EC600G/components/ql-application/spi/spi_demo.c

/*================================================================
  Copyright (c) 2020 Quectel Wireless Solution, Co., Ltd.  All Rights Reserved.
  Quectel Wireless Solution Proprietary and Confidential.
=================================================================*/
/*=================================================================

                        EDIT HISTORY FOR MODULE

This section contains comments describing changes made to the module.
Notice that changes are listed in reverse chronological order.

WHEN              WHO         WHAT, WHERE, WHY
------------     -------     -------------------------------------------------------------------------------

=================================================================*/


#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#include "ql_api_osi.h"

#include "ql_api_spi.h"

#include "ql_log.h"
#include "spi_demo.h"
#include "ql_gpio.h"
#include "ql_power.h"

#include "ql_fs.h"
#include "ql_api_dev.h"

#define QL_SPI_DEMO_LOG_LEVEL       	        QL_LOG_LEVEL_INFO
#define QL_SPI_DEMO_LOG(msg, ...)			    QL_LOG(QL_SPI_DEMO_LOG_LEVEL, "ql_SPI_DEMO", msg, ##__VA_ARGS__)
#define QL_SPI_DEMO_LOG_PUSH(msg, ...)	        QL_LOG_PUSH("ql_SPI_DEMO", msg, ##__VA_ARGS__)


uint8_t OTA_FLAG = 1;
output_control_t output_control_t_info = {0};
sleep_control_t sleep_control_t_info = {0};
communication_control_t communication_control_t_info = {0};
/**
 *  使用SPI DMA注意事项：
 *  8910:
 *  1. SPI DMA POLLING和SPI DMA IRQ只支持8bit和16bit的数据传输，不支持32bit数据传输
 *  2. 在使用16bit传输数据时，DMA实际使用的是32bit位宽，需要对输出数据插入一些无效数据，对输入数据去除无效数据，
 *     因此新增16bit dma api用于16bit情况下的读写，api包含ql_spi_write_16bit_dma、ql_spi_read_16bit_dma、
 *     ql_spi_write_read_16bit_dma，这部分代码在demo中开源，客户可自行优化，或直接使用
 *  3. QL_SPI_16BIT_DMA置为1表示使用16bit DMA demo
 *  8850:
 *  1. SPI DMA POLLING和SPI DMA IRQ支持8bits、16bits和32bits的数据传输,但是传输的数据大小需要framesize对齐。
 */
#define QL_SPI_16BIT_DMA                   0        //16bit DMA demo
#define QL_SPI_DEMO_LOW_POWER_USE          0        //0-not run in lower power mode；1-run in lower power mode

ql_task_t spi_demo_task = NULL;
ql_sem_t  spi_demo_write;
ql_sem_t  spi_demo_read;
int spi_power_lock = 0;


#define QL_SPI_DEMO_WAIT_NONE              0
#define QL_SPI_DEMO_WAIT_WRITE             1
#define QL_SPI_DEMO_WAIT_READ              2

unsigned char spi_demo_wait_write_read = QL_SPI_DEMO_WAIT_NONE;

#if 1
#define QL_CUR_SPI_PORT             QL_SPI_PORT1
#define QL_CUR_SPI_CS_PIN           QL_CUR_SPI1_CS_PIN
#define QL_CUR_SPI_CS_FUNC          QL_CUR_SPI1_CS_FUNC
#define QL_CUR_SPI_CLK_PIN          QL_CUR_SPI1_CLK_PIN
#define QL_CUR_SPI_CLK_FUNC         QL_CUR_SPI1_CLK_FUNC
#define QL_CUR_SPI_DO_PIN           QL_CUR_SPI1_DO_PIN
#define QL_CUR_SPI_DO_FUNC          QL_CUR_SPI1_DO_FUNC
#define QL_CUR_SPI_DI_PIN           QL_CUR_SPI1_DI_PIN
#define QL_CUR_SPI_DI_FUNC          QL_CUR_SPI1_DI_FUNC
#else
#define QL_CUR_SPI_PORT             QL_SPI_PORT2
#define QL_CUR_SPI_CS_PIN           QL_CUR_SPI2_CS_PIN
#define QL_CUR_SPI_CS_FUNC          QL_CUR_SPI2_CS_FUNC
#define QL_CUR_SPI_CLK_PIN          QL_CUR_SPI2_CLK_PIN
#define QL_CUR_SPI_CLK_FUNC         QL_CUR_SPI2_CLK_FUNC
#define QL_CUR_SPI_DO_PIN           QL_CUR_SPI2_DO_PIN
#define QL_CUR_SPI_DO_FUNC          QL_CUR_SPI2_DO_FUNC
#define QL_CUR_SPI_DI_PIN           QL_CUR_SPI2_DI_PIN
#define QL_CUR_SPI_DI_FUNC          QL_CUR_SPI2_DI_FUNC
#endif
#define QL_TYPE_SHIFT_8             8

uint32_t g_inbuf[QL_SPI_DMA_IRQ_SIZE/4] OSI_CACHE_LINE_ALIGNED;
uint32_t g_outbuf[QL_SPI_DMA_IRQ_SIZE/4] OSI_CACHE_LINE_ALIGNED;

void ql_spi_read_data_transform(unsigned char *buf, unsigned int len)
{
    if(len%2 != 0 || len > QL_SPI_DMA_IRQ_SIZE/2)
    {
        QL_SPI_DEMO_LOG("invalid parm");
        return;
    }

    for(int i = 0; i < len/2; i++)
    {
        buf[i*2] = (g_inbuf[i] >> QL_TYPE_SHIFT_8) & 0xFF;
        buf[i*2+1] = g_inbuf[i] & 0xFF;
    }
}

ql_errcode_spi_e ql_spi_write_16bit_dma(ql_spi_port_e port, unsigned char *buf, unsigned int len)
{
    if(len%2 != 0 || len > QL_SPI_DMA_IRQ_SIZE/2)
    {
        QL_SPI_DEMO_LOG("invalid parm");
        return QL_SPI_PARAM_DATA_ERROR;
    }
    
    unsigned short out_temp = 0;

    for(int i = 0; i < len/2; i++)
    {
        out_temp = buf[i*2];
        g_outbuf[i] = (out_temp << QL_TYPE_SHIFT_8) + buf[i*2+1];
    }

    return ql_spi_write(port, (unsigned char*)g_outbuf, len*2);
}

ql_errcode_spi_e ql_spi_read_16bit_dma(ql_spi_port_e port, unsigned char *buf, unsigned int len)
{
    if(len%2 != 0 || len > QL_SPI_DMA_IRQ_SIZE/2)
    {
        QL_SPI_DEMO_LOG("invalid parm");
        return QL_SPI_PARAM_DATA_ERROR;
    }

    return ql_spi_read(port, (unsigned char*)g_inbuf, len*2);
}

ql_errcode_spi_e ql_spi_write_read_16bit_dma(ql_spi_port_e port, unsigned char *inbuf, unsigned char *outbuf, unsigned int len)
{
    if(len%2 != 0 || len > QL_SPI_DMA_IRQ_SIZE/2)
    {
        QL_SPI_DEMO_LOG("invalid parm");
        return QL_SPI_PARAM_DATA_ERROR;
    }
    unsigned short out_temp = 0;
    
    for(int i = 0; i < len/2; i++)
    {
        out_temp = outbuf[i*2];
        g_outbuf[i] = (out_temp << QL_TYPE_SHIFT_8) + outbuf[i*2+1];
    }
    
    return ql_spi_write_read(port, (unsigned char*)g_inbuf, (unsigned char*)g_outbuf, len*2);
}

void ql_spi_flash_data_printf(unsigned char *data, int len)
{
    int i = 0;
    int count_len = 256;
    int count = 0;
    int exit = 0;
	int write_len = 0;
	int pos = 0;
    
    unsigned char *str_data = (unsigned char *)malloc(len*2+64);
    if (str_data == NULL)
    {
        QL_SPI_DEMO_LOG("malloc err");
        return ; 
    }

    QL_SPI_DEMO_LOG("read len=%d", len);
    
    while ((exit == 0))
    {
        if (len - count > 256)
        {
            count_len = 256;
        }
        else 
        {
            count_len = len - count;
            exit = 1;
        }
        
        memset(str_data, 0, len*2+64);
        for (i=count; i<count+count_len; i++)
        {
            //sprintf((char *)str_data,"%s%02x", str_data, data[i]);
            if((i+1) % 128 == 0)
                write_len += snprintf((char *)(str_data + write_len),(len*2+64 - write_len), "%02x \n",data[i]);
            else
                write_len += snprintf((char *)(str_data + write_len),(len*2+64 - write_len), "%02x",data[i]);
        }
        QL_SPI_DEMO_LOG("data[%d-%d]=%s", count, count+count_len, (char *)(str_data+pos));
        pos += write_len;
        count += count_len;
    }

    free(str_data);
}

void ql_spi_demo_cb_handler(ql_spi_irq_s cause)
{
    if (cause.tx_dma_done == 1 && spi_demo_wait_write_read == QL_SPI_DEMO_WAIT_WRITE)
    {
        spi_demo_wait_write_read = QL_SPI_DEMO_WAIT_NONE;
        ql_rtos_semaphore_release(spi_demo_write);
    }

    if (cause.rx_dma_done == 1 && spi_demo_wait_write_read == QL_SPI_DEMO_WAIT_READ)
    {
        spi_demo_wait_write_read = QL_SPI_DEMO_WAIT_NONE;
        ql_rtos_semaphore_release(spi_demo_read);
    }

    QL_SPI_DEMO_LOG("cause.tx_dma_done=%d", cause.tx_dma_done);
    QL_SPI_DEMO_LOG("cause.rx_dma_done=%d", cause.rx_dma_done);

}

static void ql_spi_demo_task_pthread(void *ctx)
{
    QlOSStatus err = 0;
    unsigned char *outdata = NULL;
    unsigned short outlen;
    unsigned char *indata = NULL;
    unsigned short inlen;
    unsigned char *out_mal_data = NULL;
    unsigned char *in_mal_data = NULL;
    ql_errcode_gpio ret;
    ql_spi_clk_e spiclk;
    ql_spi_transfer_mode_e transmode;
    unsigned int framesize;
    
    ql_spi_config_s spi_config = {0};
    
    if (QL_CUR_SPI_CS_PIN == QUEC_PIN_NONE || QL_CUR_SPI_CS_PIN == QUEC_PIN_NONE || \
        QL_CUR_SPI_DO_PIN == QUEC_PIN_NONE || QL_CUR_SPI_DI_PIN == QUEC_PIN_NONE)
    {
        QL_SPI_DEMO_LOG("pin err");
        goto QL_SPI_EXIT;
    }

    ret = ql_pin_set_func(QL_CUR_SPI_CS_PIN, QL_CUR_SPI_CS_FUNC);
    if (ret != QL_GPIO_SUCCESS)
    {
        QL_SPI_DEMO_LOG("set pin err");
        goto QL_SPI_EXIT;
    }
    
    ret = ql_pin_set_func(QL_CUR_SPI_CLK_PIN, QL_CUR_SPI_CLK_FUNC);
    if (ret != QL_GPIO_SUCCESS)
    {
        QL_SPI_DEMO_LOG("set pin err");
        goto QL_SPI_EXIT;
    }
    ret = ql_pin_set_func(QL_CUR_SPI_DO_PIN, QL_CUR_SPI_DO_FUNC);
    if (ret != QL_GPIO_SUCCESS)
    {
        QL_SPI_DEMO_LOG("set pin err");
        goto QL_SPI_EXIT;
    }
    ret = ql_pin_set_func(QL_CUR_SPI_DI_PIN, QL_CUR_SPI_DI_FUNC);
    if (ret != QL_GPIO_SUCCESS)
    {
        QL_SPI_DEMO_LOG("set pin err");
        goto QL_SPI_EXIT;
    }

    //If you use the default parameters, you can initialize it with ql_spi_init
  /*transmode = QL_SPI_DMA_IRQ;
    spiclk = QL_SPI_CLK_25MHZ;
    framesize = 8;
    ql_spi_init(QL_CUR_SPI_PORT, transmode, spiclk);
  */

    spi_config.input_mode = QL_SPI_INPUT_TRUE;
    spi_config.port = QL_CUR_SPI_PORT;

#if QL_SPI_16BIT_DMA    
    framesize = 16;
#else
    framesize = 8;
#endif
    transmode = QL_SPI_DMA_IRQ; //使用QL_SPI_DMA_IRQ模式，传输一次最大的数据量为512个字节
    spiclk = QL_SPI_CLK_1_3MHZ;
    spi_config.spiclk = spiclk;
    spi_config.framesize = framesize;
    spi_config.cs_polarity0 = QL_SPI_CS_ACTIVE_LOW;
    spi_config.cs_polarity1 = QL_SPI_CS_ACTIVE_LOW;
    spi_config.cpol = QL_SPI_CPOL_LOW;
    spi_config.cpha = QL_SPI_CPHA_1Edge;
    spi_config.input_sel = QL_SPI_DI_1;
    spi_config.transmode = transmode;  
    spi_config.cs = QL_SPI_CS0;
    spi_config.clk_delay = QL_SPI_CLK_DELAY_0;
    ql_spi_init_ext(spi_config);

    //使用QL_SPI_DMA_IRQ模式才会使用到信号量
    if(transmode == QL_SPI_DMA_IRQ)
    {
        ql_spi_irq_s mask = {0};
        mask.rx_dma_done = 1;
        mask.tx_dma_done = 1;
        //mask.tx_threshold = QL_SPI_TRIGGER_4_DATA;
        //mask.rx_threshold = QL_SPI_TRIGGER_4_DATA;

        ql_rtos_semaphore_create(&spi_demo_write, 0);
        ql_rtos_semaphore_create(&spi_demo_read, 0);
        ql_spi_set_irq(QL_CUR_SPI_PORT, mask, ql_spi_demo_cb_handler);

    }
    
    //用来测试SPI CS脚可以强制拉低，CS脚恢复成系统控制后，不需要强制拉高拉低
    ql_spi_cs_low(QL_CUR_SPI_PORT);
    ql_rtos_task_sleep_s(3);
    ql_spi_cs_auto(QL_CUR_SPI_PORT);

    //使用QL_SPI_DMA_IRQ模式，传输一次最大的数据量为512个字节,如果采用16bit传输数据，需要填充256字节无效数据用于DMA对齐，实际有效最大数据量为256字节
#if QL_SPI_16BIT_DMA
    outlen = QL_SPI_DMA_IRQ_SIZE/2;
    inlen = QL_SPI_DMA_IRQ_SIZE/2;
#else
    outlen = QL_SPI_DMA_IRQ_SIZE;
    inlen = QL_SPI_DMA_IRQ_SIZE;
#endif
    out_mal_data = (unsigned char *)malloc(QL_SPI_DMA_ADDR_ALIN+outlen);
    in_mal_data = (unsigned char *)malloc(QL_SPI_DMA_ADDR_ALIN+outlen);
    if (out_mal_data == NULL || in_mal_data == NULL)
    {
        QL_SPI_DEMO_LOG("malloc err");
        goto QL_SPI_EXIT;
    }

    //使用QL_SPI_DMA_POLLING和QL_SPI_DMA_IRQ模式，使用的地址必须4字节对齐
    if(transmode == QL_SPI_DMA_POLLING || transmode == QL_SPI_DMA_IRQ)
    {
        outdata = (unsigned char *)OSI_ALIGN_UP(out_mal_data, QL_SPI_DMA_ADDR_ALIN);
        indata = (unsigned char *)OSI_ALIGN_UP(in_mal_data, QL_SPI_DMA_ADDR_ALIN);
    }
    else
    {
        outdata = out_mal_data;
        indata = in_mal_data;
    }
    
    memset(outdata, 0x00, outlen);
    memset(indata, 0x00, inlen);
    ql_spi_flash_data_printf(outdata, outlen);
#if QL_SPI_DEMO_LOW_POWER_USE    
    ql_autosleep_enable(QL_ALLOW_SLEEP);
    ql_rtos_task_sleep_s(2);
#endif
    //static uint8_t cmd_type = 0;
    OTA_FLAG = 1;
    while(1)
    {
        if(0)
        {
            OTA_FLAG = 1;
            QL_SPI_DEMO_LOG("ota test mode");
            data_mpu_pack(outdata, &outlen, 0X60, 0X03, spiclk);;
        }
        #if 0
        cmd_type = cmd_type + 1 > 4 ? 1 : cmd_type + 1;
        data_mpu_pack(outdata, &outlen, 0X50, cmd_type, spiclk);;
        spi_dma_write_hc(QL_CUR_SPI_PORT, outdata, 512, spiclk);
        ql_spi_flash_data_printf(outdata, 256);
        spi_dma_read_hc(QL_CUR_SPI_PORT, indata, 512, spiclk);
        unsigned short sendLen = 0;
        ql_spi_flash_data_printf(indata, 512);
        data_decode_mpu(indata, 512, outdata, &sendLen, spiclk);
        if(0X03 != cmd_type)
        {
            data_mpu_pack(outdata, &outlen, 0X60, cmd_type, spiclk);

        }
        spi_dma_write_hc(QL_CUR_SPI_PORT, outdata, 512, spiclk);
        spi_dma_read_hc(QL_CUR_SPI_PORT, indata, 512, spiclk);
        #endif
        ql_rtos_task_sleep_ms(500);
    }   
    ql_spi_release(QL_CUR_SPI_PORT);
    free(out_mal_data);
    free(in_mal_data);
QL_SPI_EXIT:
    QL_SPI_DEMO_LOG("ql_rtos_task_delete");
	err = ql_rtos_task_delete(NULL);
	if(err != QL_OSI_SUCCESS)
	{
		QL_SPI_DEMO_LOG("task deleted failed");
	}
}

QlOSStatus ql_spi_demo_init(void)
{	
	QlOSStatus err = QL_OSI_SUCCESS;
#if QL_SPI_DEMO_LOW_POWER_USE
    spi_power_lock = ql_lpm_wakelock_create("spi_irq", strlen("spi_irq"));
#endif
	err = ql_rtos_task_create(&spi_demo_task, SPI_DEMO_TASK_STACK_SIZE, SPI_DEMO_TASK_PRIO, "ql_spi_demo", ql_spi_demo_task_pthread, NULL, SPI_DEMO_TASK_EVENT_CNT);
	if(err != QL_OSI_SUCCESS)
	{
		QL_SPI_DEMO_LOG("demo_task created failed");
        return err;
	}
    
    return err;
}


uint16_t Full_Frame_Verifi(uint8_t *srcdata, uint16_t srcLen, uint16_t* frame_start)
{
	uint16_t frame_len = 0;	// 获取帧长度
	uint8_t frame_flag = 0;		//找到帧起始位
	
	for(uint32_t i = 0; i < (srcLen - sizeof(frame_pack_t)) && 0 == frame_flag; i++)
	{
		if(0X5A == srcdata[i])
		{
			frame_len = srcdata[i + FRAME_LEN_INDEX] + (srcdata[i + FRAME_LEN_INDEX + 1] << 8);
			if((i + frame_len + 1) < srcLen && 
				(srcdata[i + frame_len - 2] + (srcdata[i + frame_len - 1] << 8) == crc16_modbus(srcdata + i, frame_len -2)))
			{
				frame_flag = 1;
				*frame_start = i;
                QL_SPI_DEMO_LOG("verfi successfully ");
				break;	
			}
		}
	}
	
	if(0 == frame_flag)
		return 0;
	else
		return frame_len;
}
uint8_t data_mpu_pack(uint8_t* output, uint16_t* output_data_len, uint8_t cmd, uint8_t cmd_type, ql_spi_clk_e spiclk)
{
    #define FLASH_SEND_DATA_LEN (256)
    #define FLASH_HEAD_0X6003      (0X03)
    #define FLASH_SEND_LEN_ALGINE (FLASH_SEND_DATA_LEN + sizeof(frame_pack_t) + 2 + 2 + FLASH_HEAD_0X6003)
    #define FLASH_SEND_LEN         (512)
    #define FLASH_READ_LEN (512)
    frame_pack_t frame_tmp = {0};
    frame_tmp.destination_addr = MCU_ADDR;
    frame_tmp.source_addr = MPU_ADDR;
    frame_tmp.frame_head = 0X5A;
    (*output_data_len) = sizeof(frame_pack_t);
    switch (cmd)
    {
    case 0X50:
        /* code */
        frame_tmp.cmd = 0X50;
        switch (cmd_type)
        {
        case 0X01:
        frame_tmp.cmd_type = 0X01;
            break;
        case 0X02:
        frame_tmp.cmd_type = 0X02;
            break;
        case 0X03:
        frame_tmp.cmd_type = 0X03;
            break;       
        default:
            break;
        }
        break;
    case 0X60:
        /* code */

        frame_tmp.cmd = 0X60;
        switch (cmd_type)
        {
        case 0X01:
            frame_tmp.cmd_type = 0X01;
            output_control_t_info.output_number = 6;
            output_control_t_info.pwm_number = 2;
            memcpy(output, &output_control_t_info, sizeof(output_control_t));
            *output_data_len += sizeof(output_control_t_info);
            break;
        case 0X02:
            frame_tmp.cmd_type = 0X02;
            sleep_control_t_info.control_type = 1;
            sleep_control_t_info.sleep_time = 256;
            memcpy(output, &sleep_control_t_info, sizeof(sleep_control_t));
            *output_data_len += sizeof(sleep_control_t_info);          
            break;
        case 0X03:
        frame_tmp.cmd_type = 0X03;

        int fd_updata_file = 0;
        fd_updata_file = ql_fopen("UFS:/updata.bin", "r+");
        if(0 == fd_updata_file)
        {
            QL_SPI_DEMO_LOG("fd open failed");
            break;
        }
        else
            QL_SPI_DEMO_LOG("fd open succeeded");

        uint16_t crcFile = 0;

        creat_software_crc16(fd_updata_file, &crcFile);
        QL_SPI_DEMO_LOG("fd file %d", crcFile);
        ql_frewind(fd_updata_file);

        
        uint8_t pbuf[FLASH_SEND_DATA_LEN] = {0};
        int readLen = ql_fread(pbuf, FLASH_SEND_DATA_LEN, 1, fd_updata_file);
        uint16 crc16_tmp = 0;
        static uint16 frame_index = 0;
        uint8* indata_tmp = (unsigned char *)malloc(QL_SPI_DMA_ADDR_ALIN + FLASH_READ_LEN);
        uint8*indata = (unsigned char *)OSI_ALIGN_UP(indata_tmp, QL_SPI_DMA_ADDR_ALIN);
        #define DELAY_TIME_FLASH_TEST  (150)
        while((readLen) > 0)
        {
            *output_data_len = sizeof(frame_pack_t);
            frame_tmp.data_lenth = sizeof(frame_pack_t) + FLASH_HEAD_0X6003 + readLen + 2 + 2;
            memcpy(output, &frame_tmp, sizeof(frame_pack_t));
            QL_SPI_DEMO_LOG("circle index %d head len %d  send len %d", frame_index, *output_data_len, frame_tmp.data_lenth);
            output[(*output_data_len)++] = 0X01;
            output[(*output_data_len)++] = frame_index & 0XFF;
            output[(*output_data_len)++] = (frame_index >> 8) & 0XFF;
            memcpy(output + (*output_data_len), pbuf, readLen);
            (*output_data_len) += readLen;

            crc16_tmp = crc16_modbus(pbuf, readLen);
            output[(*output_data_len)++] = crc16_tmp & 0XFF;
            output[(*output_data_len)++] = (crc16_tmp >> 8) & 0XFF;
            crc16_tmp = crc16_modbus(output, *output_data_len);
            output[(*output_data_len)++] = crc16_tmp & 0XFF;
            output[(*output_data_len)++] = (crc16_tmp >> 8) & 0XFF;
            QL_SPI_DEMO_LOG("out data,frame_tmp.data_lenth %d readLen %d fdSize:%d", frame_tmp.data_lenth, readLen , ql_fsize(fd_updata_file));
            spi_dma_write_hc(QL_CUR_SPI_PORT, output,  FLASH_SEND_LEN, spiclk);
            ql_rtos_task_sleep_ms(DELAY_TIME_FLASH_TEST);
            spi_dma_read_hc(QL_CUR_SPI_PORT, indata, FLASH_SEND_LEN, spiclk);
           
            QL_SPI_DEMO_LOG("out data,frame_tmp.data_lenth %d", frame_tmp.data_lenth);
            ql_spi_flash_data_printf(output, frame_tmp.data_lenth);
            QL_SPI_DEMO_LOG("in data");
            ql_spi_flash_data_printf(indata, FLASH_READ_LEN);
            
            uint8_t tmp[256];
            uint16_t len_tmp = 0;
            uint16 orIndex = data_decode_mpu(indata, FLASH_READ_LEN, tmp, &len_tmp, spiclk);
            static uint8_t errorNum = 0;
            while(frame_index != (orIndex - 1))
            {
                QL_SPI_DEMO_LOG("in data orindex %d", orIndex);
                ql_spi_flash_data_printf(indata, FLASH_READ_LEN);
                spi_dma_write_hc(QL_CUR_SPI_PORT, output, FLASH_SEND_LEN, spiclk);
                QL_SPI_DEMO_LOG("out data,frame_tmp.data_lenth %d", frame_tmp.data_lenth);
                ql_spi_flash_data_printf(output, frame_tmp.data_lenth);
                ql_rtos_task_sleep_ms(DELAY_TIME_FLASH_TEST);
                spi_dma_read_hc(QL_CUR_SPI_PORT, indata, FLASH_READ_LEN, spiclk);
                orIndex = data_decode_mpu(indata, FLASH_READ_LEN, tmp, &len_tmp, spiclk);
                errorNum++;
                if(errorNum > 20)
                {
                    //升级失败
                    ql_fclose(fd_updata_file);
                    free(indata_tmp);
                    *output_data_len = 0;
                    return errorNum;
                }
                    
            }
            frame_index++;
            readLen = ql_fread(pbuf, FLASH_SEND_DATA_LEN, 1, fd_updata_file);

        }
        memset(output, 0, FLASH_SEND_LEN);
        *output_data_len = sizeof(frame_pack_t);

        output[(*output_data_len)++] = 0X00; 
        output[(*output_data_len)++] = frame_index & 0XFF;
        output[(*output_data_len)++] = (frame_index >> 8) & 0XFF;

        output[(*output_data_len)++] = crcFile & 0XFF;
        output[(*output_data_len)++] = (crcFile >> 8) & 0XFF;

        output[(*output_data_len)++] = ql_fsize(fd_updata_file) & 0XFF;
        output[(*output_data_len)++] = (ql_fsize(fd_updata_file) >> 8) & 0XFF;

        frame_tmp.data_lenth = (*output_data_len) + 2;
        memcpy(output, &frame_tmp, sizeof(frame_pack_t));
        crc16_tmp = crc16_modbus(output, (*output_data_len));

        output[(*output_data_len)++] = crc16_tmp & 0XFF;
        output[(*output_data_len)++] = (crc16_tmp >> 8) & 0XFF;

        
        spi_dma_write_hc(QL_CUR_SPI_PORT, output, FLASH_SEND_LEN, spiclk);
        QL_SPI_DEMO_LOG("end of frame_tmp.data_lenth:%d   crc16_tmp:%d  crcFile:%d", frame_tmp.data_lenth, crc16_tmp, crcFile);
        ql_spi_flash_data_printf(output, FLASH_READ_LEN);
        #undef DATA_SEND_LEN
        ql_fclose(fd_updata_file);
        free(indata_tmp);
        *output_data_len = 0;
        return 0;
            break;       
        case 0X04:
        frame_tmp.cmd_type = 0X04;
        communication_control_t_info.can_send_data_type = 1;
        memcpy(output, &communication_control_t_info, sizeof(communication_control_t));
        *output_data_len += sizeof(communication_control_t);        
        break;
        default:
            break;
        }
        break;
     
    default:
        break;
    }
    frame_tmp.data_lenth = 2 + *output_data_len;
    memcpy(output, &frame_tmp, sizeof(frame_pack_t));
    uint16_t crc16 = crc16_modbus(output, *output_data_len);
    output[(*output_data_len)++] = crc16 & 0XFF;
    output[(*output_data_len)++] = (crc16 >> 8) & 0XFF;

    return 0;
}
uint16_t data_decode_mpu(uint8_t *input_data, uint16_t input_data_len, uint8_t* output, uint16_t* output_data_len, ql_spi_clk_e spiclk)
{
	
	uint16_t frame_start = 0;	// 帧起始位
	uint16_t frame_len = 0;
	
	*output_data_len = 0;
	static frame_pack_t frame_tmp = {0};
	frame_tmp.frame_head = 0X5A;
	frame_tmp.destination_addr = MCU_ADDR;
	frame_tmp.source_addr = MPU_ADDR;
	//frame_pack_t* frame_read_tmp;

	frame_len = Full_Frame_Verifi(input_data, input_data_len, &frame_start);
    //QL_SPI_DEMO_LOG("cmd :%d %dxxxxxx",frame_len, frame_start);
	if(0 == frame_len)
		return 1;
	else
    {}
	*output_data_len += sizeof(frame_pack_t);
    //QL_SPI_DEMO_LOG("cmd :%d %dxxxxxx",input_data[frame_start + FRAME_CMD_INDEX], frame_start);
    uint8_t *pack_data = input_data + frame_start + sizeof(frame_pack_t);

	switch(input_data[frame_start + FRAME_CMD_INDEX])
	{
		case 0X50:
			frame_tmp.cmd = 0X50;
			switch(input_data[frame_start + FRAME_CMD_TYPE_INDEX])
			{
				case 0X01:
    //             //	uint8_t temperatures_number;
	                // int8_t  temperatures_data[TEMP_NUMBER];
                    QL_SPI_DEMO_LOG("cmd :0X01----");
                    cmd_05_01_device_status_t* tmp_read1 = (cmd_05_01_device_status_t * )(input_data + frame_start + sizeof(frame_pack_t));
                    QL_SPI_DEMO_LOG("work_status %d, backup_voltage:%d,	backup_temperature:%d,high_driver_number:%d,\n\
                    high_driver_status:%d,  low_driver_number:%d low_driver_status:%d last_wake_up_source %d location_status:%d", tmp_read1->work_status, tmp_read1->backup_voltage,\
	                    tmp_read1->backup_temperature,tmp_read1->high_driver_number,tmp_read1->high_driver_status,\
                        tmp_read1->low_driver_number,tmp_read1->low_driver_status, tmp_read1->last_wake_up_source,tmp_read1->location_status\
                    );
                    (void)tmp_read1;
					break; 
				case 0X02:;
                    QL_SPI_DEMO_LOG("cmd :0X02----");
                    gps_info_t* tmp_read2 = (gps_info_t *)(input_data + frame_start + sizeof(frame_pack_t));
                    QL_SPI_DEMO_LOG("gps locate_mark %d,satellite_num %d,", tmp_read2->locate_mark, tmp_read2->satellite_num);
                    (void)tmp_read2;
					break;
				case 0X03:
                   QL_SPI_DEMO_LOG("cmd :0X03----");
                   cmd_05_03_communication_data_t* tmp_read = (cmd_05_03_communication_data_t *)(input_data + frame_start + sizeof(frame_pack_t));
                   QL_SPI_DEMO_LOG("%d, %d,%d, %d,%d, %d,%d, %d,%d, %d,%d,",\
                   	tmp_read->x_data,tmp_read->y_data,tmp_read->z_data,tmp_read-> can0_data_status,tmp_read-> can0_fault_status,tmp_read->can0_data_lenth,\
                        tmp_read-> can1_data_status,tmp_read-> can1_fault_status,tmp_read->can1_data_lenth,tmp_read-> rs485_data_status,tmp_read->rs485_data_lenth);
                   (void)tmp_read;
					break;
				default:
					break;
			}
			break;
		case 0X60:
			//
			switch(input_data[frame_start + FRAME_CMD_TYPE_INDEX])
			{
				case 0X01:
					///
					*output_data_len = 0;
					break;
				case 0X02:
					///
					break;
				case 0X03:
					QL_SPI_DEMO_LOG("cmd60 03----flash\nframe_index :%d\n", (pack_data[0] + (pack_data[1]  << 8)));
                    return (pack_data[0] + (pack_data[1]  << 8));
					break;
				case 0X04:
					//
					break;
				default:
					break;
			}
			*output_data_len = 0;
			return 0;
			break;
		default:
			break;
	}
	memcpy(output, &frame_tmp, sizeof(frame_pack_t)); //帧固定帧在此复制
	
	uint16_t crc16 = crc16_modbus(output, *output_data_len);
	output[(*output_data_len)++] = crc16 & 0XFF;
	output[(*output_data_len)++] = (crc16 << 8) & 0XFF;
	return 0;
}

unsigned short crc16_modbus(unsigned char *pdata, int len)
{
		int j = 0;
		int i = 0;
		uint16_t reg_crc = 0xffff;
		while (i < len )
		{
				reg_crc ^= pdata[i];
				i++;	 		
				for (j = 0; j < 8; j++)
				{
						if ((reg_crc & 0x01) == 1)
						{
								reg_crc = (uint16_t)((reg_crc >> 1) ^ 0xa001);
						}
						else
						{
								reg_crc = (uint16_t)( reg_crc >> 1);
						}
				}
		}
		
    return reg_crc;
}

#if 1
uint16_t g_dnpcrc_table[256] = 
{
		0x0000, 0x365E, 0x6CBC, 0x5AE2, 0xD978, 0xEF26, 0xB5C4, 0x839A,
		0xFF89, 0xC9D7, 0x9335, 0xA56B, 0x26F1, 0x10AF, 0x4A4D, 0x7C13,
		0xB26B, 0x8435, 0xDED7, 0xE889, 0x6B13, 0x5D4D, 0x07AF, 0x31F1,
		0x4DE2, 0x7BBC, 0x215E, 0x1700, 0x949A, 0xA2C4, 0xF826, 0xCE78,
		0x29AF, 0x1FF1, 0x4513, 0x734D, 0xF0D7, 0xC689, 0x9C6B, 0xAA35,
		0xD626, 0xE078, 0xBA9A, 0x8CC4, 0x0F5E, 0x3900, 0x63E2, 0x55BC,
		0x9BC4, 0xAD9A, 0xF778, 0xC126, 0x42BC, 0x74E2, 0x2E00, 0x185E,
		0x644D, 0x5213, 0x08F1, 0x3EAF, 0xBD35, 0x8B6B, 0xD189, 0xE7D7,
		0x535E, 0x6500, 0x3FE2, 0x09BC, 0x8A26, 0xBC78, 0xE69A, 0xD0C4,
		0xACD7, 0x9A89, 0xC06B, 0xF635, 0x75AF, 0x43F1, 0x1913, 0x2F4D,
		0xE135, 0xD76B, 0x8D89, 0xBBD7, 0x384D, 0x0E13, 0x54F1, 0x62AF,
		0x1EBC, 0x28E2, 0x7200, 0x445E, 0xC7C4, 0xF19A, 0xAB78, 0x9D26,
		0x7AF1, 0x4CAF, 0x164D, 0x2013, 0xA389, 0x95D7, 0xCF35, 0xF96B,
		0x8578, 0xB326, 0xE9C4, 0xDF9A, 0x5C00, 0x6A5E, 0x30BC, 0x06E2,
		0xC89A, 0xFEC4, 0xA426, 0x9278, 0x11E2, 0x27BC, 0x7D5E, 0x4B00,
		0x3713, 0x014D, 0x5BAF, 0x6DF1, 0xEE6B, 0xD835, 0x82D7, 0xB489,
		0xA6BC, 0x90E2, 0xCA00, 0xFC5E, 0x7FC4, 0x499A, 0x1378, 0x2526,
		0x5935, 0x6F6B, 0x3589, 0x03D7, 0x804D, 0xB613, 0xECF1, 0xDAAF,
		0x14D7, 0x2289, 0x786B, 0x4E35, 0xCDAF, 0xFBF1, 0xA113, 0x974D,
		0xEB5E, 0xDD00, 0x87E2, 0xB1BC, 0x3226, 0x0478, 0x5E9A, 0x68C4,
		0x8F13, 0xB94D, 0xE3AF, 0xD5F1, 0x566B, 0x6035, 0x3AD7, 0x0C89,
		0x709A, 0x46C4, 0x1C26, 0x2A78, 0xA9E2, 0x9FBC, 0xC55E, 0xF300,
		0x3D78, 0x0B26, 0x51C4, 0x679A, 0xE400, 0xD25E, 0x88BC, 0xBEE2,
		0xC2F1, 0xF4AF, 0xAE4D, 0x9813, 0x1B89, 0x2DD7, 0x7735, 0x416B,
		0xF5E2, 0xC3BC, 0x995E, 0xAF00, 0x2C9A, 0x1AC4, 0x4026, 0x7678,
		0x0A6B, 0x3C35, 0x66D7, 0x5089, 0xD313, 0xE54D, 0xBFAF, 0x89F1,
		0x4789, 0x71D7, 0x2B35, 0x1D6B, 0x9EF1, 0xA8AF, 0xF24D, 0xC413,
		0xB800, 0x8E5E, 0xD4BC, 0xE2E2, 0x6178, 0x5726, 0x0DC4, 0x3B9A,
		0xDC4D, 0xEA13, 0xB0F1, 0x86AF, 0x0535, 0x336B, 0x6989, 0x5FD7,
		0x23C4, 0x159A, 0x4F78, 0x7926, 0xFABC, 0xCCE2, 0x9600, 0xA05E,
		0x6E26, 0x5878, 0x029A, 0x34C4, 0xB75E, 0x8100, 0xDBE2, 0xEDBC,
		0x91AF, 0xA7F1, 0xFD13, 0xCB4D, 0x48D7, 0x7E89, 0x246B, 0x1235,
};
#endif
void creat_software_crc16(int fd, uint16_t *cur_crc)
{
    #if 1
    uint16_t crc = 0u;
    uint32_t index = 0u;
    uint8 pbuf[256] = {0};
    int readLen = 0;

    readLen = ql_fread(pbuf, 256, 1, fd);
    while((readLen) > 0)
    {
        for (index = 0u; index < readLen; index++)
        {
            crc = ( crc >> 8 ) ^ g_dnpcrc_table[( crc ^ pbuf[index]) & 0x00ff] ;
        }
        readLen = ql_fread(pbuf, sizeof(pbuf), 1, fd);
    }
    *cur_crc = ((~crc) & 0xFFFFu);
    QL_SPI_DEMO_LOG("file len crc", *cur_crc);
    #else
    uint8 pbuf[256] = {0};
    int len = ql_fread(pbuf, 256, 1, fd);

    QL_SPI_DEMO_LOG("read len %d %d", len, pbuf[0]);
    for(int i = 0; i < len; i++)
    {
         QL_SPI_DEMO_LOG("%c ", pbuf[i]);
    }
    #endif
}

void spi_dma_write_hc(ql_spi_port_e spi_port, uint8_t *pbuf, uint32  len, ql_spi_clk_e spiclk)
{
    unsigned int tx_free = 0;
    unsigned int framesize = 8;
    ql_spi_cs_low(QL_CUR_SPI_PORT);
    spi_demo_wait_write_read = QL_SPI_DEMO_WAIT_WRITE;
    //不允许进入慢时钟
    ql_spi_request_sys_clk(QL_CUR_SPI_PORT);


    ql_spi_write(spi_port, pbuf, len);

    ql_rtos_semaphore_wait(spi_demo_write, QL_WAIT_FOREVER);
    //tx_dma_done只是DMA完成了，但是SPI的FIFO还可能存在数据未发送，在进入慢时钟或clk频率较低时出现
    ql_spi_get_tx_fifo_free(QL_CUR_SPI_PORT, &tx_free);
    QL_SPI_DEMO_LOG("tx_free=%d",tx_free);
    ql_delay_us((framesize+2)*(QL_SPI_FIFO_SIZE - tx_free)*1000000/spiclk);
    //恢复允许进入慢时钟
    ql_spi_release_sys_clk(QL_CUR_SPI_PORT);
    
    ql_spi_cs_high(QL_CUR_SPI_PORT);
}

void spi_dma_read_hc(ql_spi_port_e spi_port, uint8_t *pbuf, uint32  len, ql_spi_clk_e spiclk)
{
    unsigned int tx_free = 0;
    unsigned int framesize = 8;
    ql_spi_cs_low(QL_CUR_SPI_PORT);
    spi_demo_wait_write_read = QL_SPI_DEMO_WAIT_READ;
    //不允许进入慢时钟
    ql_spi_request_sys_clk(QL_CUR_SPI_PORT);


    ql_spi_read(spi_port, pbuf, len);


    ql_rtos_semaphore_wait(spi_demo_read, QL_WAIT_FOREVER);
    //tx_dma_done只是DMA完成了，但是SPI的FIFO还可能存在数据未发送，在进入慢时钟或clk频率较低时出现
    ql_spi_get_tx_fifo_free(QL_CUR_SPI_PORT, &tx_free);
    QL_SPI_DEMO_LOG("tx_free=%d",tx_free);
    ql_delay_us((framesize+2)*(QL_SPI_FIFO_SIZE - tx_free)*1000000/spiclk);
    //恢复允许进入慢时钟
    ql_spi_release_sys_clk(QL_CUR_SPI_PORT);
    ql_spi_cs_high(QL_CUR_SPI_PORT);
}