AirControlValve/User/main_task.c

#include "main_task.h"
#include "uart.h"
#include "gpio.h"
#include "cfg.h"
#include "IAP.h"
#include "protocol.h"
#include "process.h"
#include "crc16.h"
#include <string.h>

typedef struct _mb_ctx
{
	uint8_t* rxbuf;
	uint8_t* txbuf;
	uint16_t rx_len;  //recv data length
	uint16_t tx_len;  //will be transfer data length
	uint16_t txbuf_size;
	uint8_t  exception_code;
	uint8_t  func_code;   // function code 
	uint16_t cmd;    			// register

}MB_CTX;

static MB_CTX g_mb_ctx;

void mb_03_handle(void)
{
	
		uint16_t tx_offset = 0;
		uint16_t crc;
		//uint16_t ret_len = 0;
		uint16_t reg_num = ((uint16_t)g_mb_ctx.rxbuf[4]<<8)|g_mb_ctx.rxbuf[5];
		uint16_t read_len = reg_num<<1; // wanted bytes 
		//
		g_mb_ctx.txbuf[0] = g_mb_ctx.rxbuf[0]; 		// slave addr 
		g_mb_ctx.txbuf[1] = g_mb_ctx.rxbuf[1]; 		// func code 
		g_mb_ctx.txbuf[2] = 0x00;
	
		tx_offset = 3;
	
		switch(g_mb_ctx.cmd){
			case Cmd_FirmwareVersion:
				if(16 == read_len){
					tx_offset += Read_FirmwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);	
				}else if(18 == read_len){
					tx_offset += Read_FirmwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(22 == read_len){
					tx_offset += Read_FirmwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(24 == read_len){
					tx_offset += Read_FirmwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Devicetype(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else {
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_HardwareVersion:
				if(2 == read_len){
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(6 == read_len){
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(8 == read_len){
					tx_offset += Read_HardwareVersion(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Devicetype(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_DeviceID:
				if(4 == read_len){
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(6 == read_len){
					tx_offset += Read_Deviceid(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Devicetype(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_DeviceType:
				if(2 == read_len){
					tx_offset += Read_Devicetype(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_Addr:
				if(2 == read_len){
					tx_offset += Read_Addr(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(4 == read_len){
					tx_offset += Read_Addr(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Baudrate(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else {
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_Baudrate:
				if(2 == read_len){
					tx_offset += Read_Baudrate(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_ReadTemperature:
				if(4 == read_len){
					tx_offset += Read_Temperature(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(8 == read_len){
					tx_offset += Read_Temperature(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(14 == read_len){
					tx_offset += Read_Temperature(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(26 == read_len){
					tx_offset += Read_Temperature(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Angle(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);					
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				
				break;
			case Cmd_ReadPressure:
				if(4 == read_len){
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(10 == read_len){
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(22 == read_len){
					tx_offset += Read_Pressure(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Angle(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_ReadHeight:
				if(6 == read_len){
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else if(18 == read_len){
					tx_offset += Read_Height(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
					tx_offset += Read_Angle(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_ReadAngle:
				if(12 == read_len){
					tx_offset += Read_Angle(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
				
			case Cmd_Bias:
				if(8 == read_len){
					tx_offset += Read_Bias(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
				
			case Cmd_RadarTrans:
				if(read_len <= 32){
					tx_offset += Read_RadarTransData(g_mb_ctx.txbuf+tx_offset, g_mb_ctx.txbuf_size-tx_offset, (uint8_t)read_len);
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
					
				break;
	
			default:
				g_mb_ctx.exception_code = INVALID_COMMAND;

				break;
		};
		
		if(NO_EXCEPTION == g_mb_ctx.exception_code){
				g_mb_ctx.txbuf[2] = (uint8_t)read_len;
				g_mb_ctx.tx_len = tx_offset;
		
		}else{
				g_mb_ctx.txbuf[1] |= 0x80; 		// func code 
				g_mb_ctx.txbuf[2] = g_mb_ctx.exception_code;
				g_mb_ctx.tx_len = 3;
		}
		
		crc = crc16(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
		g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
		g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)(crc & 0x00ff); 
								
		rs485_TransmitData(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
			
}

void mb_06_handle(void)
{
		uint16_t crc;
		uint8_t ret_write = RET_OK;

		memcpy(g_mb_ctx.txbuf, g_mb_ctx.rxbuf, g_mb_ctx.rx_len);
	
		switch(g_mb_ctx.cmd){
			case Cmd_HardwareVersion:
				if(2 == g_mb_ctx.rx_len-4-2){
					ret_write = Write_HardwareVersion(g_mb_ctx.rxbuf+4, 2); 
					if(RET_DATAINVALID == ret_write)
						g_mb_ctx.exception_code = INVALID_DATA;
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}

				break;

			case Cmd_DeviceType:
				if(2 == g_mb_ctx.rx_len-4-2){
					ret_write = Write_Devicetype(g_mb_ctx.rxbuf+4, 2); 
					if(RET_DATAINVALID == ret_write)
						g_mb_ctx.exception_code = INVALID_DATA;
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}

				break;
			case Cmd_Addr:
				if(2 == g_mb_ctx.rx_len-4-2){
					ret_write = Write_Addr(g_mb_ctx.rxbuf+4, 2); 
					if(RET_DATAINVALID == ret_write)
						g_mb_ctx.exception_code = INVALID_DATA;
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
			case Cmd_Baudrate:
				if(2 == g_mb_ctx.rx_len-4-2){
					ret_write = Write_Baudrate(g_mb_ctx.rxbuf+4, 2); 
					if(RET_DATAINVALID == ret_write)
						g_mb_ctx.exception_code = INVALID_DATA;
				}else{
					g_mb_ctx.exception_code = INVALID_DATA;
				}
				break;
//			case Cmd_SetThreshold:
//				if(2 == g_mb_ctx.rx_len-4-2){
//					ret_write = Write_Threshold(g_mb_ctx.rxbuf+4, 2); 
//					if(RET_DATAINVALID == ret_write)
//						g_mb_ctx.exception_code = INVALID_DATA;
//				}else{
//					g_mb_ctx.exception_code = INVALID_DATA;
//				}
//				break;
			case Cmd_Reboot:
				//NVIC_SystemReset();
				ret_write = RET_NEED_REBOOT;
				break;
			case Cmd_Reset:
				ResetConfig();
				ret_write = RET_NEED_SAVE|RET_NEED_REBOOT;
				//NVIC_SystemReset();
				break;
			default:
				g_mb_ctx.exception_code = INVALID_COMMAND;
				break;
		};
		
		if(NO_EXCEPTION == g_mb_ctx.exception_code){
				g_mb_ctx.tx_len = g_mb_ctx.rx_len;
		
		}else{
				g_mb_ctx.txbuf[1] |= 0x80; 		// func code 
				g_mb_ctx.txbuf[2] = g_mb_ctx.exception_code;
				g_mb_ctx.tx_len = 3;
			
				crc = crc16(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
				g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
				g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)(crc & 0x00ff); 
		}
		
		rs485_TransmitData(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
		
		if((ret_write&RET_NEED_SAVE) > 0 ){
				SaveConfig();
		}
		
		if((ret_write&RET_NEED_REBOOT) > 0 ){
				mdelay(200);
				NVIC_SystemReset();
		}

		
}

void mb_10_handle(void)
{
		uint16_t crc;
		uint8_t ret_write = RET_OK;
		uint16_t reg_num = ((uint16_t)g_mb_ctx.rxbuf[4]<<8)|g_mb_ctx.rxbuf[5];
		uint16_t data_len = g_mb_ctx.rxbuf[6];

		memcpy(g_mb_ctx.txbuf, g_mb_ctx.rxbuf, g_mb_ctx.rx_len);
	
		// 先判段数据长度是否一致
		if(data_len != reg_num*2){
			g_mb_ctx.exception_code = INVALID_DATA;
		}else{
			if(data_len != g_mb_ctx.rx_len-7-2){
				g_mb_ctx.exception_code = INVALID_DATA;
			}
		
		}
		
		if(NO_EXCEPTION == g_mb_ctx.exception_code){
			
			switch(g_mb_ctx.cmd){
				case Cmd_HardwareVersion:
					if(8 == data_len){
						ret_write |= Write_HardwareVersion(g_mb_ctx.rxbuf+7, 2); 
						ret_write |= Write_Deviceid(g_mb_ctx.rxbuf+7+2, 4); 
						ret_write |= Write_Devicetype(g_mb_ctx.rxbuf+7+6, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else if(6 == data_len){
						ret_write |= Write_HardwareVersion(g_mb_ctx.rxbuf+7, 2); 
						ret_write |= Write_Deviceid(g_mb_ctx.rxbuf+7+2, 4); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else if(2 == g_mb_ctx.rx_len-4-2){
						ret_write = Write_HardwareVersion(g_mb_ctx.rxbuf+7, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}

					break;
					
				case Cmd_DeviceID:
					if(6 == data_len){
						ret_write |= Write_Deviceid(g_mb_ctx.rxbuf+7, 4); 
						ret_write |= Write_Devicetype(g_mb_ctx.rxbuf+7+4, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else if(4 == data_len){
						ret_write |= Write_Deviceid(g_mb_ctx.rxbuf+7, 4); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}

					break;

				case Cmd_DeviceType:
					if(2 == data_len){
						ret_write |= Write_Devicetype(g_mb_ctx.rxbuf+7, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}

					break;
				case Cmd_Addr:
					if(4 == data_len){
						ret_write |= Write_Addr(g_mb_ctx.rxbuf+7, 2); 
						ret_write |= Write_Addr(g_mb_ctx.rxbuf+7+2, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else if(2 == data_len){
						ret_write |= Write_Addr(g_mb_ctx.rxbuf+7, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}
					break;
				case Cmd_Baudrate:
					if(2 == data_len){
						ret_write |= Write_Baudrate(g_mb_ctx.rxbuf+7, 2); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}
					break;
					
				case Cmd_Bias:
					if(8 == data_len){
						ret_write |= Write_Bias(g_mb_ctx.rxbuf+7, 8); 
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
					}else{
						g_mb_ctx.exception_code = INVALID_DATA;
					}
					break;
					
				case Cmd_RadarTrans:
//					if(2 == g_mb_ctx.rx_len-4-2){
						ret_write = Write_RadarTransData(g_mb_ctx.rxbuf+7, data_len);
						if(ret_write&RET_DATAINVALID)
							g_mb_ctx.exception_code = INVALID_DATA;
//					}else{
//							g_mb_ctx.exception_code = INVALID_DATA;
//					}
					break;
				default:
					g_mb_ctx.exception_code = INVALID_COMMAND;
					break;
			};
		}
	
		
		
		if(NO_EXCEPTION == g_mb_ctx.exception_code){
				//只需要收到的前面6个字节的数据
				g_mb_ctx.tx_len = 6;
		
		}else{
				g_mb_ctx.txbuf[1] |= 0x80; 		// func code 
				g_mb_ctx.txbuf[2] = g_mb_ctx.exception_code;
				g_mb_ctx.tx_len = 3;
		}
		
		crc = crc16(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
		g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
		g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)(crc & 0x00ff); 
		
		rs485_TransmitData(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
		
		if((ret_write&RET_NEED_SAVE) > 0 ){
				SaveConfig();
		}
		
		if((ret_write&RET_NEED_REBOOT) > 0 ){
				mdelay(200);
				NVIC_SystemReset();
		}
}

void mb_42_handle(void)
{
	uint16_t crc;
	uint8_t ret_write = RET_OK;
	
	memcpy(g_mb_ctx.txbuf, g_mb_ctx.rxbuf, 4);
	g_mb_ctx.tx_len = 4;
	
	if(Cmd_IapUpgrade == g_mb_ctx.cmd){
		
		g_mb_ctx.tx_len += IAP_CmdHandle(g_mb_ctx.rxbuf+g_mb_ctx.tx_len, g_mb_ctx.rx_len-4-2, g_mb_ctx.txbuf+g_mb_ctx.tx_len);
		if(1 == iap_reboot){
			ret_write |= RET_NEED_REBOOT;
		}
		
	}else{
		g_mb_ctx.exception_code = INVALID_COMMAND;
	}
	
	if(NO_EXCEPTION == g_mb_ctx.exception_code){
			//啥都不用做
	
	}else{
			g_mb_ctx.txbuf[1] |= 0x80; 		// func code 
			g_mb_ctx.txbuf[2] = g_mb_ctx.exception_code;
			g_mb_ctx.tx_len = 3;
	}
	
	crc = crc16(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
	g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
	g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)(crc & 0x00ff); 
	
	rs485_TransmitData(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
	
	if((ret_write&RET_NEED_SAVE) > 0 ){
			SaveConfig();
	}
	
	if((ret_write&RET_NEED_REBOOT) > 0 ){
			mdelay(200);
			NVIC_SystemReset();
	}
	
}

void mb_funccodeerror_handle(void)
{
	uint16_t crc;
	//uint8_t ret_write = RET_OK;
	
	memcpy(g_mb_ctx.txbuf, g_mb_ctx.rxbuf, 4);
	
	
	g_mb_ctx.txbuf[1] |= 0x80;
	g_mb_ctx.txbuf[2] = INVALID_FUNCTION_CODE;
	g_mb_ctx.tx_len = 3;
	
	crc = crc16(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
	g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
	g_mb_ctx.txbuf[g_mb_ctx.tx_len++] = (uint8_t)(crc & 0x00ff); 
	
	rs485_TransmitData(g_mb_ctx.txbuf, g_mb_ctx.tx_len);
	
}

void mb_handle(void)
{
		g_mb_ctx.func_code = g_mb_ctx.rxbuf[1];
		g_mb_ctx.cmd = ((uint16_t)g_mb_ctx.rxbuf[2]<<8) | g_mb_ctx.rxbuf[3]; 
	
		if(MB_FUNC_03 == g_mb_ctx.func_code){
				mb_03_handle();
		}else if(MB_FUNC_06 == g_mb_ctx.func_code){
				mb_06_handle();
		}else if(MB_FUNC_10 == g_mb_ctx.func_code){
				mb_10_handle();
		}else if(MB_FUNC_42 == g_mb_ctx.func_code){
				mb_42_handle();
		}else{
				mb_funccodeerror_handle();
		}
}





/**
* Uart0_RxDataHandle
*                  
* @return    none
*
* @brief  主任务处理函数
*/
void Uart0_RxDataHandle(void)
{
		g_mb_ctx.rxbuf = rs485_info.recv_buffer;
		g_mb_ctx.rx_len = rs485_info.recv_len;
		g_mb_ctx.txbuf = rs485_info.send_buffer;
		g_mb_ctx.txbuf_size = UART_TRANSMIT_DATA_POOL_COUNT;
		g_mb_ctx.tx_len = 0;
		g_mb_ctx.exception_code = NO_EXCEPTION;
	
		uint16_t crc;
//		uint16_t ret_len = 0;
//		uint8_t ret_write = RET_OK;
	
		if(g_mb_ctx.rx_len > 2){

	
			//check rs485 addr 
			if(config->addr == g_mb_ctx.rxbuf[0] || BROADCAST_ADDR == g_mb_ctx.rxbuf[0]){
				
#if 1						
					// check crc
					crc = ((uint16_t)g_mb_ctx.rxbuf[g_mb_ctx.rx_len-2]<<8) | g_mb_ctx.rxbuf[g_mb_ctx.rx_len-1]; 
					if (crc == crc16(g_mb_ctx.rxbuf, g_mb_ctx.rx_len-2))
					{
							mb_handle();
						
#if 0
							//copy 地址、功能码、命令、到发送buf 
							memcpy(txbuf, (void *)rxbuf, 4);
							tx_len +=4;
							
							if(MODBUS_FUNC_READ == rxbuf[1]){
									cmd = ((uint16_t)rxbuf[2]<<8) | rxbuf[3]; 
									switch(cmd){
										case Cmd_FirmwareVersion:
											ret_len = Read_FirmwareVersion(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_HardwareVersion:
											ret_len = Read_HardwareVersion(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_DeviceID:
											ret_len = Read_Deviceid(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_DeviceType:
											ret_len = Read_Devicetype(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_Addr:
											ret_len = Read_Addr(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_Baudrate:
											ret_len = Read_Baudrate(txbuf+tx_len, txbuf_size-tx_len);
											break;
										case Cmd_LockStatus:
											ret_len = Read_LockStatus(txbuf+tx_len, txbuf_size-tx_len);
											break;
										default:
											txbuf[1] |= 0x80;
											txbuf[tx_len] = INVALID_COMMAND;
											ret_len = 1;
											break;
									};
									
									if(0 == ret_len){
											// error occur 
											txbuf[1] |= 0x80;
											txbuf[tx_len] = DEVICE_FAULT;
											ret_len = 1;
									}
									
									tx_len += ret_len;
									crc = crc16(txbuf, tx_len);
									txbuf[tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
									txbuf[tx_len++] = (uint8_t)(crc & 0x00ff); 
									
									uart0_TransmitData(txbuf, tx_len);

							
							}else if(MODBUS_FUNC_WRITE == rxbuf[1]){
								
									ret_write = RET_OK;
									cmd = ((uint16_t)rxbuf[2]<<8) | rxbuf[3]; 
									switch(cmd){
										case Cmd_HardwareVersion:
											ret_write = Write_HardwareVersion(rxbuf+4, rx_len-4-2); 

											break;
										case Cmd_DeviceID:
											ret_write = Write_Deviceid(rxbuf+4, rx_len-4-2); 

											break;
										case Cmd_DeviceType:
											ret_write = Write_Devicetype(rxbuf+4, rx_len-4-2); 

											break;
										case Cmd_Addr:
											ret_write = Write_Addr(rxbuf+4, rx_len-4-2); 
											break;
										case Cmd_Baudrate:
											ret_write = Write_Baudrate(rxbuf+4, rx_len-4-2); 
											break;
										case Cmd_Reboot:
											//NVIC_SystemReset();
											ret_write = RET_NEED_REBOOT;
											break;
										case Cmd_Reset:
											ResetConfig();
											ret_write = RET_NEED_SAVE|RET_NEED_REBOOT;
											//NVIC_SystemReset();
											break;
										case Cmd_IapUpgrade:
											tx_len += IAP_CmdHandle(rxbuf+tx_len, rx_len-4-2, txbuf+tx_len);
											if(1 == iap_reboot){
												ret_write |= RET_NEED_REBOOT;
											}
											break;
										default:
											ret_write = RET_CMDINVALID;
											break;
									};
									
									if((ret_write&RET_ERROR_MASK) > 0){
										
											if((ret_write&RET_DATAINVALID) > 0){
												txbuf[1] |= 0x80;
												txbuf[tx_len++] = INVALID_DATA;

											}else if((ret_write&RET_CMDINVALID) > 0){
												txbuf[1] |= 0x80;
												txbuf[tx_len++] = INVALID_COMMAND;
											}
									
									}else{ 
											if(Cmd_IapUpgrade != cmd){
												
												//copy the whole rx frame
												memcpy(txbuf, (void *)rxbuf, rx_len-2);
												tx_len =rx_len-2;
												
											}else{ 
												//升级命令，啥都不用做
											
											}
											
									}
									
									crc = crc16(txbuf, tx_len);
									txbuf[tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
									txbuf[tx_len++] = (uint8_t)(crc & 0x00ff); 
									
									uart0_TransmitData(txbuf, tx_len);
									
									if((ret_write&RET_NEED_SAVE) > 0 ){
											SaveConfig();
									}
									
									if((ret_write&RET_NEED_REBOOT) > 0 ){
											mdelay(100);
											NVIC_SystemReset();
									}
	
									
							}else{
								
								//function code no exist
								txbuf[1] |= 0x80;
								txbuf[tx_len++] = INVALID_FUNCTION_CODE;
								
								crc = crc16(txbuf, tx_len);
								txbuf[tx_len++] = (uint8_t)((crc>>8) & 0x00ff);
								txbuf[tx_len++] = (uint8_t)(crc & 0x00ff); 
								
								uart0_TransmitData(txbuf, tx_len);

							}
#endif 
							
					}
		#else
		memcpy(txbuf, (void *)rxbuf, rx_len);
		tx_len +=rx_len;
		
		uart0_TransmitData(txbuf, tx_len);
			
#endif 			
				
			}
		
		} //END rx_len 
		
		if(g_mb_ctx.rx_len > 0){
			rs485_RecvData();
		}
		
		
		
		//处理 485 收发状态 
		if(rs485_info.dmasend_count >= UART_DMASEND_COUNT_RESET){
				rs485_info.dmasend_count = 0;
				RS485_RX_EN;
		}


}


/**
* Task_Init
*                  
* @return    none
*
* @brief  初始化
*/

void Task_Init(void)
{ 
    rs485_Initialize();

		memcpy(rs485_info.send_buffer, (void *)"Booted", 6);
		rs485_info.send_len = 6;
		rs485_TransmitData(rs485_info.send_buffer, rs485_info.send_len);
	
	
		rs485_RecvData();

}


/**
* Task_Handle
*                  
* @return    none
*
* @brief  主任务处理函数
*/
void Task_Handle(void)
{
		Process_RunPeriod();
		Uart0_RxDataHandle();

}