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

1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

Browse Source
This commit is contained in:
NeoZeng
2022-11-28 16:17:30 +08:00
parent cb3f5d92d1
commit 8332422eac
17 changed files with 615 additions and 552 deletions
Download Patch File Download Diff File Expand all files Collapse all files

103
modules/can_comm/can_comm.c
View File

@@ -1,16 +1,28 @@
#include "can_comm.h"
#include "memory.h"
#include "stdlib.h"
#include "crc8.h"
#include "crc8.h"
/* can_comm用于保存每个实例的指针数组,用于回调函数区分实例 */
static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL};
static uint8_t idx; //配合can_comm_instance的初始化使用,标识当前初始化的是哪一个实例
static uint8_t idx; // 配合can_comm_instance的初始化使用,标识当前初始化的是哪一个实例
/**
* @brief
*
* @param _instance
* @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)
{
memset(ins->raw_recvbuf, 0, ins->cur_recv_len);
ins->recv_state = 0;
ins->cur_recv_len = 0;
}
/**
* @brief
*
* @param _instance
*/
static void CANCommRxCallback(can_instance *_instance)
{
@@ -18,75 +30,84 @@ static void CANCommRxCallback(can_instance *_instance)
{
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[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
/* 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
{
if(_instance->rx_buff[1]==can_comm_instance[i]->recv_data_len) // 接收长度等于设定接收长度
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;
can_comm_instance[i]->recv_state = 1;
}
else
return ; //直接跳过即可
return; // 直接跳过即可
}
if(can_comm_instance[i]->recv_state) //已经开始接收
{ // 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,8);
can_comm_instance[i]->cur_recv_len+=8;
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)
{
memset(can_comm_instance[i]->raw_recvbuf,0,can_comm_instance[i]->recv_buf_len);
can_comm_instance[i]->recv_state=0;
can_comm_instance[i]->cur_recv_len=0;
return ; // 重置状态然后返回
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]->raw_recvbuf+2,can_comm_instance[i]->unpacked_recv_data,can_comm_instance[i]->recv_data_len);
can_comm_instance[i]->update_flag=1; //数据更新flag置为1
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
}
memset(can_comm_instance[i]->raw_recvbuf,0,can_comm_instance[i]->recv_buf_len); //整个buff置零
can_comm_instance[i]->recv_state=0;
can_comm_instance[i]->cur_recv_len=0;
return ; // 重置状态然后返回
CANCommResetRx(can_comm_instance[i]);
return; // 重置状态然后返回
}
}
}
return ;
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
}
}
}
CANCommInstance *CANCommInit(CANComm_Init_Config_s config)
CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_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]->recv_data_len = comm_config->recv_data_len;
can_comm_instance[idx]->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES;
can_comm_instance[idx]->send_data_len = comm_config->send_data_len;
can_comm_instance[idx]->send_buf_len = comm_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;
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;
config.can_config.can_module_callback = CANCommRxCallback;
CANRegister(&can_comm_instance[idx]->can_ins, config.can_config);
comm_config->can_config.can_module_callback = CANCommRxCallback;
CANRegister(&can_comm_instance[idx]->can_ins, &comm_config->can_config);
return can_comm_instance[idx++];
}
void CANCommSend(CANCommInstance *instance, uint8_t *data)
{
static uint8_t crc8;
static uint8_t send_len;
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);
{ // 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);
}
}