第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
@@ -0,0 +1,122 @@
+#include "board_comm.h"
+
+
+static board_comm_data_t board_comm_data;
+static USARTInstance *board_comm_usart_instance;
+static DaemonInstance *board_comm_daemon_instance;
+
+// 计算简单校验和
+static uint32_t board_comm_checksum(uint8_t *data, uint8_t len)
+{
+    uint32_t sum = 0;
+    for (int i = 0; i < len; i++)
+    {
+        sum += data[i];
+    }
+    return sum;
+}
+
+// 解析接收到的数据包
+static void board_comm_decode(const uint8_t *buffer)
+{
+    board_comm_packet_t *packet = (board_comm_packet_t *)buffer;
+    
+    // 验证帧头
+    if (packet->header[0] != 0x55 || packet->header[1] != 0xAA)
+        return;
+    
+    // 验证校验和（包含整型和浮点型数据）
+    uint8_t data_len = sizeof(packet->int_data) + sizeof(packet->float_data);
+    uint32_t calc_sum = board_comm_checksum((uint8_t *)packet->int_data, data_len);
+    if (calc_sum != packet->checksum)
+        return;
+    
+    // 复制数据
+    memcpy(board_comm_data.rx_int_data, packet->int_data, sizeof(packet->int_data));
+    memcpy(board_comm_data.rx_float_data, packet->float_data, sizeof(packet->float_data));
+}
+
+// 串口接收回调
+static void BoardCommRxCallback()
+{
+    // 暂时注释掉 daemon 相关调用，专注于数据传输
+    // DaemonReload(board_comm_daemon_instance); 
+    board_comm_decode(board_comm_usart_instance->recv_buff);
+}
+
+// 通信丢失回调
+static void BoardCommLostCallback(void *id)
+{
+    memset(board_comm_data.rx_int_data, 0, sizeof(board_comm_data.rx_int_data));
+    memset(board_comm_data.rx_float_data, 0, sizeof(board_comm_data.rx_float_data));
+    USARTServiceInit(board_comm_usart_instance);
+    LOGWARNING("[board_comm] communication lost");
+}
+
+// 初始化板间通信
+board_comm_data_t* BoardCommInit(UART_HandleTypeDef *uart_handle)
+{
+    USART_Init_Config_s conf;
+    conf.module_callback = BoardCommRxCallback;
+    conf.usart_handle = uart_handle;
+    conf.recv_buff_size = BOARD_COMM_FRAME_SIZE;
+    board_comm_usart_instance = USARTRegister(&conf);
+
+    // 暂时注释掉 daemon 注册，专注于数据传输
+    /*
+    // 注册守护进程
+    Daemon_Init_Config_s daemon_conf = {
+        .reload_count = 20,  // 200ms未收到数据视为离线
+        .callback = BoardCommLostCallback,
+        .owner_id = NULL,
+    };
+    board_comm_daemon_instance = DaemonRegister(&daemon_conf);
+    */
+
+    memset(&board_comm_data, 0, sizeof(board_comm_data));
+
+    return &board_comm_data;
+}
+
+// 检查通信状态
+uint8_t BoardCommIsOnline(void)
+{
+    // 暂时返回固定值，专注于数据传输
+    return 1;
+    // return DaemonIsOnline(board_comm_daemon_instance);
+}
+
+// 发送状态数组
+void BoardCommSend(int32_t int_data[2], float float_data[2])
+{
+    board_comm_packet_t packet;
+    
+    // 设置帧头
+    packet.header[0] = 0x55;
+    packet.header[1] = 0xAA;
+    
+    // 复制数据
+    memcpy(packet.int_data, int_data, sizeof(packet.int_data));
+    memcpy(packet.float_data, float_data, sizeof(packet.float_data));
+    memcpy(board_comm_data.tx_int_data, int_data, sizeof(board_comm_data.tx_int_data));
+    memcpy(board_comm_data.tx_float_data, float_data, sizeof(board_comm_data.tx_float_data));
+    
+    // 计算校验和
+    uint8_t data_len = sizeof(packet.int_data) + sizeof(packet.float_data);
+    packet.checksum = board_comm_checksum((uint8_t *)packet.int_data, data_len);
+    
+    // 发送数据
+    USARTSend(board_comm_usart_instance, (uint8_t *)&packet, sizeof(packet), USART_TRANSFER_IT);
+}
+
+// 获取接收到的整型数组
+int32_t* BoardCommGetIntData(void)
+{
+    return board_comm_data.rx_int_data;
+}
+
+// 获取接收到的浮点型数组
+float* BoardCommGetFloatData(void)
+{
+    return board_comm_data.rx_float_data;
+}
@@ -0,0 +1,39 @@
+#ifndef BOARD_COMM_H
+#define BOARD_COMM_H
+
+#include <stdint.h>
+#include "string.h"
+#include "bsp_usart.h"
+#include "daemon.h"
+#include "bsp_log.h"
+
+
+#define BOARD_COMM_FRAME_SIZE 22u   // 帧大小: 2字节帧头 + 8字节int32 + 8字节float + 4字节校验
+#define BOARD_COMM_DATA_SIZE  16u   // 数据大小: 8字节int32 + 8字节float
+
+// 通信数据包结构
+typedef struct
+{
+    uint8_t header[2];          // 帧头 0x55 0xAA
+    int32_t int_data[2];        // 2个int32整型值
+    float float_data[2];        // 2个float浮点型值
+    uint32_t checksum;          // 校验和
+} __attribute__((packed)) board_comm_packet_t;
+
+// 板间通信实例
+typedef struct
+{
+    int32_t tx_int_data[2];     // 发送的整型数组
+    float tx_float_data[2];     // 发送的浮点型数组
+    int32_t rx_int_data[2];     // 接收的整型数组
+    float rx_float_data[2];     // 接收的浮点型数组
+} board_comm_data_t;
+
+// 函数声明
+board_comm_data_t* BoardCommInit(UART_HandleTypeDef *uart_handle);
+uint8_t BoardCommIsOnline(void);
+void BoardCommSend(int32_t int_data[2], float float_data[2]);
+int32_t* BoardCommGetIntData(void);
+float* BoardCommGetFloatData(void);
+
+#endif // BOARD_COMM_H