add firmware

dev/com.cpp

@@ -0,0 +1,97 @@
+#include <string.h>
+
+#include "uart.h"
+#include "tick.h"
+
+#include "com.h"
+
+enum class MESSAGES_ID : unsigned char
+{
+  SysInfo = 1,
+  GyroInfo = 2,
+  AccelInfo = 3,
+  GpsInfo = 4,
+  InertialInfo = 5,
+  BatteryInfo = 6,
+  Ack = 7,
+  StatusCommand = 8,
+  StatusAllCommands = 9,
+  Command = 10,
+  RequestReg = 11,
+  ResponseReg = 12,
+  Auth = 13,
+  OpenKey = 14,
+  MissionCount = 15,
+  MissionItem = 16,
+  MissionItemAck = 17,
+  MissionRequestItem = 18,
+  RequestLastMessage = 19,
+  ConnectionTest = 20,
+    
+  CountMenuCategories = 32,
+  CategoriesMenu = 33,
+  CategoriesParameters = 34,
+};
+
+enum class COMMANDS_NAME : unsigned char
+{
+  ChangeNav = 1,
+  ChangeSpeed = 2,
+  Land = 3,
+  GoHome = 4,
+  StopEngine = 5,
+  StartEngine = 6,
+  Pause = 7,
+  Continue = 8,
+  GoToGlobal = 9,
+  GoToLocal = 10,
+  
+  SetParameter = 15,
+};
+
+enum class ERROR_CODE_COMMAND : unsigned char
+{
+  NoError = 0,
+};
+
+#pragma pack(push,1)
+
+struct HeaderBegin
+{
+  unsigned char stx = 0xAA;
+  unsigned short len1;
+  unsigned short len2;
+  unsigned char crc;
+  unsigned char data[0];
+  
+  bool CheckCRC()
+  {
+    if(len1!=len2) return false;
+    unsigned char test = 0;
+    for (unsigned short a = 0; a < len1; a++) test ^= data[a];
+    return crc==test;
+  }
+};
+
+struct HeaderMessages
+{
+  MESSAGES_ID msgId;
+  unsigned char srcId;
+  unsigned char dstId;
+  unsigned char len;
+  unsigned char data[0];
+  
+  
+};
+
+#pragma pack(pop)
+
+//void TELE_Init()
+//{
+//  UART2_Init(57600);
+//}
+//
+//void TELE_Update(const void* info, unsigned long size, unsigned long update)
+//{
+//  
+//}