Yu Jiaqi
V1.1 For EVIC
Dependencies: SDFileSystem max32630fthr USBDevice
Diff: CmdHandler.cpp
- Revision:
- 1:7530b7eb757a
- Child:
- 3:35b05d91568d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CmdHandler.cpp Thu May 28 02:30:39 2020 +0000
@@ -0,0 +1,393 @@
+#include "mbed.h"
+#include "cmsis_os.h"
+#include "max32630fthr.h"
+#include "USBSerial.h"
+#include "CmdHandler.h"
+
+#include "DUT_RegConfig.h"
+//#include "Config.h"
+#include "ServoRun.h"
+
+GLOBAL_CMD_VAR g_cmd;
+
+//extern CONFIG g_config;
+extern DUTREG dut_reg[DUT_REG_NUM];
+extern uint8_t histogram[10][1024];
+extern uint8_t histogram_mode;
+extern uint8_t histogram_tdc;
+extern uint8_t Firmware[8192];
+extern uint8_t dcr_matrix[17][9*2];
+
+uint8_t _uart_send_pbuff[CMD_BUF_LEN] = {0x00};
+
+uint8_t UserTxBufferFS[2048];
+
+uint8_t sys_cfg_save = 0;
+
+//extern Queue<uint8_t, 2048> cmd_queue;
+extern USBSerial microUSB;
+extern DigitalOut rLED;
+extern DigitalOut xSHUT;
+extern InterruptIn chip_int;
+
+extern uint16_t histogram_pos_num;
+extern uint16_t histogram_per_pos;
+
+void CmdHandleTask(void)
+{
+ uint8_t ret;
+ uint16_t i=0;
+ uint8_t uart_val = 0;
+ uint16_t _pbuff_len = 0;
+
+ while(1) {
+ ret = microUSB.buf.dequeue(&uart_val);
+ if(ret == 1) {
+ if(g_cmd.valid_flag == 0) { //None Header
+ if(uart_val == 0x5A) { //Already find header
+ g_cmd.valid_flag = 1;
+ i=0;
+ g_cmd.buf[i++] = uart_val;
+ } else {
+ i=0;
+ }
+ } else if(g_cmd.valid_flag == 1) { //已经找到了帧头
+ if(i < CMD_BUF_LEN) {
+ g_cmd.buf[i++] = uart_val;
+ if(i>=4) { //根据协议长度区判断接收的协议帧大小
+ _pbuff_len = ((g_cmd.buf[3]&0x00ff)<<8) + g_cmd.buf[2];
+ if(i == (_pbuff_len+5)) { //一包结束
+ g_cmd.package_len = i;
+ DealUart1OnePackage(g_cmd.buf, g_cmd.package_len);
+ i = 0;
+ g_cmd.valid_flag = 0;
+ continue;
+ } else if((_pbuff_len+5)>=CMD_BUF_LEN) {
+ i = 0;
+ g_cmd.valid_flag = 0;
+ continue;
+ }
+ }
+ } else {
+ i = 0;
+ g_cmd.valid_flag = 0;;
+ }
+ }
+ } else {
+ i = 0;
+ g_cmd.valid_flag = 0;
+ wait_ms(50);
+ //osDelay(50);
+ }
+ }
+
+}
+
+uint8_t Check_Sum(uint8_t *_pbuff, uint16_t _cmdLen)
+{
+ uint8_t cmd_sum=0;
+ uint16_t i;
+
+ for(i=0; i<_cmdLen; i++) {
+ cmd_sum += _pbuff[i];
+ }
+ cmd_sum = (~cmd_sum);
+
+ return cmd_sum;
+}
+
+//协议相关命令的发送
+void UART_CmdAckSend(uint8_t ack_cmd, uint8_t register_addr, uint8_t *pbuff, uint16_t pbuff_len)
+{
+ while(g_cmd.send_flag == 1) {
+ wait_ms(50);
+ }
+
+ g_cmd.send_flag = 1;
+
+ UserTxBufferFS[0] = 0x5a;
+ UserTxBufferFS[1] = 0x00;
+ uint16_t i=1, j=0;
+ uint16_t _uart_pbuff_len = 0;
+
+ _uart_pbuff_len = pbuff_len+1;
+ UserTxBufferFS[i++]= ack_cmd;
+ UserTxBufferFS[i++]= (_uart_pbuff_len&0x00ff);
+ UserTxBufferFS[i++]= (_uart_pbuff_len>>8);
+ UserTxBufferFS[i++]= register_addr;
+ for(j=0; j<pbuff_len; j++) {
+ UserTxBufferFS[i++] = pbuff[j];
+ }
+ UserTxBufferFS[i++] = Check_Sum(&UserTxBufferFS[1], _uart_pbuff_len+3);
+
+ uint16_t k = 0;
+
+ while(i > 64) {
+ microUSB.writeBlock(&UserTxBufferFS[k], 64);
+ i -= 64;
+ k += 64;
+ }
+ microUSB.writeBlock(&UserTxBufferFS[k], i);
+ g_cmd.send_flag = 0;
+}
+
+
+void DealUart1OnePackage(uint8_t *pd, uint16_t cmdLen)
+{
+ uint16_t _pd_len = 0;
+
+ _pd_len = ((pd[3]&0x00ff)<<8) + pd[2];
+
+ if(pd[_pd_len+4] != Check_Sum(&pd[1],_pd_len+3)) { //校验不正确，直接返回
+ return;
+ }
+
+ switch(pd[4]) {
+ case REGISTER_CMD: //寄存器操作
+ if(pd[1] == 0x00) { //读
+ //rLED = LED_ON;
+ if(HandleReadReg() == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, REGISTER_CMD, _uart_send_pbuff, DUT_REG_NUM*2);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, REGISTER_CMD, _uart_send_pbuff, 2);
+ } else if(pd[1] == 0x01) { //写
+ //rLED = LED_OFF;
+ if(HandleWriteReg(pd, cmdLen) == 0)
+ UART_CmdAckSend(WRITE_CMD | 0x80, REGISTER_CMD, _uart_send_pbuff, 2);
+ else
+ UART_CmdAckSend(WRITE_CMD | 0x10, REGISTER_CMD, _uart_send_pbuff, 2);
+ }
+ break;
+
+ case VAN_SINGLE_MEAS:// 单次测量
+ if(HandleOneTimeMeasure() == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_SINGLE_MEAS, _uart_send_pbuff, 4);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, VAN_SINGLE_MEAS, _uart_send_pbuff, 2);
+ break;
+
+ case VAN_CONTIU_MEAS:// 连续测量
+ if(HandleContinuousMeasure(pd) == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_CONTIU_MEAS, _uart_send_pbuff, 2);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, VAN_CONTIU_MEAS, _uart_send_pbuff, 2);
+ break;
+
+ case VAN_READ_HIST_CMD://读取Histogram
+ if(pd[5] == 0xF0)
+ {
+ WriteOneReg(REG_SYS_CFG, sys_cfg_save);
+ histogram_mode = 0;
+ }
+ else if(pd[5] == 0xF1)
+ {
+ ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
+ WriteOneReg(REG_SYS_CFG, 0x01);
+ histogram_mode = 2;
+ }
+ else if(pd[5] == 0xF2)
+ {
+ ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
+ WriteOneReg(REG_SYS_CFG, 0x01);
+ histogram_mode = 4;
+ }
+ else
+ {
+ ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
+ WriteOneReg(REG_SYS_CFG, 0x01);
+ histogram_mode = 1;
+ histogram_tdc = pd[5];
+ }
+
+ break;
+ case VAN_STEP_HISTOGRAM_CMD:
+ if(pd[5] == 0xF0) {
+ WriteOneReg(REG_SYS_CFG, sys_cfg_save);
+ histogram_mode = 0;
+ } else if(pd[5] == 0xF1) {
+ ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
+ WriteOneReg(REG_SYS_CFG, 0x01);
+ histogram_mode = 3;
+ histogram_pos_num = pd[6] + pd[7]*256;
+ histogram_per_pos = pd[8] + pd[9]*256;
+ }
+ break;
+
+ case VAN_MOVING_CTL_CMD:
+ ServoRun(pd[5], pd[6] + pd[7]*256);
+ break;
+
+ case VAN_DOWN_FW_CMD:
+ if(HandleDownloadFW(pd, cmdLen) == 0)
+ UART_CmdAckSend(WRITE_CMD | 0x80, VAN_DOWN_FW_CMD, _uart_send_pbuff, 2);
+ else
+ UART_CmdAckSend(WRITE_CMD | 0x10, VAN_DOWN_FW_CMD, _uart_send_pbuff, 2);
+ break;
+
+ case CHIP_RST_CMD:
+ HandleChipReset();
+ break;
+
+ case CHIP_EN_CMD:
+ //HandleChipEnable(pd[5]);
+ break;
+
+ case INT_ENABLE_CMD:
+ if(pd[5] == 1)
+ chip_int.disable_irq();
+ break;
+
+ case VAN_DCR_TEST_CMD:
+ if(DCRTest(pd[5], pd[6]) == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_DCR_TEST_CMD, (uint8_t*)dcr_matrix, 17*9*2);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, VAN_DCR_TEST_CMD, _uart_send_pbuff, 2);
+ break;
+
+ case VAN_DELAYLINE_TEST_CMD:
+ if(DelayLineTest(pd[5], _uart_send_pbuff) == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_DELAYLINE_TEST_CMD, _uart_send_pbuff, 144);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, VAN_DELAYLINE_TEST_CMD, _uart_send_pbuff, 2);
+ break;
+
+ case VAN_GET_TDC_PHASE_CMD:
+ if(GetTdcPhase(_uart_send_pbuff) == 0)
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_GET_TDC_PHASE_CMD, _uart_send_pbuff, 2);
+ else
+ UART_CmdAckSend(READ_CMD | 0x10, VAN_GET_TDC_PHASE_CMD, _uart_send_pbuff, 2);
+ break;
+
+ default:
+
+ break;
+ }
+
+}
+
+
+uint8_t HandleWriteReg(uint8_t *pd, uint16_t cmdLen)
+{
+ uint16_t _pd_len = 0;
+ uint16_t reg_num = 0;
+
+ _pd_len = ((pd[3]&0x00ff)<<8) + pd[2];
+
+ reg_num = (_pd_len - 1)/2;
+
+ for(uint16_t i = 0; i < reg_num; i++) {
+ //dut_reg[pd[5+2*i]].value = pd[5+2*i+1];
+ WriteOneReg(pd[5+2*i], pd[5+2*i+1]);
+ }
+
+ return 0;
+}
+
+uint8_t HandleReadReg(void)
+{
+ uint8_t ret = 0;
+
+ ret = ReadAllRegToTable();
+ if(ret == 0) {
+ memcpy(_uart_send_pbuff, &dut_reg, DUT_REG_NUM*2);
+ }
+
+ return ret;
+}
+
+uint8_t HandleOneTimeMeasure(void)
+{
+ return OneTimeMeasure((uint16_t*)_uart_send_pbuff, (uint16_t*)(_uart_send_pbuff + 2));
+}
+
+uint8_t HandleContinuousMeasure(uint8_t *pd)
+{
+ if(pd[5] == 0x00)
+ return StopContinuousMeasure();
+ else
+ return ContinuousMeasure();
+}
+
+uint8_t HandleReadHistogram(uint8_t tdc_idx)
+{
+ _uart_send_pbuff[0] = tdc_idx;
+
+ memcpy(&_uart_send_pbuff[1], histogram[tdc_idx], 1024);
+
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_READ_HIST_CMD, _uart_send_pbuff, 1025);
+ return 0;
+}
+
+uint8_t HandleDownloadFW(uint8_t *pd, uint16_t cmdLen)
+{
+ static uint8_t pkg_num = 0;
+ uint8_t ret = 0;
+ uint8_t pkg_idx = pd[5];
+ uint16_t pkg_len = ((pd[3]&0x00ff)<<8) + pd[2] - 2;
+ static uint16_t pkg_saved = 0;
+
+ if(pkg_idx == 0) { //第一包固件
+ printf("Fist Pkg of FW arrived.\n");
+ memset(Firmware, 0x00, 8192);
+ pkg_num = 0;
+ pkg_saved = 0;
+
+ memcpy(Firmware + pkg_saved, &pd[6], pkg_len);
+ pkg_num++;
+ pkg_saved += pkg_len;
+ } else if(pkg_idx == 0xF0) {
+ printf("Last Pkg of FW arrived. Begin to Download to Chip.\n");
+ //DebugArray(Firmware, pkg_saved);//For Debug
+ ret = WriteFW(pkg_saved);
+ } else if(pkg_idx == 0xF1) {
+ printf("Firmware transmission has been halt.\n");
+ memset(Firmware, 0x00, 8192);
+ pkg_num = 0;
+ pkg_saved = 0;
+ } else {
+ memcpy(Firmware + pkg_saved, &pd[6], pkg_len);
+ pkg_num++;
+ pkg_saved += pkg_len;
+ }
+
+ if(ret == 0) {
+ printf("Firmware download successfully.\n");
+ }
+
+ _uart_send_pbuff[0] = pkg_idx;
+
+ return ret;
+}
+
+uint8_t HandleContinuousMeasureReport(uint16_t lsb, uint16_t milimeter)
+{
+ memcpy(_uart_send_pbuff, &lsb, 2);
+ memcpy(_uart_send_pbuff + 2, &milimeter, 2);
+
+ UART_CmdAckSend(READ_CMD | 0x80, VAN_CONTIU_MEAS, _uart_send_pbuff, 4);
+
+ return 0;
+}
+
+void HandleChipReset(void)
+{
+ xSHUT = 0;
+ wait_ms(30);
+ xSHUT = 1;
+}
+
+void HandleFreqReport(float* V_I_Value)
+{
+ uint32_t temp_byte = 0;
+
+ _uart_send_pbuff[0] = 0;
+ _uart_send_pbuff[1] = 0;
+ memset(&_uart_send_pbuff[2], 0x00, 11);
+
+ for(uint8_t i = 0; i < 10; i++) {
+ temp_byte = V_I_Value[i];
+ memcpy(_uart_send_pbuff + 13 + 4*i, &temp_byte, 4);
+ }
+
+ UART_CmdAckSend(READ_CMD | 0x80, FREQ_REPORT, _uart_send_pbuff, 53);
+}