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kha-stack.c
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kha-stack.c
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#include <string.h>
#include "mcc_generated_files/system/system.h"
#include "mcc_generated_files/reset/rstctrl.h"
#include "mcc_generated_files/timer/delay.h"
#include "mcc_generated_files/nvm/nvm.h"
#include "kha-constants.h"
#include "kha-stack.h"
// -----------------------------------------------------------------------------
static bool kha_stack_bootloader = false;
// ----
typedef struct {
uint8_t rx;
uint8_t rx_error_start_unescaped;
uint8_t rx_error_start_missing;
uint8_t rx_error_len;
uint8_t rx_error_crc;
uint8_t tx;
uint8_t tx_error_len;
uint8_t tx_error_full;
} kha_stack_stats_t;
static kha_stack_stats_t kha_stack_stats;
// ----
static void(*kha_stack_cbh_log)(uint8_t id, uint8_t val1, uint8_t val2, uint8_t val3);
static bool kha_stack_debug = false;
// ----
static void(*kha_stack_ui_cbh_change)();
static bool kha_stack_ui_enabled_state = true;
// ----
static uint8_t kha_stack_userrow[KHA_STACK_USERROW_LEN];
static uint8_t kha_stack_board_type = KHA_BOARD_TYPE_FALLBACK;
static uint8_t kha_stack_board_rev = KHA_BOARD_REV_FALLBACK;
static uint8_t kha_stack_dev_addr = KHA_ADDR_UNICAST_FALLBACK;
static uint8_t kha_stack_dev_group = KHA_ADDR_BROADCAST_GROUP_FALLBACK;
// ----
static void(*kha_stack_app_led_animation_cbh)(uint8_t swe[3]);
static void(*kha_stack_app_led_hsi_cbh)(uint8_t hsi[3]);
// ----
static uint8_t(*kha_stack_register_cbh_change)(uint8_t addr, uint8_t value);
static uint8_t kha_stack_register_len = KHA_STACK_EEPROM_REGISTER_LEN;
static uint8_t kha_stack_register_buf[KHA_STACK_EEPROM_REGISTER_LEN];
static uint8_t kha_stack_register_preset_start = 0;
static uint8_t kha_stack_register_preset_bytes = 0;
// ----
static void(*kha_stack_preset_cbh_change)(uint8_t preset, bool enabled, uint8_t addr);
static uint8_t kha_stack_preset_value = KHA_PRESET_NONE;
// ----
static enum KHA_STATE_MSG_DECODE_STATE {
KHA_STATE_MSG_DECODE_IDLE,
KHA_STATE_MSG_DECODE_START,
KHA_STATE_MSG_DECODE_LENGTH
} kha_stack_rx_buf_state;
static uint8_t kha_stack_rx_buf[KHA_MSG_LEN_MAX];
static uint8_t kha_stack_rx_buf_idx = 0;
static bool kha_stack_rx_buf_escape_detected = false;
static bool(*kha_stack_rx_cbh_msg_all)(uint8_t buf[]);
static bool(*kha_stack_rx_cbh_msg_all_post)(uint8_t buf[]);
static bool(*kha_stack_rx_cbh_msg_matched)(uint8_t buf[]);
static bool(*kha_stack_rx_cbh_msg_unprocessed)(uint8_t buf[]);
// ----
static uint8_t kha_stack_tx_queue[KHA_STACK_QUEUE_TX_LEN];
static bool kha_stack_tx_enable = true;
static volatile uint16_t kha_stack_tx_block_index = 0;
static bool(*kha_stack_tx_cbh_msg_all)(uint8_t buf[]);
// LOG -------------------------------------------------------------------------
void kha_stack_cbr_log(void(* cb)(uint8_t id, uint8_t val1, uint8_t val2, uint8_t val3)) {
kha_stack_cbh_log = cb;
}
void kha_stack_log(uint8_t id, uint8_t val1, uint8_t val2, uint8_t val3) {
if (kha_stack_cbh_log != NULL) {
(*kha_stack_cbh_log)(id, val1, val2, val3);
}
if (kha_stack_debug && id != KHA_STACK_LOG_TX_BUFFER_FULL_ERROR) {
uint8_t buf[4];
buf[0] = id;
buf[1] = val1;
buf[2] = val2;
buf[3] = val3;
kha_stack_tx_create(0x00, KHA_CMD_DEVICE_DEBUG_MSG, 4, buf);
}
}
// UI --------------------------------------------------------------------------
void kha_stack_ui_cbr_change(void(* cb)()) {
kha_stack_ui_cbh_change = cb;
}
bool kha_stack_ui_enabled() {
return kha_stack_ui_enabled_state;
}
void kha_stack_ui_enable() {
if (kha_stack_ui_enabled_state) {
return;
}
kha_stack_ui_enabled_state = true;
if (kha_stack_ui_cbh_change != NULL) {
(*kha_stack_ui_cbh_change)(true);
}
kha_stack_tx_create(KHA_ADDR_BROADCAST, KHA_CMD_DEVICE_UI_ENABLE, 0, NULL);
}
void kha_stack_ui_disable() {
if (!kha_stack_ui_enabled_state) {
return;
}
kha_stack_ui_enabled_state = false;
if (kha_stack_ui_cbh_change != NULL) {
(*kha_stack_ui_cbh_change)(false);
}
kha_stack_tx_create(KHA_ADDR_BROADCAST, KHA_CMD_DEVICE_UI_DISABLE, 0, NULL);
}
// STATS -----------------------------------------------------------------------
void kha_stack_stats_clear() {
kha_stack_stats.rx = 0;
kha_stack_stats.rx_error_start_unescaped = 0;
kha_stack_stats.rx_error_start_missing = 0;
kha_stack_stats.rx_error_len = 0;
kha_stack_stats.rx_error_crc = 0;
kha_stack_stats.tx = 0;
kha_stack_stats.tx_error_len = 0;
kha_stack_stats.tx_error_full = 0;
kha_stack_log(KHA_STACK_LOG_DEVICE_STATS_CLEAR, 0x00, 0x00, 0x00);
}
// CRC -------------------------------------------------------------------------
//based on https://stackoverflow.com/questions/51752284/how-to-calculate-crc8-in-c
#if KHA_STACK_CRC_LOOKUP >= 1
static const uint8_t kha_crc8_table[256] = {
0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97, 0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4, 0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11, 0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52, 0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA, 0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9, 0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C, 0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F, 0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED, 0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE, 0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B, 0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28, 0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0, 0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93, 0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56, 0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15, 0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
};
#endif
uint8_t kha_stack_crc8(uint8_t* data, size_t len) {
#if KHA_STACK_CRC_LOOKUP >= 1
uint8_t crc = 0xFF; // init value
for (size_t i = 0; i < len; i++) {
crc = kha_crc8_table[data[i] ^ crc];
}
return crc;
#else
uint8_t crc = 0xff; // init value
size_t i, j;
for (i = 0; i < len; i++) {
crc ^= data[i];
for (j = 0; j < 8; j++) {
if ((crc & 0x80) != 0)
crc = (uint8_t) ((crc << 1) ^ 0x31);
else
crc <<= 1;
}
}
return crc;
#endif
}
uint32_t kha_stack_crc32(uint32_t crc, uint8_t byte) {
// https://www.mikrocontroller.net/topic/225796
int8_t i;
crc = crc ^ byte;
for (i = 7; i >= 0; i--) {
crc = (crc >> 1) ^ (0xedb88320ul & (-(crc & 1)));
}
return crc;
}
void kha_stack_crc32_flash_and_store(uint16_t from, uint16_t to, uint8_t offset) {
uint32_t reg = 0xffffffff;
for (uint16_t i = from; i < to; i++) {
reg = kha_stack_crc32(reg, (uint8_t) FLASH_Read(i));
}
for (uint8_t i = 0; i < 4; i++) {
while (EEPROM_IsBusy()) {
}
EEPROM_Write(KHA_STACK_EEPROM_ADDR_START + offset + i, (reg >> ((3 - i) * 8) & 0xFF));
}
}
// MSG -------------------------------------------------------------------------
bool kha_stack_msg_match(uint8_t to) {
if (to == kha_stack_dev_addr) {
return true;
}
if (to == kha_stack_dev_group && kha_stack_dev_group != KHA_ADDR_BROADCAST_GROUP_NONE) {
return true;
}
if (to == KHA_ADDR_BROADCAST) {
return true;
}
return false;
}
bool kha_stack_board_match(uint8_t type, uint8_t rev) {
if (type != KHA_BOARD_TYPE_ALL && type != kha_stack_board_type) {
return false;
}
if (rev != KHA_BOARD_REV_ALL && rev != kha_stack_board_rev) {
return false;
}
return true;
}
KHA_STACK_MSG_ADDR_TYPE_t kha_stack_msg_addr_type(uint8_t addr) {
if (addr == KHA_ADDR_NONE) {
return KHA_STACK_MSG_ADDR_TYPE_NONE;
}
if (addr == KHA_ADDR_UNICAST_FALLBACK) {
return KHA_STACK_MSG_ADDR_TYPE_UNICAST_FALLBACK;
}
if (addr == KHA_ADDR_BROADCAST_GROUP_FALLBACK) {
return KHA_STACK_MSG_ADDR_TYPE_MULTICAST_FALLBACK;
}
if (addr >= KHA_ADDR_BROADCAST_GROUP_MIN && addr <= KHA_ADDR_BROADCAST_GROUP_MAX) {
return KHA_STACK_MSG_ADDR_TYPE_MULTICAST;
}
if (addr == KHA_ADDR_BROADCAST) {
return KHA_STACK_MSG_ADDR_TYPE_BROADCAST;
}
return KHA_STACK_MSG_ADDR_TYPE_UNICAST;
}
// GETTER ----------------------------------------------------------------------
uint8_t kha_stack_device_address_get() {
return kha_stack_dev_addr;
}
uint8_t kha_stack_device_group_get() {
return kha_stack_dev_group;
}
uint8_t kha_stack_board_type_get() {
return kha_stack_board_type;
}
uint8_t kha_stack_board_rev_get() {
return kha_stack_board_rev;
}
uint8_t kha_stack_userrow_data(uint8_t addr) {
if (addr + KHA_STACK_USERROW_DATA_OFFSET > KHA_STACK_USERROW_LEN) {
kha_stack_log(KHA_STACK_LOG_IDENT_USERROW_ADDR_ERROR, addr, KHA_STACK_USERROW_LEN - KHA_STACK_USERROW_DATA_OFFSET, 0x00);
return 0x00;
}
return kha_stack_userrow[addr + KHA_STACK_USERROW_DATA_OFFSET];
}
// APP -------------------------------------------------------------------------
void kha_stack_app_led_hsi_cbr(void(* cb)(uint8_t hsi[3])) {
kha_stack_app_led_hsi_cbh = cb;
}
void kha_stack_app_led_animation_cbr(void(* cb)(uint8_t swe[3])) {
kha_stack_app_led_animation_cbh = cb;
}
// REGISTER --------------------------------------------------------------------
void kha_stack_register_cbr_change(uint8_t(* cb)(uint8_t addr, uint8_t value)) {
kha_stack_register_cbh_change = cb;
}
uint8_t kha_stack_register_get(uint8_t addr) {
if (addr >= kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_ERROR, addr, kha_stack_register_len, 0x00);
return 0x00;
}
uint8_t val = kha_stack_register_buf[addr];
kha_stack_log(KHA_STACK_LOG_REGISTER_READ_SINGLE, addr, val, 0x00);
return val;
}
bool kha_stack_register_set(uint8_t addr, uint8_t val, bool force_callback) {
if (addr >= kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_ERROR, addr, kha_stack_register_len, 0x00);
return false;
}
if (!force_callback && val == kha_stack_register_buf[addr]) {
return true;
}
if (kha_stack_register_cbh_change != NULL) {
uint8_t valnew = (*kha_stack_register_cbh_change)(addr, val);
if (val != valnew) {
kha_stack_log(KHA_STACK_LOG_REGISTER_WRITE_CHANGED, addr, val, valnew);
val = valnew;
}
}
kha_stack_log(KHA_STACK_LOG_REGISTER_WRITE_SINGLE, addr, val, 0x00);
kha_stack_register_buf[addr] = val;
return true;
}
void kha_stack_register_wipe() {
kha_stack_log(KHA_STACK_LOG_REGISTER_WIPE, kha_stack_register_len, 0x00, 0x00);
for (uint8_t i = 0; i < kha_stack_register_len; i++) {
kha_stack_register_set(i, 0x00, true);
}
}
void kha_stack_register_store() {
for (uint8_t i = 0; i < kha_stack_register_len; i++) {
while (EEPROM_IsBusy()) {
}
EEPROM_Write(KHA_STACK_EEPROM_ADDR_START + i, kha_stack_register_buf[i]);
}
while (EEPROM_IsBusy()) {
}
EEPROM_Write(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_MAGIC_OFFSET, KHA_STACK_EEPROM_MAGIC_OK);
kha_stack_log(KHA_STACK_LOG_REGISTER_STORE, kha_stack_register_len, 0x00, 0x00);
}
void kha_stack_register_load() {
uint8_t magic = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_MAGIC_OFFSET);
if (magic != KHA_STACK_EEPROM_MAGIC_OK) {
kha_stack_log(KHA_STACK_LOG_REGISTER_LOAD_ERROR, magic, KHA_STACK_EEPROM_MAGIC_OK, 0x00);
kha_stack_register_wipe();
kha_stack_register_store();
return;
}
kha_stack_log(KHA_STACK_LOG_REGISTER_LOAD, kha_stack_register_len, 0x00, 0x00);
for (uint8_t i = 0; i < kha_stack_register_len; i++) {
while (EEPROM_IsBusy()) {
}
kha_stack_register_set(i, EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + i), true);
}
}
// PRESET ----------------------------------------------------------------------
void kha_stack_preset_cbr_change(void(* cb)(uint8_t preset, bool enabled, uint8_t addr)) {
kha_stack_preset_cbh_change = cb;
}
uint8_t kha_stack_preset() {
return kha_stack_preset_value;
}
void kha_stack_preset_set(uint8_t preset, bool notify) {
if (preset != KHA_PRESET_NONE && preset > KHA_PRESET_MAX) {
return;
}
if (preset == kha_stack_preset_value) {
return;
}
kha_stack_preset_value = preset;
if (notify) {
uint8_t buf1[1] = {preset};
kha_stack_tx_create(KHA_ADDR_BROADCAST, KHA_CMD_DEVICE_PRESET, 1, buf1);
}
if (kha_stack_preset_cbh_change != NULL) {
bool enabled = false;
uint8_t start = 0xFF;
if (kha_stack_register_preset_bytes > 0 && preset <= KHA_PRESET_MAX) {
start = kha_stack_register_preset_start + (preset * (kha_stack_register_preset_bytes + 1));
enabled = kha_stack_register_get(start);
}
(*kha_stack_preset_cbh_change)(preset, enabled, start + 1);
}
}
// COMMANDS --------------------------------------------------------------------
void kha_stack_send_ident_or_up(uint8_t to, uint8_t cmd) {
uint8_t buf[20];
buf[0] = kha_stack_board_type;
buf[1] = kha_stack_board_rev;
buf[2] = kha_stack_dev_group;
buf[3] = !kha_stack_bootloader;
buf[4] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_BOOT_OFFSET + 0);
buf[5] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_BOOT_OFFSET + 1);
buf[6] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_BOOT_OFFSET + 2);
buf[7] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_BOOT_OFFSET + 3);
buf[8] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_BOOT_OFFSET + 0);
buf[9] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_BOOT_OFFSET + 1);
buf[10] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_BOOT_OFFSET + 2);
buf[11] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_BOOT_OFFSET + 3);
buf[12] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_APP_OFFSET + 0);
buf[13] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_APP_OFFSET + 1);
buf[14] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_APP_OFFSET + 2);
buf[15] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_VERSION_APP_OFFSET + 3);
buf[16] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_APP_OFFSET + 0);
buf[17] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_APP_OFFSET + 1);
buf[18] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_APP_OFFSET + 2);
buf[19] = EEPROM_Read(KHA_STACK_EEPROM_ADDR_START + KHA_STACK_EEPROM_CRC_APP_OFFSET + 3);
kha_stack_tx_create(to, cmd, 20, buf);
}
bool kha_stack_process_cmd(uint8_t msg[KHA_MSG_LEN_MAX]) {
uint8_t size = msg[0];
uint8_t from = msg[1];
uint8_t to = msg[2];
uint8_t cmd = msg[3];
uint8_t optlen = size - KHA_MSG_LEN_MIN;
uint8_t opt[optlen];
for (uint8_t i = 0; i < optlen; i++) {
opt[i] = msg[4 + i];
}
// -------------------------------------------------------------------------
if ((kha_stack_msg_addr_type(from) != KHA_STACK_MSG_ADDR_TYPE_UNICAST) && (kha_stack_msg_addr_type(from) != KHA_STACK_MSG_ADDR_TYPE_UNICAST_FALLBACK)) {
kha_stack_log(KHA_STACK_LOG_CMD_SENDER_IGNORE, cmd, from, 0x00);
return true;
}
// -------------------------------------------------------------------------
if (cmd == KHA_CMD_MANAGEMENT_REBOOT) {
if (optlen == 0) {
RSTCTRL_reset();
while (1) {
};
}
if (optlen == 2) {
uint8_t type = opt[0];
uint8_t rev = opt[1];
if (type == KHA_BOARD_TYPE_ALL || type == kha_stack_board_type) {
if (rev == KHA_BOARD_REV_ALL || rev == kha_stack_board_rev) {
RSTCTRL_reset();
while (1) {
};
}
}
return true;
}
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 2, optlen);
return true;
}
if (cmd == KHA_CMD_MANAGEMENT_TX_ENABLE) {
kha_stack_log(KHA_STACK_LOG_TX_ENABLE, 0x00, 0x00, 0x00);
kha_stack_tx_enable = true;
return true;
}
if (cmd == KHA_CMD_MANAGEMENT_TX_DISABLE) {
kha_stack_log(KHA_STACK_LOG_TX_DISABLE, 0x00, 0x00, 0x00);
kha_stack_tx_enable = false;
return true;
}
// ---
if (cmd == KHA_CMD_DEVICE_PRESET) {
if (optlen != 1) {
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 1, optlen);
return true;
}
kha_stack_preset_set(opt[0], false);
return true;
}
if (cmd == KHA_CMD_DEVICE_UI_ENABLE) {
kha_stack_ui_enabled_state = true;
if (kha_stack_ui_cbh_change != NULL) {
(*kha_stack_ui_cbh_change)(true);
}
}
if (cmd == KHA_CMD_DEVICE_UI_DISABLE) {
kha_stack_ui_enabled_state = false;
if (kha_stack_ui_cbh_change != NULL) {
(*kha_stack_ui_cbh_change)(false);
}
}
if (cmd == KHA_CMD_DEVICE_DEBUG_ENABLE) {
kha_stack_log(KHA_STACK_LOG_DEVICE_DEBUG_ENABLE, 0x00, 0x00, 0x00);
kha_stack_debug = true;
return true;
}
if (cmd == KHA_CMD_DEVICE_DEBUG_DISABLE) {
kha_stack_log(KHA_STACK_LOG_DEVICE_DEBUG_DISABLE, 0x00, 0x00, 0x00);
kha_stack_debug = false;
return true;
}
if (cmd == KHA_CMD_DEVICE_STATS_CLEAR) {
kha_stack_stats_clear();
return true;
}
if (cmd == KHA_CMD_DEVICE_STATS_REQUEST) {
uint8_t buf[8];
buf[0] = kha_stack_stats.rx;
buf[1] = kha_stack_stats.rx_error_start_unescaped;
buf[2] = kha_stack_stats.rx_error_start_missing;
buf[3] = kha_stack_stats.rx_error_len;
buf[4] = kha_stack_stats.rx_error_crc;
buf[5] = kha_stack_stats.tx;
buf[6] = kha_stack_stats.tx_error_len;
buf[7] = kha_stack_stats.tx_error_full;
kha_stack_tx_create(from, KHA_CMD_DEVICE_STATS_RESPONSE, 8, buf);
return true;
}
if (cmd == KHA_CMD_DEVICE_PING) {
kha_stack_tx_create(from, KHA_CMD_DEVICE_PONG, 0, NULL);
return true;
}
if (cmd == KHA_CMD_DEVICE_IDENT_REQUEST) {
kha_stack_send_ident_or_up(from, KHA_CMD_DEVICE_IDENT_RESPONSE);
return true;
}
// ---
if (cmd == KHA_CMD_REGISTER_CONFIG_WIPE) {
if (kha_stack_bootloader) {
kha_stack_log(KHA_STACK_LOG_CMD_BOOTLOADER_IGNORE, cmd, 0x00, 0x00);
return true;
}
kha_stack_register_wipe();
return true;
}
if (cmd == KHA_CMD_REGISTER_CONFIG_STORE) {
if (kha_stack_bootloader) {
kha_stack_log(KHA_STACK_LOG_CMD_BOOTLOADER_IGNORE, cmd, 0x00, 0x00);
return true;
}
kha_stack_register_store();
return true;
}
if (cmd == KHA_CMD_REGISTER_CONFIG_LOAD) {
if (kha_stack_bootloader) {
kha_stack_log(KHA_STACK_LOG_CMD_BOOTLOADER_IGNORE, cmd, 0x00, 0x00);
return true;
}
kha_stack_register_load();
return true;
}
if (cmd == KHA_CMD_REGISTER_WRITE_REQUEST || cmd == KHA_CMD_REGISTER_WRITE_REQUEST_NO_REPLY) {
if (optlen < 2) {
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 2, optlen);
return true;
}
if (kha_stack_bootloader) {
kha_stack_log(KHA_STACK_LOG_CMD_BOOTLOADER_IGNORE, cmd, 0x00, 0x00);
return true;
}
if (to == KHA_ADDR_BROADCAST) {
kha_stack_log(KHA_STACK_LOG_CMD_WRITE_BROADCAST, cmd, 0x00, 0x00);
return true;
}
bool send_reply = cmd == KHA_CMD_REGISTER_WRITE_REQUEST;
uint16_t reg_addr = opt[0];
uint8_t reg_len = optlen - 1;
uint8_t reg_reply[1] = {reg_addr};
if (reg_addr >= kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_ERROR, reg_addr, reg_len, kha_stack_register_len);
if (send_reply) {
kha_stack_tx_create(from, KHA_CMD_REGISTER_WRITE_FAIL, 1, reg_reply);
}
return true;
}
if (reg_len > kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_LEN_ERROR, reg_addr, reg_len, kha_stack_register_len);
if (send_reply) {
kha_stack_tx_create(from, KHA_CMD_REGISTER_WRITE_FAIL, 1, reg_reply);
}
return true;
}
if (reg_addr + reg_len > kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_LEN_ERROR, reg_addr, reg_len, kha_stack_register_len);
if (send_reply) {
kha_stack_tx_create(from, KHA_CMD_REGISTER_WRITE_FAIL, 1, reg_reply);
}
return true;
}
kha_stack_log(KHA_STACK_LOG_REGISTER_WRITE, reg_addr, reg_len, 0x00);
bool error = false;
for (uint8_t i = 0; i < reg_len; i++) {
error = error | !kha_stack_register_set(reg_addr + i, opt[i + 1], false);
}
if (send_reply) {
if (error) {
kha_stack_tx_create(from, KHA_CMD_REGISTER_WRITE_FAIL, 1, reg_reply);
} else {
kha_stack_tx_create(from, KHA_CMD_REGISTER_WRITE_SUCCESS, 1, reg_reply);
}
}
return true;
}
if (cmd == KHA_CMD_REGISTER_READ_REQUEST) {
if (optlen != 2) {
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 0x02, optlen);
return true;
}
if (kha_stack_bootloader) {
kha_stack_log(KHA_STACK_LOG_CMD_BOOTLOADER_IGNORE, cmd, 0x00, 0x00);
return true;
}
uint16_t reg_addr = opt[0];
uint8_t reg_len = opt[1];
if (reg_addr >= kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_ERROR, reg_addr, reg_len, 0x00);
kha_stack_tx_create(from, KHA_CMD_REGISTER_READ_RESPONSE, 0, NULL);
return true;
}
if (reg_len > kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_LEN_ERROR, reg_addr, reg_len, kha_stack_register_len);
kha_stack_tx_create(from, KHA_CMD_REGISTER_READ_RESPONSE, 0, NULL);
return true;
}
if (reg_len > KHA_MSG_LEN_OPT_MAX - 1) {
kha_stack_log(KHA_STACK_LOG_REGISTER_LEN_ERROR, reg_addr, reg_len, KHA_MSG_LEN_OPT_MAX - 1);
kha_stack_tx_create(from, KHA_CMD_REGISTER_READ_RESPONSE, 0, NULL);
return true;
}
if (reg_addr + reg_len > kha_stack_register_len) {
kha_stack_log(KHA_STACK_LOG_REGISTER_ADDR_LEN_ERROR, reg_addr, reg_len, kha_stack_register_len);
kha_stack_tx_create(from, KHA_CMD_REGISTER_READ_RESPONSE, 0, NULL);
return true;
}
kha_stack_log(KHA_STACK_LOG_REGISTER_READ, reg_addr, reg_len, 0x00);
uint8_t reply[1 + reg_len];
reply[0] = reg_addr;
for (uint8_t i = 0; i < reg_len; i++) {
reply[i + 1] = kha_stack_register_buf[reg_addr + i];
}
kha_stack_tx_create(from, KHA_CMD_REGISTER_READ_RESPONSE, 1 + reg_len, reply);
return true;
}
// ---
if (cmd == KHA_CMD_APP_LED_ANIMATION) {
if (optlen != 3) {
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 0x03, optlen);
return true;
}
if (kha_stack_app_led_animation_cbh != NULL) {
(*kha_stack_app_led_animation_cbh)(opt);
}
}
if (cmd == KHA_CMD_APP_LED_HSI) {
if (optlen != 3) {
kha_stack_log(KHA_STACK_LOG_CMD_PARAMETERS_ERROR, cmd, 0x03, optlen);
return true;
}
if (kha_stack_app_led_hsi_cbh != NULL) {
(*kha_stack_app_led_hsi_cbh)(opt);
}
}
// ---
if (cmd == KHA_CMD_SYSTEM_NOP) {
return true;
}
// -------------------------------------------------------------------------
return false;
}
// RX --------------------------------------------------------------------------
void kha_stack_rx_cbr_msg_all(bool(* cb)(uint8_t buf[])) {
kha_stack_rx_cbh_msg_all = cb;
}
void kha_stack_rx_cbr_msg_all_post(bool(* cb)(uint8_t buf[])) {
kha_stack_rx_cbh_msg_all_post = cb;
}
void kha_stack_rx_cbr_msg_matched(bool(* cb)(uint8_t buf[])) {
kha_stack_rx_cbh_msg_matched = cb;
}
void kha_stack_rx_cbr_msg_unprocessed(bool(* cb)(uint8_t buf[])) {
kha_stack_rx_cbh_msg_unprocessed = cb;
}
void kha_process_rx() {
bool skip = false;
if (kha_stack_rx_cbh_msg_all != NULL) {
if ((*kha_stack_rx_cbh_msg_all)(kha_stack_rx_buf)) {
skip = true;
}
}
if (!skip && !kha_stack_msg_match(kha_stack_rx_buf[2])) {
skip = true;
}
if (!skip && kha_stack_rx_cbh_msg_matched != NULL) {
if ((*kha_stack_rx_cbh_msg_matched)(kha_stack_rx_buf)) {
skip = true;
}
}
if (!skip && kha_stack_process_cmd(kha_stack_rx_buf)) {
skip = true;
}
if (!skip && kha_stack_rx_cbh_msg_unprocessed != NULL) {
if ((*kha_stack_rx_cbh_msg_unprocessed)(kha_stack_rx_buf)) {
skip = true;
}
}
if (kha_stack_rx_cbh_msg_all_post != NULL) {
(*kha_stack_rx_cbh_msg_all_post)(kha_stack_rx_buf);
}
}
void kha_stack_process_rx() {
// Raw: 0x42 0x23 <----------- data ------------>
// Encoded: 0x42 0x23 <len> <from> <to> <cmd> <payload> <crc>
// Buffer: <len> <from> <to> <cmd> <payload> <crc>
while (USART0_IsRxReady()) {
uint8_t in = USART0_Read();
// Has the magic byte been received?
if (in == KHA_MSG_START) {
kha_stack_rx_buf_escape_detected = true;
continue;
}
//If the last byte was the magic byte, act on next byte.
if (kha_stack_rx_buf_escape_detected) {
kha_stack_rx_buf_escape_detected = false;
// Confirmed that message start was meant
if (in == KHA_MSG_START_CONFIRM) {
kha_stack_rx_buf_state = KHA_STATE_MSG_DECODE_START;
continue;
}
// It wasn't a confirmed start, but also not an escaped byte
if (in != KHA_MSG_START_ESCAPE) {
kha_stack_rx_buf_state = KHA_STATE_MSG_DECODE_IDLE;
kha_stack_log(KHA_STACK_LOG_RX_DECODE_START_UNESCAPED_ERROR, 0x00, 0x00, 0x00);
if (kha_stack_stats.rx_error_start_unescaped != 0xFF) {
kha_stack_stats.rx_error_start_unescaped++;
}
continue;
}
in = KHA_MSG_START;
}
// While in idle, they only way to start is with a confirmed start
if (kha_stack_rx_buf_state == KHA_STATE_MSG_DECODE_IDLE) {
kha_stack_log(KHA_STACK_LOG_RX_DECODE_START_MISSING_ERROR, 0x00, 0x00, 0x00);
if (kha_stack_stats.rx_error_start_missing != 0xFF) {
kha_stack_stats.rx_error_start_missing++;
}
continue;
}
if (kha_stack_rx_buf_state == KHA_STATE_MSG_DECODE_START) {
if (in >= KHA_MSG_LEN_MIN && in <= KHA_MSG_LEN_MAX) {
kha_stack_rx_buf[0] = in;
kha_stack_rx_buf_idx = 1;
kha_stack_rx_buf_state = KHA_STATE_MSG_DECODE_LENGTH;
continue;
}
kha_stack_rx_buf_state = KHA_STATE_MSG_DECODE_IDLE;
kha_stack_log(KHA_STACK_LOG_RX_DECODE_LEN_ERROR, in, KHA_MSG_LEN_MAX, 0x00);
if (kha_stack_stats.rx_error_len != 0xFF) {
kha_stack_stats.rx_error_len++;
}
continue;
}
if (kha_stack_rx_buf_state == KHA_STATE_MSG_DECODE_LENGTH) {
if (kha_stack_rx_buf_idx < kha_stack_rx_buf[0]) {
kha_stack_rx_buf[kha_stack_rx_buf_idx] = in;
kha_stack_rx_buf_idx++;
}
if (kha_stack_rx_buf_idx == kha_stack_rx_buf[0]) {
kha_stack_rx_buf_state = KHA_STATE_MSG_DECODE_IDLE;
uint8_t crc_rx = kha_stack_rx_buf[kha_stack_rx_buf_idx - 1];
uint8_t crc_calc = kha_stack_crc8(kha_stack_rx_buf, kha_stack_rx_buf_idx - 2);
if (crc_rx != crc_calc) {
kha_stack_log(KHA_STACK_LOG_RX_DECODE_CRC_ERROR, crc_rx, crc_calc, 0x00);
if (kha_stack_stats.rx_error_crc != 0xFF) {
kha_stack_stats.rx_error_crc++;
}
continue;
}
if (kha_stack_stats.rx != 0xFF) {
kha_stack_stats.rx++;
}
kha_process_rx();
}
}
}
}
// TX --------------------------------------------------------------------------
void kha_stack_tx_cbr_msg_all(bool(* cb)(uint8_t buf[])) {
kha_stack_tx_cbh_msg_all = cb;
}
void kha_stack_tick() {
kha_stack_tx_block_index++;
if (kha_stack_tx_block_index >= (KHA_ADDR_BROADCAST_GROUP_FALLBACK * 2)) {
kha_stack_tx_block_index = 0;
}
}
void kha_stack_rx_detect() {
kha_stack_tx_block_index = 0;
}
bool kha_stack_tx_add(uint8_t buf[]) {
uint16_t i = 0;
while (kha_stack_tx_queue[i] != 0xFF && i < KHA_STACK_QUEUE_TX_LEN) {
i = i + kha_stack_tx_queue[i];
}
if (i + buf[0] > KHA_STACK_QUEUE_TX_LEN) {
kha_stack_log(KHA_STACK_LOG_TX_BUFFER_FULL_ERROR, 0x00, 0x00, 0x00);
if (kha_stack_stats.tx_error_full != 0xFF) {
kha_stack_stats.tx_error_full++;
}
return false;
}
memcpy(i + kha_stack_tx_queue, buf, buf[0]);
return true;
}
bool kha_stack_tx_create(uint8_t to, uint8_t cmd, uint8_t optlen, uint8_t opt[]) {
if (optlen > KHA_MSG_LEN_OPT_MAX) {
kha_stack_log(KHA_STACK_LOG_TX_ENCODE_OPT_LEN, optlen, KHA_MSG_LEN_OPT_MAX, 0x00);
if (kha_stack_stats.tx_error_len != 0xFF) {
kha_stack_stats.tx_error_len++;
}
return false;
}
uint8_t size = KHA_MSG_LEN_MIN + optlen;
uint8_t buffer[size];
buffer[0] = size;
buffer[1] = kha_stack_dev_addr;
buffer[2] = to;
buffer[3] = cmd;
for (uint8_t i = 0; i < optlen; i++) {
buffer[4 + i] = opt[i];
}
buffer[4 + optlen] = kha_stack_crc8(buffer, size - 2);
return kha_stack_tx_add(buffer);
}
void kha_stack_tx_remove(uint8_t len) {
memcpy(kha_stack_tx_queue, kha_stack_tx_queue + len, KHA_STACK_QUEUE_TX_LEN - len);
memset(kha_stack_tx_queue + KHA_STACK_QUEUE_TX_LEN - len, 0xFF, len);
}
bool kha_stack_process_tx() {
uint8_t len = kha_stack_tx_queue[0];
if (len == 0xFF) {
return false;
}
uint8_t buf[KHA_MSG_LEN_MAX];
memcpy(buf, kha_stack_tx_queue, kha_stack_tx_queue[0]);
if (!kha_stack_tx_enable) {
return false;
}
if (kha_stack_stats.tx != 0xFF) {
kha_stack_stats.tx++;
}
kha_stack_tx_remove(len);
if (kha_stack_tx_cbh_msg_all != NULL) {
if ((*kha_stack_tx_cbh_msg_all)(buf)) {
kha_stack_tx_remove(len);
return true;
}
}
if (!(buf[3] >= KHA_CMD_MANAGEMENT_BOOT_FW_WRITE && buf[3] <= KHA_CMD_MANAGEMENT_BOOT_WIPE_FLASH)) {
while (kha_stack_tx_block_index != (2 * kha_stack_dev_addr)) {
asm("wdr");
}
}
// TODO Should we rx process all tx messages?
while (!UART0_IsTxReady()) {
}
USART0_Write(KHA_MSG_START);
while (!UART0_IsTxReady()) {
}
USART0_Write(KHA_MSG_START_CONFIRM);