453 lines
11 KiB
C
Executable File
453 lines
11 KiB
C
Executable File
//************************************************************************************
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//**************** Alink (c) Angoosh *****************
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//**************** ADCIS s.r.o. *****************
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//**************** Alink *****************
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// ver 1.0.0
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// 11.11.2019
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//************************************************************************************
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#include "Alink.h"
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#include "main.h"
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//void checkA5(uint8_t, uint8_t, uint8_t);
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void TxParseMSG(UART_HandleTypeDef*,int,uint8_t,uint8_t,uint8_t);
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void RxParseMSG(UART_HandleTypeDef*,uint8_t*);
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/*
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* Vysilani zpravy: A5, rec add, ln, my add, 0, data, CRC
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* 0 verze sw: A5, rec add, 0C, ADDRESS, 0, VERSION, SUB_VERSION, RELEASE, BUGFIX, CRC
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* 1 status: A5, rec add, 08, ADDRESS, 0, STATUS, CRC
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* 2 err: A5, rec add, 08, ADDRESS, 1, ERROR, CRC
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*
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* parametry fce:
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* type: 0,1,2 (verze, status, err)
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* mess: 0,1,2 (verze - pouze 0, status - 1,2,3, err - 1,2)
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*
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*
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* data bit:
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* 0 - version
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* 1 - status - sleep
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* 2 - status - charging
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* 3 - status - running
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* 4 - err - UNDERVOLT
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* 5 - err - FET_ERR
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*/
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/**
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* @brief A5 symbol replacement pattern find
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* @param checked byte
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* @param retval for first replacement byte
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* @param retval for second replacement byte
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*/
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void checkA5(uint8_t byte, uint8_t *arr1, uint8_t *arr2){ //kontrola, zda ve zprave neni A5
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if(byte == 0xA5){
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*arr1 = 0xAA;
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*arr2 = 0xA8;
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}
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else if(byte == 0xAA){
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*arr1 = 0xAA;
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*arr2 = 0xAA;
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}
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else{
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*arr1 = byte;
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*arr2 = 0x00;
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}
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}
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void A5pattern(uint8_t *messageIn, uint8_t *messageOut){
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}
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/**
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* @brief CRC calculation function
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* @param data array pointer
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* @param data length
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* @retval crc byte
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*/
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uint8_t CRC_Calc(uint8_t *data, uint8_t length){
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uint8_t crc = 0;
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for(int i = 0; i<length; i++){
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crc ^= data[i];
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}
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return crc;
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}
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/**
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* @brief Receive message parser and command executer
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* @param huart typedef
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* @param message
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*/
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void RxParseMSG(UART_HandleTypeDef *huart, uint8_t *dataBuffer){
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uint8_t isLCB = 0;
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//uint8_t msgMyAddr = dataBuffer[1];
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uint8_t msgLen = dataBuffer[2];
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uint8_t msgTxAddr = dataBuffer[3];
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uint8_t msgCmd = dataBuffer[4];
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uint8_t msgCrc = dataBuffer[msgLen-1];
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uint8_t msgPreData[msgLen-6];
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if(msgLen > 6){
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for(int i = 0; i<sizeof(msgPreData); i++){
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msgPreData[i] = dataBuffer[5+i];
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}
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}
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uint8_t payload = 0;
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uint8_t msgForCrc[msgLen-2];
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for(int m = 0; m<sizeof(msgForCrc); m++){
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msgForCrc[m] = dataBuffer[m+1];
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}
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if(msgCrc == CRC_Calc(msgForCrc, sizeof(msgForCrc))){
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if(msgTxAddr >= LCBADDRMIN && msgTxAddr <= LCBADDRMAX){
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isLCB = 1;
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}
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}
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uint8_t AAcount = 0;
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for(int i = 0; i<sizeof(msgPreData); i++){
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if(msgPreData[i] == 0xAA){
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AAcount++;
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i++;
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}
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}
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uint8_t msgData[sizeof(msgPreData)-AAcount];
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uint8_t j = 0;
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for(int i = 0; i<sizeof(msgPreData); i++){
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if(msgPreData[i+j] == 0xAA){
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if(msgPreData[i+j+1] == 0xAA){
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msgData[i] = 0xAA;
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}
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else{
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msgData[i] = 0xA5;
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}
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j++;
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}
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else{
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msgData[i] = msgPreData[i+j];
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}
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}
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if(isLCB == 1){
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if(msgLen > 6){
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payload = 1;
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}
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if(msgCmd == SW_VER_ASK){ //verze sw //type 0
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TxParseMSG(huart,0,0x00,0x00,msgTxAddr);
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}
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else if(msgCmd == STATUS){ //stav (charging, off, on) //type 1
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uint8_t msgStatus = 0;
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TxParseMSG(huart,1,0x00,msgStatus,msgTxAddr);
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}
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else if(msgCmd == STATE_ASK){ //status (err) //type 2
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uint8_t msgState = 0;
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TxParseMSG(huart,2,0x00,msgState,msgTxAddr);
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}
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#ifdef ALINK_CTRL
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else if(msgCmd == ALINK_STABLE_STATE && payload == 1){//zapnuti/vypnuti ustaleneho stavu, default je vyply
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SteadyState = msgData[0];
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}
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else if(msgCmd == ALINK_BLOCK_PLS && payload == 1){//vyber ktere pulsy blokovat, popis funkce je v @info
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if(msgData[0] == 0x00){
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for(int i = 0; i < 8; i++){
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INJ0.PULSE_DEL_ARR[i] = msgData[1+i];
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}
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}
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else if(msgData[0] == 0x01){
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for(int i = 0; i < 8; i++){
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INJ1.PULSE_DEL_ARR[i] = msgData[1+i];
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}
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}
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else if(msgData[0] == 0x02){
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for(int i = 0; i < 8; i++){
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INJ2.PULSE_DEL_ARR[i] = msgData[1+i];
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}
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}
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else;
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}
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else if(msgCmd == ALINK_BLOCK_PLS_END && payload == 1){//vyber po ktere pulsy blokovat, popis funkce je v @info
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if(msgData[0] == 0x00){
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for(int i = 0; i < 8; i++){
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INJ0.PULSE_DEL_END_ARR[i] = msgData[1+i];
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}
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}
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else if(msgData[0] == 0x01){
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for(int i = 0; i < 8; i++){
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INJ1.PULSE_DEL_END_ARR[i] = msgData[1+i];
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}
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}
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else if(msgData[0] == 0x02){
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for(int i = 0; i < 8; i++){
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INJ2.PULSE_DEL_END_ARR[i] = msgData[1+i];
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}
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}
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else;
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}
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else if(msgCmd == ALINK_FET_SW_PAUSE && payload == 1){//Nastaveni delky pauzy mezi prepinani fetu
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int hi = msgData[1];
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int lo = msgData[2];
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int delay = (hi*256)+lo;
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if(msgData[0] == 0x00){
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INJ0.SWITCH_DELAY = SwitchDelaySetup(INJ0, delay);
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}
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else if(msgData[0] == 0x01){
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INJ1.SWITCH_DELAY = SwitchDelaySetup(INJ1, delay);
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}
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else if(msgData[0] == 0x02){
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INJ2.SWITCH_DELAY = SwitchDelaySetup(INJ2, delay);
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}
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else;
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}
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else if(msgCmd == ALINK_PULSE_BLK_TIM && payload == 1){//po kolika ms blokovat puls 2B
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uint8_t hi = msgData[1];
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uint8_t lo = msgData[2];
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float ARR = 65535;
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float PSC = 53;
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float x = (1/(SysClk/APBDiv))*(PSC+1)*(ARR+1)*1000;
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float us = (x/ARR)*1000;
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int BlockPulseAfterMs = (hi*256)+lo;
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int BlockPulseAfterTicks = BlockPulseAfterMs/us;
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if(msgData[0] == 0x00){
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INJ0.BLOCK_AFTER_TICKS = BlockPulseAfterTicks;
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INJ0.BLOCK_AFTER_US = BlockPulseAfterMs;
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}
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else if(msgData[0] == 0x01){
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INJ1.BLOCK_AFTER_TICKS = BlockPulseAfterTicks;
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INJ1.BLOCK_AFTER_US = BlockPulseAfterMs;
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}
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else if(msgData[0] == 0x02){
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INJ2.BLOCK_AFTER_TICKS = BlockPulseAfterTicks;
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INJ2.BLOCK_AFTER_US = BlockPulseAfterMs;
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}
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else;
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}
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#ifdef ALINK_BRD_RST
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else if(msgData[0] == ALINK_BRD_RST){
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TxParseMSG(huart,3,0x00,msgData[0],msgTxAddr);
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HAL_NVIC_SystemReset();
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}
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#endif
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}
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#endif
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else;
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}
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/**
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* @brief Response message parser
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* @param huart typedef
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* @param type of message
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* @param command
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* @param data of message
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* @param address of destination device
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*/
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void TxParseMSG(UART_HandleTypeDef *huart, int type, uint8_t CMD, uint8_t mess, uint8_t addr){
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uint8_t crc = 0;
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int datasize = 0;
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uint8_t data_buffer[40];
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uint8_t data_buffer_size = 0;
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//verze softwaru
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if(type == 0){
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uint8_t data[] = {addr,0x0A,ADDRESS,CMD,VERSION,SUB_VERSION,RELEASE,BUGFIX};
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datasize = sizeof(data);
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for(int i = 0; i<sizeof(data); i++){
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uint8_t a,b;
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checkA5(data[i], &a, &b);
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if(a != 0 && b != 0){
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datasize ++;
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data[1]++;
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}
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}
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datasize ++;
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uint8_t datanew[datasize];
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datanew[0] = 0xA5;
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int j = 0;
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for(int i = 1; i<sizeof(datanew); i++){
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uint8_t a,b;
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checkA5(data[i-1], &a, &b);
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if(a != 0 && b != 0){
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datanew[i+j] = a;
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datanew[i+j+1] = b;
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j++;
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}
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else{
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datanew[i+j] = a;
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}
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}
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for(int i = 0; i<sizeof(datanew); i++){
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data_buffer[i] = datanew[i];
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data_buffer_size ++;
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}
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uint8_t dataForCrc[sizeof(datanew-1)];
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for(int i = 0; i < sizeof(dataForCrc); i++){
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dataForCrc[i] = datanew[i+1];
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}
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crc = CRC_Calc(dataForCrc,sizeof(dataForCrc));
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}
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//status
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else if(type == 1){
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__IO uint32_t DATA_READ = 0;
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uint8_t data[] = {addr,0x13,ADDRESS,CMD,mess,0,0,0,0,0,0,0,0,0,0,0,0};
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datasize = sizeof(data);
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DATA_READ = *(__IO uint32_t*)SERIAL_ADDRESS;
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data[13] = DATA_READ >> 24;
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data[14] = DATA_READ >> 16;
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data[15] = DATA_READ >> 8;
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data[16] = DATA_READ;
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for(int i = 0; i<sizeof(data); i++){
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uint8_t a,b;
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checkA5(data[i], &a, &b);
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if(a != 0 && b != 0){
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datasize ++;
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data[1]++;
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}
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}
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datasize ++;
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uint8_t datanew[datasize];
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datanew[0] = 0xA5;
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int j = 0;
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for(int i = 1; i<sizeof(datanew); i++){
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uint8_t a,b;
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checkA5(data[i-1], &a, &b);
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if(a != 0 && b != 0){
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datanew[j+i] = a;
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datanew[j+i+1] = b;
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j++;
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}
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else{
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datanew[j+i] = a;
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}
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}
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for(int i = 0; i<sizeof(datanew); i++){
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data_buffer[i] = datanew[i];
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data_buffer_size ++;
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}
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uint8_t dataForCrc[sizeof(datanew-1)];
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for(int i = 0; i < sizeof(dataForCrc); i++){
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dataForCrc[i] = datanew[i+1];
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}
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crc = CRC_Calc(dataForCrc,sizeof(dataForCrc));
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}
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//error report
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else if(type == 2){
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uint8_t data[] = {addr,0x07,ADDRESS,CMD,mess};
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datasize = sizeof(data);
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for(int i = 0; i<sizeof(data); i++){
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uint8_t a,b;
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checkA5(data[i], &a, &b);
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if(a != 0 && b != 0){
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datasize ++;
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data[1]++;
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}
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}
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datasize ++;
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uint8_t datanew[datasize];
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datanew[0] = 0xA5;
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int j = 0;
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for(int i = 1; i<sizeof(datanew); i++){
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uint8_t a,b;
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checkA5(data[i-1], &a, &b);
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if(a != 0 && b != 0){
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datanew[j+i] = a;
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datanew[j+i+1] = b;
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j++;
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}
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else{
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datanew[j+i] = a;
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}
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}
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for(int i = 0; i<sizeof(datanew); i++){
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data_buffer[i] = datanew[i];
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data_buffer_size ++;
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}
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uint8_t dataForCrc[sizeof(datanew-1)];
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for(int i = 0; i < sizeof(dataForCrc); i++){
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dataForCrc[i] = datanew[i+1];
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}
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crc = CRC_Calc(dataForCrc,sizeof(dataForCrc));
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}
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//else messages
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else if(type == 3){
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uint8_t data[] = {addr,0x07,ADDRESS,CMD,mess};
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datasize = sizeof(data);
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for(int i = 0; i<sizeof(data); i++){
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uint8_t a,b;
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checkA5(data[i], &a, &b);
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if(a != 0 && b != 0){
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datasize ++;
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data[1]++;
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}
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}
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datasize ++;
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uint8_t datanew[datasize];
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datanew[0] = 0xA5;
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int j = 0;
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for(int i = 1; i<sizeof(datanew); i++){
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uint8_t a,b;
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checkA5(data[i-1], &a, &b);
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if(a != 0 && b != 0){
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datanew[j+i] = a;
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datanew[j+i+1] = b;
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j++;
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}
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else{
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datanew[j+i] = a;
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}
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}
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for(int i = 0; i<sizeof(datanew); i++){
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data_buffer[i] = datanew[i];
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data_buffer_size ++;
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}
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uint8_t dataForCrc[sizeof(datanew-1)];
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for(int i = 0; i < sizeof(dataForCrc); i++){
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dataForCrc[i] = datanew[i+1];
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}
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crc = CRC_Calc(dataForCrc,sizeof(dataForCrc));
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}
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else{}
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datasize ++;
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uint8_t a,b;
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checkA5(crc, &a, &b);
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if(a != 0 && b != 0){
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datasize ++;
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uint8_t msg[datasize];
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for(int i = 0; i<datasize-2; i++){
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msg[i] = data_buffer[i];
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}
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msg[sizeof(msg)-2] = a;
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msg[sizeof(msg)-1] = b;
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msg[2]++;
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HAL_UART_Transmit(huart, (uint8_t *)&msg, sizeof(msg), 0xFFFF);
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}
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else{
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uint8_t msg[datasize];
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for(int i = 0; i<datasize-1; i++){
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msg[i] = data_buffer[i];
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}
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msg[sizeof(msg)-1] = a;
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HAL_UART_Transmit(huart, (uint8_t *)&msg, sizeof(msg), 0xFFFF);
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}
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}
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