双板通信inited

User_Code/module/software/btb_comm/btb.c

@@ -1,5 +1,158 @@
-//
-// Created by ASUS on 2025/11/17.
-//
-
 #include "btb.h"
+#include <string.h>
+#include <stdlib.h>
+// #include "crc8.h"
+#include "bsp_dwt.h"
+#include "bsp_fdcan.h"
+#include "daemon.h"
+
+// 内部函数声明
+static void btb_reset_rx(btb_instance_t *ins);
+static void btb_rx_callback(FDCANInstance *_instance);
+static void btb_lost_callback(void *btb_ins);
+
+/**
+ * @brief 重置接收状态和缓冲区
+ */
+static void btb_reset_rx(btb_instance_t *ins)
+{
+    memset(ins->raw_recvbuf, 0, ins->cur_recv_len);
+    ins->recv_state = 0;
+    ins->cur_recv_len = 0;
+}
+
+/**
+ * @brief CAN 接收回调（由底层驱动在收到数据时调用）
+ */
+static void btb_rx_callback(FDCANInstance *_instance)
+{
+    // 从 CANInstance 的 id 字段获取 btb_instance_t 指针
+    btb_instance_t *comm = (btb_instance_t *)_instance->id;
+
+    /* 接收状态机 */
+    if (_instance->rx_buff[0] == BTB_HEADER && comm->recv_state == 0)
+    {
+        if (_instance->rx_buff[1] == comm->recv_data_len)
+        {
+            comm->recv_state = 1;   // 开始接收数据
+        }
+        else
+            return; // 长度不匹配，忽略
+    }
+
+    if (comm->recv_state)
+    {
+        // 检查缓冲区是否溢出
+        if (comm->cur_recv_len + _instance->rx_len > comm->recv_buf_len)
+        {
+            btb_reset_rx(comm);
+            return;
+        }
+
+        // 拷贝数据
+        memcpy(comm->raw_recvbuf + comm->cur_recv_len, _instance->rx_buff, _instance->rx_len);
+        comm->cur_recv_len += _instance->rx_len;
+
+        // 检查是否接收完整一帧
+        if (comm->cur_recv_len == comm->recv_buf_len)
+        {
+            // 验证帧尾和 CRC
+            if (comm->raw_recvbuf[comm->recv_buf_len - 1] == BTB_TAIL)
+            {
+                // uint8_t crc = crc_8(comm->raw_recvbuf + 2, comm->recv_data_len); //Todo:CRC
+                // if (comm->raw_recvbuf[comm->recv_buf_len - 2] == crc)
+                // {
+                    memcpy(comm->unpacked_recv_data, comm->raw_recvbuf + 2, comm->recv_data_len);
+                    comm->update_flag = 1;
+                    DaemonReload(comm->comm_daemon);   // 喂看门狗
+                // }
+            }
+            btb_reset_rx(comm);
+        }
+    }
+}
+
+/**
+ * @brief 看门狗超时回调（通信丢失）
+ */
+static void btb_lost_callback(void *btb_ins)
+{
+    btb_instance_t *comm = (btb_instance_t *)btb_ins;
+    btb_reset_rx(comm);
+    LOGWARNING("[btb] can comm rx[%d] lost, reset rx state.", &comm->fdcan_ins->rx_id);
+}
+
+/**
+ * @brief 初始化 BTB 实例
+ */
+btb_instance_t *btb_init(btb_config_t *config)
+{
+    btb_instance_t *ins = (btb_instance_t *)malloc(sizeof(btb_instance_t));
+    memset(ins, 0, sizeof(btb_instance_t));
+
+    ins->recv_data_len = config->recv_data_len;
+    ins->recv_buf_len  = config->recv_data_len + BTB_OFFSET_BYTES;
+    ins->send_data_len = config->send_data_len;
+    ins->send_buf_len  = config->send_data_len + BTB_OFFSET_BYTES;
+
+    // 预填充发送缓冲区固定字段
+    ins->raw_sendbuf[0] = BTB_HEADER;
+    ins->raw_sendbuf[1] = config->send_data_len;   // 数据长度
+    ins->raw_sendbuf[config->send_data_len + BTB_OFFSET_BYTES - 1] = BTB_TAIL;
+
+    // 注册 CAN 实例
+    config->can_config.id = ins;
+    config->can_config.can_module_callback = btb_rx_callback;
+    ins->fdcan_ins = CANRegister(&config->can_config);   // 假设此函数存在
+
+    // 注册看门狗
+    Daemon_Init_Config_s daemon_config = {
+        .callback = btb_lost_callback,
+        .owner_id = (void *)ins,
+        .reload_count = config->daemon_count,
+    };
+    ins->comm_daemon = DaemonRegister(&daemon_config);
+
+    return ins;
+}
+
+/**
+ * @brief 发送数据（自动分包）
+ */
+void btb_send(btb_instance_t *ins, uint8_t *data)
+{
+    // 计算 CRC 并填入发送缓冲区
+    memcpy(ins->raw_sendbuf + 2, data, ins->send_data_len);//ToDo:CRC
+    // uint8_t crc = crc_8(data, ins->send_data_len);
+    // ins->raw_sendbuf[2 + ins->send_data_len] = crc;
+
+    // 分包发送（CAN 单包最大 8 字节）
+    uint8_t remain = ins->send_buf_len;
+    uint8_t offset = 0;
+    while (remain > 0)
+    {
+        uint8_t len = (remain >= 8) ? 8 : remain;
+        CANSetDLC(ins->fdcan_ins, len);                     // 设置 DLC
+        memcpy(ins->fdcan_ins->tx_buff, ins->raw_sendbuf + offset, len);
+        CANTransmit(ins->fdcan_ins, 1);                      // 阻塞发送
+        offset += len;
+        remain -= len;
+    }
+}
+
+/**
+ * @brief 获取最新接收的数据（读取后清除更新标志）
+ */
+void *btb_get(btb_instance_t *ins)
+{
+    ins->update_flag = 0;
+    return ins->unpacked_recv_data;
+}
+
+/**
+ * @brief 检查通信是否在线（看门狗未超时）
+ */
+uint8_t btb_is_online(btb_instance_t *ins)
+{
+    return DaemonIsOnline(ins->comm_daemon);
+}