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530 lines
17 KiB
530 lines
17 KiB
#include "zcanreceiver_master.hpp"
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#include "project_configs.h"
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#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
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#ifdef HAL_CAN_MODULE_ENABLED
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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using namespace iflytop;
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using namespace zcr;
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#define TAG "ZCanCommnaderMaster"
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#define OVER_TIME_MS 5
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#define MASK_32BIT(off) (0x01 << (off))
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ZCanCommnaderMaster::CFG *ZCanCommnaderMaster::createCFG() {
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CFG *cfg = new CFG();
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ZASSERT(cfg != NULL);
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cfg->deviceId = 1;
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#ifdef STM32F103xB
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cfg->canHandle = &hcan;
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#else
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cfg->canHandle = &hcan1;
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#endif
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cfg->canFilterIndex0 = 0;
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cfg->maxFilterNum = 7;
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cfg->rxfifoNum = CAN_RX_FIFO0;
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return cfg;
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}
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void ZCanCommnaderMaster::init(CFG *cfg) {
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HAL_StatusTypeDef hal_status;
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m_config = cfg;
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m_on_packet_map_lock.init();
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txlock.init();
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/**
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* @brief 初始化CAN
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*/
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/**
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* @brief 初始化消息接收buf
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*/
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m_canPacketRxBuffer[0].dataIsReady = false;
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m_canPacketRxBuffer[0].id = 1; // 只接收来自主机的消息
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m_canPacketRxBuffer[0].m_canPacketNum = 0;
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/**
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* @brief 初始化过滤器
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*/
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hal_status = initializeFilter();
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if (hal_status != HAL_OK) {
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ZLOGE(TAG, "start can initializeFilter fail\r\n");
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return;
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}
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/**
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* @brief 启动CAN
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*/
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hal_status = HAL_CAN_Start(m_config->canHandle); // 开启CAN
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if (hal_status != HAL_OK) {
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ZLOGE(TAG, "start can fail\r\n");
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return;
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}
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/**
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* @brief 监听回调
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*/
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ZCanIRQDispatcher::instance().regListener(this);
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HAL_StatusTypeDef status = activateRxIT();
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if (status != HAL_OK) {
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ZLOGE(TAG, "activateRxIT fail\r\n");
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return;
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}
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m_loopThread.init("ZCanCommnaderMaster", 1024, osPriorityAboveNormal);
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m_loopThread.start([this]() {
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while (true) {
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loop();
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osDelay(1);
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}
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});
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}
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HAL_StatusTypeDef ZCanCommnaderMaster::initializeFilter() {
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/**
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* @brief ID区帧格式
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* [ 27:0 ]
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* [ STDID ] [ EXTID ]
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* [11 :9] [8:6] [5:0] [17:16] [15:8] [7:0]
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* 优先级 属性 帧类型 目标ID 源ID
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*/
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HAL_StatusTypeDef HAL_Status;
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CAN_FilterTypeDef sFilterConfig;
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uint32_t filterId;
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uint32_t mask;
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memset(&sFilterConfig, 0, sizeof(sFilterConfig));
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 设为MASK模式
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // CAN_FILTERSCALE_16BIT
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sFilterConfig.FilterFIFOAssignment = m_config->rxfifoNum; // 关联过滤器到rxfifoNum
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sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
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sFilterConfig.SlaveStartFilterBank = m_config->maxFilterNum; // slave filter start index
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/*******************************************************************************
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* 接收所有消息 *
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*******************************************************************************/
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filterId = (0); //
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mask = (0); //
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sFilterConfig.FilterBank = m_config->canFilterIndex0; //
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sFilterConfig.FilterMaskIdLow = mask & 0xffff; //
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sFilterConfig.FilterMaskIdHigh = (mask & 0xffff0000) >> 16; //
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sFilterConfig.FilterIdLow = filterId & 0xffff; //
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sFilterConfig.FilterIdHigh = (filterId & 0xffff0000) >> 16; //
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HAL_Status = HAL_CAN_ConfigFilter(m_config->canHandle, &sFilterConfig);
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if (HAL_Status != HAL_OK) {
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ZLOGE(TAG, "HAL_CAN_ConfigFilter filter0 fail");
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return HAL_Status;
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}
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ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3);
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return HAL_Status;
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}
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int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t submoduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) {
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zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
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cmdheader->packetType = kptv2_cmd;
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cmdheader->packetindex = generateFreeIndex();
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cmdheader->cmdmoduleid = MODULE_CMDID(cmdid);
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cmdheader->subcmdid = SUBCMDID(cmdid);
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cmdheader->submoduleid = submoduleid;
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// ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdmoduleid, cmdheader->subcmdid, cmdheader->submoduleid);
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int32_t *sendparam = (int32_t *)cmdheader->data;
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for (size_t i = 0; i < npara; i++) {
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sendparam[i] = param[i];
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}
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int32_t txlen = sizeof(zcr_cmd_header_t) + npara * sizeof(int32_t);
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// 注册监听者
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bool rxdataIsReady = false;
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int32_t errocode = 0;
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regListener(cmdheader->packetindex, [this, &rxdataIsReady, &ack, &rxsize, &errocode](CanPacketRxBuffer *report) {
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if (report->get_cmdheader()->packetType == kptv2_error_ack) {
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auto *error_ack = report->get_data_as<int32_t>();
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errocode = *error_ack;
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} else if (*rxsize < report->get_datalen()) {
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errocode = err::kbuffer_not_enough;
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} else {
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*rxsize = report->get_datalen();
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memcpy(ack, report->get_data(), *rxsize);
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}
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rxdataIsReady = true;
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});
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// 发送消息
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sendPacket(txbuff, txlen);
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// 等待回执
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uint32_t enterticket = zos_get_tick();
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while (!rxdataIsReady) {
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if (zos_haspassedms(enterticket) > (uint32_t)overtime_ms) {
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ZLOGE(TAG, "sendPacketBlock timeout");
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unregListener(cmdheader->packetindex);
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return err::kovertime;
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}
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osDelay(1);
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}
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unregListener(cmdheader->packetindex);
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return errocode;
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}
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int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t submoduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) {
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zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
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cmdheader->packetType = kptv2_cmd;
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cmdheader->packetindex = generateFreeIndex();
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cmdheader->cmdmoduleid = MODULE_CMDID(cmdid);
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cmdheader->subcmdid = SUBCMDID(cmdid);
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cmdheader->submoduleid = submoduleid;
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// ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdmoduleid, cmdheader->subcmdid, cmdheader->submoduleid);
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int32_t *sendparam = (int32_t *)cmdheader->data;
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for (size_t i = 0; i < npara; i++) {
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sendparam[i] = param[i];
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}
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int32_t txlen = sizeof(zcr_cmd_header_t) + npara * sizeof(int32_t);
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/**
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* @brief 注册监听者
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*/
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bool rxdataIsReady = false;
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int32_t errocode = 0;
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regListener(cmdheader->packetindex, [this, &rxdataIsReady, &ack, &nack, &errocode](CanPacketRxBuffer *report) {
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// ZLOGI(TAG, "....................................");
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if (report->get_cmdheader()->packetType == kptv2_error_ack) {
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auto *error_ack = report->get_data_as<int32_t>();
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errocode = *error_ack;
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// ZLOGI(TAG, "error_ack %d %s", *error_ack, err::error2str(*error_ack));
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} else {
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// ZLOGI(TAG, "%d %d", report->get_datalen(), nack);
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int32_t *rxbuf = report->get_data_as<int32_t>();
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if (ack != nullptr && nack != 0) {
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for (size_t i = 0; i < nack; i++) {
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// ZLOGI(TAG, "ack[%d] = %d", i, rxbuf[i]);
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ack[i] = rxbuf[i];
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}
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}
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}
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rxdataIsReady = true;
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});
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/**
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* @brief 发送消息
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*/
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sendPacket(txbuff, txlen);
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/**
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* @brief 等待回执
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*/
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uint32_t enterticket = zos_get_tick();
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while (!rxdataIsReady) {
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if (zos_haspassedms(enterticket) > (uint32_t)overtime_ms) {
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ZLOGE(TAG, "sendPacketBlock timeout");
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unregListener(cmdheader->packetindex);
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return err::kovertime;
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}
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osDelay(1);
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}
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unregListener(cmdheader->packetindex);
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return errocode;
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}
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void ZCanCommnaderMaster::regEventPacketListener(onpacket_t on_event) { m_on_event = on_event; }
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void ZCanCommnaderMaster::regListener(uint16_t index, zcan_commnader_master_onpacket_t onack) {
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zlock_guard l(m_on_packet_map_lock);
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if (m_on_packet_map.size() > 10000) {
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ZLOGW(TAG, "m_on_packet_map.size() = %d>10000", m_on_packet_map.size());
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}
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ZCanCommnaderMasterListener listener;
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listener.on_ack = onack;
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m_on_packet_map[index] = listener;
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}
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void ZCanCommnaderMaster::unregListener(uint16_t index) {
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zlock_guard l(m_on_packet_map_lock);
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auto it = m_on_packet_map.find(index);
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if (it != m_on_packet_map.end()) {
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m_on_packet_map.erase(it);
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}
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}
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int ZCanCommnaderMaster::getListenerNum() {
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zlock_guard l(m_on_packet_map_lock);
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return m_on_packet_map.size();
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}
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bool ZCanCommnaderMaster::isListenerReg(uint16_t index) {
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zlock_guard l(m_on_packet_map_lock);
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auto it = m_on_packet_map.find(index);
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if (it != m_on_packet_map.end()) {
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return true;
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}
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return false;
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}
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void ZCanCommnaderMaster::callListener(CanPacketRxBuffer *report) {
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uint16_t index = report->get_cmdheader()->packetindex;
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if (report->get_cmdheader()->packetType == kptv2_ack || report->get_cmdheader()->packetType == kptv2_error_ack) {
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zlock_guard l(m_on_packet_map_lock);
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auto it = m_on_packet_map.find(index);
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if (it != m_on_packet_map.end()) {
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if (it->second.on_ack) it->second.on_ack(report);
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}
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}
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if (report->get_cmdheader()->packetType == kptv2_event) {
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if (m_on_event) m_on_event(report->id, report->get_cmdheader(), report->get_datalen());
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}
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}
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uint16_t ZCanCommnaderMaster::generateFreeIndex() {
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m_index_off++;
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uint16_t count = 0;
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if (m_index_off == 0) m_index_off = 1;
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while (isListenerReg(m_index_off)) {
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m_index_off++;
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if (m_index_off == 0) m_index_off = 1;
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count++;
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if (count == 0) {
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ZLOGE(TAG, "generateFreeIndex fail");
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NVIC_SystemReset();
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}
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}
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return m_index_off;
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}
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void ZCanCommnaderMaster::sendPacket(uint8_t *packet, size_t len) {
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zlock_guard txlock_guard(txlock);
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/**
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* @brief
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*/
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int npacket = len / 8 + (len % 8 == 0 ? 0 : 1);
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if (npacket > 255) {
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ZLOGE(TAG, "sendPacket fail, len:%d", len);
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return;
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}
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int finalpacketlen = len % 8 == 0 ? 8 : len % 8;
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for (uint8_t i = 0; i < npacket; i++) {
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bool suc = false;
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if (i == npacket - 1) {
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suc = sendPacketSub(npacket, i, packet + i * 8, finalpacketlen, OVER_TIME_MS);
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} else {
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suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS);
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}
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if (!suc) {
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ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i);
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return;
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}
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}
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}
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bool ZCanCommnaderMaster::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
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// ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
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CAN_TxHeaderTypeDef pHeader;
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uint8_t aData[8] /*8byte table*/;
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uint32_t txMailBox = 0;
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uint32_t enterticket = zos_get_tick();
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memset(&pHeader, 0, sizeof(pHeader));
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memset(aData, 0, sizeof(aData));
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pHeader.StdId = 0x00;
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pHeader.ExtId = (m_config->deviceId << 16) | (npacket << 8) | packetIndex;
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pHeader.IDE = CAN_ID_EXT;
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pHeader.RTR = CAN_RTR_DATA;
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pHeader.DLC = len;
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pHeader.TransmitGlobalTime = DISABLE;
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memcpy(aData, packet, len);
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m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox);
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if (m_lastTransmitStatus != HAL_OK) {
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ZLOGE(TAG, "HAL_CAN_AddTxMessage fail");
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return false;
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}
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while (HAL_CAN_IsTxMessagePending(m_config->canHandle, txMailBox)) {
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if (zos_haspassedms(enterticket) > (uint32_t)overtimems) {
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m_lastTransmitStatus = HAL_TIMEOUT;
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HAL_CAN_AbortTxRequest(m_config->canHandle, txMailBox);
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return false;
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}
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// m_os->sleepMS(1);
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}
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if (txPacketInterval_ms > 0) {
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osDelay(txPacketInterval_ms);
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}
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return true;
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}
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bool ZCanCommnaderMaster::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
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/**
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* @brief 读取当前FIFO中缓存了多少帧的数据
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*/
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uint32_t level = HAL_CAN_GetRxFifoFillLevel(m_config->canHandle, m_config->rxfifoNum);
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if (level == 0) {
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return false;
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}
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HAL_StatusTypeDef HAL_RetVal;
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HAL_RetVal = HAL_CAN_GetRxMessage(m_config->canHandle, m_config->rxfifoNum, pHeader, aData);
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if (HAL_OK == HAL_RetVal) {
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// 处理接收到的can总线数据
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return true;
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}
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return false;
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}
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void ZCanCommnaderMaster::initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id) {
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memset(buf, 0, sizeof(CanPacketRxBuffer));
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buf->id = id;
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}
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CanPacketRxBuffer *ZCanCommnaderMaster::allocCanPacketRxBufferInIRQ(uint16_t id) {
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for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
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if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) {
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// 说明当前id的缓存已经存在，但由于丢包数据灭有收集满
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if (!m_canPacketRxBuffer[i].dataIsReady) {
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initCanPacketRxBuffer(&m_canPacketRxBuffer[i], id);
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m_canPacketRxBuffer[i].isUsed = true;
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return &m_canPacketRxBuffer[i];
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}
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}
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}
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for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
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if (!m_canPacketRxBuffer[i].isUsed) {
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initCanPacketRxBuffer(&m_canPacketRxBuffer[i], id);
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m_canPacketRxBuffer[i].isUsed = true;
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return &m_canPacketRxBuffer[i];
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}
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}
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return nullptr;
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}
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CanPacketRxBuffer *ZCanCommnaderMaster::findCanPacketRxBufferInIRQ(uint16_t id) {
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for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
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if (!m_canPacketRxBuffer[i].dataIsReady && m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) {
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return &m_canPacketRxBuffer[i];
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}
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}
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return nullptr;
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}
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void ZCanCommnaderMaster::freeCanPacketRxBuffer(uint16_t id) {
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for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
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if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) {
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m_canPacketRxBuffer[i].isUsed = false;
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return;
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}
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}
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}
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void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
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/**
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* @brief 中断上下文
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*/
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// ZLOG_INFO("%s\n", __FUNCTION__);
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// printf("------------------%s\n", __FUNCTION__);
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if (canHandle != m_config->canHandle) {
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return;
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}
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/**
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* @brief 处理can接收到消息
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*/
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CAN_RxHeaderTypeDef pHeader;
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uint8_t aData[8] /*8byte table*/;
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while (getRxMessage(&pHeader, aData)) {
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/**
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* @brief 消息格式
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*
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* [2] [3bit] [8bit] [8bit] [8bit]
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* , from frameNum frameId
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*/
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uint8_t from = (pHeader.ExtId >> 16 & 0xFF);
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uint8_t nframe = (pHeader.ExtId & 0xFF00) >> 8;
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uint8_t frameId = (pHeader.ExtId & 0x00FF);
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CanPacketRxBuffer *rxbuf = nullptr;
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if (frameId == 0) {
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rxbuf = allocCanPacketRxBufferInIRQ(from);
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rxbuf->m_npacket = nframe;
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} else {
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rxbuf = findCanPacketRxBufferInIRQ(from);
|
|
}
|
|
if (!rxbuf) return;
|
|
|
|
if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
|
|
rxbuf->m_canPacket[rxbuf->m_canPacketNum].pHeader = pHeader;
|
|
memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
|
|
rxbuf->m_canPacketNum++;
|
|
}
|
|
/**
|
|
* @brief 接收满了
|
|
*/
|
|
if (nframe == frameId + 1) {
|
|
rxbuf->dataIsReady = true;
|
|
if ((rxbuf->m_canPacketNum) != rxbuf->m_npacket) rxbuf->lostpacket = true;
|
|
}
|
|
}
|
|
|
|
// deactivateRxIT();
|
|
}
|
|
void ZCanCommnaderMaster::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
|
|
if (canHandle != m_config->canHandle) {
|
|
return;
|
|
}
|
|
ZLOGE(TAG, "onCAN_Error\r\n");
|
|
}
|
|
void ZCanCommnaderMaster::processReadyPacket(CanPacketRxBuffer *rxbuf) {
|
|
int dataoff = 0;
|
|
for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
|
|
memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].pHeader.DLC);
|
|
dataoff += rxbuf->m_canPacket[i].pHeader.DLC;
|
|
rxbuf->rxdataSize = dataoff;
|
|
}
|
|
if (rxbuf->lostpacket) {
|
|
ZLOGE(TAG, "lostpacket %d %d", rxbuf->m_canPacketNum, rxbuf->m_npacket);
|
|
} else {
|
|
callListener(rxbuf);
|
|
}
|
|
rxbuf->dataIsReady = false;
|
|
}
|
|
void ZCanCommnaderMaster::loop() {
|
|
/**
|
|
* @brief MainLoop上下文
|
|
*/
|
|
|
|
for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
|
|
if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].dataIsReady) {
|
|
processReadyPacket(&m_canPacketRxBuffer[i]);
|
|
}
|
|
}
|
|
}
|
|
HAL_StatusTypeDef ZCanCommnaderMaster::activateRxIT() {
|
|
HAL_StatusTypeDef hal_status = HAL_ERROR;
|
|
if (m_config->rxfifoNum == CAN_RX_FIFO0) {
|
|
hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
|
|
} else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
|
|
hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
|
|
} else {
|
|
ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
|
|
return hal_status;
|
|
}
|
|
return hal_status;
|
|
}
|
|
HAL_StatusTypeDef ZCanCommnaderMaster::deactivateRxIT() {
|
|
HAL_StatusTypeDef hal_status = HAL_ERROR;
|
|
if (m_config->rxfifoNum == CAN_RX_FIFO0) {
|
|
hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
|
|
} else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
|
|
hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
|
|
} else {
|
|
ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
|
|
return hal_status;
|
|
}
|
|
return hal_status;
|
|
}
|
|
|
|
size_t ZCanCommnaderMaster::safe_memcpy(void *dst, size_t dst_max_size, void *src, size_t src_len) { //
|
|
size_t cpysize = dst_max_size < src_len ? dst_max_size : src_len;
|
|
memcpy(dst, src, cpysize);
|
|
return cpysize;
|
|
}
|
|
|
|
#endif
|