can_bootloader/user/CanThread.aardio

import usb2canfd;
import thread.command;
import win.timer;
//初始化CAN句柄对象
CANHw = usb2canfd.USB2CANHW();
CANHw.LoadDll();

DiagReqID = 0x720;//0x18dadff1; 
DiagRespID = 0x620;//0x18daf1df; 
DiagGloableID = 0x7DF;//0x18DB33F1;
stopflag = 0;
//注册一个消息钩子函数
FuncLoopMsg = function(msg){
	select(msg.message) {
		case 100 {//刷新硬件
			FuncFreshHw();
		}
		case 101 {//连接硬件
			//console.log("msg.wParam = " + msg.wParam);
			//console.log("msg.lParam = " + msg.lParam);
			FuncConnect(msg.wParam,msg.lParam);
		}
		case 102 {//开始boot
			FuncStartBoot(msg.wParam);
		}
		case 103 {//停止boot
			FuncStopBoot();
			//FuncGetPowerVal();
		}
		case 104 {//读取电压
			FuncGetPowerVal();
		}
		case 105 {//控制电源
			FuncPowerCtrl(msg.wParam);
			
		}
		case 106 {
			FuncSetCANID(msg.wParam,msg.lParam);
		}
		case 107 {
			FuncSendMsg(msg.wParam);
		}
		case 109 {
			win.quitMessage();
		}
		case 110 {//readDID
			FuncReadDID(msg.wParam);
		}
		case 111 {
			FuncReq10(false,msg.wParam);
		}
		case 112 {
			FuncReq28(msg.wParam);
		}
		case 113 {
			FuncReq85(msg.wParam);
		}
		case 114 {
			FuncReq27(msg.wParam);
		}
		case 115 {
			FuncReadDeviceVersion(1);
		}
		else {
			
		}
	}
}

FuncReadDeviceVersion = function(id){
	var ret,DeviceInfo,funcstr = CANHw.GetDevInfo(id);
	if(ret != 0){
		var v1 = (DeviceInfo.FirmwareVersion>>24)&0xff;
		var v2 = (DeviceInfo.FirmwareVersion>>16)&0xff;
		var v3 = DeviceInfo.FirmwareVersion&0xffff;
		FuncDisplay("固件版本"++v1++"."++v2++"."++v3);
		FuncDisplay("Firmware version:"++v1++"."++v2++"."++v3)
	}
	else {
		FuncDisplay("读取失败");
	}
	
}
var delay_const = 100000;
DelayTest = function(){
	import time.performance;
	var tk = time.performance.tick();
	for(i=1;1000000;1)
	{
	}
	var tk2 = time.performance.tick();
	tk2 = tk2 - tk;
	delay_const = math.ceil(1000000*(1/tk2));
	FuncDisplay(delay_const);
	//console.log(delay_const);
}



FuncSetCANID = function(req,resp){
	DiagReqID = req;
	DiagRespID = resp;
}

FuncSendMsg = function(no){
	select(no) {
		case 1 {
			var data = {0x00,0x00,0x40,0x00, 0x00,0x08,0x00,0x00};
			CANHw.SendMsg(0x30,data);
		}
		else {
		}
	}
}

FuncLoadAPPFile = function(){
	var ret = FuncOpenS19File(1,"\res\P417_SWTL_20240722.S19");
	if(ret != null){
		FuncDisplay("加载左侧烧录文件");
		FuncDisplay("Load the left burning file");
		var crc32 = FuncGetFlashCRC(1);
		FuncDisplay("CRC = " ++ string.format("%X",crc32)++"
		");
		if(string.format("%X",crc32) != "F6570262"){
			FuncDisplay("CRC校验错误，文件已损坏");
			thrdTable["文件加载状态"] = false;
			return ; 
		}
	}
	else {
		FuncDisplay("加载左侧文件失败");
		thrdTable["文件加载状态"] = false;
		return ; 
	}
	var ret = FuncOpenS19File(2,"\res\P417_SWTR_20240722.S19");
	if(ret != null){
		FuncDisplay("加载右侧烧录文件");
		FuncDisplay("Load the right burning file");
		var crc32 = FuncGetFlashCRC(2);
		FuncDisplay("CRC = " ++ string.format("%X",crc32)++"
		");
		if(string.format("%X",crc32) != "1F3D406C"){
			FuncDisplay("CRC校验错误，文件已损坏");
			thrdTable["文件加载状态"] = false;
			return ; 
		}
	}
	else {
		FuncDisplay("加载左侧文件失败");
		thrdTable["文件加载状态"] = false;
		return ; 
	}
	thrdTable["文件加载状态"] = true;
}
FuncPowerCtrl = function(state){
	var ret = CANHw.SetPower(state);
	return ret; 
}

FuncGetPowerVal = function(){
	var ret,buf = CANHw.GetPower();
	var val = (buf[2]<<8) + buf[1];
	//console.dumpJson(buf);
	FuncDisplay("BAT电压"++val++"mV")
	thrdTable["电源电压"] = val;
}



FuncFreshHw = function(){
	var hwnum = CANHw.FlashHw();
	if(hwnum == 0){
		//mainForm.cbbDev.text = "未找到硬件"
	}
	else {
		FuncDisplay("找到硬件");
		FuncDisplay("Find hardware
		");
		thrdTable.设备 = CANHw.GetAvailableHW()
	}
}

FuncConnect = function(dev,chn){
	var canfd = (chn&0x80)==0x80?true:false;
	var ret = CANHw.OpenDevice(dev,chn&0x7f,canfd);
	if(ret == 0){
		//FuncDisplay("连接成功");
		thread.command.$Connected();
	}
	else {
		FuncDisplay("连接失败");
	}
	FuncPowerCtrl(1);
}

FuncDisplay = function(str){
	thread.command.$Display(str);//"线程" +
}
//console.log("在loadcodex测试")
//console.log(thrdTable.test)


loadcodex("\user\Diag10code.aardio");
loadcodex("\user\Diag11code.aardio");
loadcodex("\user\Diag22code.aardio");
loadcodex("\user\Diag27code.aardio");
loadcodex("\user\Diag2Ecode.aardio");
loadcodex("\user\Diag28code.aardio");
loadcodex("\user\Diag31code.aardio");
loadcodex("\user\Diag34code.aardio");
loadcodex("\user\Diag36code.aardio");
loadcodex("\user\Diag37code.aardio");
loadcodex("\user\Diag7Fcode.aardio");
loadcodex("\user\Diag85code.aardio");

loadcodex("\user\DiagBootcode.aardio");
loadcodex("\user\S19Decode.aardio");


RespState = 0;

FuncDiagPro = function(diagmsg){

	select(diagmsg.sid) {
		case 0x50 {
			FuncDiag10Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x62 {
			FuncDiag22Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x67 {
			FuncDiag27Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x74 {
			FuncDiag34Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x71 {
			FuncDiag31Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x76 {
			FuncDiag36Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x68 {
			FuncDiag28Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0xC5 {
			FuncDiag85Pro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x7F {
			FuncDiag7FPro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		case 0x6E {
			FuncDiag2EPro(table.slice(diagmsg.data,1,diagmsg.len))
		}
		else {
		}
	}
	RespState = diagmsg.sid;
}







FuncStartBoot = function(id){
	FuncInitBootState(id);
	boottimer.enable();
	
	FuncDisplay("开始刷写");
	FuncDisplay("Start flashing
	");
	
	stopflag = 0;
}

var delay = function(w){
	while(w){
		for(i=1;delay_const;1)
		{
		}
		w -= 1;
	}	
}

var PackNext = 0x21;
var Packdata = {};
var PackID = 0;
var FuncSendPackage = function(){
	while(#Packdata > 0)
	{
		//sleep(1);
		delay(1);
		var data = {PackNext,0xCC,0xCC,0xCC,0xCC,0xCC,0xCC,0xCC};
		var max = #Packdata > 7 ? 7 : #Packdata;
		for(i=1;max;1){
			data[i+1] = table.remove(Packdata);
		}
		//sleep(0.3);
		CANHw.SendMsg(PackID,data);
		
		PackNext += 1;
		if(PackNext > 0x2f){
			PackNext = 0x20;
		}
	}
	
}
FuncPushPackage = function(ID,data){
	PackNext = 0x21;
	Packdata = data;
	PackID = ID;
}



boottimer = win.timer(,10);
boottimer.onTimer = function(){
	if(CANHw.isConnected() == false){
		boottimer.disable();
		return; 
	}
	FuncBootSeq();
}

LeftVibrationFault = 0;
LeftTouchFault = 0;
LeftPressSensorFault = 0;
LeftCommonFault = 0;

RightVibrationFault = 0;
RightTouchFault = 0;
RightPressSensorFault = 0;
RightCommonFault = 0;

timer1 = win.timer(,1);
diagresp = {}

getbitdata = function(byte,startbit,len){
	return ((byte>>startbit) & ((1<<len) - 1)); 
}

timer1.onTimer = function(){	
	if(CANHw.isConnected() == false){
		return; 
	}
	ret = CANHw.GetMsg();
	
	for(i=1;#ret;1){
		//console.log("id = " + tostring(ret[i].id))
		if(ret[i].id & 0x7FFFFFFF ==  DiagRespID){
			if(ret[i].data[1] == 0x10){//首帧
				var data = {0x30,0x00,0x14,0x00,0,0,0,0};
				CANHw.SendMsg(DiagReqID,data);
				diagresp["sid"] = ret[i].data[3];
				diagresp["len"] = ret[i].data[2]-1;
				diagresp["data"] = {};
				diagresp["next"] = 0x21;
				table.append(diagresp["data"],table.slice(ret[i].data,4));
			}
			elseif(ret[i].data[1] <= 0x07){//单帧
				//console.dumpJson()
				diagresp["sid"] = ret[i].data[2];
				diagresp["len"] = ret[i].data[1]-1;
				diagresp["data"] = table.slice(ret[i].data,3);
				FuncDiagPro(diagresp);
			}
			elseif(ret[i].data[1] >= 0x21 && ret[i].data[1] <= 0x2f){
				if(ret[i].data[1] == diagresp["next"]){//多帧
					diagresp["next"] += 1;
					if(diagresp["next"] >= 0x2F){
						diagresp["next"] = 0x20;
					}
					table.append(diagresp["data"],table.slice(ret[i].data,2));
					if(#diagresp["data"] >= diagresp["len"]){
						FuncDiagPro(diagresp);
					}
				}
			}
			elseif(ret[i].data[1] == 0x30){//
				FuncSendPackage();
			}	
		}
		else {
			var id = ret[i].id & 0x7FFFFFFF;
			select(id) {
				case 0x34 {
					//console.log("get 0x34");
					LeftVibrationFault = getbitdata(ret[i].data[1],0,2);
					LeftTouchFault = getbitdata(ret[i].data[1],2,2);
					LeftPressSensorFault = getbitdata(ret[i].data[1],4,3);
					LeftCommonFault = getbitdata(ret[i].data[1],7,1);
				}
				case 0x38 {
					RightVibrationFault = getbitdata(ret[i].data[1],0,2);
					RightTouchFault = getbitdata(ret[i].data[1],2,2);
					RightPressSensorFault = getbitdata(ret[i].data[1],4,3);
					RightCommonFault = getbitdata(ret[i].data[1],7,1);
				}
				else {
				}
			}
		}
		
	}
	
}

FuncLoadAPPFile();
timer1.enable();
FuncDisplay("CAN线程正在运行");
FuncDisplay("CAN thread is running
");
DelayTest();