122 lines
3.6 KiB
C
122 lines
3.6 KiB
C
#include "board_comm.h"
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static board_comm_data_t board_comm_data;
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static USARTInstance *board_comm_usart_instance;
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static DaemonInstance *board_comm_daemon_instance;
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// 计算简单校验和
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static uint32_t board_comm_checksum(uint8_t *data, uint8_t len)
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{
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uint32_t sum = 0;
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for (int i = 0; i < len; i++)
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{
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sum += data[i];
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}
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return sum;
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}
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// 解析接收到的数据包
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static void board_comm_decode(const uint8_t *buffer)
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{
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board_comm_packet_t *packet = (board_comm_packet_t *)buffer;
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// 验证帧头
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if (packet->header[0] != 0x55 || packet->header[1] != 0xAA)
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return;
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// 验证校验和（包含整型和浮点型数据）
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uint8_t data_len = sizeof(packet->int_data) + sizeof(packet->float_data);
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uint32_t calc_sum = board_comm_checksum((uint8_t *)packet->int_data, data_len);
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if (calc_sum != packet->checksum)
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return;
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// 复制数据
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memcpy(board_comm_data.rx_int_data, packet->int_data, sizeof(packet->int_data));
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memcpy(board_comm_data.rx_float_data, packet->float_data, sizeof(packet->float_data));
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}
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// 串口接收回调
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static void BoardCommRxCallback()
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{
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// 暂时注释掉 daemon 相关调用，专注于数据传输
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// DaemonReload(board_comm_daemon_instance);
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board_comm_decode(board_comm_usart_instance->recv_buff);
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}
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// 通信丢失回调
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static void BoardCommLostCallback(void *id)
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{
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memset(board_comm_data.rx_int_data, 0, sizeof(board_comm_data.rx_int_data));
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memset(board_comm_data.rx_float_data, 0, sizeof(board_comm_data.rx_float_data));
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USARTServiceInit(board_comm_usart_instance);
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LOGWARNING("[board_comm] communication lost");
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}
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// 初始化板间通信
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board_comm_data_t* BoardCommInit(UART_HandleTypeDef *uart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = BoardCommRxCallback;
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conf.usart_handle = uart_handle;
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conf.recv_buff_size = BOARD_COMM_FRAME_SIZE;
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board_comm_usart_instance = USARTRegister(&conf);
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// 暂时注释掉 daemon 注册，专注于数据传输
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/*
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// 注册守护进程
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Daemon_Init_Config_s daemon_conf = {
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.reload_count = 20, // 200ms未收到数据视为离线
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.callback = BoardCommLostCallback,
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.owner_id = NULL,
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};
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board_comm_daemon_instance = DaemonRegister(&daemon_conf);
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*/
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memset(&board_comm_data, 0, sizeof(board_comm_data));
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return &board_comm_data;
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}
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// 检查通信状态
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uint8_t BoardCommIsOnline(void)
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{
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// 暂时返回固定值，专注于数据传输
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return 1;
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// return DaemonIsOnline(board_comm_daemon_instance);
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}
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// 发送状态数组
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void BoardCommSend(int32_t int_data[2], float float_data[2])
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{
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board_comm_packet_t packet;
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// 设置帧头
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packet.header[0] = 0x55;
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packet.header[1] = 0xAA;
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// 复制数据
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memcpy(packet.int_data, int_data, sizeof(packet.int_data));
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memcpy(packet.float_data, float_data, sizeof(packet.float_data));
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memcpy(board_comm_data.tx_int_data, int_data, sizeof(board_comm_data.tx_int_data));
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memcpy(board_comm_data.tx_float_data, float_data, sizeof(board_comm_data.tx_float_data));
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// 计算校验和
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uint8_t data_len = sizeof(packet.int_data) + sizeof(packet.float_data);
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packet.checksum = board_comm_checksum((uint8_t *)packet.int_data, data_len);
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// 发送数据
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USARTSend(board_comm_usart_instance, (uint8_t *)&packet, sizeof(packet), USART_TRANSFER_IT);
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}
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// 获取接收到的整型数组
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int32_t* BoardCommGetIntData(void)
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{
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return board_comm_data.rx_int_data;
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}
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// 获取接收到的浮点型数组
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float* BoardCommGetFloatData(void)
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{
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return board_comm_data.rx_float_data;
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} |