IWRL6432AOP: SBL loading Main App exception

/*******************************************************************************
* Copyright 2025  ShenZhen FuLian FuGui Precision Ind. Co. Ltd.
* All Rights Reserved.
* No portions of this material shall be reproduced in any form without
* the written permission of ShenZhen FuLian FuGui Precision Ind. Co.
* Ltd.
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* Precision Ind. Co. Ltd. company private, proprietary, and trade secret
* property and are protected by international intellectual property laws
* and treaties.
* File name :
* Author : Mascot             Version :1.0               Date :
* Description : 
* 
* Others : 
* Functions List : 
*   1. 
* 
* History : 
*    <author>    <date>    <version>    <desc>
*    Mascot     2025/3/26    1.0        build this module
******************************************************************************/
#include "app_header.h"

#define SOH  				0x01
#define STX  				0x02
#define EOT  				0x04
#define ACK  				0x06
#define NAK  				0x15
#define CAN  				0x18
#define CTRL_Z 				0x1A
#define DLY_1S				1000
#define MAXRETRANS 			10

// 返回码
#define XMODEM_OK       	0
#define XMODEM_CANCEL   	-1
#define XMODEM_NOSYNC   	-2
#define XMODEM_ERROR    	-4
#define XMODEM_EOT_FAIL 	-5


// CRC16-CCITT 查表（256个预计算值）
static const uint16_t crc16_ccitt_table[256] = 
{
    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
    0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
    0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
    0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
    0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
    0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
    0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
    0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
    0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
    0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
    0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
    0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
    0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
    0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
    0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
    0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
    0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
    0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
    0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
    0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
    0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
    0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
    0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
    0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
    0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
    0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
    0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
    0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
    0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
    0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
    0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
    0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
};

uint16_t crc16_ccitt(const uint8_t *data, int len)
{
    uint16_t crc = 0x0000;  // 初始值
    for (int i = 0; i < len; i++) 
	{
        crc = (crc << 8) ^ crc16_ccitt_table[((crc >> 8) ^ data[i]) & 0xFF];
    }
    return crc;
}

// 校验和
static uint8_t calc_checksum(uint8_t *data, int len)
{
    uint8_t sum = 0;
    for (int i = 0; i < len; i++) 
	{
        sum += data[i];
    }
    return sum;
}

void uart_flush(void)
{
    uint8_t dummy;
    while (cyhal_uart_getc(&radar_uart, &dummy, 10) == CY_RSLT_SUCCESS);
}

int uart_recv_byte(int timeout_ms)
{
    uint8_t data;
    if (cyhal_uart_getc(&radar_uart, &data, timeout_ms) == CY_RSLT_SUCCESS) 
	{
        return data;
    }
    return -1;
}

void uart_send_byte(uint8_t c)
{
    cyhal_uart_putc(&radar_uart, c);
}

// 发送一个数据包
static int send_packet(uint8_t *data, int data_len, uint8_t packet_id, int use_crc)
{
    uint8_t xbuff[1029];  // 1024 + 3 + 2
    int packet_len;
    
    // 包头：STX(1K) 或 SOH(128)
    xbuff[0] = (data_len == 1024) ? STX : SOH;
    xbuff[1] = packet_id;
    xbuff[2] = ~packet_id;
    
    // 数据区
    memcpy(&xbuff[3], data, data_len);
    
    // 校验
    if (use_crc) 
	{
        uint16_t crc = crc16_ccitt(data, data_len);
        xbuff[3 + data_len] = (crc >> 8) & 0xFF;
        xbuff[4 + data_len] = crc & 0xFF;
        packet_len = 3 + data_len + 2;
    } 
	else 
	{
        uint8_t cks = calc_checksum(data, data_len);
        xbuff[3 + data_len] = cks;
        packet_len = 3 + data_len + 1;
    }
    printf("2->:%d,%d\n",packet_id,packet_len);
    // 发送
    for (int i = 0; i < packet_len; i++) 
	{
        uart_send_byte(xbuff[i]);
    }

    // 等待 ACK/NAK
    int resp = uart_recv_byte(DLY_1S);
	printf("2-2:%d\n",resp);
    return (resp == ACK) ? 1 : 0;
}

int xmodemTransmit(unsigned char *src, int srcsz)
{
	cyhal_uart_clear(&radar_uart);
	int block_size = 1024;	   // 使用 1K 模式（接收端支持 STX）
	uint8_t packet_id = 1;
	int sent = 0;
	int retry;
	printf("Xmodem Eenter ...\n");
	// ========== 阶段1：等待接收端启动信号 ==========
	while (1) 
	{
		//uart_send_byte(STX);
		int resp = uart_recv_byte(DLY_1S);
		if (resp < 0) 
			continue;
		printf("1:%x\n",resp);
		if (resp == 'C') 
		{
			break;
		}
		else if (resp == NAK) 
		{
			break;
		} 
		else if (resp == CAN) 
		{
			if (uart_recv_byte(DLY_1S) == CAN) 
			{
				uart_send_byte(ACK);
				return XMODEM_CANCEL;
			}
		}
	}
	printf("2:\n");
	// ========== 阶段2：主传输循环 ==========
	while (sent < srcsz) 
	{
		cyhal_uart_clear(&radar_uart);
		int remaining = srcsz - sent;
		int chunk = (remaining > block_size) ? block_size : remaining;
		uint8_t data_buf[1024];
		
		// 准备数据块
		memcpy(data_buf, &src[sent], chunk);
		if (chunk < block_size) 
		{
			memset(&data_buf[chunk], CTRL_Z, block_size - chunk);
		}
		printf("\n2-1:\n");
		// 发送数据包（带重试）
		int success = 0;
		for (retry = 0; retry < MAXRETRANS && !success; retry++) 
		{
			success = send_packet(data_buf, block_size, packet_id,1);

#if 1
		for (size_t k = 0; k < block_size; k++) 
		{
			if (k % 16 == 0) 
			{
				if (k > 0) 
					printf("\n");
			}
			printf("0x%02X ", data_buf[k]);
		}
		printf("\n--block--end-- %d \n",success);

#endif 


			
		}
		printf("2-4:%d,%d,%d\n",success,sent+chunk,packet_id);
		if (!success) 
		{
			// 发送失败
			uart_send_byte(CAN);
			uart_send_byte(CAN);
			uart_send_byte(CAN);
			printf("2-5:\n");
			return XMODEM_ERROR;
		}
		packet_id++;
		//if (packet_id == 0) packet_id = 1;	// 序号回绕
		sent += chunk;
	}

	printf("3:\n");
	// ========== 阶段3：发送 EOT 结束 ==========
	for (retry = 0; retry < 50; retry++) 
	{
		cyhal_uart_clear(&radar_uart);
		printf("3-3:\n");
		uart_send_byte(EOT);
		int resp = uart_recv_byte(DLY_1S * 2);
		if (resp == ACK) 
		{
			printf("3-4:\n");
			return XMODEM_OK;
		}
	}
	return XMODEM_EOT_FAIL;
}

int hdl_uart_xmodem(void)
{
	xmodemTransmit(radar_appimage,radar_appimage_len);
	return Success;
}