coder_stm32f1/source/task/handle.c

#include "stdio.h"
#include "rtthread.h"
#include "board.h"
#include "mystdlib.h"
#include "list.h"
#include "mystring.h"
#include "signal.h"
#include "handle.h"
#include "buff.h"
#include "bytearray.h"
#include "debug.h"
#include "crc.h"
#include "prot_mcu.h"
#include "mymisc.h"


/**
 *
 * 注码仪
 * UART2->1
 * UART3->2
 *
**/


#define PORT_MUN  2


typedef struct{
  int init;
  protm_def *protm[PORT_MUN];
}self_def;

static self_def g_self;

typedef struct _port_mcu{
  protm_def *protm;
  rt_timer_t timer;
  int busy;
  uint8_t addr;
  handle_def *handle;
}port_mcu;


int port_init(void)
{
  self_def *s=&g_self;
  if(s->init==0){
    s->protm[0]=protm_creat(dev_get("uart2"),(int []){1,},1);
    s->protm[1]=protm_creat(dev_get("uart3"),(int []){2,},1);
    s->init=1;
  }
  return 0;
}



port_mcu *port_creat(uint8_t addr,sig_thread t)
{
  self_def *s=&g_self;
  if(s->init==0){
    DBG_WARN("port not init.");
    return 0;
  }
  port_mcu *p=calloc(1,sizeof(port_mcu));
  param_check(p);
  p->addr=addr;
  for(int i=0;i<PORT_MUN;i++)
  {
    if(protm_contains(s->protm[i],addr))
    {
      p->protm=s->protm[i];
      connect(p,port_send_signal,t,p->protm,protm_send_call);
      connect(p->protm,protm_recv_signal,t,p,port_recv_call);
      break;
    }
  }
  return p;
}

void port_delete(port_mcu **p)
{
  param_check(p);
  param_check(*p);
  disconnect_sig(*p);
  CHECK_DO((*p)->timer,rt_timer_delete);
  CHECK_DO((*p)->handle,(*p)->handle->del);
  free(*p);
  *p=0;
}


void port_recv_call(port_mcu *obj,uint8_t src,uint8_t cmd,array_def *data,char *err_str)
{
  port_mcu *p=obj;
  if(src==p->addr)
  {
    //DBG_LOG("addr=%d,cmd=%d,data=%s.",src,cmd,str_temp(arr_string(data)));
    if(p->handle){
      p->handle->dolater(p->handle,src,cmd,data,err_str);
    }
    else{
      emit port_end_signal(obj,obj,0,0,"success");
    }
  }
//  else{
//    DBG_WARN("err data,addr=%d.",src);
//  }
}


static void port_timeout_cb(void *t)
{
  port_mcu *p=t;
  if(p->handle)
    p->handle->timeout(p->handle);
}


// 开始定时器，重复调用会重新开始
void port_timer_start(port_mcu *p)
{
  param_check(p);
  CHECK_DO(p->timer,rt_timer_start);
}


// 停止定时器
void port_timer_stop(port_mcu *p)
{
  param_check(p);
  CHECK_DO(p->timer,rt_timer_stop);
}

// 设置忙状态
void port_set_busy(port_mcu *p,int busy)
{
  param_check(p);
  p->busy=busy?1:0;
}


// 获取忙状态
int port_get_busy(port_mcu *p)
{
  param_check(p);
  return p->busy;
}

// 获取通信地址
uint8_t port_get_addr(port_mcu *p)
{
  return p->addr;
}


// 开始一个通信操作，h是此项操作的类
int port_start(port_mcu *p,handle_def *h)
{
  param_check(p);
  param_check(h);
  if(port_get_busy(p)==1){
    h->del(h);
    DBG_WARN("slave:%d, handle is busy:%s",p->addr, p->handle->name);
    return -1;
  }
  CHECK_DO(p->handle,p->handle->del);
  p->handle=h;
  p->handle->p=p;
  if(p->timer==0)
  {
    char s1[16]={0};
    sprintf(s1,"port_t#%d",p->addr);
    p->timer=rt_timer_create(s1,port_timeout_cb,p,
      rt_tick_from_millisecond(h->interval),
      RT_TIMER_FLAG_PERIODIC|RT_TIMER_FLAG_SOFT_TIMER);
  }
  else{
    rt_tick_t tick=rt_tick_from_millisecond(h->interval);
    rt_timer_control(p->timer,RT_TIMER_CTRL_SET_TIME,&tick);
  }
  rt_timer_start(p->timer);
  p->handle->start(p->handle);
  return 0;
}











#define MCU_APP_ADDR_BASE       0x8004000
#define MCU_TASKID_ADDR_BASE    0x803f000




typedef struct{
  handle_def h;
  const uint8_t *data;// 外部地址指针，不需要释放
  int size;
  int stat;
  int sent;
  int retry_time;//升级失败重试次数
  rt_timer_t timer;// 用于发送命令超时
}updata_def;


static void updata_del(handle_def *h)
{
  updata_def *c=(updata_def *)h;
  CHECK_DO(c->timer,rt_timer_delete);
  free(h);
}


static void updata_start(handle_def *h)
{
  updata_def *c=(updata_def *)h;
  port_set_busy(h->p,1);
  c->stat=1;
  c->sent=0;
  list_def *l=list_creat_int();
  int arr[]={0xf9};
  list_appends(l,arr,1);
  emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0xf9,list_temp(l),arr_temp(arr_creat()),60,1);
}



// 跳转到bootloader之后，需要延时一段时间发送擦除命令
static void updata_earse(void *t)
{
  handle_def *h=t;
  list_def *l=list_creat_int();
  int arr[]={0xfe};
  list_appends(l,arr,1);
  emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0xfe,list_temp(l),arr_temp(arr_creat()),5500,1);
}


static void updata_dolater(handle_def *h,uint8_t src,uint8_t cmd,array_def *data,char *err_str)
{
  updata_def *c=(updata_def *)h;
  if(port_get_busy(h->p)==0) return;
  port_timer_start(h->p);
  if(c->stat==1){
    if((arr_length(data)>=2)&&(1==arr_get(data,1)))
    {
      // 这是重试的流程，如果重试时在app状态，则升级成功
      if(c->retry_time>0){
        DBG_LOG("slave:%d mcu updata success.",src);
        emit port_end_signal(h->p,h->p,0,0,"ok");
        port_set_busy(h->p,0);
        port_timer_stop(h->p);
        return ;
      }
      
      // 如果设备不在bootloader，进入这一步
      c->stat=2;
      DBG_LOG("slave:%d mcu in app mode.",src);
      // 设备跳转后不响应此命令，只重发一次
      list_def *l=list_creat_int();
      int arr[]={0xf8};
      list_appends(l,arr,1);
      emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0xf8,list_temp(l),arr_temp(arr_creat()),60,3);
    }else{
      // 都在bootloader模式，直接进入下一步
      c->stat=3;
      DBG_LOG("slave:%d mcu in bootloader mode.",src);
      updata_earse(h);
    }
  }else if(c->stat==2){
    c->stat=3;
    DBG_LOG("slave:%d mcu turn in bootloader mode.",src);
    later_execute(updata_earse,h,1000);
  }else if(c->stat==3){
    if(c->sent<c->size)
    {
      int len=c->sent<c->size-240?240:c->size-c->sent;
      uint32_t addr=MCU_APP_ADDR_BASE+c->sent;
      array_def *temp=arr_creat();
      arr_append(temp,addr&0xff);
      arr_append(temp,(addr>>8)&0xff);
      arr_append(temp,(addr>>16)&0xff);
      arr_append(temp,(addr>>24)&0xff);
      arr_appends(temp,&c->data[c->sent],len);
      c->sent+=len;
      list_def *l=list_creat_int();
      int arr[]={0xfc};
      list_appends(l,arr,1);
      emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0xfc,list_temp(l),arr_temp(temp),350,10);
      //DBG_LOG("slave addr=%d,rate=%d.",h->p->addr,c->sent*100/c->size);
    }else{
      c->stat=4;
      uint32_t addr;
      array_def *temp=arr_creat();
      addr=MCU_APP_ADDR_BASE;
      arr_append(temp,addr&0xff);
      arr_append(temp,(addr>>8)&0xff);
      arr_append(temp,(addr>>16)&0xff);
      arr_append(temp,(addr>>24)&0xff);
      addr=MCU_APP_ADDR_BASE+c->size;
      arr_append(temp,addr&0xff);
      arr_append(temp,(addr>>8)&0xff);
      arr_append(temp,(addr>>16)&0xff);
      arr_append(temp,(addr>>24)&0xff);
      uint32_t crc=crc_crc32(c->data,c->size);
      arr_append(temp,crc&0xff);
      arr_append(temp,(crc>>8)&0xff);
      arr_append(temp,(crc>>16)&0xff);
      arr_append(temp,(crc>>24)&0xff);
      //DBG_LOG("updata:crc=%08x",crc);
      list_def *l=list_creat_int();
      int arr[]={0xfb};
      list_appends(l,arr,1);
      emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0xfb,list_temp(l),arr_temp(temp),350,10);
      DBG_LOG("slave:%d file updata done.",src);
    }
  }
  else if(c->stat==4)
  {
    DBG_LOG("slave:%d mcu reboot to app.",src);
    emit port_end_signal(h->p,h->p,0,0,"ok");
    port_set_busy(h->p,0);
    port_timer_stop(h->p);
  }
}



static void updata_timeout(handle_def *h)
{
  updata_def *c=(updata_def *)h;
  // 从机没有指定数目时从这里返回
  DBG_WARN("slave:%d,%s timeout.",h->p->addr, h->name);
  if(c->retry_time>3)
  {
    port_timer_stop(h->p);
    port_set_busy(h->p,0);
    DBG_WARN("slave:%d,%s failed.",h->p->addr, h->name);
    emit port_end_signal(h->p,h->p,0,-1,"timeout");
  }else{
    port_timer_start(h->p);
    DBG_LOG("slave:%d, updata retry",h->p->addr);
    h->start(h);
    c->retry_time++;
  }
}



handle_def *updata_creat(const uint8_t *data,int size)
{
  updata_def *c=calloc(1,sizeof(updata_def));
  handle_def *h=(handle_def *)c;
  param_check(h);
  h->static_=0;// 动态内存这项设置为0
  h->start=updata_start;
  h->dolater=updata_dolater;
  h->del=updata_del;
  h->timeout=updata_timeout;
  h->interval=15000;// 此项根据方案调整
  h->name="updata";
  c->data=data;
  c->size=size;
  return h;
}





typedef struct{
  handle_def h;
  const uint8_t *data;// 外部地址指针，不需要释放
  int size;
  int stat;
  int sent;
  int retry_time;//升级失败重试次数
  rt_timer_t timer;// 用于发送命令超时
}updata_scheme_def;



static void updata_scheme_del(handle_def *h)
{
  updata_scheme_def *c=(updata_scheme_def *)h;
  CHECK_DO(c->timer,rt_timer_delete);
  free(h);
}



static void updata_scheme_send_packet(handle_def *h)
{
  updata_scheme_def *c=(updata_scheme_def *)h;
  if(port_get_busy(h->p)==0) return;
  port_timer_start(h->p);
  if(c->stat==1){
    if(c->sent<c->size)
    {
      int len=c->sent<c->size-240?240:c->size-c->sent;
      uint32_t addr=MCU_TASKID_ADDR_BASE+c->sent;
      array_def *temp=arr_creat();
      arr_append(temp,addr&0xff);
      arr_append(temp,(addr>>8)&0xff);
      arr_append(temp,(addr>>16)&0xff);
      arr_append(temp,(addr>>24)&0xff);
      arr_appends(temp,&c->data[c->sent],len);
      c->sent+=len;
      list_def *l=list_creat_int();
      int arr[]={0x11};
      list_appends(l,arr,1);
      emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0x11,list_temp(l),arr_temp(temp),350,10);
      //DBG_LOG("slave addr=%d,rate=%d.",h->p->addr,c->sent*100/c->size);
    }else{
      c->stat=0;
      uint32_t addr;
      array_def *temp=arr_creat();
      list_def *l=list_creat_int();
      int arr[]={0x15};
      list_appends(l,arr,1);
      emit port_send_signal(h->p,((port_mcu *)h->p)->addr,0x15,list_temp(l),arr_temp(temp),350,10);
      DBG_LOG("slave:%d mcu reboot .",h->p->addr);
      emit port_end_signal(h->p,h->p,0,0,"ok");
      port_set_busy(h->p,0);
      port_timer_stop(h->p);
    }
  }
}


static void updata_scheme_dolater(handle_def *h,uint8_t src,uint8_t cmd,array_def *data,char *err_str)
{
  updata_scheme_send_packet(h);
}


static void updata_scheme_start(handle_def *h)
{
  updata_scheme_def *c=(updata_scheme_def *)h;
  port_set_busy(h->p,1);
  c->stat=1;
  c->sent=0;
  updata_scheme_send_packet(h);
}



static void updata_scheme_timeout(handle_def *h)
{
  updata_scheme_def *c=(updata_scheme_def *)h;
  // 从机没有指定数目时从这里返回
  DBG_WARN("slave:%d,%s timeout.",h->p->addr, h->name);
  if(c->retry_time>3)
  {
    port_timer_stop(h->p);
    port_set_busy(h->p,0);
    DBG_WARN("slave:%d,%s failed.",h->p->addr, h->name);
    emit port_end_signal(h->p,h->p,0,-1,"timeout");
  }else{
    port_timer_start(h->p);
    DBG_LOG("slave:%d, updata retry",h->p->addr);
    h->start(h);
    c->retry_time++;
  }
}






handle_def *updata_scheme_creat(const uint8_t *data,int size)
{
  updata_scheme_def *c=calloc(1,sizeof(updata_scheme_def));
  handle_def *h=(handle_def *)c;
  param_check(h);
  h->static_=0;// 动态内存这项设置为0
  h->start=updata_scheme_start;
  h->dolater=updata_scheme_dolater;
  h->del=updata_scheme_del;
  h->timeout=updata_scheme_timeout;
  h->interval=15000;// 此项根据方案调整
  h->name="updata_scheme";
  c->data=data;
  c->size=size;
  return h;
}







typedef struct{
  handle_def h;
  int data_length;
  uint8_t cmd;
  uint8_t data[0];
}usercmd_def;



static void usercmd_start(handle_def *h)
{
  usercmd_def *u=(usercmd_def *)h;
  port_set_busy(h->p,1);
  list_def *l=list_creat_int();
  int arr[]={u->cmd};
  list_appends(l,arr,1);
  emit port_send_signal(h->p,port_get_addr(h->p),u->cmd,list_temp(l),arr_temp(arr_creat()),300,3);
}


static void usercmd_dolater(handle_def *h,uint8_t src,uint8_t cmd,array_def *data,char *err_str)
{
  usercmd_def *c=(usercmd_def *)h;
  if(port_get_busy(h->p)==0) return;
  if(cmd==c->cmd)
  {
    port_set_busy(h->p,0);
    port_timer_stop(h->p);
    DBG_LOG("slave:%d, userdata:%s",src,str_temp(arr_string(data)));
    // 直接返回原始数据
    emit port_end_signal(h->p,h->p,data,0,"ok");
  }else
  {
    port_set_busy(h->p,0);
    port_timer_stop(h->p);
    DBG_WARN("slave:%d,get usercmd err,%s",src,str_temp(arr_string(data)));
    emit port_end_signal(h->p,h->p,0,-1,"get usercmd err");
  }
}


static void usercmd_timeout(handle_def *h)
{
  // 从机没有指定数目时从这里返回
  port_timer_stop(h->p);
  port_set_busy(h->p,0);
  DBG_WARN("slave:%d,%s timeout.",port_get_addr(h->p), h->name);
  emit port_end_signal(h->p,h->p,0,-1,"timeout");
}


static void usercmd_del(handle_def *h)
{
  usercmd_def *c=(usercmd_def *)h;
  free(h);
}


handle_def *usercmd_creat(uint8_t cmd,array_def *data)
{
  int data_len=arr_length(data);
  usercmd_def *c=calloc(1,sizeof(usercmd_def)+data_len);
  c->cmd=cmd;
  c->data_length=data_len;
  for(int i=0;i<data_len;i++){c->data[i]=arr_get(data,i);}
  handle_def *h=(handle_def *)c;
  param_check(h);
  h->static_=0;// 动态内存这项设置为0
  h->start=usercmd_start;
  h->dolater=usercmd_dolater;
  h->del=usercmd_del;
  h->timeout=usercmd_timeout;
  h->interval=5000;
  h->name="usercmd";
  return h;
}