Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
72 lines
3.3 KiB
C++
72 lines
3.3 KiB
C++
#pragma once
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// Serial transport of the station-internal link over the ESP32-C5 native USB Serial/JTAG port.
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// Framing is the app's Phase 03 one: [AA][55][type][len LE][payload][crc16 LE] with
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// CRC-16/CCITT-FALSE over type+len+payload (implementation/station-link/README.md, "Serial").
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// One writer serialises complete frames; ESP_LOG output travels as LOG frames so the byte
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// stream never mixes text with a binary frame.
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#include <cstddef>
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#include <cstdint>
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#include <functional>
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#include <vector>
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namespace microbu::serial {
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/// @brief Byte buffer type for frame payloads.
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using Bytes = std::vector<std::uint8_t>;
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/// @brief The type of a frame. Either Link (link protocol), Test (test channel), or Log (ESP_LOG output).
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enum class FrameType : std::uint8_t { LINK = 0x10, TEST = 0x11, LOG = 0x7F };
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constexpr std::size_t maximum_payload = 1536;
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/// @brief A complete frame with a type and a payload.
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struct Frame { FrameType type; Bytes payload; };
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/// @brief Computes the CRC-16/CCITT-FALSE checksum over a byte range.
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/// @param data Pointer to the first byte to checksum.
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/// @param length Number of bytes to checksum.
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/// @return Checksum value.
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std::uint16_t crc16_ccitt_false(const std::uint8_t* data, std::size_t length);
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/// @brief Frames a payload as [AA][55][type][len LE][payload][crc16 LE].
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/// @param type Frame type tag.
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/// @param payload Payload bytes; must not exceed maximum_payload.
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/// @return Encoded frame bytes.
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Bytes encode_frame(FrameType type, const Bytes& payload);
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/// Byte-at-a-time decoder, same state machine as the app's SerialFrameDecoder.
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class Decoder {
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public:
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using Handler = std::function<void(Frame)>;
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/// @brief Feeds raw bytes through the frame state machine, invoking the handler per complete frame.
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/// @param data Pointer to the first byte to feed.
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/// @param length Number of bytes to feed.
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/// @param handler Invoked once per complete, CRC-valid frame; may be called zero or more times.
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void feed(const std::uint8_t* data, std::size_t length, const Handler& handler);
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/// @return Number of frames rejected for a CRC mismatch so far.
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std::uint32_t crc_errors() const { return crc_errors_; }
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/// @return Number of frames decoded successfully so far.
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std::uint32_t frames() const { return frames_; }
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private:
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enum class State { SYNC0, SYNC1, TYPE, LEN_LO, LEN_HI, PAYLOAD, CRC_LO, CRC_HI } state_ = State::SYNC0;
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std::uint8_t type_ = 0;
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std::uint16_t length_ = 0, crc_ = 0;
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Bytes payload_;
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std::uint32_t crc_errors_ = 0, frames_ = 0;
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};
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struct Counters { std::uint32_t frames = 0, crc_errors = 0, write_failures = 0; };
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/// @brief Installs the USB Serial/JTAG driver, starts the reader task and routes ESP_LOG into LOG frames.
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/// @param on_frame Invoked once per complete, CRC-valid frame.
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/// @note The handler runs on the reader task; it must only enqueue, never block.
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void start(const Decoder::Handler& on_frame);
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/// @brief Writes one complete frame (blocking, mutex-protected). Safe from any task.
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/// @param type Frame type tag.
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/// @param payload Payload bytes; must not exceed maximum_payload.
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/// @return false on a full payload, missing driver, lock timeout, or write failure.
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bool write(FrameType type, const Bytes& payload);
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/// @return Current frame/error counters.
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Counters counters();
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} // namespace microbu::serial
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