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protocol_base.hpp
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protocol_base.hpp
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#pragma once
//=========================================================================//
/*! @file
@brief RX マイコン、プロトコル・ベース・クラス
@author 平松邦仁 (hira@rvf-rc45.net)
@copyright Copyright (C) 2022 Kunihito Hiramatsu @n
Released under the MIT license @n
https://github.com/hirakuni45/RX/blob/master/LICENSE
*/
//=========================================================================//
#include "rs232c_io.hpp"
#include "rx_protocol.hpp"
#include <vector>
#include <boost/format.hpp>
namespace rx {
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//
/*!
@brief プロトコル・ベース
*/
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//
struct protocol_base {
utils::rs232c_io rs232c_;
bool verbose_;
bool connection_;
bool enable_id_;
bool pe_turn_on_;
uint8_t last_error_;
protocol::devices devices_;
protocol::clock_modes clock_modes_;
uint8_t clock_num_;
protocol::multipliers multipliers_;
protocol::frequencies frequencies_;
protocol::areas boot_areas_;
protocol::areas areas_;
protocol::device_type device_type_;
uint32_t system_clock_;
uint32_t device_clock_;
uint32_t baud_speed_;
speed_t baud_rate_;
static uint32_t get32_(const uint8_t* p) noexcept
{
uint32_t v;
v = p[0];
v |= p[1] << 8;
v |= p[2] << 16;
v |= p[3] << 24;
return v;
}
static uint32_t get16_big_(const uint8_t* p) noexcept
{
uint32_t v;
v = p[1];
v |= p[0] << 8;
return v;
}
static uint32_t get32_big_(const uint8_t* p) noexcept
{
uint32_t v;
v = p[3];
v |= p[2] << 8;
v |= p[1] << 16;
v |= p[0] << 24;
return v;
}
static void put16_big_(uint8_t* p, uint32_t val) noexcept
{
p[0] = (val >> 8) & 0xff;
p[1] = val & 0xff;
}
static void put32_big_(uint8_t* p, uint32_t val) noexcept
{
p[0] = (val >> 24) & 0xff;
p[1] = (val >> 16) & 0xff;
p[2] = (val >> 8) & 0xff;
p[3] = val & 0xff;
}
static uint8_t sum_(const uint8_t* buff, uint32_t len) noexcept
{
uint16_t sum = 0;
for(uint32_t i = 0; i < len; ++i) {
sum += *buff++;
}
return 0x100 - sum;
}
static std::string out_section_(uint32_t n, uint32_t num) noexcept
{
return (boost::format("#%02d/%02d: ") % n % num).str();
}
bool command1_(uint8_t cmd) noexcept
{
bool f = rs232c_.send(static_cast<char>(cmd));
rs232c_.sync_send();
return f;
}
bool read_(void* buff, uint32_t len, const timeval& tv) noexcept
{
return rs232c_.recv(buff, len, tv) == len;
}
bool read_(void* buff, uint32_t len) noexcept
{
timeval tv;
tv.tv_sec = 5;
tv.tv_usec = 0;
return rs232c_.recv(buff, len, tv) == len;
}
bool write_(const void* buff, uint32_t len) noexcept
{
uint32_t wr = rs232c_.send(buff, len);
rs232c_.sync_send();
return wr == len;
}
bool com_(uint8_t soh, uint8_t cmd, uint8_t ext, const uint8_t* src = nullptr, uint32_t len = 0) noexcept
{
uint8_t tmp[1 + 2 + 1 + len + 1 + 1];
tmp[0] = soh;
put16_big_(&tmp[1], 1 + len);
tmp[3] = cmd;
if(len > 0) {
std::memcpy(&tmp[4], src, len);
}
tmp[4 + len] = sum_(&tmp[1], 3 + len);
tmp[4 + len + 1] = ext;
uint32_t l = rs232c_.send(tmp, sizeof(tmp));
rs232c_.sync_send();
return l == sizeof(tmp);
}
bool command_(uint8_t cmd, const uint8_t* src = nullptr, uint32_t len = 0) noexcept
{
return com_(0x01, cmd, 0x03, src, len);
}
bool status_sub_(uint8_t* dst) noexcept
{
if(!read_(dst, 4)) {
return false;
}
if(dst[0] != 0x81) {
return false;
}
auto l = get16_big_(&dst[1]);
if(l == 1 || l == 2) ;
else {
return false;
}
--l;
if(!read_(&dst[4], l + 2)) {
return false;
}
auto sum = sum_(&dst[1], 3 + l);
if(sum != dst[4 + l]) {
return false;
}
if(dst[4 + l + 1] != 0x03) {
return false;
}
return true;
}
bool status_(uint8_t res) noexcept
{
uint8_t tmp[4 + 1 + 1 + 1];
if(!status_sub_(tmp)) {
return false;
}
return tmp[3] == res;
}
bool response_(uint8_t& res, uint8_t& err) noexcept
{
uint8_t tmp[4 + 1 + 1 + 1];
if(!status_sub_(tmp)) {
return false;
}
res = tmp[3];
err = tmp[4];
return true;
}
bool status_back_(uint8_t res) noexcept
{
uint8_t tmp[4 + 1 + 1 + 1];
if(!status_sub_(tmp)) {
return false;
}
if(tmp[3] != res) {
return false;
}
if(!write_(tmp, sizeof(tmp))) {
return false;
}
return true;
}
bool status_data_(uint8_t res, uint8_t* dst, uint32_t len) noexcept
{
uint8_t tmp[4 + len + 2];
if(!read_(tmp, 4)) {
return false;
}
if(tmp[0] != 0x81) {
return false;
}
if(tmp[3] != res) {
return false;
}
auto l = get16_big_(&tmp[1]);
if(l != (len + 1)) {
return false;
}
if(!read_(&tmp[4], len + 2)) {
return false;
}
auto sum = sum_(&tmp[1], len + 3);
if(sum != tmp[4 + len]) {
return false;
}
if(len > 0) {
std::memcpy(dst, &tmp[4], len);
}
return true;
}
void dump_status_() noexcept
{
uint8_t tmp[4 + 1024 + 2];
if(!read_(tmp, 4)) {
return;
}
auto l = get16_big_(&tmp[1]);
if(!read_(&tmp[4], l + 1)) {
return;
}
std::cout << boost::format("SOD: %02X") % static_cast<uint32_t>(tmp[0]) << std::endl;
std::cout << boost::format("LEN: %d") % l << std::endl;
std::cout << boost::format("RES: %02X") % static_cast<uint32_t>(tmp[3]) << std::endl;
--l;
if(l > 0) std::cout << "Dat: ";
for(uint32_t i = 0; i < l; ++i) {
boost::format(" %02X,") % static_cast<uint32_t>(tmp[4 + i]);
}
if(l > 0) std::cout << std::endl;
std::cout << boost::format("SUM: %02X") % static_cast<uint32_t>(tmp[4 + l]) << std::endl;
std::cout << boost::format("EXT: %02X") % static_cast<uint32_t>(tmp[4 + l + 1]) << std::endl;
}
enum class BLANK_STATE {
ERROR,
BLANK_OK,
BLANK_NG
};
enum class RX_GROUP {
RX2xx,
RX6xx
};
//-----------------------------------------------------------------//
/*!
@brief コンストラクター
*/
//-----------------------------------------------------------------//
protocol_base() noexcept :
rs232c_(),
verbose_(false), connection_(false), enable_id_(false), pe_turn_on_(false),
last_error_(0),
devices_(), clock_modes_(), clock_num_(0), multipliers_(), frequencies_(),
boot_areas_(), areas_(),
device_type_(),
system_clock_(0), device_clock_(0), baud_speed_(0), baud_rate_(B9600)
{ }
//-----------------------------------------------------------------//
/*!
@brief 開始
@param[in] path シリアルデバイスパス
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool start(const std::string& path) noexcept
{
if(!rs232c_.open(path, B9600)) {
std::cerr << boost::format("Can't open '%s'") % path << std::endl;
return false;
}
if(!rs232c_.enable_RTS(false)) {
return false;
}
if(!rs232c_.enable_DTR(false)) {
return false;
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief コネクションの確立（start が成功したら呼ぶ）
@param[in] id コネクション確率 ID
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool connection(uint8_t id) noexcept
{
bool ok = false;
for(int i = 0; i < 30; ++i) {
if(!command1_(0x00)) {
return false;
}
timeval tv;
tv.tv_sec = 0;
tv.tv_usec = 10000; // 10ms
int ch = rs232c_.recv(tv);
if(ch == 0x00) {
ok = true;
break;
}
}
if(!ok) return false;
if(!command1_(0x55)) {
return false;
}
uint8_t tmp[1];
if(!read_(tmp, 1)) {
return false;
}
if(tmp[0] == 0xff) {
return false;
}
if(tmp[0] != id) {
return false;
}
connection_ = true;
return true;
}
//-----------------------------------------------------------------//
/*!
@brief サポートデバイス問い合わせ（connection が成功したら呼ぶ） @n
・RX220, RX231, RX24T, RX62x, RX63x
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_device() noexcept
{
if(!connection_) return false;
if(!command1_(0x20)) {
std::cerr << "(Inquiry Device) command error." << std::endl;
return false;
}
uint8_t head[3];
// head[0]: 0x30
// head[1]: サイズ
// head[2]: デバイス数
if(!read_(head, 3)) {
std::cerr << std::endl << "(InquiryDevice) Read head error." << std::endl;
return false;
}
if(head[0] != 0x30) {
std::cerr << std::endl << "(InquiryDevice) Read respons error." << std::endl;
return false;
}
uint32_t total = head[1]; // デバイス数、文字数、デバイスコード、シリーズ名のデータの総バイト数
// デバイス数の分があるので、残り、SUM までのバイト数
// std::cout << boost::format("Size: %d") % total << std::endl;
// std::cout << boost::format("Num: %d") % static_cast<int>(head[2]) << std::endl;
uint8_t tmp[total];
if(!read_(tmp, total)) {
std::cerr << std::endl << "(InquiryDevice) Read body error." << std::endl;
return false;
}
uint8_t sum = sum_(tmp, total - 1);
sum -= head[0] + head[1] + head[2];
if(sum != tmp[total - 1]) {
std::cerr << std::endl << boost::format("(InquiryDevice) Sum match error. (0x%02X : 0x%02X)")
% static_cast<uint16_t>(sum) % static_cast<uint16_t>(tmp[total - 1]);
std::cerr << std::endl;
return false;
}
const uint8_t* p = tmp;
for(int n = 0; n < head[2]; ++n) {
protocol::device d;
auto l = *p++;
d.code_ = get32_(p);
p += 4;
for(uint8_t i = 0; i < (l - 4); ++i) {
d.name_ += static_cast<char>(*p);
++p;
}
devices_.push_back(d);
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief デバイスを取得
@return デバイス
*/
//-----------------------------------------------------------------//
const auto& get_device() const noexcept { return devices_; }
//-----------------------------------------------------------------//
/*!
@brief デバイスを選択
@param[in] code デバイス・コード
@param[in] resc レスポンス・コード
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool select_device(uint32_t code, uint8_t resc) noexcept
{
if(!connection_) return false;
uint8_t tmp[7];
tmp[0] = 0x10;
tmp[1] = 4;
tmp[2] = code & 0xff;
tmp[3] = (code >> 8) & 0xff;
tmp[4] = (code >> 16) & 0xff;
tmp[5] = (code >> 24) & 0xff;
tmp[6] = sum_(tmp, 6);
if(!write_(tmp, 7)) {
return false;
}
uint8_t res[1];
if(!read_(res, 1)) { // レスポンス取得
return false;
}
if(res[0] == resc) {
return true;
} else if(res[0] == 0x90) { // エラーの場合
read_(res, 1); // エラーコード
std::cerr << std::endl << boost::format("(SelectDevice) error: 0x%02X") % static_cast<uint32_t>(res[0]) << std::endl;
last_error_ = res[0];
} else {
std::cerr << std::endl << "(SelectDevice) response error." << std::endl;
}
return false;
}
//-----------------------------------------------------------------//
/*!
@brief クロック・モード問い合わせ
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_clock_mode() noexcept
{
if(!connection_) return false;
if(!command1_(0x21)) {
return false;
}
uint8_t head[2];
if(!read_(head, 2)) {
return false;
}
if(head[0] != 0x31) {
return false;
}
uint8_t tmp[256];
if(!read_(tmp, head[1] + 1)) {
return false;
}
for(uint8_t i = 0; i < head[1]; ++i) {
rx::protocol::clock_mode cm;
cm.type_ = tmp[i];
clock_modes_.push_back(cm);
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief デバイスを取得
@return デバイス
*/
//-----------------------------------------------------------------//
const auto& get_clock_mode() const noexcept { return clock_modes_; }
//-----------------------------------------------------------------//
/*!
@brief クロック・モードを選択
@param[in] cm クロック・モード
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool select_clock_mode(const rx::protocol::clock_mode& cm) noexcept
{
if(!connection_) return false;
uint8_t tmp[4];
tmp[0] = 0x11;
tmp[1] = 1;
tmp[2] = cm.type_;
tmp[3] = sum_(tmp, 3);
if(!write_(tmp, 4)) {
return false;
}
uint8_t res[1];
if(!read_(res, 1)) {
return false;
}
if(res[0] == 0x06) {
return true;
} else if(res[0] == 0x91) { // エラーレスポンス
read_(res, 1);
last_error_ = res[0];
}
return false;
}
//-----------------------------------------------------------------//
/*!
@brief 逓倍比問い合わせ
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_multiplier() noexcept
{
if(!connection_) return false;
if(!command1_(0x22)) {
return false;
}
uint8_t head[3];
if(!read_(head, 3)) {
return false;
}
if(head[0] != 0x32) {
return false;
}
uint8_t tmp[256];
if(!read_(tmp, head[1])) {
return false;
}
clock_num_ = head[2];
uint8_t i = 0;
const uint8_t* p = tmp;
while(i < (head[1] - 1)) {
auto n = *p++;
rx::protocol::multiplier mp;
mp.list_.resize(n);
for(uint8_t j = 0; j < n; ++j) {
mp.list_[j] = *p++;
}
multipliers_.push_back(mp);
i += n + 1;
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief 逓倍比を取得
@return 逓倍比
*/
//-----------------------------------------------------------------//
const auto& get_multiplier() const noexcept { return multipliers_; }
//-----------------------------------------------------------------//
/*!
@brief 動作周波数問い合わせ
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_frequency() noexcept
{
if(!connection_) return false;
if(!command1_(0x23)) {
return false;
}
uint8_t head[3];
if(!read_(head, 3)) {
return false;
}
if(head[0] != 0x33) {
return false;
}
uint8_t tmp[256];
if(!read_(tmp, head[1])) {
return false;
}
auto num = head[2];
const uint8_t* p = tmp;
for(uint8_t i = 0; i < num; ++i) {
rx::protocol::frequency q;
q.min_ = static_cast<uint16_t>(p[1]) | (static_cast<uint16_t>(p[0]) << 8);
p += 2;
q.max_ = static_cast<uint16_t>(p[1]) | (static_cast<uint16_t>(p[0]) << 8);
p += 2;
// std::cout << (int)q.min_ << std::endl;
// std::cout << (int)q.max_ << std::endl;
frequencies_.push_back(q);
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief 動作周波数を取得
@return 動作周波数
*/
//-----------------------------------------------------------------//
const rx::protocol::frequencies& get_frequency() const noexcept { return frequencies_; }
//-----------------------------------------------------------------//
/*!
@brief 新ビットレート選択（レガシー版）
@param[in] rx マイコン設定
@param[in] spped シリアル速度
@param[in] limit シリアル速度制限
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool change_speed_legacy(const rx::protocol::rx_t& rx, uint32_t speed, uint32_t limit) noexcept
{
if(!connection_) return false;
if(speed > limit) {
speed = limit;
}
uint32_t nbr;
switch(speed) {
case 19200:
nbr = 192;
baud_rate_ = B19200;
break;
case 38400:
nbr = 384;
baud_rate_ = B38400;
break;
case 57600:
nbr = 576;
baud_rate_ = B57600;
break;
case 115200:
nbr = 1152;
baud_rate_ = B115200;
break;
case 230400:
nbr = 2304;
baud_rate_ = B230400;
break;
default:
std::cerr << "(Change speed legacy) Invalid baud rate error." << std::endl;
return false;
}
baud_speed_ = speed;
uint8_t cmd[10];
cmd[0] = 0x3f;
cmd[1] = 7;
put16_big_(&cmd[2], nbr);
put16_big_(&cmd[4], rx.master_);
cmd[6] = 0x02; // クロック数（システムクロックと周辺クロックの2種類）
cmd[7] = rx.iclk_multi_;
cmd[8] = rx.pclk_multi_;
cmd[9] = sum_(cmd, 9);
if(!write_(cmd, 10)) {
std::cerr << "(Change speed legacy) Write command error." << std::endl;
return false;
}
uint8_t res[1];
if(!read_(res, 1)) {
std::cerr << "(Change speed legacy) Read respons error." << std::endl;
return false;
}
if(res[0] == 0xbf) { // エラーレスポンス
read_(res, 1);
// 0x11: サムチェックエラー
// 0x24: ビットレート選択不可エラー
// 0x25: 入力周波数エラー
// 0x26: 逓倍エラー
// 0x27: 動作周波数エラー
last_error_ = res[0]; // エラーコード
std::cerr << boost::format("(Change speed legacy) Respons error. (0x%02X)")
% static_cast<uint16_t>(res[0]) << std::endl;
if(res[0] == 0x24) {
std::cerr << boost::format("(Change speed legacy) Select error: %u") % speed << std::endl;
} else {
std::cerr << boost::format("(Change speed legacy) Respons error. (0x%02X)")
% static_cast<uint16_t>(res[0]) << std::endl;
}
return false;
} else if(res[0] != 0x06) { // 正常レスポンス
return false;
}
usleep(25000); // 25[ms]
if(!rs232c_.change_speed(baud_rate_)) {
std::cerr << "(Change speed legacy) Serial speed change error." << std::endl;
return false;
}
if(!command1_(0x06)) { // 確認
return false;
}
if(!read_(res, 1)) {
return false;
}
if(res[0] != 0x06) { // レスポンス
return false;
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief ユーザーブートマット情報問い合わせ
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_boot_area() noexcept
{
if(!connection_) return false;
if(!command1_(0x24)) {
return false;
}
uint8_t head[3];
if(!read_(head, 3)) {
return false;
}
if(head[0] != 0x34) {
return false;
}
uint8_t tmp[256];
if(!read_(tmp, head[1])) {
return false;
}
auto num = head[2];
const uint8_t* p = tmp;
for(uint8_t i = 0; i < num; ++i) {
protocol::area a;
a.org_ = get32_big_(p);
p += 4;
a.end_ = get32_big_(p);
p += 4;
boot_areas_.push_back(a);
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief ユーザー・ブート領域を取得
@return ユーザー・ブート領域
*/
//-----------------------------------------------------------------//
const auto& get_boot_area() const noexcept { return boot_areas_; }
//-----------------------------------------------------------------//
/*!
@brief ユーザーマット領域問い合わせ
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_area() noexcept
{
if(!connection_) return false;
if(!command1_(0x25)) {
return false;
}
uint8_t tmp[256];
if(!read_(tmp, 2)) {
return false;
}
if(tmp[0] != 0x35) {
return false;
}
uint32_t total = tmp[1] + 1;
if(!read_(&tmp[2], total)) {
return false;
}
auto sum = sum_(tmp, tmp[1] + 2);
if(sum != tmp[2 + total - 1]) {
return false;
}
auto num = tmp[2];
const uint8_t* p = &tmp[3];
for(uint8_t i = 0; i < num; ++i) {
rx::protocol::area a;
a.org_ = get32_big_(p);
p += 4;
a.end_ = get32_big_(p);
p += 4;
areas_.push_back(a);
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief ユーザー領域を取得
@return ユーザー領域
*/
//-----------------------------------------------------------------//
const auto& get_area() const { return areas_; }
//-----------------------------------------------------------------//
/*!
@brief デバイス種別取得（connection が成功したら呼ぶ） @n
・RX26T、RX64M, RX65x, RX66T, RX72T, RX71M
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool inquiry_device_type() noexcept
{
if(!connection_) return false;
if(!command_(0x38)) {
return false;
}
if(!status_back_(0x38)) {
return false;
}
uint8_t tmp[24];
if(!status_data_(0x38, tmp, sizeof(tmp))) {
return false;
}
std::memcpy(device_type_.TYP, &tmp[0], 8);
device_type_.OSA = get32_big_(&tmp[8]);
device_type_.OSI = get32_big_(&tmp[8 + 4]);
device_type_.CPA = get32_big_(&tmp[8 + 4 + 4]);
device_type_.CPI = get32_big_(&tmp[8 + 4 + 4 + 4]);
return true;
}
//-----------------------------------------------------------------//
/*!
@brief デバイス種別を取得
@return デバイス
*/
//-----------------------------------------------------------------//
const auto& get_device_type() const noexcept { return device_type_; }
//-----------------------------------------------------------------//
/*!
@brief エンディアン通知コマンド
@param[in] endian ０ならビッグ、１ならリトル
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool select_endian(uint8_t endian) noexcept
{
if(!connection_) return false;
uint8_t tmp[1];
tmp[0] = endian;
if(!command_(0x36, tmp, 1)) {
return false;
}
if(!status_(0x36)) {
return false;
}
return true;
}
//-----------------------------------------------------------------//
/*!
@brief 周波数設定コマンド
@return エラー無ければ「true」
*/
//-----------------------------------------------------------------//
bool select_frequency() noexcept
{
if(!connection_) return false;
uint8_t tmp[8];
put32_big_(&tmp[0], 16'000'000);
put32_big_(&tmp[4], 120'000'000);
if(!command_(0x32, tmp, sizeof(tmp))) {
return false;
}
if(!status_back_(0x32)) {
return false;
}
if(!status_data_(0x32, tmp, sizeof(tmp))) {
return false;
}
system_clock_ = get32_big_(&tmp[0]);
device_clock_ = get32_big_(&tmp[4]);
return true;
}
//-----------------------------------------------------------------//
/*!
@brief 新ビットレート選択
@param[in] rx マイコン設定
@param[in] spped シリアル速度
@return エラー無ければ「true」