//
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// Created by YY on 2019/12/21.
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//
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#include <cstring>
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#include <pthread.h>
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#include "mcu_if.h"
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#include "../common/apptimer.h"
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#include "../utils/crc16.h"
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#include "../defs.h"
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#include "../jni_log.h"
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#include "../common/serial_port.h"
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#define DEBUG(fmt, args...) LOGD("<mcu_if> <%s>: " fmt, __func__, ##args)
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#define MCU_UART UART_1
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enum parse_status_t {
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SYNC_HEAD_ONE,
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SYNC_HEAD_TWO,
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GET_ID_HI,
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GET_ID_LO,
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GET_LENGTH_HI,
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GET_LENGTH_LO,
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GET_PAYLOAD,
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GET_CRC16_HI,
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GET_CRC16_LO
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};
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#define ID_CM_APP_BOOT 0x0001
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#define ID_MC_MCU_BOOT 0x8001
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#define ID_CM_INQ_MCU_VER 0x0002
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#define ID_MC_MCU_VER 0x8002
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#define ID_CM_RW_INFO 0x0003
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#define ID_MC_RW_INFO_RSP 0x8003
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#define ID_CM_MCU_DFU_REQ 0x0004
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#define ID_MC_MCU_DFU_RSP 0x8004
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#define ID_CM_MCU_DFU_DATA 0x0005
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#define ID_CM_MCU_DFU_DATA_CMP 0x0006
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#define ID_MC_MCU_DFU_DATA_RSP 0x8006
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#define ID_MC_CAR_INFO 0x8007
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#define ID_MC_RTK_DATA 0x8008
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#define ID_CM_RTK_DATA 0x0008
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#define ID_CM_READ_RFCARD 0x0009
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#define ID_MC_RFCARD_RSP 0x8009
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static parse_status_t parse_status;
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static struct {
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uint16_t id;
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uint16_t length;
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uint16_t rx_len;
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uint8_t buffer[4096 + 4];
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uint16_t crc16;
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}McuPkt;
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static void *UartThread1(void *p);
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static void ParseMcuTimeout(union sigval sig);
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static void McuCommandEntry(uint16_t id, const uint8_t *data, int lenth);
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void ParseMcuInit(void)
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{
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parse_status = SYNC_HEAD_ONE;
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AppTimer_delete(ParseMcuTimeout);
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SendMcuCommand(ID_CM_APP_BOOT, NULL, 0);
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}
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#define PARSE_BUFF_SIZE 4096
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static void *UartThread1(void *p) {
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struct serial_config *cfg = (struct serial_config *) p;
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int res = InitSerialPort(MCU_UART, cfg->baud, cfg->data_bit, cfg->verify_bit, cfg->stop_bit, cfg->flow_ctrl);
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DEBUG("Serial %s open %d", cfg->name, res);
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uint8_t RxBuf[PARSE_BUFF_SIZE];
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int RxBufLen = 0;
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if (res == 0)
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ParseMcuInit();
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while (res == 0) {
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int ul = ReadSerialPort(MCU_UART, (uint8_t *)RxBuf + RxBufLen, sizeof(RxBuf) - RxBufLen);
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RxBufLen += ul;
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/*{
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static char buffd[16384];
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buffd[0] = 0;
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int i = 0;
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for (i = 0; i < ul; i++) {
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if ((i % 32) == 0) {
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sprintf(buffd + strlen(buffd), "\n");
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}
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sprintf(buffd + strlen(buffd), "%02X ", RxBuf[i]);
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if (strlen(buffd) > 800) {
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DEBUG("%s <- %s...", "UART", buffd);
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buffd[0] = 0;
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}
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}
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if (strlen(buffd) > 0)
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DEBUG("%s <- %s", "UART", buffd);
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}*/
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if (RxBufLen > 0) {
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DEBUG("RECV LEN %d", RxBufLen);
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ParseMcu(RxBuf, RxBufLen);
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RxBufLen = 0;
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}
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}
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if (res == 0) {
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UninitSerialPort(MCU_UART);
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}
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pthread_exit(NULL);
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}
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void ParseMcu(const uint8_t *data, int length)
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{
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int x = 0;
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while (x < length) {
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uint8_t c = data[x];
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switch (parse_status) {
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case SYNC_HEAD_ONE:
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if (c == 0x55) {
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parse_status = SYNC_HEAD_TWO;
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AppTimer_delete(ParseMcuTimeout);
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AppTimer_add(ParseMcuTimeout, D_SEC(5));
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}
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x++;
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break;
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case SYNC_HEAD_TWO:
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if (c == 0xAA) {
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parse_status = GET_ID_HI;
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} else if (c != 0x55) {
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parse_status = SYNC_HEAD_ONE;
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}
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x++;
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break;
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case GET_ID_HI:
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McuPkt.id = c;
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parse_status = GET_ID_LO;
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x++;
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break;
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case GET_ID_LO:
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McuPkt.id <<= 8;
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McuPkt.id += c;
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parse_status = GET_LENGTH_HI;
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x++;
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break;
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case GET_LENGTH_HI:
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McuPkt.rx_len = 0;
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McuPkt.length = c;
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parse_status = GET_LENGTH_LO;
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x++;
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break;
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case GET_LENGTH_LO:
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McuPkt.length <<= 8;
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McuPkt.length += c;
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parse_status = GET_PAYLOAD;
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if (McuPkt.length >= 1500) {
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DEBUG("Pkt Too large!");
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parse_status = SYNC_HEAD_ONE;
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AppTimer_delete(ParseMcuTimeout);
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}
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McuPkt.buffer[0] = HI_UINT16(McuPkt.id);
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McuPkt.buffer[1] = LO_UINT16(McuPkt.id);
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McuPkt.buffer[2] = HI_UINT16(McuPkt.length);
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McuPkt.buffer[3] = LO_UINT16(McuPkt.length);
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x++;
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break;
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case GET_PAYLOAD:
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if (length - x >= McuPkt.length - McuPkt.rx_len) {
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memcpy(McuPkt.buffer + 4 + McuPkt.rx_len, data + x, McuPkt.length - McuPkt.rx_len);
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x += McuPkt.length - McuPkt.rx_len;
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McuPkt.rx_len = McuPkt.length;
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parse_status = GET_CRC16_HI;
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} else {
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memcpy(McuPkt.buffer + 4 + McuPkt.rx_len, data + x, length - x);
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McuPkt.rx_len += length - x;
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x = length;
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}
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break;
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case GET_CRC16_HI:
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McuPkt.crc16 = c;
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parse_status = GET_CRC16_LO;
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x++;
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break;
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case GET_CRC16_LO: {
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McuPkt.crc16 <<= 8;
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McuPkt.crc16 += c;
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uint16_t crc16 = CRCCCITT(McuPkt.buffer, McuPkt.length + 4, 0, 0);
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DEBUG("mcuif crc16 but 0x%04X exp 0x%04X", McuPkt.crc16, crc16);
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if (McuPkt.crc16 == crc16) {
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McuCommandEntry(McuPkt.id, McuPkt.buffer + 4, McuPkt.length);
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}
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parse_status = SYNC_HEAD_ONE;
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AppTimer_delete(ParseMcuTimeout);
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x++;
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break;
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}
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default:
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break;
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}
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}
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}
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void SendMcuCommand(uint16_t id, const uint8_t *data, int length)
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{
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uint8_t buffer[2048];
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int x = 0;
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buffer[x++] = 0x55;
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buffer[x++] = 0xAA;
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buffer[x++] = HI_UINT16(id);
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buffer[x++] = LO_UINT16(id);
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buffer[x++] = HI_UINT16(length);
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buffer[x++] = LO_UINT16(length);
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if (data != NULL && length > 0) {
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memcpy(buffer + x, data, length);
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x += length;
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}
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uint16_t crc16 = CRCCCITT(buffer + 2, length + 4, 0, 0);
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buffer[x++] = HI_UINT16(crc16);
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buffer[x++] = LO_UINT16(crc16);
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WriteSerialPort(MCU_UART, buffer, x);
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}
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void ConfigMCU(void)
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{
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// TODO
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static struct serial_config serialConfig;
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strcpy(serialConfig.name, "/dev/ttyHSL1");
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serialConfig.baud = 115200;
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serialConfig.data_bit = 8;
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serialConfig.verify_bit = 'N';
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serialConfig.stop_bit = 1;
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serialConfig.flow_ctrl = 0;
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pthread_t pid;
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pthread_attr_t attr;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
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pthread_create(&pid, &attr, UartThread1, &serialConfig);
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}
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void SendRtkToMcu(const uint8_t *data, int length)
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{
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SendMcuCommand(ID_CM_RTK_DATA, data, length);
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}
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static void ParseMcuTimeout(union sigval sig) {
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AppTimer_delete(ParseMcuTimeout);
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parse_status = SYNC_HEAD_ONE;
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}
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static void sendrtk(union sigval sig) {
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uint8_t data[486];
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memset(data, 0x86, sizeof(data));
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SendMcuCommand(ID_CM_RTK_DATA, data, sizeof(data));
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SendMcuCommand(ID_CM_READ_RFCARD, NULL, 0);
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AppTimer_delete(sendrtk);
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AppTimer_add(sendrtk, D_SEC(1));
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}
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static void McuCommandEntry(uint16_t id, const uint8_t *data, int lenth)
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{
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static int ii = 0;
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switch (id) {
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case ID_MC_MCU_BOOT:
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DEBUG("MCU BOOT");
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break;
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case ID_MC_MCU_VER:
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DEBUG("MCU VER");
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break;
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case ID_MC_RW_INFO_RSP:
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break;
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case ID_MC_MCU_DFU_RSP:
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break;
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case ID_MC_MCU_DFU_DATA_RSP:
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break;
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case ID_MC_CAR_INFO:
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DEBUG("ID_MC_CAR_INFO");
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break;
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case ID_MC_RTK_DATA:
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DEBUG("ID_MC_RTK_DATA");
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break;
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case ID_MC_RFCARD_RSP:
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DEBUG("ID_MC_RFCARD_RSP");
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break;
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default:
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break;
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}
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}
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