TuxMonkey/bf_original_balance_chassis
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增加了大量注释

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This commit is contained in:
NeoZng
2023-01-01 17:32:22 +08:00
parent c2f8b5c8c3
commit c05513587c
56 changed files with 773 additions and 598 deletions
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45
modules/can_comm/can_comm.c
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@@ -10,9 +10,10 @@
*/
static void CANCommResetRx(CANCommInstance *ins)
{
// 当前已经收到的buffer清零
memset(ins->raw_recvbuf, 0, ins->cur_recv_len);
ins->recv_state = 0;
ins->cur_recv_len = 0;
ins->recv_state = 0; // 接收状态重置
ins->cur_recv_len = 0; // 当前已经收到的长度重置
}
/**
@@ -23,33 +24,36 @@ static void CANCommResetRx(CANCommInstance *ins)
static void CANCommRxCallback(CANInstance *_instance)
{
static CANCommInstance *comm;
comm = (CANCommInstance *)_instance->id;
comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型
/* 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 (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 之前尚未开始接收且此次包里第一个位置是帧头
{
if (_instance->rx_buff[1] == comm->recv_data_len) // 接收长度等于设定接收长度
if (_instance->rx_buff[1] == comm->recv_data_len) // 如果这一包里的datalen也等于我们设定接收长度(这是因为暂时不支持动态包长)
{
comm->recv_state = 1;
comm->recv_state = 1; // 设置接收状态为1,说明已经开始接收
}
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
{
// 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
// 直接把当前接收到的数据接到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
// 收完这一包以后刚好等于总buf len,说明已经收完了
if (comm->cur_recv_len == comm->recv_buf_len)
{ // buff里本该是tail的位置不等于CAN_COMM_TAIL
{
// 如果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)
{
CANCommResetRx(comm);
@@ -59,8 +63,8 @@ static void CANCommRxCallback(CANInstance *_instance)
{
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);
{ // 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); // 数据量大的话考虑使用DMA
comm->update_flag = 1; // 数据更新flag置为1
}
CANCommResetRx(comm);
@@ -73,17 +77,18 @@ static void CANCommRxCallback(CANInstance *_instance)
CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
{
CANCommInstance* ins = (CANCommInstance *)malloc(sizeof(CANCommInstance));
CANCommInstance *ins = (CANCommInstance *)malloc(sizeof(CANCommInstance));
memset(ins, 0, sizeof(CANCommInstance));
ins->recv_data_len = comm_config->recv_data_len;
ins->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES;
ins->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES; // head + datalen + crc8 + tail
ins->send_data_len = comm_config->send_data_len;
ins->send_buf_len = comm_config->send_data_len + CAN_COMM_OFFSET_BYTES;
ins->raw_sendbuf[0] = CAN_COMM_HEADER;
ins->raw_sendbuf[1] = comm_config->send_data_len;
ins->raw_sendbuf[0] = CAN_COMM_HEADER; // head,直接设置避免每次发送都要重新赋值,下面的tail同理
ins->raw_sendbuf[1] = comm_config->send_data_len; // datalen
ins->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
comm_config->can_config.id = ins;
// can instance的设置
comm_config->can_config.id = ins; // CANComm的实例指针作为CANInstance的id,回调函数中会用到
comm_config->can_config.can_module_callback = CANCommRxCallback;
ins->can_ins = CANRegister(&comm_config->can_config);
return ins;
@@ -93,10 +98,12 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
{
static uint8_t crc8;
static uint8_t send_len;
// 将data copy到raw_sendbuf中,计算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;
// CAN单次发送最大为8字节,如果超过8字节,需要分包发送
for (size_t i = 0; i < instance->send_buf_len; 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;
@@ -108,6 +115,6 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
void *CANCommGet(CANCommInstance *instance)
{
instance->update_flag = 0;
instance->update_flag = 0; // 读取后将更新flag置为0
return instance->unpacked_recv_data;
}