134 lines
3.9 KiB
C
134 lines
3.9 KiB
C
/**
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* @file seasky_protocol.c
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* @author Liu Wei
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* @author modified by Neozng
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* @brief 湖南大学RoBoMatster串口通信协议
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* @version 0.1
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* @date 2022-11-03
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "seasky_protocol.h"
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#include "crc8.h"
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#include "crc16.h"
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#include "memory.h"
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/*获取CRC8校验码*/
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uint8_t Get_CRC8_Check(uint8_t *pchMessage,uint16_t dwLength)
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{
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return crc_8(pchMessage,dwLength);
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}
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/*检验CRC8数据段*/
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static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
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{
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uint8_t ucExpected = 0;
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if ((pchMessage == 0) || (dwLength <= 2))
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return 0;
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ucExpected = crc_8(pchMessage, dwLength - 1);
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return (ucExpected == pchMessage[dwLength - 1]);
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}
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/*获取CRC16校验码*/
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uint16_t Get_CRC16_Check(uint8_t *pchMessage,uint32_t dwLength)
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{
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return crc_16(pchMessage,dwLength);
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}
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/*检验CRC16数据段*/
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static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
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{
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uint16_t wExpected = 0;
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if ((pchMessage == 0) || (dwLength <= 2))
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{
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return 0;
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}
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wExpected = crc_16(pchMessage, dwLength - 2);
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return (((wExpected & 0xff) == pchMessage[dwLength - 2]) && (((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]));
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}
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/*检验数据帧头*/
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static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf)
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{
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if (rx_buf[0] == PROTOCOL_CMD_ID)
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{
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pro->header.sof = rx_buf[0];
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if (CRC8_Check_Sum(&rx_buf[0], 4))
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{
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pro->header.data_length = (rx_buf[2] << 8) | rx_buf[1];
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pro->header.crc_check = rx_buf[3];
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pro->cmd_id = (rx_buf[5] << 8) | rx_buf[4];
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return 1;
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}
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}
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return 0;
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}
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/*
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此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作
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后续调用通信接口的发送函数发送tx_buf中的对应数据
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*/
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void get_protocol_send_data(uint16_t send_id, // 信号id
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uint16_t flags_register, // 16位寄存器
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float *tx_data, // 待发送的float数据
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uint8_t float_length, // float的数据长度
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uint8_t *tx_buf, // 待发送的数据帧
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uint16_t *tx_buf_len) // 待发送的数据帧长度
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{
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static uint16_t crc16;
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static uint16_t data_len;
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data_len = float_length * 4 + 2;
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/*帧头部分*/
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tx_buf[0] = PROTOCOL_CMD_ID;
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tx_buf[1] = data_len & 0xff; // 低位在前
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tx_buf[2] = (data_len >> 8) & 0xff; // 低位在前
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tx_buf[3] = crc_8(&tx_buf[0], 3); // 获取CRC8校验位
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/*数据的信号id*/
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tx_buf[4] = send_id & 0xff;
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tx_buf[5] = (send_id >> 8) & 0xff;
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/*建立16位寄存器*/
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tx_buf[6] = flags_register & 0xff;
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tx_buf[7] = (flags_register >> 8) & 0xff;
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/*float数据段*/
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for (int i = 0; i < 4 * float_length; i++)
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{
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tx_buf[i + 8] = ((uint8_t *)(&tx_data[i / 4]))[i % 4];
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}
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/*整包校验*/
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crc16 = crc_16(&tx_buf[0], data_len + 6);
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tx_buf[data_len + 6] = crc16 & 0xff;
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tx_buf[data_len + 7] = (crc16 >> 8) & 0xff;
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*tx_buf_len = data_len + 8;
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}
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/*
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此函数用于处理接收数据，
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返回数据内容的id
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*/
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uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据
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uint16_t *flags_register, // 接收数据的16位寄存器地址
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uint8_t *rx_data) // 接收的float数据存储地址
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{
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// 放在静态区,避免反复申请栈上空间
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static protocol_rm_struct pro;
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static uint16_t date_length;
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if (protocol_heade_Check(&pro, rx_buf))
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{
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date_length = OFFSET_BYTE + pro.header.data_length;
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if (CRC16_Check_Sum(&rx_buf[0], date_length))
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{
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*flags_register = (rx_buf[7] << 8) | rx_buf[6];
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memcpy(rx_data, rx_buf + 8, pro.header.data_length - 2);
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return pro.cmd_id;
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}
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}
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return 0;
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}
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