增加CAN Comm通信功能,接收中断处理尚未编写完毕

modules/can_comm/can_comm.c

@@ -0,0 +1,52 @@
+#include "can_comm.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL};
+static uint8_t idx;
+
+static void CANCommRxCallback(can_instance *_instance)
+{
+    for (size_t i = 0; i < idx; i++)
+    {
+        if (&can_comm_instance[i]->can_ins == _instance)
+        {
+        }
+    }
+}
+
+CANCommInstance *CANCommInit(CANComm_Init_Config_s config)
+{
+    can_comm_instance[idx] = (CANCommInstance *)malloc(sizeof(CANCommInstance));
+    memset(can_comm_instance[idx], 0, sizeof(CANCommInstance));
+    can_comm_instance[idx]->recv_data_len = config.recv_data_len;
+    can_comm_instance[idx]->send_data_len = config.send_data_len;
+    can_comm_instance[idx]->send_buf_len = config.send_data_len + CAN_COMM_OFFSET_BYTES;
+    can_comm_instance[idx]->raw_sendbuf[0] = CAN_COMM_HEADER;
+    can_comm_instance[idx]->raw_sendbuf[1] = config.send_data_len;
+    can_comm_instance[idx]->raw_sendbuf[config.send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
+
+    config.can_config.can_module_callback = CANCommRxCallback;
+    CANRegister(&can_comm_instance[idx]->can_ins, config.can_config);
+    return can_comm_instance[idx++];
+}
+
+void CANCommSend(CANCommInstance *instance, uint8_t *data)
+{
+    static uint8_t 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;
+
+    for (size_t i = 0; i < instance->send_buf_len; i += 8)
+    {
+        memcpy(instance->can_ins.tx_buff, instance->raw_sendbuf[i], 8);
+        CANTransmit(&instance->can_ins);
+    }
+}
+
+void *CANCommGet(CANCommInstance *instance)
+{
+    instance->update_flag = 0;
+    return instance->unpacked_recv_data;
+}