TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

增加了LK电机和HT电机的基本支持,待编写控制

Browse Source
This commit is contained in:
NeoZng
2022-12-13 19:40:03 +08:00
parent 2f41e67de0
commit 11329aaddb
21 changed files with 280 additions and 171 deletions
Download Patch File Download Diff File Expand all files Collapse all files

80
modules/can_comm/can_comm.c
View File

@@ -26,52 +26,49 @@ static void CANCommResetRx(CANCommInstance *ins)
*/
static void CANCommRxCallback(CANInstance *_instance)
{
for (size_t i = 0; i < idx; i++)
static CANCommInstance *comm;
comm = (CANCommInstance *)_instance->id;
/* 接收状态判断 */
if (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 尚未开始接收且新的一包里有帧头
{
if (can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
if (_instance->rx_buff[1] == comm->recv_data_len) // 接收长度等于设定接收长度
{
/* 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
comm->recv_state = 1;
}
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
}
// 直接拷贝到当前的接收buffer后面
memcpy(comm->raw_recvbuf + comm->cur_recv_len, _instance->rx_buff, _instance->rx_len);
comm->cur_recv_len += _instance->rx_len;
// 当前已经收满
if (comm->cur_recv_len == comm->recv_buf_len)
{ // buff里本该是tail的位置不等于CAN_COMM_TAIL
if (comm->raw_recvbuf[comm->recv_buf_len - 1] != CAN_COMM_TAIL)
{
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
CANCommResetRx(comm);
return; // 重置状态然后返回
}
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
}
else // tail正确, 对数据进行crc8校验
{
if (comm->raw_recvbuf[comm->recv_buf_len - 2] ==
crc_8(comm->raw_recvbuf + 2, comm->recv_data_len))
{ // 通过校验,复制数据到unpack_data中
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
}
CANCommResetRx(comm);
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
}
@@ -90,6 +87,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
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.id = can_comm_instance[idx];
comm_config->can_config.can_module_callback = CANCommRxCallback;
can_comm_instance[idx]->can_ins = CANRegister(&comm_config->can_config);
return can_comm_instance[idx++];