From 45aa9278fe14e4537e458d6ebb6f0bba5286b88c Mon Sep 17 00:00:00 2001 From: chenyf <1343619937@qq.com> Date: Thu, 21 Nov 2024 21:22:33 +0800 Subject: [PATCH] =?UTF-8?q?fix(add):=20=E6=96=B0=E5=A2=9Eresp=E5=8A=9F?= =?UTF-8?q?=E8=83=BD,=E5=B9=B6=E5=A2=9E=E5=8A=A0=E6=9E=B6=E6=9E=84?= =?UTF-8?q?=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .$架构.drawio.bkp | 16 ++ .vscode/launch.json | 25 ++++ .vscode/settings.json | 3 +- .vscode/tasks.json | 23 +++ build/crc16.o | Bin 0 -> 4996 bytes build/erpc_core.o | Bin 0 -> 19687 bytes build/list.o | Bin 0 -> 4621 bytes build/port_self.o | Bin 0 -> 36697 bytes config.h | 3 + crc16.c | 14 +- crc16.o | Bin 2198 -> 0 bytes erpc_core.c | 340 +++++++++++++++++++++++++++--------------- erpc_core.h | 5 +- erpc_core.o | Bin 8141 -> 0 bytes erpc设计文档.md | 38 +++++ list.c | 5 +- list.o | Bin 1700 -> 0 bytes makefile | 8 +- picture/1.jpg | Bin 0 -> 9871 bytes picture/2.jpg | Bin 0 -> 18609 bytes picture/3.jpg | Bin 0 -> 11598 bytes port_self.c | 77 +++++++--- port_self.exe | Bin 72754 -> 111340 bytes port_self.o | Bin 10658 -> 0 bytes 架构.drawio | 45 ++++++ 25 files changed, 445 insertions(+), 157 deletions(-) create mode 100644 .$架构.drawio.bkp create mode 100644 .vscode/launch.json create mode 100644 .vscode/tasks.json create mode 100644 build/crc16.o create mode 100644 build/erpc_core.o create mode 100644 build/list.o create mode 100644 build/port_self.o delete mode 100644 crc16.o delete mode 100644 erpc_core.o delete mode 100644 list.o create mode 100644 picture/1.jpg create mode 100644 picture/2.jpg create mode 100644 picture/3.jpg delete mode 100644 port_self.o create mode 100644 架构.drawio diff --git a/.$架构.drawio.bkp b/.$架构.drawio.bkp new file mode 100644 index 0000000..faa5e5c --- /dev/null +++ b/.$架构.drawio.bkp @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..30290b0 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,25 @@ +{ + "version": "0.2.0", + "configurations": [ + { + "name": "(gdb) Launch", + "type": "cppdbg", + "request": "launch", + "program": "${workspaceFolder}/port_self.exe", //只改这里 + "args": [], + "stopAtEntry": false, + "cwd": "${workspaceFolder}", + "environment": [], + "externalConsole": true, + "MIMode": "gdb", + "setupCommands": [ + { + "description": "Enable pretty-printing for gdb", + "text": "-enable-pretty-printing", + "ignoreFailures": true + } + ], + // "preLaunchTask": "build_111" //可以新增一条 + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index db529d0..dfd61ea 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -28,5 +28,6 @@ "binaryPath": "d:\\WORK\\erpc\\port_self.exe", "binaryArgs": [] } - ] + ], + "cmake.ignoreCMakeListsMissing": true } \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..e5f231a --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,23 @@ +{ + "tasks": [ + { + "type": "cppbuild", + "label": "build_111", + "command": "make", + "args": [ + ], + "options": { + "cwd": "${fileDirname}" + }, + "problemMatcher": [ + "$gcc" + ], + "group": { + "kind": "build", + "isDefault": true + }, + "detail": "调试器生成的任务。" + } + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/build/crc16.o b/build/crc16.o new file mode 100644 index 0000000000000000000000000000000000000000..6e7fb7a399090d529e20d3dc31a6a4b7e692abd5 GIT binary patch literal 4996 zcmcIodwf&X9X}`co}1gIO+!+FB9x$|1#Ht6ODMI4P#Op=kB)&Tq9Ko)G?3TwXiIfY zVIo~cWj;_5kTItYkU0lcI|m4e=v34pbB-xPCWy{4AE3;3zjN-rX=3q@`T6X8J~`+2 z`2HT}c~6daRW70>W~i7QhS2Ya%I*aG#q}-c``3RV@AzOEM8Z_m4>?*X+zC> zEbe&xV!CwMEfg2~mP3eH%cr9dvY{n5OM516C_rjyQfbA8Dr}bMK-_%5-I3N0iYu>5 zGX(Mi#0&!NB?XraG8;0~mseUdfJGP~zb->0P~%zNXA*KGlVwa9v^^fwv|tul!0pj?iAn}mAG`sZOB%? zz|ncqvGQYsqjR>wchKI8&_VloYMIw<@7?>p*twSyzP+c!yzaw}F1sOb7s}hUr}8jV 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b/config.h @@ -8,4 +8,7 @@ #define u16 unsigned short #define u32 unsigned int +#define UNUSED(x) (void)(x) +#define ERPC_DEBUG(...) printf(__VA_ARGS__) +// #define ERPC_DEBUG(...) #endif /* _CONFIG_H_ */ \ No newline at end of file diff --git a/crc16.c b/crc16.c index 190d082..fd32d26 100644 --- a/crc16.c +++ b/crc16.c @@ -31,13 +31,13 @@ static const uint16_t crc16tab[256] = { 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0}; -uint16_t crc16(const unsigned char *buf, size_t len) { - int counter; - uint16_t crc = 0; - for (counter = 0; counter < len; counter++) - crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *buf++) & 0x00FF]; - return crc; -} +// uint16_t crc16(const unsigned char *buf, size_t len) { +// int counter; +// uint16_t crc = 0; +// for (counter = 0; counter < (int)len; counter++) +// crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *buf++) & 0x00FF]; +// return crc; +// } u16 cmd_cal_crc16(erpc_cmd_def_t *cmd) { u16 crc = 0; diff --git a/crc16.o b/crc16.o deleted file mode 100644 index 6f0997b2e66ed2a17d888bc37106f619207130a6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2198 zcmYdkV`l(?Cu|H1qF@#agI-B$MG2S}Fz7HcFt`BKfB;B`0z*K8UP@v~B3J}B z;lL1ZKrgAd7`FU3a8aL}tjRi^?}vWFF2oq>a10j9bKKy_VE ze{ce|I4~GE=$oMHWnf@|s)5M>{oxSm(fQP)`Hg@_r!NqPN~9fk{l&m=-1QGg(Q6O> z?XJHLKHzZdJOE;)9elyTzx{+qx2u3hZvZ1uy#W6<2L5da3{L%)kU<{JM+9OIBijwM_aDgKA0T^yO8xr!)@~Wll zkD_I;poh4rBY+1a0ORn2I4F^508T*Nz5*}Q{{8@VEPL^n{-W;`f@8vm%|9`&sI7!9XM1h4-Qj;_NwKQ(=FQXfB*M)!VNeRKBgU9Gj;doy}H=T5KN zmUlJoi=VKakzSx&0pI-p``+KZ|L45)eyjD7^DFv0Ca!Eewej^ro{PE%{XXVDY!Fz; zaLC}X0!x6ZgIhs*!p`OylYcM1wb}Nt%;oyWai2FbO%VF5bjirnNhGK|DXi$#*3(N@ zOzmvV`|AHx=PK{fM<$0=7Kk*mq?Nd*sD!Y(++O}``^@$o)8n7leV09MbN#Z~C$ouc z8^prX%F0CDOu~F_=APvHssHlC%$J>AJ6ErCiAeQet5DB4An}l+$zria?dh1?_OIoB z|Lndod-v*DyGy-7qRg|zsy=dEklL&@$x81p|J$6qzGqkM?Oyw0?#W)Y8upx&7+0S~ zHqAN@WDfGkzqk7zd%ouW?Df0$-|YV}Up&vOF4V6iZnEAcyNi4uB~Y z7%uo}r!r149VV3|=5+VK@k9fyzXP zm^m=rLRfil)(SZ58=M8y0Ipe>f#$$i96%O75Ho|_461jS83f?6B5+xdFCelqaFzmG zRxd3xCl$y8fq(xQ7}6P&i;@k^^pYV$U=l1+l9&YIfb3^x0E>X-fT7Evz`z7_DK-Fd zA1GwOYQPF)fg~uLAtK1NDaZ(BMo_pzYF)5$Ac0(y0wsZJU@{0AxfTUgidfYk)u3Qs zFfxFQLjlOOC#d>iW(3urr~tX<1XY9(HK6(u73e~_;IL=3N0kKfEPxnNtE*I1RWT&z Xro<;F=EOsS7R<{?P0oh$krV;|qGV^` diff --git a/erpc_core.c b/erpc_core.c index 12e6915..93145f1 100644 --- a/erpc_core.c +++ b/erpc_core.c @@ -9,11 +9,14 @@ erpc_sleep erpc_sleep_tick = NULL; static list_t erpc_hw; -void clean_cache(erpc_hw_cfg_t *hw) { - for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { +void clean_cache(erpc_hw_cfg_t *hw) +{ + for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) + { hw->rec_cache->state = ERPC_CMD_NO_ERROR; } - for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { + for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) + { hw->send_cache[i].state = ERPC_CMD_NO_ERROR; } } @@ -21,29 +24,35 @@ void clean_cache(erpc_hw_cfg_t *hw) { * 注册 hardware 设备 * 线程不安全 */ -u32 erpc_hw_add(erpc_hw_cfg_t *hw) { +u32 erpc_hw_add(erpc_hw_cfg_t *hw) +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { list->data = (void *)hw; clean_cache(hw); return ERPC_NO_ERROR; } list_t *list_node = malloc(sizeof(list_t)); - if (list_node == NULL) { + if (list_node == NULL) + { return ERPC_ERR_MALLOC_ERROR; } list_node->data = (void *)hw; u8 hw_ord = hw->ord; // 检查hw是否已经存在 - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data; - if (hw_cfg->ord == hw_ord) { + if (hw_cfg->ord == hw_ord) + { return ERPC_ERR_HW_EXIST; } list = list->next; } list_t *result = list_append(&erpc_hw, hw); - if (result == NULL) { + if (result == NULL) + { return ERPC_ERR_MALLOC_ERROR; } clean_cache(hw); @@ -53,14 +62,17 @@ u32 erpc_hw_add(erpc_hw_cfg_t *hw) { * 注册命令列表 * 线程不安全 */ -u32 erpc_add_cmd_list(erpc_hw_cfg_t *hw, erpc_cmd_list_t *cmd_list) { +u32 erpc_add_cmd_list(erpc_hw_cfg_t *hw, erpc_cmd_list_t *cmd_list) +{ list_t *list = &hw->cmd_list; - if (list->data == NULL) { + if (list->data == NULL) + { list->data = (void *)cmd_list; return ERPC_NO_ERROR; } list = list_append(&hw->cmd_list, cmd_list); - if (list == NULL) { + if (list == NULL) + { return ERPC_ERR_MALLOC_ERROR; } return ERPC_NO_ERROR; @@ -69,14 +81,18 @@ u32 erpc_add_cmd_list(erpc_hw_cfg_t *hw, erpc_cmd_list_t *cmd_list) { * 移除 hardware 设备 * 线程不安全 */ -u32 erpc_hw_remove(u8 hw) { +u32 erpc_hw_remove(u8 hw) +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { return ERPC_ERR_NOFOND_HW; } - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data; - if (hw_cfg->ord == hw) { + if (hw_cfg->ord == hw) + { list_delete(&erpc_hw, list); free(list); return ERPC_NO_ERROR; @@ -88,27 +104,34 @@ u32 erpc_hw_remove(u8 hw) { /** * 获取 hardware 设备 */ -erpc_hw_cfg_t *erpc_hw_get(u8 hw) { +erpc_hw_cfg_t *erpc_hw_get(u8 hw) +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { return NULL; } - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data; - if (hw_cfg->ord == hw) { + if (hw_cfg->ord == hw) + { return hw_cfg; } } return NULL; } u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type, - u8 *data, u16 len) { + u8 *data, u16 len) +{ CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW); u8 cache_ord = 255; // 查找可用的发送缓存 - for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { - if (hw_cfg->send_cache[i].state == ERPC_CMD_NO_ERROR) { - printf("find send cache %d\n", i); + for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) + { + if (hw_cfg->send_cache[i].state == ERPC_CMD_NO_ERROR) + { + ERPC_DEBUG("find send cache %d\n", i); cache_ord = i; break; } @@ -122,13 +145,19 @@ u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type, cmd->head.dest_id = dest_id; cmd->head.port = port; cmd->head.msg_len = len; - if (data != NULL) { + if (data == NULL) + { cmd->head.msg_len = 0; + len = 0; } cmd->head.type = package_type; cmd->head.src_id = hw_cfg->local_id; - if (len > 0 && data != NULL) { - memcpy(cmd->data, data, len); + if (len > 0 && data != NULL) + { + for (int i = 0; i < len; i++) + { + cmd->data[i] = data[i]; + } } // 计算校验和 cmd_cal_crc16(cmd); @@ -137,29 +166,37 @@ u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type, hw_cfg->send_cache[cache_ord].state = ERPC_CMD_WAIT_SEND; // 等待数据发送完成 int wait_time = CMD_TIMEOUT; - while (wait_time > 0) { - if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_OK) { + while (wait_time > 0) + { + if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_OK) + { break; } - if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_DEST_BUSY) { + if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_DEST_BUSY) + { return ERPC_ERR_DEST_BUSY; } - if (erpc_sleep_tick != NULL) { + if (erpc_sleep_tick != NULL) + { erpc_sleep_tick(1); } wait_time--; } u32 ret = ERPC_NO_ERROR; - do { - if (wait_time == 0) { + do + { + if (wait_time == 0) + { ret = ERPC_ERR_SEND_TIMEOUT; break; } - if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_ONCE) { + if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_ONCE) + { ret = ERPC_ERR_DEST_NO_RESPONSE; break; } - if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_REPEAT) { + if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_REPEAT) + { ret = ERPC_ERR_DEST_NO_RESPONSE; break; } @@ -167,7 +204,8 @@ u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type, hw_cfg->send_cache[cache_ord].state = ERPC_CMD_NO_ERROR; return ret; } -u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len) { +u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len) +{ erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw); u32 ret = erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_REQ, data, len); @@ -175,30 +213,42 @@ u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len) { } u32 erpc_wait_resp_package(u8 hw, u8 dest_id, u16 port, u8 *reply_data, - u16 *reply_len, u32 time_out) { + u16 *reply_len, u32 time_out) +{ erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw); CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW); - while (time_out > 0) { - for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { + while (time_out > 0) + { + for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) + { erpc_data_cache_t *rec_cahce = &hw_cfg->rec_cache[i]; - if (rec_cahce->state != ERPC_CMD_RESP_OK) { + if (rec_cahce->state != ERPC_CMD_RESP_OK) + { continue; } erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&rec_cahce->data[0]; - if (cmd->head.port != port) { + if (cmd->head.port != port) + { continue; } - if (cmd->head.src_id != dest_id) { + if (cmd->head.src_id != dest_id) + { continue; } - if (reply_data != NULL) { - memccpy(reply_data, cmd->data, 0, cmd->head.msg_len); - *reply_len = cmd->head.msg_len; + if (reply_data != NULL) + { + // memccpy(reply_data, cmd->data, 0, cmd->head.msg_len); + memcpy(reply_data, cmd->data, cmd->head.msg_len); + if (reply_len != NULL) + { + *reply_len = cmd->head.msg_len; + } } rec_cahce->state = ERPC_CMD_NO_ERROR; return ERPC_NO_ERROR; } - if (erpc_sleep_tick != NULL) { + if (erpc_sleep_tick != NULL) + { erpc_sleep_tick(1); } time_out--; @@ -207,29 +257,34 @@ u32 erpc_wait_resp_package(u8 hw, u8 dest_id, u16 port, u8 *reply_data, return ERPC_NO_ERROR; } u32 erpc_send_wait_reply(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len, - u8 *reply_data, u16 *reply_len, u32 timeout) { + u8 *reply_data, u16 *reply_len, u32 timeout) +{ u32 ret = erpc_send(hw, dest_id, port, data, len); - if (reply_len != NULL) { + if (reply_len != NULL) + { *reply_len = 0; } CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret); - printf("send ok\n"); ret = erpc_wait_resp_package(hw, dest_id, port, reply_data, reply_len, timeout); CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret); return ERPC_NO_ERROR; } -u32 erpc_replay(u8 hw, u8 dest_id, u16 port, u8 *data_out, u16 len) { +u32 erpc_replay(u8 hw, u8 dest_id, u16 port, u8 *data_out, u16 len) +{ erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw); - u32 ret = erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_REPEAT, + u32 ret = erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_RESP, data_out, len); return ret; } -u32 erpc_send_data(erpc_hw_cfg_t *hw) { - for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { - if (hw->send_cache[i].state == ERPC_CMD_WAIT_SEND) { +u32 erpc_send_data(erpc_hw_cfg_t *hw) +{ + for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) + { + if (hw->send_cache[i].state == ERPC_CMD_WAIT_SEND) + { erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&hw->send_cache[i].data[0]; u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd->head.msg_len; hw->send_lock(); @@ -242,12 +297,16 @@ u32 erpc_send_data(erpc_hw_cfg_t *hw) { return ERPC_NO_ERROR; } -u32 erpc_rev_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { - for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { +u32 erpc_rev_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) +{ + for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) + { if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE || - hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT) { + hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT) + { erpc_cmd_def_t *cmd_send = (erpc_cmd_def_t *)&hw->send_cache[i].data[0]; - if (cmd_rev->head.port == cmd_send->head.port) { + if (cmd_rev->head.port == cmd_send->head.port) + { hw->send_cache[i].state = ERPC_CMD_SEND_OK; return ERPC_NO_ERROR; } @@ -255,7 +314,8 @@ u32 erpc_rev_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { } return ERPC_NO_ERROR; } -u32 erpc_rev_resp_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { +u32 erpc_rev_resp_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) +{ erpc_cmd_def_t cmd_send; cmd_send.head.dest_id = cmd_rev->head.src_id; cmd_send.head.port = cmd_rev->head.port; @@ -271,25 +331,30 @@ u32 erpc_rev_resp_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { return ERPC_NO_ERROR; } // 重发数据包 -u32 erpc_rev_repeat_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { - for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { +u32 erpc_rev_repeat_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) +{ + for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) + { if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE || - hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT) { + hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT) + { erpc_cmd_def_t *cmd_send = (erpc_cmd_def_t *)&hw->send_cache[i].data[0]; - if (cmd_rev->head.port == cmd_send->head.port) { + if (cmd_rev->head.port == cmd_send->head.port) + { u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send->head.msg_len; hw->send_lock(); u32 ret = hw->write((u8 *)hw->send_cache[i].data, len); hw->send_unlock(); hw->send_cache[i].state = ERPC_CMD_SEND_REPEAT; - CHECK_IF_ERROR(ret, ERPC_ERR_HW_SEND_FAIL); // + CHECK_IF_ERROR(ret, ERPC_ERR_HW_SEND_FAIL); // return ERPC_NO_ERROR; } } } return ERPC_NO_ERROR; } -u32 erpc_send_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { +u32 erpc_send_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) +{ erpc_cmd_def_t cmd_send; cmd_send.head.dest_id = cmd_rev->head.src_id; cmd_send.head.port = cmd_rev->head.port; @@ -305,69 +370,87 @@ u32 erpc_send_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { return ERPC_NO_ERROR; } -u32 erpc_rev_package(erpc_hw_cfg_t *hw) { - for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { - if (hw->rec_cache[i].state == ERPC_CMD_WAIT_SERVER_DEAL) { +u32 erpc_rev_package(erpc_hw_cfg_t *hw) +{ + for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) + { + if (hw->rec_cache[i].state == ERPC_CMD_WAIT_SERVER_DEAL) + { + ERPC_DEBUG("find cmd wait server deal %d\n", i); erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&hw->rec_cache[i].data[0]; // 检查crc u8 crc_result = cmd_check_crc16(cmd); // 丢弃错误数据包 - if (crc_result) { + if (crc_result) + { hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; continue; } // 丢弃不是本地数据包 - if (cmd->head.dest_id != hw->local_id) { + if (cmd->head.dest_id != hw->local_id) + { hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; continue; } // 处理数据包 - switch (cmd->head.type) { - case PACKAGE_TYPE_CMD_REQ: - printf("{REQ}\n"); - erpc_send_ack_package(hw, cmd); - hw->rec_cache[i].state = ERPC_CMD_WAIT_TASK_DEAL; - break; - case PACKAGE_TYPE_CMD_REQ_ACK: - case PACKAGE_TYPE_CMD_RESP_ACK: - printf("{ACK}\n"); - erpc_rev_ack_package(hw, cmd); - hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; - break; - case PACKAGE_TYPE_CMD_REPEAT: - erpc_rev_repeat_package(hw, cmd); - hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; - break; - case PACKAGE_TYPE_CMD_RESP: - printf("{RESP}\n"); - erpc_rev_resp_package(hw, cmd); - hw->rec_cache[i].state = ERPC_CMD_RESP_OK; - break; - default: + switch (cmd->head.type) + { + case PACKAGE_TYPE_CMD_REQ: + ERPC_DEBUG("{REQ}\n"); + erpc_send_ack_package(hw, cmd); + hw->rec_cache[i].state = ERPC_CMD_WAIT_TASK_DEAL; + break; + case PACKAGE_TYPE_CMD_REQ_ACK: + ERPC_DEBUG("{ACK}\n"); + erpc_rev_ack_package(hw, cmd); + hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; + break; - break; + case PACKAGE_TYPE_CMD_REPEAT: + erpc_rev_repeat_package(hw, cmd); + hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; + break; + case PACKAGE_TYPE_CMD_RESP: + ERPC_DEBUG("{RESP}\n"); + erpc_rev_resp_package(hw, cmd); + hw->rec_cache[i].state = ERPC_CMD_RESP_OK; + break; + case PACKAGE_TYPE_CMD_RESP_ACK: + ERPC_DEBUG("{RESP_ACK}\n"); + erpc_rev_ack_package(hw, cmd); + hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; + break; + default: + + break; } } } return ERPC_NO_ERROR; } -void erpc_rev_package_core() { +void erpc_rev_package_core() +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { return; } - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; erpc_rev_package(hw); list = list->next; } } -u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len) { +u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len) +{ erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw); CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW); - for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { - if (hw_cfg->rec_cache[i].state == ERPC_CMD_NO_ERROR) { - printf("set rev cache %d\r\n", i); + for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) + { + if (hw_cfg->rec_cache[i].state == ERPC_CMD_NO_ERROR) + { + ERPC_DEBUG("set rev cache %d\r\n", i); memcpy(hw_cfg->rec_cache[i].data, data, len); hw_cfg->rec_cache[i].state = ERPC_CMD_WAIT_SERVER_DEAL; return ERPC_NO_ERROR; @@ -375,59 +458,75 @@ u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len) { } return ERPC_ERR_REC_CACHE_FULL; } -void erpc_send_deal_core() { +void erpc_send_deal_core() +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { return; } - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; erpc_send_data(hw); } - if (erpc_sleep_tick != NULL) { + if (erpc_sleep_tick != NULL) + { erpc_sleep_tick(1); } } -void erpc_rev_deal_core() { +void erpc_rev_deal_core() +{ list_t *list = &erpc_hw; - if (list->data == NULL) { + if (list->data == NULL) + { return; } - while (list != NULL) { + while (list != NULL) + { erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; - { // 遍历接收缓存 - for (int j = 0; j < MAX_REC_CMD_CACHE_NUM; j++) { - { // 发现等待处理的数据包 - if (hw->rec_cache[j].state != ERPC_CMD_WAIT_TASK_DEAL) { + { // 遍历接收缓存 + for (int j = 0; j < MAX_REC_CMD_CACHE_NUM; j++) + { + { // 发现等待处理的数据包 + if (hw->rec_cache[j].state != ERPC_CMD_WAIT_TASK_DEAL) + { continue; } } - { // 多线程下，抢占处理权限 + { // 多线程下，抢占处理权限 hw->deal_lock(); - if (hw->rec_cache[j].state == ERPC_CMD_WAIT_TASK_DEAL) { + if (hw->rec_cache[j].state == ERPC_CMD_WAIT_TASK_DEAL) + { // 获取指令的处理权限 hw->rec_cache[j].state = ERPC_CMD_WAIT_TASK_DEAL_FINISH; - } else { + } + else + { // 已经有线程抢先执行了 hw->deal_unlock(); continue; } hw->deal_unlock(); } - { // 处理指令 + { // 处理指令 // 搜索指令列表 list_t *cmd_list = &hw->cmd_list; // 链表是空的 - if (cmd_list->data == NULL) { + if (cmd_list->data == NULL) + { continue; } // 获取指令指针 erpc_cmd_def_t *cmd_def = (erpc_cmd_def_t *)hw->rec_cache[j].data; - while (cmd_list != NULL) { // 搜索指令列表 + while (cmd_list != NULL) + { // 搜索指令列表 erpc_cmd_list_t *cmd_obj = (erpc_cmd_list_t *)cmd_list->data; - if (cmd_obj->cmd == cmd_def->head.port) { - if (cmd_obj->handle != NULL) { + if (cmd_obj->cmd == cmd_def->head.port) + { + if (cmd_obj->handle != NULL) + { // 指令调用 cmd_obj->handle(hw->ord, cmd_def->head.src_id, cmd_def->head.dest_id, cmd_def->head.port, @@ -445,7 +544,8 @@ void erpc_rev_deal_core() { } list = list->next; } - if (erpc_sleep_tick != NULL) { + if (erpc_sleep_tick != NULL) + { erpc_sleep_tick(1); } } \ No newline at end of file diff --git a/erpc_core.h b/erpc_core.h index 1834a27..07e1fc5 100644 --- a/erpc_core.h +++ b/erpc_core.h @@ -31,13 +31,14 @@ typedef struct erpc_cmd_head_t { u8 msg_len; } erpc_cmd_head_t; +#define MAX_CMD_LEN (256 - sizeof(erpc_cmd_head_t)) // crc16最大支持256字节 + typedef struct erpc_cmd_def_t { erpc_cmd_head_t head; u8 crc_16[2]; - u8 *data; + u8 data[MAX_CMD_LEN]; } erpc_cmd_def_t; -#define MAX_CMD_LEN (256 - sizeof(erpc_cmd_head_t)) // 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@@ +## 协议设计 + +### 指令通讯 +1. 指令发送方法：
+ 采用send-ack模式，即主机发送指令后，等待目标设备的ack确认，确认后才认为指令发送成功。 +2. notify-noreply模式：
+ 接口：
+ ```c + u32 erpc_sand(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len) + ``` + 描述：
+ 主机对目标设备发送一条指令，并不期待回复。其本质就是发送一次指令。 + ![](./picture/1.jpg) +3. notify-reply模式：
+ 接口：
+ ```c + //主机： + u32 erpc_send_wait_reply(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len, u8 *reply_data, u16 *reply_len, u32 timeout); + //目标设备： + u32 erpc_replay(u8 hw, u8 dest_id, u16 port, u8 *data_out, u16 len); + + ``` + 描述：
+ 本质由2条指令组成。
+ 主机发送req指令，从机直接回复。主机开始等待从机指令。
+ 从机处理完成后，向主机发送rep指令，并附带回复数据。
+ 主机收到rep指令后，开始等待rep指令的ack确认。
+ ![](./picture/2.jpg) +4. 指令工作在单线程模式下：
+ 指令发送后，等待ack确认，直到确认后才认为指令发送成功。如果确认超时，则认为指令发送失败。 + 可以在上述的接口中发现 cmd 并不定义为cmd，而是用了port的称呼。port的取值范围为0~65535，可以用来表示不同的指令。
+ +4. 多device通讯方法：
+ 每个port工作是单线程的，这就意味着，如果有多个device需要同时发送指令，则需要多线程或多进程。也就意味着需要定义不同的port号，来区分不同的线程，哪怕他是相同的指令。
+ 例如：节点0x03中挂在了3个电机，需要这3个电机同时运动，此时理论上指令是相同的，但是device不同的。通讯库没有做device id的区分。为此需要将port号划分为cmd + device id的形式。cmd相同的指令，device id不同，这样就可以实现多device通讯。
+ u16(port) = u8(cmd) + u8(device_id);
+ 这样一个cmd号需要链接到多个port上。此时的cmd可叫做cmd组 + ![](./picture/3.jpg) \ No newline at end of file diff --git a/list.c b/list.c index 582a34d..392318c 100644 --- a/list.c +++ b/list.c @@ -1,6 +1,7 @@ #include "list.h" #include "stdio.h" - +#include "stdlib.h" +#include "config.h" list_t *list_create(void *data) { list_t *node = (list_t *)malloc(sizeof(list_t)); @@ -41,7 +42,7 @@ void list_print(list_t *head) list_t *node = head; while (node != NULL) { - printf("%p\n", node->data); + ERPC_DEBUG("%p\n", node->data); node = node->next; } } diff --git a/list.o b/list.o deleted file mode 100644 index e32bab7d9229e02418d4b25af71dbec74cdddd01..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1700 zcmb7EL2DCH5PsWDZID_Q5slQtA{8q%YqTLm5nL^yPoxmU*pt*W*=i&<%Vr~KK@h6K zQia~V>VMFSR4w%2#hZBapcdjGC&@vKGjH-XFJ>j*JTV*=N#Hqtk}taRjfxgKvD}XNm_4#v2T_ zhkPF7I(*|{hc(7tqu!e2n_$^27(6fp+_mF^h~|x*)U6L{ARZJFz)JAo-QJ6Cw+rFg 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{ - printf("Hello World!\n"); + ERPC_DEBUG("Hello World:\n"); + ERPC_DEBUG("len = %d, msg :%s\n", len, data); + // 防止编译警告 + UNUSED(hw); + UNUSED(src_id); + UNUSED(dest_id); + UNUSED(port); + UNUSED(data); + UNUSED(len); + return 0; } -void hello_cat() +u32 hello_cat(u8 hw, u8 src_id, u8 dest_id, u16 port, u8 *data, u16 len) { - printf("Hello Cat!\n"); + ERPC_DEBUG("Hello Cat!\n"); + // 防止编译警告 + UNUSED(hw); + UNUSED(src_id); + UNUSED(dest_id); + UNUSED(port); + UNUSED(data); + UNUSED(len); + return 0; } -void hello_dog(u8 hw, u8 src_id, u8 dest_id, u16 port, u8 *data, u16 len) +u32 hello_dog(u8 hw, u8 src_id, u8 dest_id, u16 port, u8 *data, u16 len) { - printf("Hello Dog!\n"); + ERPC_DEBUG("Hello Dog!\n"); + // 防止编译警告 u8 data_out[10] = "12345"; - erpc_replay(hw, dest_id, port, data_out, sizeof(data_out)); + u32 ret = erpc_replay(hw, dest_id, port, data_out, sizeof(data_out)); + ERPC_DEBUG("erpc_replay ret:%d\n", ret); + // 防止编译警告 + UNUSED(ret); + UNUSED(hw); + UNUSED(src_id); + UNUSED(dest_id); + UNUSED(port); + UNUSED(data); + UNUSED(len); + return 0; } erpc_cmd_list_t erpc_cmd_list[] = { {.cmd = 0x01, hellworld}, @@ -49,7 +77,7 @@ static void send_unlock_h() ReleaseMutex(send_lock); } u8 data[300]; -static u8 data_write(u8 *data, u32 len) +static u8 data_write(u8 *data, u16 len) { erpc_set_rev_cahce(0, data, len); return 0; @@ -66,7 +94,7 @@ erpc_hw_cfg_t self_hw_cfg = { }; void erpc_cmd_config() { - for (int i = 0; i < sizeof(erpc_cmd_list) / sizeof(erpc_cmd_list[0]); i++) + for (int i = 0; i < (int)sizeof(erpc_cmd_list) / (int)sizeof(erpc_cmd_list[0]); i++) { erpc_add_cmd_list(&self_hw_cfg, &erpc_cmd_list[i]); } @@ -78,6 +106,7 @@ void sys_sleep(u32 ms) DWORD WINAPI send_task(LPVOID lpParam) { + UNUSED(lpParam); while (1) { erpc_send_deal_core(); @@ -85,10 +114,11 @@ DWORD WINAPI send_task(LPVOID lpParam) } DWORD WINAPI rev_task(LPVOID lpParam) { + UNUSED(lpParam); while (1) { - // printf("rev_task\n"); + // ERPC_DEBUG("rev_task\n"); erpc_rev_package_core(); erpc_rev_deal_core(); } @@ -96,42 +126,47 @@ DWORD WINAPI rev_task(LPVOID lpParam) DWORD WINAPI test_task(LPVOID lpParam) { - printf("test_task\n"); + UNUSED(lpParam); + ERPC_DEBUG("test_task\n"); while (1) { - // printf("[test_task]send\n"); - u32 ret = erpc_send(self_hw_cfg.ord, self_hw_cfg.local_id, 0x01, NULL, 0); - printf("[test_task]send ret:%d\n", ret); + // ERPC_DEBUG("[test_task]send\n"); + char msg[] = "miao miao miao\n"; + u32 ret = erpc_send(self_hw_cfg.ord, self_hw_cfg.local_id, 0x01, (u8 *)msg, sizeof(msg)); + ERPC_DEBUG("[test_task]send ret:%d\n", ret); ret = erpc_send(self_hw_cfg.ord, self_hw_cfg.local_id, 0x02, NULL, 0); - printf("[test_task]send ret:%d\n", ret); + ERPC_DEBUG("[test_task]send ret:%d\n", ret); ret = erpc_send_wait_reply(self_hw_cfg.ord, self_hw_cfg.local_id, 0x03, NULL, 0, data, NULL, 1000); - printf("[test_task]send ret:%d\n", ret); + ERPC_DEBUG("[test_task]send ret:%d\n", ret); + UNUSED(ret); sys_sleep(1000); } } int main(int argc, char *argv[]) { + UNUSED(argc); + UNUSED(argv); u32 ret = 0; - printf("erpc_port_self start\n"); + ERPC_DEBUG("erpc_port_self start\n"); ret = erpc_hw_add(&self_hw_cfg); - printf("erpc_hw_add ret:%d\n", ret); + ERPC_DEBUG("erpc_hw_add ret:%d\n", ret); CHECK_IF_ERROR(ret, 0); erpc_cmd_config(); - printf("erpc_cmd_config ret:%d\n", ret); + ERPC_DEBUG("erpc_cmd_config ret:%d\n", ret); erpc_sleep_tick = sys_sleep; HANDLE threadHandle[3]; deal_lock = CreateMutex(NULL, FALSE, NULL); if (deal_lock == NULL) { - printf("创建互斥锁失败，错误代码：%d\n", GetLastError()); + ERPC_DEBUG("创建互斥锁失败\n"); return 1; } send_lock = CreateMutex(NULL, FALSE, NULL); if (send_lock == NULL) { - printf("创建互斥锁失败，错误代码：%d\n", GetLastError()); + ERPC_DEBUG("创建互斥锁失败\n"); return 1; } threadHandle[0] = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)send_task, NULL, 0, NULL); diff --git a/port_self.exe b/port_self.exe index 5877aa259d2d35bc32a74999dfe17a3dc61b89b9..bbbc9e844168555c2bdbd4b3cfab95f457e01c86 100644 GIT binary patch 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