */
len = mlen + 2;
}
if (msgtype == EBUS_MSG_MASTER_SLAVE) {
/* calc crc vom slave */
slen = 1 + (int) msg[mlen + 2];
if (((int) msg[mlen + 2]) > EBUS_MSG_SLAVE_MAX_DB_LEN) {
log_print(L_WAR, "%s (%d > %d)", "Slave DB Len Error",
((int) msg[mlen + 2]), EBUS_MSG_SLAVE_MAX_DB_LEN);
return -2;
}
memset(hlp, '\0', sizeof(hlp));
memcpy(hlp, &msg[mlen + 2], slen);
hlplen = slen;
eb_esc(hlp, &hlplen);
crcs_calc = eb_calc_crc(hlp, hlplen);
crcs_recv = msg[mlen + 2 + slen];
if (crcs_calc != crcs_recv) {
log_print(L_WAR, "%s", "Slave CRC Error");
return -2;
}
/* get ack from master */
ackm = msg[mlen + 2 + slen + 1];
if (ackm == EBUS_NAK) {
log_print(L_WAR, "%s", "Master ACK Error");
return -2;
}
/* set len */
len = mlen + 2 + slen + 2;
}
/* check len */
if (msglen > len) {
log_print(L_WAR, "%s", "LEN Error");
return -2;
}
/* save data */
eb_cmd_set_cyc_buf(id, msg, msglen);
}
return id;
}
int main() {
int i, j, end, ret;
int bcd, d1b, data[SERIAL_BUFSIZE + 1];
float d1c, d2b, d2c;
char byte;
unsigned char hex, tmp, crc, crc_calc[2] ;
tmp = 0;
end = 0;
do {
i = 0;
printf("Input: ");
while ((byte = fgetc(stdin)) != EOF) {
if (byte == '\n') {
break;
}
if (byte == 'q') {
end = 1;
break;
}
if (i < sizeof(data)) {
ret = eb_htoi(&byte);
if (ret != -1) {
data[i] = ret;
i++;
}
} else {
break;
}
}
if (!end) {
for (j = 0; j < i; j += 2) {
bcd = 0;
d1b = 0;
ret = 0;
d1c = 0.0;
d2b = 0.0;
d2c = 0.0;
hex = (unsigned char) (data[j]*16 + data[j+1]);
ret = eb_bcd_to_int(hex, &bcd);
ret = eb_d1b_to_int(hex, &d1b);
ret = eb_d1c_to_float(hex, &d1c);
printf("hex %02x ->\tbcd: %3d\td1b: %4d"
"\td1c: %5.1f", hex, bcd, d1b, d1c);
if (j == 2) {
ret = eb_d2b_to_float(tmp, hex, &d2b);
ret = eb_d2c_to_float(tmp, hex, &d2c);
crc_calc[0] = tmp;
crc_calc[1] = hex;
crc = eb_calc_crc(crc_calc,2);
printf("\td2b: %10.5f\td2c: %12.6f"
"\tcrc: %02x\n", d2b, d2c, crc);
}
else {
tmp = hex;
printf("\n");
}
}
}
} while (end == 0);
return 0;
}
