/* * L505.c * * Created on: Apr 1, 2021 * Author: wushufeng */ #include "drv_ec800k.h" #include #include "VK_Com.h" #include "VK_Log.h" #include "rtdef.h" #include "rtthread.h" #include "rttypes.h" #define DBG_TAG "DTU_LOG" #define DBG_LVL DBG_INFO #include "rtdbg.h" Cclient_t client1 = { .mode = "TCP", /*教培IP和PORT*/ .ip = "uavedu.jiagutech.com", .port = "19763", .connect_ID = 0, .connect_sta = false, .error_cnt = 0, }; CLte_dev_t lte_dev = { .client1 = (Cclient_t *)&client1, .config_sta = false, .reset_flag = DTU_CF_NEED_RESET, .dev_init_flag = true, .data_tx_paused = false, }; lte_diag_t lte_diag = {0}; static bool lte_log_clock_query_done = false; static rt_uint8_t pdpdeact_match_position = 0; typedef struct { rt_uint16_t remaining; rt_uint16_t checksum; rt_uint16_t received_checksum; rt_uint8_t magic; rt_uint8_t phase; rt_uint8_t position; rt_uint8_t payload_length; rt_uint8_t incompat_flags; bool heartbeat; } mavlink_diag_parser_t; static mavlink_diag_parser_t fmu_mavlink_parser; static mavlink_diag_parser_t server_mavlink_parser; static int parse_decimal(const char **text) { int value = 0; bool found = false; const char *p = *text; while (*p == ' ') p++; while (*p >= '0' && *p <= '9') { found = true; value = value * 10 + (*p++ - '0'); } *text = p; return found ? value : -1; } static void copy_csv_token(const char **text, char *output, rt_size_t capacity) { const char *p = *text; rt_size_t used = 0; char terminator = ','; if (capacity == 0) return; while (*p == ' ' || *p == ',') p++; if (*p == '"') { terminator = '"'; p++; } while (*p != '\0' && *p != '\r' && *p != '\n' && *p != terminator) { if (used + 1 < capacity) output[used++] = *p; p++; } while (used > 0 && output[used - 1] == ' ') used--; output[used] = '\0'; if (*p == terminator) p++; *text = p; } static void mavlink_crc_accumulate(uint8_t data, rt_uint16_t *checksum) { uint8_t tmp = data ^ (uint8_t)(*checksum & 0xff); tmp ^= tmp << 4; *checksum = (*checksum >> 8) ^ ((rt_uint16_t)tmp << 8) ^ ((rt_uint16_t)tmp << 3) ^ ((rt_uint16_t)tmp >> 4); } static void mavlink_diag_start(mavlink_diag_parser_t *parser, uint8_t magic) { parser->magic = magic; parser->phase = 1; parser->position = 0; parser->remaining = 0; parser->checksum = 0xffff; parser->received_checksum = 0; parser->payload_length = 0; parser->incompat_flags = 0; parser->heartbeat = false; } static void mavlink_diag_feed(mavlink_diag_parser_t *parser, const uint8_t *data, rt_size_t size, rt_uint32_t *heartbeat_count) { rt_size_t i; for (i = 0; i < size; i++) { uint8_t ch = data[i]; if (parser->phase == 0) { if (ch == 0xFE || ch == 0xFD) mavlink_diag_start(parser, ch); continue; } if (parser->phase == 5) { parser->remaining--; if (parser->remaining == 0) parser->phase = 0; continue; } if (parser->phase == 2) { mavlink_crc_accumulate(ch, &parser->checksum); parser->remaining--; if (parser->remaining == 0) parser->phase = 3; continue; } if (parser->phase == 3) { parser->received_checksum = ch; parser->phase = 4; continue; } if (parser->phase == 4) { parser->received_checksum |= (rt_uint16_t)ch << 8; mavlink_crc_accumulate(50, &parser->checksum); if (parser->heartbeat && parser->checksum == parser->received_checksum) { (*heartbeat_count)++; } if (parser->magic == 0xFD && (parser->incompat_flags & 0x01) != 0) { parser->phase = 5; parser->remaining = 13; } else { parser->phase = 0; } continue; } mavlink_crc_accumulate(ch, &parser->checksum); if (parser->position == 0) parser->payload_length = ch; if (parser->magic == 0xFE && parser->position == 4) { parser->heartbeat = parser->payload_length == 9 && ch == 0; parser->remaining = parser->payload_length; parser->phase = parser->remaining > 0 ? 2 : 3; } else if (parser->magic == 0xFD) { if (parser->position == 1) parser->incompat_flags = ch; if (parser->position == 6) parser->heartbeat = ch == 0; if (parser->position == 7) parser->heartbeat = parser->heartbeat && ch == 0; if (parser->position == 8) { parser->heartbeat = parser->payload_length == 9 && parser->heartbeat && ch == 0; parser->remaining = parser->payload_length; parser->phase = parser->remaining > 0 ? 2 : 3; } } parser->position++; } } void lte_diag_at_begin(const char *cmd) { rt_size_t i; lte_diag.at_commands++; lte_diag.last_at_elapsed = rt_tick_get(); lte_diag.last_at_result = -2; for (i = 0; i < sizeof(lte_diag.last_at_cmd) - 1 && cmd[i] != '\0'; i++) { lte_diag.last_at_cmd[i] = (cmd[i] == '\r' || cmd[i] == '\n') ? '_' : cmd[i]; } lte_diag.last_at_cmd[i] = '\0'; } void lte_diag_at_end(rt_int32_t result) { rt_tick_t now = rt_tick_get(); lte_diag.last_at_elapsed = now - lte_diag.last_at_elapsed; lte_diag.last_at_result = result; if (result == -1) { lte_diag.at_timeouts++; } else if (result != 0) { lte_diag.at_errors++; } } void lte_diag_uart2_rx(rt_size_t size) { lte_diag.uart2_rx_bytes += size; lte_diag.last_uart2_rx_tick = rt_tick_get(); } void lte_diag_uart2_tx(rt_size_t size) { lte_diag.uart2_tx_bytes += size; lte_diag.last_uart2_tx_tick = rt_tick_get(); } void lte_diag_uart_error(const char *name, rt_uint32_t error_code) { lte_diag.last_uart_error_code = error_code; if (name != RT_NULL && rt_strcmp(name, "uart2") == 0) { lte_diag.uart2_error_count++; } else if (name != RT_NULL && rt_strcmp(name, "uart3") == 0) { lte_diag.uart3_error_count++; } } void lte_diag_fmu_rx(rt_size_t size) { lte_diag.fmu_rx_bytes += size; lte_diag.last_fmu_rx_tick = rt_tick_get(); } void lte_diag_fmu_data(const uint8_t *data, rt_size_t size) { if (data == RT_NULL || size == 0) return; lte_diag_fmu_rx(size); mavlink_diag_feed(&fmu_mavlink_parser, data, size, <e_diag.fmu_heartbeats); } void lte_diag_server_data(const uint8_t *data, rt_size_t size) { if (data == RT_NULL || size == 0) return; lte_diag.server_rx_bytes += size; lte_diag.server_rx_read_events++; lte_diag.last_server_rx_tick = rt_tick_get(); mavlink_diag_feed(&server_mavlink_parser, data, size, <e_diag.server_heartbeats); } void lte_diag_modem_text(const uint8_t *data, rt_size_t size) { static const char pattern[] = "pdpdeact"; rt_size_t i; if (data == RT_NULL) return; for (i = 0; i < size; i++) { char ch = (char)data[i]; if (ch >= 'A' && ch <= 'Z') ch = (char)(ch - 'A' + 'a'); if (ch == pattern[pdpdeact_match_position]) { pdpdeact_match_position++; if (pdpdeact_match_position == sizeof(pattern) - 1) { if (!lte_dev.socket_pdpdeact_pending) lte_diag.pdpdeact_count++; lte_dev.socket_pdpdeact_pending = true; pdpdeact_match_position = 0; } } else { pdpdeact_match_position = ch == pattern[0] ? 1 : 0; } } } void lte_diag_fmu_tx(rt_size_t size) { lte_diag.fmu_tx_bytes += size; lte_diag.last_fmu_tx_tick = rt_tick_get(); } void lte_diag_connect_attempt(void) { lte_diag.connect_attempts++; if (lte_diag.connect_attempts > 1) { lte_diag.reconnect_count++; } } void lte_diag_connect_success(void) { lte_diag.connect_tick = rt_tick_get(); lte_diag.last_server_rx_tick = lte_diag.connect_tick; lte_diag.conn_fmu_rx_base = lte_diag.fmu_rx_bytes; lte_diag.conn_fmu_tx_base = lte_diag.fmu_tx_bytes; lte_diag.conn_server_rx_base = lte_diag.server_rx_bytes; lte_diag.conn_server_events_base = lte_diag.server_rx_read_events; lte_diag.conn_fmu_heartbeat_base = lte_diag.fmu_heartbeats; lte_diag.conn_server_heartbeat_base = lte_diag.server_heartbeats; lte_dev.socket_pdpdeact_pending = false; pdpdeact_match_position = 0; rt_memset(&fmu_mavlink_parser, 0, sizeof(fmu_mavlink_parser)); rt_memset(&server_mavlink_parser, 0, sizeof(server_mavlink_parser)); } void lte_diag_module_reset(void) { lte_diag.reset_count++; } void BSP_LTE_SendData(uint8_t *pdata, uint32_t length) { if (lte_dev.com_dev != RT_NULL) { if (lte_dev.data_tx_mutex != RT_NULL) { rt_mutex_take(lte_dev.data_tx_mutex, RT_WAITING_FOREVER); } rt_ssize_t written = rt_device_write(lte_dev.com_dev, 0, pdata, length); if (written > 0) { lte_diag_uart2_tx((rt_size_t)written); } if (written != (rt_ssize_t)length) { lte_diag.uart2_write_failures++; } if (lte_dev.data_tx_mutex != RT_NULL) { rt_mutex_release(lte_dev.data_tx_mutex); } } } void BSP_LTE_SetDataTxPaused(bool paused) { if (lte_dev.data_tx_mutex != RT_NULL) { rt_mutex_take(lte_dev.data_tx_mutex, RT_WAITING_FOREVER); } lte_dev.data_tx_paused = paused; if (lte_dev.data_tx_mutex != RT_NULL) { rt_mutex_release(lte_dev.data_tx_mutex); } } void BSP_LTE_InitLogClock(void) { if (lte_log_clock_query_done) { return; } lte_log_clock_query_done = true; if (BSP_LTE_SendCmd(AT_QLTS, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL) == 0) { if (dev_log_time_set_from_at((const char *)lte_dev.at_buf) != 0) { LOG_W("EC800K clock is not synchronized; using untimestamped logs\n"); } } else { LOG_W("EC800K clock query failed; using untimestamped logs\n"); } } static void parse_cereg_snapshot(const char *response) { const char *p = rt_strstr(response, "+CEREG:"); int value; if (p == RT_NULL) return; p += rt_strlen("+CEREG:"); value = parse_decimal(&p); if (value < 0 || *p != ',') return; p++; value = parse_decimal(&p); if (value < 0) return; lte_diag.network.cereg = (int8_t)value; if (*p == ',') { copy_csv_token(&p, lte_diag.network.tac, sizeof(lte_diag.network.tac)); copy_csv_token(&p, lte_diag.network.cell, sizeof(lte_diag.network.cell)); } } static void parse_cgatt_snapshot(const char *response) { const char *p = rt_strstr(response, "+CGATT:"); int value; if (p == RT_NULL) return; p += rt_strlen("+CGATT:"); value = parse_decimal(&p); if (value >= 0) lte_diag.network.cgatt = (int8_t)value; } static void parse_qiact_snapshot(const char *response) { const char *p = rt_strstr(response, "+QIACT:"); int context; int state; if (p == RT_NULL) { lte_diag.network.pdp = 0; return; } p += rt_strlen("+QIACT:"); context = parse_decimal(&p); if (context < 0 || *p != ',') return; p++; state = parse_decimal(&p); if (context == 1 && state >= 0) lte_diag.network.pdp = (int8_t)state; } static void parse_qnwinfo_snapshot(const char *response) { const char *p = rt_strstr(response, "+QNWINFO:"); char channel[12]; if (p == RT_NULL) return; p += rt_strlen("+QNWINFO:"); copy_csv_token(&p, lte_diag.network.rat, sizeof(lte_diag.network.rat)); copy_csv_token(&p, lte_diag.network.oper, sizeof(lte_diag.network.oper)); copy_csv_token(&p, lte_diag.network.band, sizeof(lte_diag.network.band)); copy_csv_token(&p, channel, sizeof(channel)); p = channel; { int value = parse_decimal(&p); if (value >= 0) lte_diag.network.channel = (rt_uint32_t)value; } } void BSP_LTE_CollectNetworkSnapshot(void) { lte_network_snapshot_t *network = <e_diag.network; rt_memset(network, 0, sizeof(*network)); network->cereg = -1; network->cgatt = -1; network->pdp = -1; network->csq = -1; BSP_LTE_SendCmd(AT_CEREG2, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); if (BSP_LTE_SendCmd(AT_CEREG, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL) == 0) { parse_cereg_snapshot((const char *)lte_dev.at_buf); } BSP_LTE_SendCmd(AT_CEREG0, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); if (BSP_LTE_SendCmd(AT_CGATT, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL) == 0) { parse_cgatt_snapshot((const char *)lte_dev.at_buf); } if (BSP_LTE_SendCmd(AT_QIACT, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL) == 0) { parse_qiact_snapshot((const char *)lte_dev.at_buf); } if (BSP_LTE_SendCmd(AT_QNWINFO, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL) == 0) { parse_qnwinfo_snapshot((const char *)lte_dev.at_buf); } network->csq = BSP_LTE_GetCSQ(); if (network->csq >= 0) lte_dev.csq = network->csq; } int16_t BSP_LTE_SendCmd(const char *cmd, const char *expect, const char *error, uint32_t waittime) { lte_diag_at_begin(cmd); LOG_I("%s\n", cmd); BSP_LTE_SendData((uint8_t *)cmd, rt_strlen(cmd)); rt_err_t ret = rt_sem_take(lte_dev.com_dev_rx_sem, waittime); if (ret == RT_EOK) { rt_thread_mdelay(500); rt_memset(lte_dev.at_buf, 0, sizeof(lte_dev.at_buf)); rt_ssize_t read_len = rt_device_read(lte_dev.com_dev, 0, lte_dev.at_buf, sizeof(lte_dev.at_buf)); if (read_len > 0) { lte_diag_uart2_rx((rt_size_t)read_len); lte_diag_modem_text(lte_dev.at_buf, (rt_size_t)read_len); } LOG_I("%s\n", lte_dev.at_buf); /* 清空缓存 */ uint8_t c; while (rt_device_read(lte_dev.com_dev, 0, &c, 1) == 1) { } if (expect != NULL && NULL != rt_strstr((char *)lte_dev.at_buf, expect)) { lte_diag_at_end(0); return 0; } else if (error != NULL && NULL != rt_strstr((char *)lte_dev.at_buf, error)) { lte_diag_at_end(1); return 1; } else { lte_diag_at_end(2); return 2; } } else { lte_diag_at_end(-1); return -1; } } int16_t BSP_LTE_SendATE(int16_t retry) { do { if (0 == BSP_LTE_SendCmd(AT_ATE0, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL)) { return 0; } retry--; } while (retry); return -1; } int extract_number(const char *src, char *dest) { if(src == RT_NULL || dest == RT_NULL){ return -1; } char *start = NULL; char *end = NULL; if (strchr(src, '\n') != NULL) { start = strchr(src, '\n') + 1; if (start != NULL) { end = strchr(start, '\r'); } } if (start != NULL && end != NULL) { int length = end - start; if(length >= 30){ return -1; } strncpy(dest, start, length); dest[length] = '\0'; } return 0; } int BSP_LTE_GetIMEI(char *pIMEI) { int ret = 0; // while (0 != BSP_LTE_SendCmd(AT_IMEI, DEFAULT_EXPECT, DEFAULT_ERROR, // LTE_CMD_WAIT_NORMAL)); ret = BSP_LTE_SendCmd(AT_IMEI, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); if (ret != 0) { return -1; } if (extract_number((const char *)lte_dev.at_buf, pIMEI) == -1) { return -1; } if (strlen(pIMEI) < 10) { ret = -1; } if (pIMEI[15] == '\"') pIMEI[15] = 0; return ret; } int BSP_LTE_GetICCID(char *pICCID) { char *start = NULL; char *end = NULL; int ret = 0; // while (0 != BSP_LTE_SendCmd(AT_ICCID, DEFAULT_EXPECT, DEFAULT_ERROR, // LTE_CMD_WAIT_LONG)); ret = BSP_LTE_SendCmd(AT_ICCID, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG); if(ret != 0){ return -1; } if(rt_strstr((const char *)lte_dev.at_buf, "+ICCID:") != NULL){ start = rt_strstr((const char *)lte_dev.at_buf, "+ICCID:") + rt_strlen("+ICCID:") + 1; } if(start == RT_NULL){ return -1; } end = start; while (*end != '\0' && *end != '\r' && *end != '\n') end++; rt_size_t len = end - start; if(len >= 30){ return -1; } rt_memcpy(pICCID, start, len); pICCID[len] = '\0'; if (strlen(pICCID) < 10) { ret = -1; } return ret; } #define CSQ_CMD_RESP "+CSQ:" int8_t BSP_LTE_GetCSQ(void) { int8_t ret = 0; char *start; if (0 != BSP_LTE_SendCmd(AT_CSQ, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG)) { return -1; } start = rt_strstr((const char *)lte_dev.at_buf, CSQ_CMD_RESP); if (start == RT_NULL) { return -1; } start += rt_strlen(CSQ_CMD_RESP) + 1; while (*start >= '0' && *start <= '9') { ret = ret * 10 + (*start - '0'); start++; } return ret; } int16_t BSP_LTE_SendATCPIN(int16_t retry) { do { if (0 == BSP_LTE_SendCmd(AT_CPIN, "READY", DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL)) { return 0; } else if (NULL != strstr((char *)lte_dev.at_buf, "ERROR: 10")) { // No SimCard return 1; } retry--; } while (retry); return -1; } int16_t BSP_LTE_GetCEREG(int16_t retry) { do { if (0 == BSP_LTE_SendCmd(AT_CEREG, CEREG_OK, DEFAULT_ERROR, LTE_CMD_WAIT_LONG)) { return 0; } else if (0 == BSP_LTE_SendCmd(AT_CEREG, "+CEREG: 0,5\r\n\r\nOK", DEFAULT_ERROR, LTE_CMD_WAIT_LONG)) { return 0; } else if (0 == BSP_LTE_SendCmd(AT_CEREG, CEREG_OK_2, DEFAULT_ERROR, LTE_CMD_WAIT_LONG)) { return 0; } else if (0 == BSP_LTE_SendCmd(AT_CEREG, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG)) { return 0; } retry--; } while (retry); return -1; } static rt_err_t lte_com_rx_cb(rt_device_t dev, rt_size_t size) { lte_diag.uart2_rx_events++; if (lte_dev.com_dev_rx_sem != RT_NULL) { rt_sem_release(lte_dev.com_dev_rx_sem); } return RT_EOK; } void BSP_LET_Register_Com(rt_device_t com_dev) { if (lte_dev.com_dev_rx_sem == RT_NULL) { lte_dev.com_dev_rx_sem = rt_sem_create("lteRx", 0, RT_IPC_FLAG_PRIO); } lte_dev.com_dev = com_dev; if (lte_dev.data_tx_mutex == RT_NULL) { lte_dev.data_tx_mutex = rt_mutex_create("lteTx", RT_IPC_FLAG_PRIO); } BSP_LTE_SetDataTxPaused(false); } /* 函数功能:配置EC800K */ void BSP_LTE_Config(void) { int res = 0; rt_device_set_rx_indicate(lte_dev.com_dev, lte_com_rx_cb); uint8_t c = 0; //rt_thread_mdelay(3000); BSP_LTE_SendData((uint8_t *)"+++", 3); rt_thread_mdelay(2000); BSP_LTE_SendData((uint8_t *)"+++", 3); rt_thread_mdelay(2000); while (rt_device_read(lte_dev.com_dev, 0, &c, 1) == 1); while (0 != BSP_LTE_SendATE(3)) { rt_thread_mdelay(500); LOG_I("BSP_LTE_SendATE error\n"); } /* Allow the network to update the module clock after registration. */ BSP_LTE_SendCmd(AT_CTZU, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); /*查询模块信息*/ if (lte_dev.dev_init_flag == true) { BSP_LTE_SendCmd(AT_ATI, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); } /*查询SIM卡是否存在*/ res = BSP_LTE_SendATCPIN(3); if (res == 1) { return; } /*请求移动设备的识别码*/ if (lte_dev.dev_init_flag == true) { if (BSP_LTE_GetIMEI(lte_dev.imei) == -1) { return; } /*请求sim卡号码*/ if (BSP_LTE_GetICCID(lte_dev.iccid) == -1) { return; } } /*查询信号强度*/ res = BSP_LTE_GetCSQ(); if (res != -1) lte_dev.csq = res; /*查询网络注册状态*/ res = BSP_LTE_GetCEREG(3); if(res == -1){ return; } /*配置应用场景*/ BSP_LTE_SendCmd(AT_QICSGP, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG); //BSP_LTE_SendCmd(AT_QICSGP_CTIOT, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG); //BSP_LTE_SendCmd(AT_QICSGP_CMTDS, DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_LONG); /*定义 PDP 上下文*/ BSP_LTE_SendCmd("AT+CGDCONT?\r\n", DEFAULT_EXPECT, DEFAULT_ERROR, LTE_CMD_WAIT_NORMAL); //+CGDCONT: 1,"IP","cmiot","0.0.0.0",0,0,0,0,0,0....OK lte_dev.config_sta = true; lte_dev.dev_init_flag = false; } //------------------End of File----------------------------