BvAutoController/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>
#include "osif.h"


/**
* Uart0_RxDataHandle
*                  
* @return    none
*
* @brief  主任务处理函数
*/
void Uart1_RxDataHandle(void)
{
		uint8_t* rxbuf = uart1_info.recv_buffer;
		uint16_t rx_len = uart1_info.recv_len;
		uint8_t* txbuf = uart1_info.send_buffer;
		uint16_t txbuf_size = UART1_TRANSMIT_DATA_POOL_COUNT;
		uint16_t tx_len = 0;
		uint16_t cmd;
		uint16_t crc;
		uint16_t ret_len = 0;
		uint8_t ret_write = RET_OK;
	
		if(rx_len > 2){

	
			//check rs485 addr 
			if(config->addr == rxbuf[0] || BROADCAST_ADDR == rxbuf[0]){
				
#if 1						
					// check crc
					crc = ((uint16_t)rxbuf[rx_len-2]<<8) | rxbuf[rx_len-1]; 
					if (crc == crc16(rxbuf, rx_len-2))
					{
							//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_BvStatus:
											ret_len = Read_BvStatus(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); 
									
									Uart1_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_ControlSV:
											ret_write = Control_SValve(rxbuf+4, rx_len-4-2);
											break;
										case Cmd_TriggerVO:
											ret_write = Trigger_VoicOutput(rxbuf+4, rx_len-4-2);
											break;
										case Cmd_TriggerSendRaw:
											ret_write = Trigger_SendRaw(rxbuf+4, rx_len-4-2);
											break;
										case Cmd_TriggerSendFiltered:
											ret_write = Trigger_SendFiltered(rxbuf+4, rx_len-4-2);
											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); 
									
									Uart1_TransmitData(txbuf, tx_len);
									
									if((ret_write&RET_NEED_SAVE) > 0 ){
											SaveConfig();
									}
									
									if((ret_write&RET_NEED_REBOOT) > 0 ){
											OSIF_TimeDelay(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); 
								
								Uart1_TransmitData(txbuf, tx_len);

							}
							
					}
					
#else
				memcpy(txbuf, (void *)rxbuf, rx_len);
				tx_len +=rx_len;
				
				Uart1_TransmitData(txbuf, tx_len);
			
#endif 			
				
			}
			
		
		} //END rx_len 
		
		if(rx_len > 0){
			Uart1_RecvData();
		}

}


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

void Task_Init(void)
{ 
		Process_Init();
	
#if 1
    Uart1_Initialize();

		memcpy(uart1_info.send_buffer, (void *)"Booted", 6);
		uart1_info.send_len = 6;
		
		Uart1_TransmitData(uart1_info.send_buffer, uart1_info.send_len);
		Uart1_RecvData();
#endif 
		
}


/**
* Task_Handle
*                  
* @return    none
*
* @brief  主任务处理函数
*/
void Task_Handle(void)
{
	
		Process_RunLedPrd();
		Uart1_RxDataHandle();
		Process_Alg();

}