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修复因内存对齐访问导致的硬件错误

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This commit is contained in:
NeoZeng
2022-11-29 16:33:34 +08:00
parent f1301ab7de
commit a539072052
7 changed files with 36 additions and 61 deletions
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47
modules/master_machine/seasky_protocol.c
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@@ -13,39 +13,32 @@
#include "seasky_protocol.h"
#include "crc8.h"
#include "crc16.h"
#include "memory.h"
/*获取CRC8校验码*/
uint8_t Get_CRC8_Check(uint8_t *pchMessage, uint16_t dwLength)
{
return crc_8(pchMessage, dwLength);
}
/*检验CRC8数据段*/
uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
{
uint8_t ucExpected = 0;
if ((pchMessage == 0) || (dwLength <= 2))
return 0;
ucExpected = Get_CRC8_Check(pchMessage, dwLength - 1);
ucExpected = crc_8(pchMessage, dwLength - 1);
return (ucExpected == pchMessage[dwLength - 1]);
}
/*获取CRC16校验码*/
uint16_t Get_CRC16_Check(uint8_t *pchMessage, uint32_t dwLength)
{
return crc_16(pchMessage, dwLength);
}
/*检验CRC16数据段*/
uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
{
uint16_t wExpected = 0;
if ((pchMessage == 0) || (dwLength <= 2))
{
return 0;
}
wExpected = Get_CRC16_Check(pchMessage, dwLength - 2);
wExpected = crc_16(pchMessage, dwLength - 2);
return (((wExpected & 0xff) == pchMessage[dwLength - 2]) && (((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]));
}
/*检验数据帧头*/
uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
{
if (rx_buf[0] == PROTOCOL_CMD_ID)
{
@@ -61,15 +54,6 @@ uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
return 0;
}
float float_protocol(uint8_t *dat_t)
{
uint8_t f_data[4];
f_data[0] = *(dat_t + 0);
f_data[1] = *(dat_t + 1);
f_data[2] = *(dat_t + 2);
f_data[3] = *(dat_t + 3);
return *(float *)f_data;
}
/*
此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作
后续调用通信接口的发送函数发送tx_buf中的对应数据
@@ -118,24 +102,19 @@ void get_protocol_send_data(uint16_t send_id, //信号id
*/
uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据
uint16_t *flags_register, //接收数据的16位寄存器地址
float *rx_data) //接收的float数据存储地址
uint8_t *rx_data) //接收的float数据存储地址
{
static protocol_rm_struct pro;
static uint16_t date_length;
volatile size_t s=sizeof(pro);
volatile size_t aa=sizeof(Vision_Recv_s);
if (protocol_heade_Check(&pro, rx_buf))
{
date_length = OFFSET_BYTE + pro.header.data_length;
while (CRC16_Check_Sum(&rx_buf[0], date_length))
if (CRC16_Check_Sum(&rx_buf[0], date_length))
{
*flags_register = (rx_buf[7] << 8) | rx_buf[6];
for (int i = 0; i < (pro.header.data_length - 2) / 4; i++)
{
rx_data[i] = float_protocol(&rx_buf[8 + 4 * i]);
}
for (int i = 0; i < date_length; i++)
{
rx_buf[i] = 0;
}
memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
return pro.cmd_id;
}
}