119 lines
5.3 KiB
C
119 lines
5.3 KiB
C
#include "can_comm.h"
|
|
#include "memory.h"
|
|
#include "stdlib.h"
|
|
#include "crc8.h"
|
|
|
|
/* can_comm用于保存每个实例的指针数组,用于回调函数区分实例 */
|
|
static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL};
|
|
static uint8_t idx; // 配合can_comm_instance的初始化使用,标识当前初始化的是哪一个实例
|
|
|
|
/**
|
|
* @brief 重置CAN comm的接收状态和buffer
|
|
*
|
|
* @param ins 需要重置的实例
|
|
*/
|
|
static void CANCommResetRx(CANCommInstance *ins)
|
|
{
|
|
memset(ins->raw_recvbuf, 0, ins->cur_recv_len);
|
|
ins->recv_state = 0;
|
|
ins->cur_recv_len = 0;
|
|
}
|
|
|
|
/**
|
|
* @brief
|
|
*
|
|
* @param _instance
|
|
*/
|
|
static void CANCommRxCallback(can_instance *_instance)
|
|
{
|
|
for (size_t i = 0; i < idx; i++)
|
|
{
|
|
if (can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
|
|
{
|
|
/* 接收状态判断 */
|
|
if (_instance->rx_buff[0] == CAN_COMM_HEADER && can_comm_instance[i]->recv_state == 0) // 尚未开始接收且新的一包里有帧头
|
|
{
|
|
if (_instance->rx_buff[1] == can_comm_instance[i]->recv_data_len) // 接收长度等于设定接收长度
|
|
{
|
|
can_comm_instance[i]->recv_state = 1;
|
|
}
|
|
else
|
|
return; // 直接跳过即可
|
|
}
|
|
if (can_comm_instance[i]->recv_state) // 已经收到过帧头
|
|
{ // 如果已经接收到的长度加上当前一包的长度大于总buf len,说明接收错误
|
|
if (can_comm_instance[i]->cur_recv_len + _instance->rx_len > can_comm_instance[i]->recv_buf_len)
|
|
{
|
|
CANCommResetRx(can_comm_instance[i]);
|
|
return; // 重置状态然后返回
|
|
}
|
|
|
|
// 直接拷贝到当前的接收buffer后面
|
|
memcpy(can_comm_instance[i]->raw_recvbuf + can_comm_instance[i]->cur_recv_len, _instance->rx_buff, _instance->rx_len);
|
|
can_comm_instance[i]->cur_recv_len += _instance->rx_len;
|
|
|
|
// 当前已经收满
|
|
if (can_comm_instance[i]->cur_recv_len == can_comm_instance[i]->recv_buf_len)
|
|
{ // buff里本该是tail的位置不等于CAN_COMM_TAIL
|
|
if (can_comm_instance[i]->raw_recvbuf[can_comm_instance[i]->recv_buf_len - 1] != CAN_COMM_TAIL)
|
|
{
|
|
CANCommResetRx(can_comm_instance[i]);
|
|
return; // 重置状态然后返回
|
|
}
|
|
else // tail正确, 对数据进行crc8校验
|
|
{
|
|
if (can_comm_instance[i]->raw_recvbuf[can_comm_instance[i]->recv_buf_len - 2] ==
|
|
crc_8(can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len))
|
|
{ // 通过校验,复制数据到unpack_data中
|
|
memcpy(can_comm_instance[i]->unpacked_recv_data,can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len);
|
|
can_comm_instance[i]->update_flag = 1; // 数据更新flag置为1
|
|
}
|
|
CANCommResetRx(can_comm_instance[i]);
|
|
return; // 重置状态然后返回
|
|
}
|
|
}
|
|
}
|
|
return; // 访问完一个can comm直接退出,一次中断只会也只可能会处理一个实例的回调
|
|
}
|
|
}
|
|
}
|
|
|
|
CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
|
|
{
|
|
can_comm_instance[idx] = (CANCommInstance *)malloc(sizeof(CANCommInstance));
|
|
memset(can_comm_instance[idx], 0, sizeof(CANCommInstance));
|
|
can_comm_instance[idx]->recv_data_len = comm_config->recv_data_len;
|
|
can_comm_instance[idx]->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES;
|
|
can_comm_instance[idx]->send_data_len = comm_config->send_data_len;
|
|
can_comm_instance[idx]->send_buf_len = comm_config->send_data_len + CAN_COMM_OFFSET_BYTES;
|
|
can_comm_instance[idx]->raw_sendbuf[0] = CAN_COMM_HEADER;
|
|
can_comm_instance[idx]->raw_sendbuf[1] = comm_config->send_data_len;
|
|
can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
|
|
|
|
comm_config->can_config.can_module_callback = CANCommRxCallback;
|
|
can_comm_instance[idx]->can_ins=CANRegister(&comm_config->can_config);
|
|
return can_comm_instance[idx++];
|
|
}
|
|
|
|
void CANCommSend(CANCommInstance *instance, uint8_t *data)
|
|
{
|
|
static uint8_t crc8;
|
|
static uint8_t send_len;
|
|
memcpy(instance->raw_sendbuf + 2, data, instance->send_data_len);
|
|
crc8 = crc_8(data, instance->send_data_len);
|
|
instance->raw_sendbuf[2 + instance->send_data_len] = crc8;
|
|
|
|
for (size_t i = 0; i < instance->send_buf_len; i += 8)
|
|
{ // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
|
|
send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
|
|
CANSetDLC(instance->can_ins, send_len);
|
|
memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf+i, send_len);
|
|
CANTransmit(instance->can_ins);
|
|
}
|
|
}
|
|
|
|
void *CANCommGet(CANCommInstance *instance)
|
|
{
|
|
instance->update_flag = 0;
|
|
return instance->unpacked_recv_data;
|
|
} |