第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
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+#include "can_comm.h"
+#include "memory.h"
+#include "stdlib.h"
+#include "crc8.h"
+#include "bsp_dwt.h"
+#include "bsp_log.h"
+
+/**
+ * @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)
+{
+    // 当前已经收到的buffer清零
+    memset(ins->raw_recvbuf, 0, ins->cur_recv_len);
+    ins->recv_state = 0;   // 接收状态重置
+    ins->cur_recv_len = 0; // 当前已经收到的长度重置
+}
+
+/**
+ * @brief cancomm的接收回调函数
+ *
+ * @param _instance
+ */
+static void CANCommRxCallback(CANInstance *_instance)
+{
+    CANCommInstance *comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型
+
+    /* 当前接收状态判断 */
+    if (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 之前尚未开始接收且此次包里第一个位置是帧头
+    {
+        if (_instance->rx_buff[1] == comm->recv_data_len) // 如果这一包里的datalen也等于我们设定接收长度(这是因为暂时不支持动态包长)
+        {
+            comm->recv_state = 1; // 设置接收状态为1,说明已经开始接收
+        }
+        else
+            return; // 直接跳过即可
+    }
+
+    if (comm->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 (comm->cur_recv_len + _instance->rx_len > comm->recv_buf_len)
+        {
+            CANCommResetRx(comm);
+            return; // 重置状态然后返回
+        }
+
+        // 直接把当前接收到的数据接到buffer后面
+        memcpy(comm->raw_recvbuf + comm->cur_recv_len, _instance->rx_buff, _instance->rx_len);
+        comm->cur_recv_len += _instance->rx_len;
+
+        // 收完这一包以后刚好等于总buf len,说明已经收完了
+        if (comm->cur_recv_len == comm->recv_buf_len)
+        {
+            // 如果buff里本tail的位置等于CAN_COMM_TAIL
+            if (comm->raw_recvbuf[comm->recv_buf_len - 1] == CAN_COMM_TAIL)
+            { // 通过校验,复制数据到unpack_data中
+                if (comm->raw_recvbuf[comm->recv_buf_len - 2] == crc_8(comm->raw_recvbuf + 2, comm->recv_data_len))
+                { // 数据量大的话考虑使用DMA
+                    memcpy(comm->unpacked_recv_data, comm->raw_recvbuf + 2, comm->recv_data_len);
+                    comm->update_flag = 1;           // 数据更新flag置为1
+                    DaemonReload(comm->comm_daemon); // 重载daemon,避免数据更新后一直不被读取而导致数据更新不及时
+                }
+            }
+            CANCommResetRx(comm);
+            return; // 重置状态然后返回
+        }
+    }
+}
+
+static void CANCommLostCallback(void *cancomm)
+{
+    CANCommInstance *comm = (CANCommInstance *)cancomm;
+    CANCommResetRx(comm);
+    LOGWARNING("[can_comm] can comm rx[%d] lost, reset rx state.", &comm->can_ins->rx_id);
+}
+
+CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
+{
+    CANCommInstance *ins = (CANCommInstance *)malloc(sizeof(CANCommInstance));
+    memset(ins, 0, sizeof(CANCommInstance));
+
+    ins->recv_data_len = comm_config->recv_data_len;
+    ins->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES; // head + datalen + crc8 + tail
+    ins->send_data_len = comm_config->send_data_len;
+    ins->send_buf_len = comm_config->send_data_len + CAN_COMM_OFFSET_BYTES;
+    ins->raw_sendbuf[0] = CAN_COMM_HEADER;            // head,直接设置避免每次发送都要重新赋值,下面的tail同理
+    ins->raw_sendbuf[1] = comm_config->send_data_len; // datalen
+    ins->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
+    // can instance的设置
+    comm_config->can_config.id = ins; // CANComm的实例指针作为CANInstance的id,回调函数中会用到
+    comm_config->can_config.can_module_callback = CANCommRxCallback;
+    ins->can_ins = CANRegister(&comm_config->can_config);
+
+    Daemon_Init_Config_s daemon_config = {
+        .callback = CANCommLostCallback,
+        .owner_id = (void *)ins,
+        .reload_count = comm_config->daemon_count,
+    };
+    ins->comm_daemon = DaemonRegister(&daemon_config);
+    return ins;
+}
+
+void CANCommSend(CANCommInstance *instance, uint8_t *data)
+{
+    static uint8_t crc8;
+    static uint8_t send_len;
+    // 将data copy到raw_sendbuf中,计算crc8
+    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;
+
+    // CAN单次发送最大为8字节,如果超过8字节,需要分包发送
+    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, 1);
+    }
+}
+
+void *CANCommGet(CANCommInstance *instance)
+{
+    instance->update_flag = 0; // 读取后将更新flag置为0
+    return instance->unpacked_recv_data;
+}
+
+uint8_t CANCommIsOnline(CANCommInstance *instance)
+{
+    return DaemonIsOnline(instance->comm_daemon);
+}