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stm32samples/F1:F103/FX3U/proto.c

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/*
* This file is part of the fx3u project.
* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "adc.h"
#include "can.h"
#include "canproto.h"
#include "flash.h"
#include "hardware.h"
#include "proto.h"
#include "modbusrtu.h"
#include "strfunc.h"
#include "usart.h"
#include "version.inc"
flags_t flags = {
0
};
// text-only commans indexes (0 is prohibited)
typedef enum{
TCMD_PROHIBITED, // prohibited
TCMD_WDTEST, // test watchdog
TCMD_DUMPCONF, // dump configuration
TCMD_CANSEND, // send CAN message
TCMD_CANSNIFFER, // sniff all CAN messages
TCMD_CANBUSERRPRNT, // pring all errors of bus
TCMD_SW_SEND_RELAY, // change of IN will send also command to change OUT
TCMD_MODBUS_SEND, // send raw modbus data (CRC added auto)
TCMD_AMOUNT
} text_cmd;
typedef struct{
const char *cmd; // command, if NULL - only display help message
int idx; // index in CAN cmd or text cmd list (if negative)
const char *help; // help message
} funcdescr;
// list of all text functions; should be sorted and can be grouped (`help` is header when cmd == NULL)
static const funcdescr funclist[] = {
// {"adcmul", CMD_ADCMUL, "get/set ADC multipliers 0..3 (*1000)"},
// {"adcraw", CMD_ADCRAW, "get raw ADC values of channel 0..4"},
// {"adcv", CMD_ADCV, "get ADC voltage of channel 0..3 (*100V)"},
// {"bounce", CMD_BOUNCE, "get/set bounce constant (ms)"},
{NULL, 0, "CAN bus commands"},
{"canbuserr", -TCMD_CANBUSERRPRNT, "print all CAN bus errors (a lot of if not connected)"},
{"cansniff", -TCMD_CANSNIFFER, "switch CAN sniffer mode"},
{"s", -TCMD_CANSEND, "send CAN message: ID 0..8 data bytes"},
{NULL, 0, "Configuration"},
{"bounce", CMD_BOUNCE, "set/get anti-bounce timeout (ms, max: 1000)"},
{"canid", CMD_CANID, "set both (in/out) CAN ID / get in CAN ID"},
{"canidin", CMD_CANIDin, "get/set input CAN ID"},
{"canidout", CMD_CANIDout, "get/set output CAN ID"},
{"canspeed", CMD_CANSPEED, "get/set CAN speed (bps)"},
{"dumpconf", -TCMD_DUMPCONF, "dump current configuration"},
{"eraseflash", CMD_ERASESTOR, "erase all flash storage"},
{"flags", CMD_FLAGS, "set/get configuration flags (as one U32 without parameter or Nth bit with)"},
{"modbusid", CMD_MODBUSID, "set/get modbus slave ID (1..247) or set it master (0)"},
{"modbusspeed", CMD_MODBUSSPEED, "set/get modbus speed (1200..115200)"},
{"saveconf", CMD_SAVECONF, "save configuration"},
{"sw_send_relay", -TCMD_SW_SEND_RELAY, "change of IN will send also command to change OUT with `canidout`"},
{"usartspeed", CMD_USARTSPEED, "get/set USART1 speed"},
{NULL, 0, "IN/OUT"},
{"adc", CMD_ADCRAW, "get raw ADC values for given channel"},
{"esw", CMD_GETESW, "anti-bounce read inputs"},
{"eswnow", CMD_GETESWNOW, "read current inputs' state"},
{"led", CMD_LED, "work with onboard LED"},
{"relay", CMD_RELAY, "get/set relay state (0 - off, 1 - on)"},
{NULL, 0, "Other commands"},
{"inchannels", CMD_INCHNLS, "get u32 with bits set on supported IN channels"},
{"mcutemp", CMD_MCUTEMP, "get MCU temperature (*10degrC)"},
{"modbus", -TCMD_MODBUS_SEND, "send modbus request, format: slaveID Fcode startReg numRegs"},
{"outchannels", CMD_OUTCHNLS, "get u32 with bits set on supported OUT channels"},
{"reset", CMD_RESET, "reset MCU"},
{"time", CMD_TIME, "get/set time (1ms, 32bit)"},
{"wdtest", -TCMD_WDTEST, "test watchdog"},
{NULL, 0, NULL} // last record
};
static void printhelp(){
const funcdescr *c = funclist;
usart_send("https://github.com/eddyem/stm32samples/tree/master/F1:F103/FX3U build #" BUILD_NUMBER " @ " BUILD_DATE "\n");
usart_send("commands format: parameter[number][=setter]\n");
usart_send("parameter [CAN idx] - help\n");
usart_send("--------------------------\n");
while(c->help){
if(!c->cmd){ // header
usart_send("\n ");
usart_send(c->help);
usart_putchar(':');
}else{
usart_send(c->cmd);
if(c->idx > -1){
usart_send(" [");
usart_send(u2str(c->idx));
usart_putchar(']');
}
usart_send(" - ");
usart_send(c->help);
}
newline();
++c;
}
}
/*********** START of all text functions list ***********/
static errcodes cansnif(const char *str, text_cmd _U_ cmd){
uint32_t U;
if(str){
if(*str == '=') str = omit_spaces(str + 1);
const char *nxt = getnum(str, &U);
if(nxt != str){ // setter
CAN_sniffer((uint8_t)U);
}
}
usart_send("cansniff="); usart_putchar('0' + flags.can_monitor); newline();
return ERR_OK;
}
static errcodes canbuserr(const char *str, text_cmd _U_ cmd){
uint32_t U;
if(str){
if(*str == '=') str = omit_spaces(str + 1);
const char *nxt = getnum(str, &U);
if(nxt != str){ // setter
flags.can_printoff = U;
}
}
usart_send("canbuserr="); usart_putchar('0' + flags.can_printoff); newline();
return ERR_OK;
}
static errcodes wdtest(const char _U_ *str, text_cmd _U_ cmd){
usart_send("Wait for reboot\n");
usart_transmit();
while(1){nop();}
return ERR_OK;
}
// names of bit flags (ordered from LSE of[0])
static const char * const bitfields[] = {
"sw_send_relay_cmd",
NULL
};
static errcodes dumpconf(const char _U_ *str, text_cmd _U_ cmd){
#ifdef EBUG
uint32_t sz = FLASH_SIZE*1024;
usart_send("flashsize="); printu(sz); usart_putchar('/');
printu(FLASH_blocksize); usart_putchar('='); printu(sz/FLASH_blocksize);
usart_send(" blocks\n");
#endif
usart_send("userconf_addr="); printuhex((uint32_t)Flash_Data);
usart_send("\nuserconf_idx="); printi(currentconfidx);
usart_send("\nuserconf_sz="); printu(the_conf.userconf_sz);
usart_send("\ncanspeed="); printu(the_conf.CANspeed);
usart_send("\ncanid_in="); printu(the_conf.CANIDin);
usart_send("\ncanid_out="); printu(the_conf.CANIDout);
/*for(int i = 0; i < ADC_TSENS; ++i){
usart_send("\nadcmul"); usart_putchar('0'+i); usart_putchar('=');
usart_send(float2str(the_conf.adcmul[i], 3));
}*/
usart_send("\nusartspeed="); printu(the_conf.usartspeed);
usart_send("\nmodbus_id="); printu(the_conf.modbusID);
usart_send("\nmodbusspeed="); printu(the_conf.modbusspeed);
usart_send("\nbouncetime="); printu(the_conf.bouncetime);
const char * const *p = bitfields;
int bit = 0;
usart_send("\nflags="); usart_putchar('='); printuhex(the_conf.flags.u32);
while(*p){
newline(); usart_putchar(' ');
usart_send(*p); usart_putchar('='); usart_putchar((the_conf.flags.u32 & (1<<bit)) ? '1' : '0');
if(++bit > MAX_FLAG_BITNO) break;
++p;
}
newline();
return ERR_OK;
}
static errcodes cansend(const char *txt, text_cmd _U_ cmd){
CAN_message canmsg;
bzero(&canmsg, sizeof(canmsg));
int ctr = -1;
canmsg.ID = 0xffff;
do{
txt = omit_spaces(txt);
uint32_t N;
const char *n = getnum(txt, &N);
if(txt == n) break;
txt = n;
if(ctr == -1){
if(N > 0x7ff){
return ERR_BADPAR;
}
canmsg.ID = (uint16_t)(N&0x7ff);
ctr = 0;
continue;
}
if(ctr > 7){
return ERR_WRONGLEN;
}
if(N > 0xff){
return ERR_BADVAL;
}
canmsg.data[ctr++] = (uint8_t) N;
}while(1);
if(canmsg.ID == 0xffff){
return ERR_BADPAR;
}
canmsg.length = (uint8_t) ctr;
uint32_t Tstart = Tms;
while(Tms - Tstart < SEND_TIMEOUT_MS){
if(CAN_OK == CAN_send(&canmsg)){
return ERR_OK;
}
}
return ERR_CANTRUN;
}
// change configuration flags by one
static errcodes confflags(const char _U_ *str, text_cmd cmd){
if(str){
if(*str == '=') str = omit_spaces(str + 1);
if(*str != '0' && *str != '1') return ERR_BADVAL;
uint8_t val = *str - '0';
switch(cmd){
case TCMD_SW_SEND_RELAY:
the_conf.flags.sw_send_relay_cmd = val;
break;
default:
return ERR_BADCMD;
}
}
uint8_t val = 0, idx = 0;
switch(cmd){
case TCMD_SW_SEND_RELAY:
val = the_conf.flags.sw_send_relay_cmd;
idx = 0;
break;
default:
return ERR_BADCMD;
}
usart_send(bitfields[idx]); usart_putchar('='); usart_putchar('0' + val);
newline();
return ERR_OK;
}
// format: slaveID Fcode startReg numRegs
static errcodes modbussend(const char *txt, text_cmd _U_ cmd){
modbus_request req = {0};
uint32_t N = 0;
const char *n = getnum(txt, &N);
if(n == txt || N > MODBUS_MAX_ID){
usart_send("Need slave ID (0..247)\n");
return ERR_WRONGLEN;
}
req.ID = N;
txt = n; n = getnum(txt, &N);
if(n == txt || N > 127 || N == 0){
usart_send("Need function code (1..127)\n");
return ERR_WRONGLEN;
}
req.Fcode = N;
txt = n; n = getnum(txt, &N);
if(n == txt){
usart_send("Need starting register address\n");
return ERR_WRONGLEN;
}
req.startreg = N;
txt = n; n = getnum(txt, &N);
if(n == txt || N == 0){
usart_send("Need registers amount\n");
return ERR_WRONGLEN;
}
req.regno = N;
if(modbus_send_request(&req) < 1) return ERR_CANTRUN;
return ERR_OK;
}
/************ END of all text functions list ************/
// in `textfn` arg `str` is the rest of input string (spaces-omitted) after command
typedef errcodes (*textfn)(const char *str, text_cmd cmd);
static textfn textfunctions[TCMD_AMOUNT] = {
[TCMD_PROHIBITED] = NULL,
[TCMD_WDTEST] = wdtest,
[TCMD_DUMPCONF] = dumpconf,
[TCMD_CANSEND] = cansend,
[TCMD_CANSNIFFER] = cansnif,
[TCMD_CANBUSERRPRNT] = canbuserr,
[TCMD_SW_SEND_RELAY] = confflags,
[TCMD_MODBUS_SEND] = modbussend,
};
static const char* const errors_txt[ERR_AMOUNT] = {
[ERR_OK] = "OK"
,[ERR_BADPAR] = "badpar"
,[ERR_BADVAL] = "badval"
,[ERR_WRONGLEN] = "wronglen"
,[ERR_BADCMD] = "badcmd"
,[ERR_CANTRUN] = "cantrun"
};
static void errtext(errcodes e){
usart_send("error=");
usart_send(errors_txt[e]);
newline();
}
/**
* @brief cmd_parser - command parsing
* @param txt - buffer with commands & data
*/
void cmd_parser(const char *str){
errcodes ecode = ERR_BADCMD;
if(!str || !*str) goto ret;
char cmd[MAXCMDLEN + 1];
int idx = CMD_AMOUNT;
const funcdescr *c = funclist;
int l = 0;
str = omit_spaces(str);
const char *ptr = str;
while(*ptr > '@' && l < MAXCMDLEN){ cmd[l++] = *ptr++;}
if(l == 0) goto ret;
cmd[l] = 0;
while(c->help){
if(c->cmd && 0 == strcmp(c->cmd, cmd)){
idx = c->idx;
break;
}
++c;
}
if(idx == CMD_AMOUNT){ // didn't found
// send help over USB
printhelp();
goto ret;
}
str = omit_spaces(ptr);
if(idx < 0){ // text-only function
ecode = textfunctions[-idx](str, -idx);
goto ret;
}
// common CAN/text function: we need to form 8-byte data buffer
CAN_message msg;
bzero(&msg, sizeof(msg));
uint8_t *data = msg.data;
uint8_t datalen = 2; // only command for start
*((uint16_t*)data) = (uint16_t)idx;
data[2] = NO_PARNO; // no parameter number by default
if(*str >= '0' && *str <= '9'){ // have parameter with number
uint32_t N;
ptr = getnum(str, &N);
if(ptr != str){
str = ptr;
if(N <= 0x7F) data[2] = (uint8_t)N;
else{ ecode = ERR_BADPAR; goto ret; }
}
datalen = 3;
}
str = omit_spaces(str);
if(*str == '='){ // setter
++str;
ptr = getint(str, ((int32_t*)&data[4]));
if(str == ptr){
ecode = ERR_BADVAL;
goto ret;
}
data[2] |= SETTER_FLAG;
datalen = 8;
}
msg.length = datalen;
run_can_cmd(&msg);
// now check error code
ecode = data[3];
ret:
if(ecode != ERR_OK) errtext(ecode);
else if(idx > -1){ // parce all back for common functions
if(msg.length != 8){
usart_send("OK\n"); // non setters/getters will just print "OK" if all OK
}else{
usart_send(cmd);
data[2] &= ~SETTER_FLAG;
if(data[2] != NO_PARNO) usart_send(u2str(data[2]));
usart_putchar('=');
usart_send(i2str(*(int32_t*)&data[4]));
newline();
}
}
}
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