robot_h743/robot/bspMCU/l_stm32.c

#include "bsp_config.h"
#ifdef USE_LUA_ST
#include <unistd.h>
#include "lua_base.h"
#include "main.h"
#include "bsp_pin.h"
#include "stmflash.h"
#include "led.h"
#include "common.h"
#include "rd_time.h"
#include "bsp_usb.h"

void Rd_lstm32EnableStrong(void)
{
    // 用于强符号覆盖的锚点
}

volatile uint8_t g_lua_stop_request; // 用于标识是否跳出Lua死循环（依赖于死循环中调用st.ms延时） 

void l_exit_hook(lua_State *L, lua_Debug *ar)
{
    if (g_lua_stop_request) 
    {
        g_lua_stop_request = 0;
        luaL_error(L, "__STOP_REQUESTED__"); 
    }
}

typedef struct 
{
    GPIO_TypeDef *port;
    uint16_t pin;
    uint8_t mode;
} stm32_pin_t;

static GPIO_TypeDef* get_port_from_char(const char *p_str) 
{
    switch(p_str[0]) 
    {
        case 'A': case 'a': return GPIOA;
        case 'B': case 'b': return GPIOB;
        case 'C': case 'c': return GPIOC;
#ifdef IOC_100PIN
        case 'D': case 'd': return GPIOD;
        case 'E': case 'e': return GPIOE;
        case 'F': case 'f': return GPIOF;
#endif
        default: return NULL;
    }
}

int get_pin_from_char(const char *p_str) 
{
    if (p_str == NULL) return -1;
    const char *num_start = &p_str[1];
    if (*num_start < '0' || *num_start > '9') return -1;
    int pin_num = atoi(num_start);
    return pin_num;
}

// 构造函数: stm32.Pin("A5", mode)
static int l_pin_new(lua_State *L) 
{
    const char *port_str = luaL_checkstring(L, 1);

    if ((port_str[0] == 'A' || port_str[0] == 'a') && (port_str[1] == '2' || port_str[1] == '3'))
    {
        return luaL_error(L, "PA2,PA3 is used!");
    }
    
    int mode = luaL_optinteger(L, 2, 1); // 配合修改为默认上拉输入

    GPIO_TypeDef *port = get_port_from_char(port_str);
    if (!port) 
    {
        return luaL_error(L, "Invalid port");        
    }
        
    int pin_num = get_pin_from_char(port_str);
    if (pin_num < 0)
    {
        return luaL_error(L, "Invalid pin"); 
    }
    uint16_t pin = (1 << pin_num);

    stm32_pin_t *p = (stm32_pin_t*)lua_newuserdata(L, sizeof(stm32_pin_t));
    p->port = port;
    p->pin = pin;
    p->mode = mode;

    bsp_pin_init(port, pin, mode);

    // 设置 Metatable (以便使用冒号语法 :write)
    luaL_getmetatable(L, "stm32.PinMT");
    lua_setmetatable(L, -2);
    return 1;
}

// 方法: pin:write(value)
static int l_pin_write(lua_State *L) 
{
    stm32_pin_t *p = (stm32_pin_t*)luaL_checkudata(L, 1, "stm32.PinMT");
    int val = luaL_checkinteger(L, 2);
    
    HAL_GPIO_WritePin(p->port, p->pin, val ? GPIO_PIN_SET : GPIO_PIN_RESET);
    return 0;
}

// 方法: pin:read()
static int l_pin_read(lua_State *L) 
{
    stm32_pin_t *p = (stm32_pin_t*)luaL_checkudata(L, 1, "stm32.PinMT");
    GPIO_PinState state = HAL_GPIO_ReadPin(p->port, p->pin);
    lua_pushinteger(L, (state == GPIO_PIN_SET) ? 1 : 0);
    return 1;
}

// 方法: pin:toggle()
static int l_pin_toggle(lua_State *L) 
{
    stm32_pin_t *p = (stm32_pin_t*)luaL_checkudata(L, 1, "stm32.PinMT");
    HAL_GPIO_TogglePin(p->port, p->pin);
    return 0;
}

int luaopen_stm32_pin(lua_State *L) 
{
    // 1. 注册 Metatable (保持不变)
    if (luaL_newmetatable(L, "stm32.PinMT")) 
    {
        lua_pushvalue(L, -1); 
        lua_setfield(L, -2, "__index");
        
        const luaL_Reg pin_methods[] = 
        {
            {"write", l_pin_write},
            {"read", l_pin_read},
            {"toggle", l_pin_toggle},
            {NULL, NULL}
        };
        const luaL_Reg *l;
        for (l = pin_methods; l->name != NULL; l++) 
        {
            lua_pushcfunction(L, l->func);
            lua_setfield(L, -2, l->name);
        }
    }
    lua_pop(L, 1); 
    
    // 2. 创建模块表
    lua_newtable(L);
    
    // 3. 注册构造函数
    lua_pushcfunction(L, l_pin_new);
    lua_setfield(L, -2, "new");
        
    return 1;
}

typedef struct 
{
    void *luastate;
    int   pinref;
    rd_led_t *led;
} stm32_led_t;

static void lua_pin_write_bridge(l_led_t *pLed, int state) 
{
    // 1. 基础安全检查
    if (!pLed || !pLed->m_pLuaState || pLed->m_iPinRef == LUA_NOREF) 
    {
        return;
    }

    lua_State *L = (lua_State *)pLed->m_pLuaState;
    int top = lua_gettop(L); // 记录当前栈顶，用于最后恢复

    // 2. 从 Registry 获取 Pin 对象
    lua_rawgeti(L, LUA_REGISTRYINDEX, pLed->m_iPinRef);
    
    if (!lua_isuserdata(L, -1)) 
    {
        lua_pop(L, 1);
        return;
    }

    // 3. 获取 "write" 方法
    lua_getfield(L, -1, "write");
    
    // 验证方法是否存在且为函数
    if (!lua_isfunction(L, -1)) 
    {
        lua_pop(L, 2);
        return;
    }

    // 4. 构建调用栈：目标格式 [func, self, arg]
    // 当前栈: [pin, write_func] (index: -2, -1)

    // 步骤 A: 将 write_func 移到栈底 (相对于这三个元素)
    // 使用 lua_insert(L, -3) 会将栈顶元素(-1) 插入到 -3 位置
    // 但这里我们只有两个元素，更直观的方法是重新排列：
    // 我们希望顺序是：func, pin(self), state
    
    // 当前: -2=pin, -1=func
    lua_insert(L, -2); 
    // 执行后: -2=func, -1=pin  => 栈: [func, pin]

    // 步骤 B: 压入参数 state
    lua_pushinteger(L, state ? 1 : 0);

    // 5. 执行调用 (2 个参数，0 个返回值)
    if (lua_pcall(L, 2, 0, 0) != LUA_OK) 
    {
        const char *err = lua_tostring(L, -1);
        log_e("LED Callback Error: %s", err);
        lua_pop(L, 1);
    }

    // 6. 恢复栈平衡
    lua_settop(L, top);
}


static int l_led_new(lua_State *L) 
{
    luaL_checkudata(L, 1, "stm32.PinMT");
    
    int active_logic = luaL_optinteger(L, 2, 0); // 这里设置Pin:write(0)表示灯亮
    const char *light_mode = luaL_optstring(L, 3, "500,500"); // 表示500msactive_logic为0,500msactive_logic为1
    int loop_cnt = luaL_optinteger(L, 4, -1); // 这里默认传-1表示无限重复light_mode

    stm32_led_t *pLed = (stm32_led_t*)lua_newuserdata(L, sizeof(stm32_led_t));
    
    if (!pLed) 
    {
        return luaL_error(L, "Failed to allocate LED userdata");
    }

    memset(pLed, 0, sizeof(stm32_led_t));
    
    pLed->luastate = (void *)L;
    
    lua_pushvalue(L, 1); 
    pLed->pinref = luaL_ref(L, LUA_REGISTRYINDEX);
    
    rd_led_t *pLed_t = rd_LedCreate(active_logic, light_mode, loop_cnt, lua_pin_write_bridge, (l_led_t *)pLed);

    pLed->led = pLed_t;
    
    luaL_getmetatable(L, "stm32.ledMT");
    lua_setmetatable(L, -2); // 将元表设置给刚才创建的 userdata

    return 1;
}

// 方法: led:off()
static int l_led_off(lua_State *L)
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");
    rd_LedOff(p->led);
    return 0;
}

// 方法: led:on()
static int l_led_on(lua_State *L)
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");
    rd_LedOn(p->led);
    return 0;
}

// 方法: led:start()
static int l_led_start(lua_State *L)
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");    
    int iRet = rd_LedStart(p->led);
    lua_pushinteger(L, iRet);
    return 1;
}

// 方法: led:stop()
static int l_led_stop(lua_State *L)
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");
    int iRet = rd_LedStop(p->led);
    lua_pushinteger(L, iRet);
    return 1;
}

// 方法: led:setmode()
static int l_led_setmode(lua_State *L)
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");
    const char *light_mode = luaL_optstring(L, 2, "500,500");
    int loop_cnt = luaL_optinteger(L, 3, -1);
    int iRet = rd_LedDynamicChangeLightMode(p->led, light_mode, loop_cnt);
    lua_pushinteger(L, iRet);
    return 1;
}

static int l_led_gc(lua_State *L) 
{
    stm32_led_t *p = (stm32_led_t*)luaL_checkudata(L, 1, "stm32.ledMT");
    
    if (p && p->led) 
    {        
        rd_LedDelete(p->led);
        p->led = NULL; 
        
        if (p->pinref != LUA_NOREF) 
        {
            luaL_unref(L, LUA_REGISTRYINDEX, p->pinref);
            p->pinref = LUA_NOREF;
        }
    }
    
    return 0;
}

// 方法: st.ledproc()
static int l_led_proc(lua_State *L)
{
    rd_LedProcess();
    return 0;
}

int luaopen_stm32_led(lua_State *L) 
{
    // 1. 注册 Metatable (保持不变)
    if (luaL_newmetatable(L, "stm32.ledMT")) 
    {
        lua_pushvalue(L, -1); 
        lua_setfield(L, -2, "__index");

        lua_pushcfunction(L, l_led_gc);
        lua_setfield(L, -2, "__gc");
        
        const luaL_Reg methods[] = 
        {
            {"off", l_led_off},
            {"on", l_led_on},
            {"start", l_led_start},
            {"stop", l_led_stop},
            {"setmode", l_led_setmode},
            {NULL, NULL}
        };
        const luaL_Reg *l;
        for (l = methods; l->name != NULL; l++) 
        {
            lua_pushcfunction(L, l->func);
            lua_setfield(L, -2, l->name);
        }
    }
    lua_pop(L, 1); 

    // 2. 创建模块表
    lua_newtable(L);

    // 3. 注册构造函数
    lua_pushcfunction(L, l_led_new);
    lua_setfield(L, -2, "new");
    
    return 1;
}

static int l_delay_ms(lua_State *L) 
{
    int ms = luaL_checkinteger(L, 1);

    if (ms < 0) 
    {
        return luaL_error(L, "delay_ms: time cannot be negative");
    }

    Rd_Delay(ms);
    
    return 0;
}

static int l_delay_us(lua_State *L)
{
    int us = luaL_checkinteger(L, 1);
    
    if (us < 0) 
    {
        return luaL_error(L, "delay_us: time cannot be negative");
    }

    delay_us(us);

    return 0;
}

static int l_reboot(lua_State *L)
{
    NVIC_SystemReset();
    return 0;
}

#ifdef USE_FREERTOS
static int l_ps(lua_State *L)
{
	void ShowTaskList(void);
	ShowTaskList();
    return 0;
}

static int l_free(lua_State *L)
{
	void ShowHeapSize(void);
	ShowHeapSize();
	return 0;
}
#endif

#ifdef USE_LWIP
static int l_lwip(lua_State *L)
{
	void stats_display(void);
	stats_display();
    return 0;
}
#endif

#ifdef USE_ONCHIP_FLASH

#define LUA_START_ADDR 0x08020000UL
#define LUA_BUFFER_MAX 1024 //用于缓存Lua脚本的buffer大小

#define SCRIPT_HEADER_ADDR LUA_START_ADDR
#define SCRIPT_DATA_ADDR (LUA_START_ADDR + sizeof(ScriptHeader))

extern ssize_t _read(int file, char *ptr, ssize_t len);

typedef enum {
    UPLOAD_WAIT_1 = 0,// 等待第一个@
    UPLOAD_WAIT_2,    // 等待第二个@
    UPLOAD_WAIT_3,    // 等待第三个@
    UPLOAD_END_1,     // 等待第一个结束@
    UPLOAD_END_2,     // 等待第二个结束@
    UPLOAD_END_3      // 等待第三个结束@
} UpLoadStat;


uint8_t g_uploadstat = UPLOAD_WAIT_1;
uint8_t g_luabuffer[LUA_BUFFER_MAX];
int g_luabuffer_pos = 0;
int g_data_len = 0;

typedef struct {
    uint32_t magic;     // 例如 0x4C756153 ("LuaS")
    uint32_t length;    // 脚本长度
} ScriptHeader;

typedef struct {
    uint32_t addr;
    uint32_t left;
    uint8_t buffer[LUA_BUFFER_MAX];
    int buf_idx;
    int buf_len;
} LuaFlashReader;

const char* flash_reader(lua_State *L, void *ud, size_t *size) 
{
    LuaFlashReader *ctx = (LuaFlashReader*)ud;

    if (ctx->left == 0) 
    {
        *size = 0;
        return NULL;
    }

    if (ctx->buf_idx >= ctx->buf_len) 
    {
        size_t read_len = (ctx->left > sizeof(ctx->buffer)) ? sizeof(ctx->buffer) : ctx->left;
        STMFLASH_Read(ctx->addr, ctx->buffer, read_len); 
        ctx->addr += read_len;
        ctx->left -= read_len;
        ctx->buf_idx = 0;
        ctx->buf_len = read_len;
    }

    int available = ctx->buf_len - ctx->buf_idx;
    *size = available;
    
    const char *ptr = (const char*)(ctx->buffer + ctx->buf_idx);
    ctx->buf_idx += available;
    
    return ptr;
}

static int l_run_script(lua_State *L) 
{
    ScriptHeader hdr;
    STMFLASH_Read(SCRIPT_HEADER_ADDR, (uint8_t*)&hdr, sizeof(hdr));

    if (hdr.magic != 0x4C756153) 
    {
        luaL_error(L, "No valid script found.\r\n");
        return 0;
    }

    lua_print("Loading script (len=%ld)...\r\n", hdr.length);

    LuaFlashReader ctx = {
        .addr = SCRIPT_DATA_ADDR,
        .left = hdr.length,
        .buf_idx = 0,
        .buf_len = 0
    };

    int status = lua_load(L, flash_reader, &ctx, "script");

    if (status == LUA_OK) 
    {
        if (lua_pcall(L, 0, 0, 0) != LUA_OK) 
        {
            lua_print("Runtime Error: %s\r\n", lua_tostring(L, -1));
            lua_pop(L, 1);
        }
    } 
    else 
    {
        lua_print("Load Error: %s\r\n", lua_tostring(L, -1));
        lua_pop(L, 1);
    }
    return 0;
}

static int flush_buffer() 
{
    if (g_luabuffer_pos > 0) 
    {
        if (STMFLASH_Write(SCRIPT_DATA_ADDR + g_data_len, g_luabuffer, g_luabuffer_pos) != HAL_OK) 
        {
            lua_print("\r\n[ERR] Flash Write Failed!\r\n");
            return -1;
        }
        g_data_len += g_luabuffer_pos;
        g_luabuffer_pos = 0;
    }
    return 0;
}

static int Upload_FSM(uint8_t byte) 
{
    switch (g_uploadstat) 
    {
        case UPLOAD_WAIT_1:
            if (byte == '@') g_uploadstat = UPLOAD_WAIT_2;
            break;
        case UPLOAD_WAIT_2:
            if (byte == '@') g_uploadstat = UPLOAD_WAIT_3;
            else g_uploadstat = UPLOAD_WAIT_1;
            break;
        case UPLOAD_WAIT_3:
            if (byte == '@') 
            {
                g_uploadstat = UPLOAD_END_1;
                if (STMFLASH_EraseByAddress(LUA_START_ADDR) != HAL_OK) 
                {
                    lua_print("\r\n[ERR] Erase Failed!\r\n");
                    return -1;
                }
                else
                {
                    g_uploadstat = UPLOAD_END_1;
                    g_luabuffer_pos = 0;
                    g_data_len = 0;
                }
            }
            else
            {
                g_uploadstat = UPLOAD_WAIT_1;
            }
            break;
        case UPLOAD_END_1:
            if (byte == '@')
            {
                g_uploadstat = UPLOAD_END_2;
            }
            else
            {
                g_luabuffer[g_luabuffer_pos++] = byte;
                if (g_luabuffer_pos >= LUA_BUFFER_MAX) 
                {
                    if (0 != flush_buffer()) return -1;
                }
            }
            break;
        case UPLOAD_END_2:
            if (byte == '@') 
            {
                g_uploadstat = UPLOAD_END_3;    
            }
            else
            {
                lua_print("\r\n[ERR] Protocol error in end sequence.\r\nPlease check and send again!\r\n");
                g_uploadstat = UPLOAD_WAIT_1;
                g_luabuffer_pos = 0;
                g_data_len = 0;
            }
            break;
        case UPLOAD_END_3:
            if (byte == '@') 
            {
                if (0 != flush_buffer()) return -1;

                ScriptHeader hdr;
                hdr.magic = 0x4C756153;
                hdr.length = g_data_len;

                STMFLASH_Write(SCRIPT_HEADER_ADDR, (uint8_t*)&hdr, sizeof(hdr));
                lua_print("\r\n[SUCCESS] Upload Complete! Len: %d. Rebooting...\r\n", g_data_len);
                Rd_Delay(100);
                NVIC_SystemReset();
            }
            else
            {
                lua_print("\r\n[ERR] Protocol error in end sequence.\r\nPlease check and send again!\r\n");
                g_uploadstat = UPLOAD_WAIT_1;
                g_luabuffer_pos = 0;
                g_data_len = 0;
            }
            break;
        default:
            g_uploadstat = UPLOAD_WAIT_1;
            break;
    }
    return 0;
}

static int l_upload(lua_State *L)
{
    lua_print("\r\nupload start!\r\nPlease send lua string @@@...@@@\r\n");
    while (1) 
    {
        char ch[256];
        ssize_t ret = _read(STDIN_FILENO, ch, sizeof(ch));
        if (ret > 0)
        {
            for(int i=0; i<ret; i++) 
            {
                if (0 != Upload_FSM(ch[i])) return 0;
            }
        }
    }
    return 0;
}
#endif

int luaopen_stm32(lua_State *L) 
{
    lua_sethook(L, l_exit_hook, LUA_MASKCOUNT, 1000000);

    lua_newtable(L);

    lua_pushinteger(L, 0); lua_setfield(L, -2, "OUT");
    lua_pushinteger(L, 1); lua_setfield(L, -2, "UP");
    lua_pushinteger(L, 2); lua_setfield(L, -2, "DOWN");
    lua_pushinteger(L, 3); lua_setfield(L, -2, "HEX");

    // 直接将 C 函数压栈，然后设置到表中
    lua_pushcfunction(L, l_delay_ms);
    lua_setfield(L, -2, "ms"); // st.ms = l_delay_ms

    lua_pushcfunction(L, l_delay_us);
    lua_setfield(L, -2, "us"); // st.us = l_delay_us

#ifdef USE_ONCHIP_FLASH
    lua_pushcfunction(L, l_upload);
    lua_setfield(L, -2, "update"); // st.update = l_upload

    lua_pushcfunction(L, l_run_script);
    lua_setfield(L, -2, "run"); // st.run = l_run_script
#endif
    lua_pushcfunction(L, l_led_proc);
    lua_setfield(L, -2, "ledproc");
    
    // 1. 加载 Pin 模块
    lua_pushcfunction(L, luaopen_stm32_pin);
    lua_call(L, 0, 1); 
    // 此时栈顶 (-1) 是 Pin 模块表: { new = function }

    // 2. 提取 "new" 函数
    lua_getfield(L, -1, "new");
    // 此时栈结构: [-2: Pin模块表, -1: l_pin_new 函数]

    // 3. 将这个函数赋值给主表的 "Pin" 字段
    // 这样 s.Pin 就直接指向 l_pin_new 函数
    lua_setfield(L, -3, "Pin"); 
    // 此时栈结构: [-1: Pin模块表] (s.Pin 已经设置好了)

    // 4. 清理栈，弹出临时的 Pin 模块表
    lua_pop(L, 1);

    lua_pushcfunction(L, luaopen_stm32_led);
    lua_call(L, 0, 1);
    lua_getfield(L, -1, "new");
    lua_setfield(L, -3, "led"); 
    lua_pop(L, 1);

#ifdef USE_LUA_ST_UART
    int luaopen_stm32_com(lua_State *L);
    lua_pushcfunction(L, luaopen_stm32_com);
    lua_call(L, 0, 1);
    lua_getfield(L, -1, "new");
    lua_setfield(L, -3, "COM"); 
    lua_pop(L, 1);
#endif

#ifdef USE_LUA_ST_CAN
    int luaopen_stm32_can(lua_State *L);
    lua_pushcfunction(L, luaopen_stm32_can);
    lua_call(L, 0, 1);
    lua_getfield(L, -1, "new");
    lua_setfield(L, -3, "CAN"); 
    lua_pop(L, 1);
#endif
    
    lua_setglobal(L, "st");

    lua_pushcfunction(L, l_reboot);
    lua_setglobal(L, "reboot"); // reboot = l_reboot

#ifdef USE_FREERTOS
    lua_pushcfunction(L, l_ps);
    lua_setglobal(L, "ps"); // ps = l_ps

    lua_pushcfunction(L, l_free);
    lua_setglobal(L, "free"); // ps = l_ps
#endif

#ifdef USE_LWIP
    lua_pushcfunction(L, l_lwip);
    lua_setglobal(L, "lwip"); // lwip = l_lwip
#endif
    return 1;
}

void StartLuaREPL(void *argument)
{
	lua_init(luaprint_stdout);
    while(1)
    {
	    lua_repl(NULL, -1, 1);
    }
}

#endif