motor_ctl-1/2.MotorDrive/Include/uart_monitor.h

#ifndef _UART_MONITOR_H_
#define _UART_MONITOR_H_

#ifdef _UART_MONITOR_C_
#define _UART_MONITOR_EXT
#else
#define _UART_MONITOR_EXT extern
#endif

#include "typedefine.h"
typedef _Bool  BOOL;
#define CRC_CCITT
/* ========================================================================== */
/* ========================== Definitions & Macros ========================== */
/* ========================================================================== */

#define UART_DEF_TIMEOUT_MS 1000
#define UART_DEF_CMD_LEN    0

#define INSERT_BUFFER_SIZE       16
#define INSERT_BUFFER_HEADER_LEN 7
#define UART_CMD_LENGTH          22
#define TX_BUFFER_SIZE           150
#define RX_BUFFER_SIZE           24
#define MSG_QUEUE_SIZE           10
#define PARA_TABLE_SIZE          22
#define PARA_BUFFER_SIZE         40
#define LOW_WORD(var)            ((UWORD *)(&var)) /* little-endian on arm */
#define HIGH_WORD(var)           ((UWORD *)(&var) + 1)

/* ------------------------ data monitor application ------------------------ */

#define CHANNEL_NUM 6 /* 使用的通道数 */
#define CHANNEL_1   2 /* 每通道占2字节 */
#define CHANNEL_2   4
#define CHANNEL_3   6
#define CHANNEL_4   8
#define CHANNEL_5   10
#define CHANNEL_6   12

#define TEMP_BUFFER_LEN CHANNEL_6

#if TEMP_BUFFER_LEN == CHANNEL_6
#define S_FRAME_SIZE 124
#elif TEMP_BUFFER_LEN == CHANNEL_5
#define S_FRAME_SIZE 104
#elif TEMP_BUFFER_LEN == CHANNEL_4
#define S_FRAME_SIZE 84
#elif TEMP_BUFFER_LEN == CHANNEL_3
#define S_FRAME_SIZE 64
#else
#error Must Specify Channel Num
#endif

/* ---------------- Define USART Driver configuration objects --------------- */

#define UART_APPL_CONFIG_DEFAULT                   \
    {                                              \
        UART_MODE_LEN, 1000, UART_CMD_LENGTH, NULL \
    }
#define UART_MsgQ_CONFIG_DEFAULT                       \
    {                                                  \
        UART_stMsgQueue, UART_stMsgQueue, FALSE, FALSE \
    }
#define UART_DRIVER_CONFIG_DEFAULT                                 \
    {                                                              \
        UART_MODE_LEN, UART_DEF_TIMEOUT_MS, UART_DEF_CMD_LEN, NULL \
    }

/* ========================================================================== */
/* ====================== TypeDefs & Structure Defines ====================== */
/* ========================================================================== */

/* ---------------------------- USART error type ---------------------------- */

typedef enum UART_ERR
{
    UART_ERR_OK,          /* No error */
    UART_ERR_BUSY,        /* Read or Write process is in busy. */
    UART_ERR_NO_BUFFER,   /* No buffer room for data received */
    UART_ERR_TIMEOUT,     /* Timeout when read */
    UART_ERR_UNKNOWN_CMD, /* Not in use */
    UART_ERR_INVALID_CMD, /* Not in use */
    UART_ERR_CANCEL,      /* Not in use */
    UART_ERR_PARA         /* Provide function with invalid argument */
} UART_ERR_Type;

/* -------------------------- USART work mode type -------------------------- */

typedef enum UART_WorkMode
{
    UART_MODE_TIME, /* Time interval framing mode */
    UART_MODE_LEN,  /* Fixed length framing mode */
    UART_MODE_CHAR  /* Fixed chars framing mode */
} UART_WorkMode_Type;

/* ------------------- Callback function type definitions ------------------- */

typedef void (*CB_ERROR)(UART_ERR_Type);
typedef void (*CB_DONE_READ)(UART_ERR_Type, ULONG);
typedef void (*CB_DONE_WRITE)(UART_ERR_Type);
/* ------------------------- HAL configuration type ------------------------- */

typedef struct UART_CONFIG
{
    UART_WorkMode_Type enWorkMode;
    UWORD              uwTimeout; // unit:count
    UBYTE              ubLength;  // unit:bytes
    UBYTE             *pChar;
} UART_CONFIG_Type;

/*1. When enWorkMode=USART_MODE_TIME, uwTimeout indicates time-interval between frames.
  2. When enWorkMode=USART_MODE_LEN, uwTimeout indicates timeout value, ubLength indicates command frame length, pChar is NULL.
  3. When enWorkMode=USART_MODE_CHAR,uwTimeout indicates timeout value, ubLength indicates valid length in char-array pointed by pChar.   */

typedef enum MsgType
{
    UART_NULL        = 0, // NULL message will not be processed
    UART_SEND_STATUS = 1, // send out Application status
    UART_SEND_PARA   = 2  // send out Parameter value
} UART_MsgType;

typedef struct Msg
{
    UART_MsgType enType;
    UBYTE       *pBuf;
    UWORD        uwNumBytes;
} UART_MSG;

typedef struct MsgQNode
{
    UART_MSG         stMsg;
    struct MsgQNode *pNext;
} UART_MsgQNodeType;

typedef struct MsgQType
{
    UART_MsgQNodeType *pSave;
    UART_MsgQNodeType *pUse;
    BOOL               bValid;
    BOOL               bHandling;
} UART_MsgQType;
typedef struct ParaData
{
    BOOL bParaStart;
    BOOL bWriteBusy;
} UART_ParaData_Flag;

typedef struct DataBuff
{
    UBYTE *pBuf;
    ULONG  NumBytes;
} DataBuff_Type;
/* data structure used for Read */
typedef struct READ
{
    BOOL          m_ReadBusy;
    ULONG         m_BuffSize;
    DataBuff_Type m_DataBuff;
    CB_DONE_READ  m_fpDone;
} READ_Type;
static READ_Type USART_Read = {FALSE, 0, {NULL, 0}, NULL};
typedef struct WRITE
{
    BOOL          m_WriteBusy;
    DataBuff_Type m_DataBuff;
    CB_DONE_WRITE m_fpDone;
} WRITE_Type;
static WRITE_Type USART_Write = {FALSE, {NULL, 0}, NULL};
/************************************************************************
 Exported Variables:
*************************************************************************/
#ifdef _UART_MONITOR_C_
_UART_MONITOR_EXT UWORD                     placeholder[4]                      = {0xFFFF};
_UART_MONITOR_EXT ULONG                     dummy32                             = 0x00000000;
_UART_MONITOR_EXT UBYTE                     UART_ubParaBuffer[PARA_BUFFER_SIZE] = {0};
_UART_MONITOR_EXT UBYTE                     UART_ubReadBuffer[RX_BUFFER_SIZE];
_UART_MONITOR_EXT UBYTE                    *uart_pReadBuffer                    = UART_ubReadBuffer;
_UART_MONITOR_EXT UBYTE                     UART_ubWriteBuffer1[TX_BUFFER_SIZE] = {0x55, 0xAA, 0x55, 0xAA};
_UART_MONITOR_EXT UBYTE                     UART_ubWriteBuffer2[TX_BUFFER_SIZE] = {0x55, 0xAA, 0x55, 0xAA};
_UART_MONITOR_EXT UBYTE                    *UART_pWriteBuffer                   = UART_ubWriteBuffer1;
_UART_MONITOR_EXT UWORD                     UART_uwWriteIndex                   = 4;
_UART_MONITOR_EXT                           UWORD volatile UART_uwRxNum         = 0;
_UART_MONITOR_EXT UART_CONFIG_Type          UART_stConfigLEN                    = UART_APPL_CONFIG_DEFAULT;
_UART_MONITOR_EXT BOOL                      UART_bMonSwitch                     = FALSE; // control monitor function whether of not write data out.
_UART_MONITOR_EXT UWORD                    *UART_pMonAddr[6];                            // the address of the variable which user want to monitor.
_UART_MONITOR_EXT UBYTE                     UART_ubInsertBuf[INSERT_BUFFER_SIZE] = {0x55, 0xAA, 0x55,
                                                                                    0xFF}; // the data in insertBuffer will be inserted into writeBuffer when enabled
_UART_MONITOR_EXT volatile BOOL             UART_bInsertPendTx = FALSE; // flag indicate whether insert buffer is pending to be transmitted.
_UART_MONITOR_EXT UART_ParaData_Flag        UART_stParaStatus  = {FALSE};
_UART_MONITOR_EXT UART_MsgQNodeType         UART_stMsgQueue[MSG_QUEUE_SIZE]; // message queue
_UART_MONITOR_EXT UART_MsgQType             UART_stMsgQ       = UART_MsgQ_CONFIG_DEFAULT;
_UART_MONITOR_EXT volatile UART_CONFIG_Type UART_Config       = UART_DRIVER_CONFIG_DEFAULT; // define configure object and assign default value.
_UART_MONITOR_EXT UWORD                     UART_uwTimeoutCtr = 0;
_UART_MONITOR_EXT volatile CB_ERROR           UART_fpError      = NULL;
UBYTE                                       uart_ReadBuffer2[RX_BUFFER_SIZE]; // cancel static just for debug
static UBYTE                               *uart_pReadBuffer2 = uart_ReadBuffer2;
UWORD volatile uart_DataNum2                                  = 0;
UWORD                   dummy                                 = 0;
BOOL                    uart_frameStartFlag                   = FALSE;
BOOL                    UART_blCommErrFlag                    = FALSE;
UBYTE                   uart_frameType                        = 0x00;
UBYTE                   uart_frameLength                      = 0;
UWORD                   uart_receivedNum                      = 0;
_UART_MONITOR_EXT SWORD uart_slSpdRefRpm                      = 0;
_UART_MONITOR_EXT SWORD uart_swTorqRefNm                      = 0;
#else
_UART_MONITOR_EXT UBYTE             *UART_pWriteBuffer;
_UART_MONITOR_EXT volatile BOOL      UART_bInsertPendTx;
_UART_MONITOR_EXT BOOL               UART_bMonSwitch ;
_UART_MONITOR_EXT UART_ParaData_Flag UART_stParaStatus;
_UART_MONITOR_EXT SWORD              uart_slSpdRefRpm;
_UART_MONITOR_EXT SWORD              uart_swTorqRefNm;
#endif
/************************************************************************
 Local Variables:
*************************************************************************/

/************************************************************************
 Ram Allocation:
*************************************************************************/

/************************************************************************
 Exported Function Call Prototypes:
*************************************************************************/
_UART_MONITOR_EXT void     uart_voMonitorInit(void);
_UART_MONITOR_EXT void     uart_voMainDec(void);    // used in main.c for checking RxData and insertQueue
_UART_MONITOR_EXT void     uart_voAppMonitor(void); // used to send monitor data out
_UART_MONITOR_EXT void     uart_voApplTimer(void);
_UART_MONITOR_EXT UART_MSG UART_stMsgFetched;
_UART_MONITOR_EXT void     uart_voDriTimer(void);
_UART_MONITOR_EXT void     ReadFrame_Poll2();

_UART_MONITOR_EXT void uart_voSwanInit(void);
_UART_MONITOR_EXT void uart_voApplMain(void);
void                   uart_TxCompleteCallback();
void                   uart_TxErrorCallback();
_UART_MONITOR_EXT UWORD uart_uwCRCCcitt(UBYTE *ptubBuf, UWORD length);
/************************************************************************
 Local Function Call Prototypes:
*************************************************************************/
void  uart_voHandleParaCmd(void);
void  uart_voDecode(void);
void  CBError_monitor(UART_ERR_Type _err);
void  uart_voCBDoneRead(UART_ERR_Type _err, ULONG _NumBytes);
UBYTE uart_ubCheckXOR(UBYTE *Buf, UBYTE CNT);
void  uart_voPostMsg(UART_MSG _msg);
void  uart_Read_Poll2(ULONG _NumBytes, UBYTE *_Buffer, CB_DONE_READ _fpCBDone);
void  CBDoneRead2(UART_ERR_Type _err, ULONG _NumBytes);

void CBError_Swan(UART_ERR_Type _err);
void uart_Write_Poll2(ULONG _NumBytes, const UBYTE *_Buffer);
void HAL_CancelRead_Poll2(void);
BOOL SwanDecoder(UBYTE *ptubBuffer, UWORD Num, UBYTE **ptptubACKbuffer, UWORD *ACKnum);


#endif
/************************************************************************
 Copyright (c) 2019 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/