474 lines
19 KiB
C
474 lines
19 KiB
C
//
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// Created by cfif on 13.03.2026.
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//
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#include "ArbiterCommand.h"
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#include "CmsisRtosThreadUtils.h"
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#include "SystemDelayInterface.h"
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#include "SerialPort.h"
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#include "AtCmdCommonProtected.h"
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#include "AsciiStringParsingUtils.h"
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#include "memory.h"
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void sendOk(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "OK");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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void sendError(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "ERROR");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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void sendVers(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "v001");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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void TaskSerialToCanCyclic0_Init(tTaskSerialToCanCyclic *env,
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tSerialPortFrameIO *ioCAN,
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osMessageQueueId_t txDataQueue
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) {
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env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->txDataQueue = txDataQueue;
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InitThreadAtrStatic(&env->thread.attr, "SerialCyclic", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanCyclic0_Thread(tTaskSerialToCanCyclic *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_type data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.standard_id, 0, 0,
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1000);
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.extended_id, 1, 0,
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1000);
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}
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}
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osMutexRelease(env->access);
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}
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}
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}
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void TaskSerialToCanCyclic0_StartThread(tTaskSerialToCanCyclic *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanCyclic0_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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void TaskSerialToCanCyclic1_Init(tTaskSerialToCanCyclic *env,
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tSerialPortFrameIO *ioCAN,
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osMessageQueueId_t txDataQueue
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) {
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env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->txDataQueue = txDataQueue;
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InitThreadAtrStatic(&env->thread.attr, "SerialCyclic", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanCyclic1_Thread(tTaskSerialToCanCyclic *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_type data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.standard_id, 0, 1,
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1000);
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.extended_id, 1, 1,
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1000);
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}
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}
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osMutexRelease(env->access);
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}
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}
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}
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void TaskSerialToCanCyclic1_StartThread(tTaskSerialToCanCyclic *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanCyclic1_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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void TaskSerialToCanSpontany_Init(tTaskSerialToCanSpontany *env,
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tSerialPortFrameIO *ioCAN,
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osMessageQueueId_t txDataQueue,
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tAtCmd *At_UART,
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tAtCmd *At_UART_USB
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) {
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env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->At_UART = At_UART;
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env->At_UART_USB = At_UART_USB;
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env->txDataQueue = txDataQueue;
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InitThreadAtrStatic(&env->thread.attr, "SerialSpontany", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanSpontany_Thread(tTaskSerialToCanSpontany *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_Spontany data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.can_rx_message.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.can_rx_message.data,
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data.can_rx_message.dlc, data.can_rx_message.standard_id, 0, 2,
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1000);
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if (sent) {
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if (data.from_uart == SPONTANY_FROM_UART) {
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sendOk(env->At_UART);
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} else {
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sendOk(env->At_UART_USB);
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}
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} else {
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if (data.from_uart == SPONTANY_FROM_UART) {
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sendError(env->At_UART);
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} else {
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sendError(env->At_UART_USB);
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}
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}
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.can_rx_message.data,
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data.can_rx_message.dlc, data.can_rx_message.extended_id, 1, 2,
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1000);
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if (sent) {
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if (data.from_uart == SPONTANY_FROM_UART) {
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sendOk(env->At_UART);
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} else {
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sendOk(env->At_UART_USB);
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}
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} else {
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if (data.from_uart == SPONTANY_FROM_UART) {
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sendError(env->At_UART);
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} else {
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sendError(env->At_UART_USB);
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}
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}
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}
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}
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osMutexRelease(env->access);
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}
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}
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}
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void TaskSerialToCanSpontany_StartThread(tTaskSerialToCanSpontany *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanSpontany_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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void SerialCommand_Scheduler(tTaskSerial *env) {
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while (AtCmdReceiveNextLine(&env->At, SystemWaitForever) == AT_OK) {
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if (AtCmdRxBeginWithStatic(&env->At, "T")) {
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uint8_t data[8];
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//uint32_t adr = iAsciiStringParseUnsignedLongDecimalNumber(&env->At.rxBuffer.data[1],
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// &env->At.rxBuffer.data[7]);
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uint8_t size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[0], 1);
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uint8_t opt = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[1], 1);
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uint8_t remote = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[3], 4);
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uint32_t adr = (data[0] << 8) | data[1];
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uint8_t len = &env->At.rxBuffer.data[env->At.rxBuffer.len] - &env->At.rxBuffer.data[7] - 2;
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if (len > 16) {
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len = 16;
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}
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[7], len);
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can_rx_message_Spontany dataCan;
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dataCan.from_uart = env->from_uart;
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dataCan.can_rx_message.dlc = size;
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dataCan.can_rx_message.id_type = CAN_ID_STANDARD;
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dataCan.can_rx_message.standard_id = adr;
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dataCan.can_rx_message.frame_type = remote;
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dataCan.can_rx_message.filter_index = 0;
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dataCan.can_rx_message.extended_id = 0;
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memcpy(dataCan.can_rx_message.data, data, size);
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if (opt) {
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osMessageQueuePut(env->txDataQueue_Spontany, &dataCan, 0x0, 0U);
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} else {
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uint32_t count0 = osMessageQueueGetCount(env->txDataQueue_Cyclic0);
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uint32_t count1 = osMessageQueueGetCount(env->txDataQueue_Cyclic1);
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if (count0 <= count1) {
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osMessageQueuePut(env->txDataQueue_Cyclic0, &dataCan.can_rx_message, 0x0, 0U);
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} else {
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osMessageQueuePut(env->txDataQueue_Cyclic1, &dataCan.can_rx_message, 0x0, 0U);
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}
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}
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}
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if (AtCmdRxBeginWithStatic(&env->At, "t")) {
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uint8_t data[8];
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//uint32_t adr = iAsciiStringParseUnsignedLongDecimalNumber(&env->At.rxBuffer.data[1],
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// &env->At.rxBuffer.data[9]);
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uint8_t size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[0], 1);
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uint8_t opt = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[1], 1);
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uint8_t remote = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[3], 8);
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uint32_t adr = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3] << 0);
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uint8_t len = &env->At.rxBuffer.data[env->At.rxBuffer.len] - &env->At.rxBuffer.data[9] - 2;
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if (len > 16) {
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len = 16;
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}
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[9], len);
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can_rx_message_Spontany dataCan;
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dataCan.from_uart = env->from_uart;
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dataCan.can_rx_message.dlc = size;
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dataCan.can_rx_message.id_type = CAN_ID_EXTENDED;
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dataCan.can_rx_message.extended_id = adr;
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dataCan.can_rx_message.frame_type = remote;
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dataCan.can_rx_message.filter_index = 0;
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dataCan.can_rx_message.standard_id = 0;
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memcpy(dataCan.can_rx_message.data, data, size);
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if (opt) {
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osMessageQueuePut(env->txDataQueue_Spontany, &dataCan, 0x0, 0U);
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} else {
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uint32_t count0 = osMessageQueueGetCount(env->txDataQueue_Cyclic0);
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uint32_t count1 = osMessageQueueGetCount(env->txDataQueue_Cyclic1);
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if (count0 <= count1) {
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osMessageQueuePut(env->txDataQueue_Cyclic0, &dataCan.can_rx_message, 0x0, 0U);
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} else {
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osMessageQueuePut(env->txDataQueue_Cyclic1, &dataCan.can_rx_message, 0x0, 0U);
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}
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}
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}
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if (AtCmdRxBeginWithStatic(&env->At, "V")) {
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sendVers(&env->At);
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sendOk(&env->At);
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}
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}
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}
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Обработчик UART команд-----------------------------------------------------------
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//начало ------------------------------Обработчик UART команд-----------------------------------------------------------
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//начало ------------------------------Обработчик UART команд-----------------------------------------------------------
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void TaskSerialUART_Init(tTaskSerial *env,
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spontany_from_uart from_uart,
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tSerialPortIO *ioUART,
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tSerialPortFrameIO *ioCAN,
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osMessageQueueId_t txDataQueue_Spontany,
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osMessageQueueId_t txDataQueue_Cyclic0,
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osMessageQueueId_t txDataQueue_Cyclic1
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) {
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env->access = osMutexNew(NULL);
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env->from_uart = from_uart;
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env->ioUART = ioUART;
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env->ioCAN = ioCAN;
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env->txDataQueue_Spontany = txDataQueue_Spontany;
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env->txDataQueue_Cyclic0 = txDataQueue_Cyclic0;
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env->txDataQueue_Cyclic1 = txDataQueue_Cyclic1;
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SerialPortClearRxBuffer(env->ioUART);
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AtCmdInit(
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&env->At, env->ioUART,
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env->AtRx, sizeof(env->AtRx),
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env->AtTx, sizeof(env->AtTx),
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2000, 2000
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);
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InitThreadAtrStatic(&env->thread.attr, "SerialUART", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
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}
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static _Noreturn void Serial_UART_Thread(tTaskSerial *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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SerialCommand_Scheduler(env);
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osMutexRelease(env->access);
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}
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SystemDelayMs(1);
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}
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}
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void TaskSerialUART_StartThread(tTaskSerial *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_UART_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Обработчик UART команд-----------------------------------------------------------
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//конец ------------------------------Обработчик UART команд-----------------------------------------------------------
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//конец ------------------------------Обработчик UART команд-----------------------------------------------------------
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//начало ------------------------------Обработчик UART USB команд-------------------------------------------------------
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//начало ------------------------------Обработчик UART USB команд-------------------------------------------------------
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//начало ------------------------------Обработчик UART USB команд-------------------------------------------------------
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void TaskSerialUSB_Init(tTaskSerial *env,
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spontany_from_uart from_uart,
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tSerialPortIO *ioUART,
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tSerialPortFrameIO *ioCAN,
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osMessageQueueId_t txDataQueue_Spontany,
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osMessageQueueId_t txDataQueue_Cyclic0,
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osMessageQueueId_t txDataQueue_Cyclic1
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) {
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env->access = osMutexNew(NULL);
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env->from_uart = from_uart;
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env->ioUART = ioUART;
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env->ioCAN = ioCAN;
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env->txDataQueue_Spontany = txDataQueue_Spontany;
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env->txDataQueue_Cyclic0 = txDataQueue_Cyclic0;
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env->txDataQueue_Cyclic1 = txDataQueue_Cyclic1;
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SerialPortClearRxBuffer(env->ioUART);
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AtCmdInit(
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&env->At, env->ioUART,
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env->AtRx, sizeof(env->AtRx),
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env->AtTx, sizeof(env->AtTx),
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2000, 2000
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);
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InitThreadAtrStatic(&env->thread.attr, "SerialUSB", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
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}
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static _Noreturn void Serial_USB_Thread(tTaskSerial *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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SerialCommand_Scheduler(env);
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osMutexRelease(env->access);
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}
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SystemDelayMs(1);
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}
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}
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void TaskSerialUSB_StartThread(tTaskSerial *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_USB_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Обработчик UART USB команд-------------------------------------------------------
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//конец ------------------------------Обработчик UART USB команд-------------------------------------------------------
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//конец ------------------------------Обработчик UART USB команд-------------------------------------------------------
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