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fix(add): 新增resp功能,并增加架构说明

This commit is contained in:
chenyf 2024-11-21 21:22:33 +08:00
parent c31caa0e72
commit 45aa9278fe
25 changed files with 445 additions and 157 deletions
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16
.$架构.drawio.bkp Normal file
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@ -0,0 +1,16 @@
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<diagram name="第 1 页" id="iJ2ThG75liGc15h7RsxG">
<mxGraphModel dx="1036" dy="614" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
<mxCell id="KNYXeKKRTsCmKzyxKpLt-1" value="host" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="60" y="280" width="90" height="40" as="geometry" />
</mxCell>
<mxCell id="KNYXeKKRTsCmKzyxKpLt-2" value="slave" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="270" y="280" width="90" height="40" as="geometry" />
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</mxGraphModel>
</diagram>
</mxfile>

25
.vscode/launch.json vendored Normal file
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@ -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
}
]
}

3
.vscode/settings.json vendored
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@ -28,5 +28,6 @@
"binaryPath": "d:\\WORK\\erpc\\port_self.exe", "binaryPath": "d:\\WORK\\erpc\\port_self.exe",
"binaryArgs": [] "binaryArgs": []
} }
] ],
"cmake.ignoreCMakeListsMissing": true
} }

23
.vscode/tasks.json vendored Normal file
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@ -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"
}

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build/list.o Normal file
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3
config.h
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@ -8,4 +8,7 @@
#define u16 unsigned short #define u16 unsigned short
#define u32 unsigned int #define u32 unsigned int
#define UNUSED(x) (void)(x)
#define ERPC_DEBUG(...) printf(__VA_ARGS__)
// #define ERPC_DEBUG(...)
#endif /* _CONFIG_H_ */ #endif /* _CONFIG_H_ */

14
crc16.c
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@ -31,13 +31,13 @@ static const uint16_t crc16tab[256] = {
0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74,
0x2e93, 0x3eb2, 0x0ed1, 0x1ef0}; 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0};
uint16_t crc16(const unsigned char *buf, size_t len) { // uint16_t crc16(const unsigned char *buf, size_t len) {
int counter; // int counter;
uint16_t crc = 0; // uint16_t crc = 0;
for (counter = 0; counter < len; counter++) // for (counter = 0; counter < (int)len; counter++)
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *buf++) & 0x00FF]; // crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ *buf++) & 0x00FF];
return crc; // return crc;
} // }
u16 cmd_cal_crc16(erpc_cmd_def_t *cmd) { u16 cmd_cal_crc16(erpc_cmd_def_t *cmd) {
u16 crc = 0; u16 crc = 0;

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crc16.o
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292
erpc_core.c
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@ -9,11 +9,14 @@
erpc_sleep erpc_sleep_tick = NULL; erpc_sleep erpc_sleep_tick = NULL;
static list_t erpc_hw; static list_t erpc_hw;
void clean_cache(erpc_hw_cfg_t *hw) { void clean_cache(erpc_hw_cfg_t *hw)
for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { {
for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
{
hw->rec_cache->state = ERPC_CMD_NO_ERROR; 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; 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 * 注册 hardware 设备
* 线程不安全 * 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; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
list->data = (void *)hw; list->data = (void *)hw;
clean_cache(hw); clean_cache(hw);
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
list_t *list_node = malloc(sizeof(list_t)); list_t *list_node = malloc(sizeof(list_t));
if (list_node == NULL) { if (list_node == NULL)
{
return ERPC_ERR_MALLOC_ERROR; return ERPC_ERR_MALLOC_ERROR;
} }
list_node->data = (void *)hw; list_node->data = (void *)hw;
u8 hw_ord = hw->ord; u8 hw_ord = hw->ord;
// 检查hw是否已经存在 // 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; 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; return ERPC_ERR_HW_EXIST;
} }
list = list->next; list = list->next;
} }
list_t *result = list_append(&erpc_hw, hw); list_t *result = list_append(&erpc_hw, hw);
if (result == NULL) { if (result == NULL)
{
return ERPC_ERR_MALLOC_ERROR; return ERPC_ERR_MALLOC_ERROR;
} }
clean_cache(hw); clean_cache(hw);
@ -53,14 +62,17 @@ u32 erpc_hw_add(erpc_hw_cfg_t *hw) {
* 注册命令列表 * 注册命令列表
* 线程不安全 * 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; list_t *list = &hw->cmd_list;
if (list->data == NULL) { if (list->data == NULL)
{
list->data = (void *)cmd_list; list->data = (void *)cmd_list;
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
list = list_append(&hw->cmd_list, cmd_list); list = list_append(&hw->cmd_list, cmd_list);
if (list == NULL) { if (list == NULL)
{
return ERPC_ERR_MALLOC_ERROR; return ERPC_ERR_MALLOC_ERROR;
} }
return ERPC_NO_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 * 移除 hardware 设备
* 线程不安全 * 线程不安全
*/ */
u32 erpc_hw_remove(u8 hw) { u32 erpc_hw_remove(u8 hw)
{
list_t *list = &erpc_hw; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
return ERPC_ERR_NOFOND_HW; return ERPC_ERR_NOFOND_HW;
} }
while (list != NULL) { while (list != NULL)
{
erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data; 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); list_delete(&erpc_hw, list);
free(list); free(list);
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
@ -88,27 +104,34 @@ u32 erpc_hw_remove(u8 hw) {
/** /**
* 获取 hardware 设备 * 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; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
return NULL; return NULL;
} }
while (list != NULL) { while (list != NULL)
{
erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data; 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 hw_cfg;
} }
} }
return NULL; return NULL;
} }
u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type, 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); CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
u8 cache_ord = 255; u8 cache_ord = 255;
// 查找可用的发送缓存 // 查找可用的发送缓存
for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++) { 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); if (hw_cfg->send_cache[i].state == ERPC_CMD_NO_ERROR)
{
ERPC_DEBUG("find send cache %d\n", i);
cache_ord = i; cache_ord = i;
break; 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.dest_id = dest_id;
cmd->head.port = port; cmd->head.port = port;
cmd->head.msg_len = len; cmd->head.msg_len = len;
if (data != NULL) { if (data == NULL)
{
cmd->head.msg_len = 0; cmd->head.msg_len = 0;
len = 0;
} }
cmd->head.type = package_type; cmd->head.type = package_type;
cmd->head.src_id = hw_cfg->local_id; cmd->head.src_id = hw_cfg->local_id;
if (len > 0 && data != NULL) { if (len > 0 && data != NULL)
memcpy(cmd->data, data, len); {
for (int i = 0; i < len; i++)
{
cmd->data[i] = data[i];
}
} }
// 计算校验和 // 计算校验和
cmd_cal_crc16(cmd); 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; hw_cfg->send_cache[cache_ord].state = ERPC_CMD_WAIT_SEND;
// 等待数据发送完成 // 等待数据发送完成
int wait_time = CMD_TIMEOUT; int wait_time = CMD_TIMEOUT;
while (wait_time > 0) { while (wait_time > 0)
if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_OK) { {
if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_OK)
{
break; 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; return ERPC_ERR_DEST_BUSY;
} }
if (erpc_sleep_tick != NULL) { if (erpc_sleep_tick != NULL)
{
erpc_sleep_tick(1); erpc_sleep_tick(1);
} }
wait_time--; wait_time--;
} }
u32 ret = ERPC_NO_ERROR; u32 ret = ERPC_NO_ERROR;
do { do
if (wait_time == 0) { {
if (wait_time == 0)
{
ret = ERPC_ERR_SEND_TIMEOUT; ret = ERPC_ERR_SEND_TIMEOUT;
break; 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; ret = ERPC_ERR_DEST_NO_RESPONSE;
break; 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; ret = ERPC_ERR_DEST_NO_RESPONSE;
break; 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; hw_cfg->send_cache[cache_ord].state = ERPC_CMD_NO_ERROR;
return ret; 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); erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
u32 ret = u32 ret =
erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_REQ, data, len); 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, 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); erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW); CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
while (time_out > 0) { while (time_out > 0)
for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { {
for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
{
erpc_data_cache_t *rec_cahce = &hw_cfg->rec_cache[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; continue;
} }
erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&rec_cahce->data[0]; erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&rec_cahce->data[0];
if (cmd->head.port != port) { if (cmd->head.port != port)
{
continue; continue;
} }
if (cmd->head.src_id != dest_id) { if (cmd->head.src_id != dest_id)
{
continue; continue;
} }
if (reply_data != NULL) { if (reply_data != NULL)
memccpy(reply_data, cmd->data, 0, cmd->head.msg_len); {
// 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; *reply_len = cmd->head.msg_len;
} }
}
rec_cahce->state = ERPC_CMD_NO_ERROR; rec_cahce->state = ERPC_CMD_NO_ERROR;
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
if (erpc_sleep_tick != NULL) { if (erpc_sleep_tick != NULL)
{
erpc_sleep_tick(1); erpc_sleep_tick(1);
} }
time_out--; 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; return ERPC_NO_ERROR;
} }
u32 erpc_send_wait_reply(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len, 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); u32 ret = erpc_send(hw, dest_id, port, data, len);
if (reply_len != NULL) { if (reply_len != NULL)
{
*reply_len = 0; *reply_len = 0;
} }
CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret); CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret);
printf("send ok\n");
ret = ret =
erpc_wait_resp_package(hw, dest_id, port, reply_data, reply_len, timeout); erpc_wait_resp_package(hw, dest_id, port, reply_data, reply_len, timeout);
CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret); CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret);
return ERPC_NO_ERROR; 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); 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); data_out, len);
return ret; return ret;
} }
u32 erpc_send_data(erpc_hw_cfg_t *hw) { 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) { 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]; 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; u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd->head.msg_len;
hw->send_lock(); hw->send_lock();
@ -242,12 +297,16 @@ u32 erpc_send_data(erpc_hw_cfg_t *hw) {
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
u32 erpc_rev_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { 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++) { {
for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
{
if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE || 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]; 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; hw->send_cache[i].state = ERPC_CMD_SEND_OK;
return ERPC_NO_ERROR; 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; 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; erpc_cmd_def_t cmd_send;
cmd_send.head.dest_id = cmd_rev->head.src_id; cmd_send.head.dest_id = cmd_rev->head.src_id;
cmd_send.head.port = cmd_rev->head.port; cmd_send.head.port = cmd_rev->head.port;
@ -271,12 +331,16 @@ u32 erpc_rev_resp_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) {
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
// 重发数据包 // 重发数据包
u32 erpc_rev_repeat_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) { 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++) { {
for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
{
if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE || 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]; 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; u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send->head.msg_len;
hw->send_lock(); hw->send_lock();
u32 ret = hw->write((u8 *)hw->send_cache[i].data, len); u32 ret = hw->write((u8 *)hw->send_cache[i].data, len);
@ -289,7 +353,8 @@ u32 erpc_rev_repeat_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) {
} }
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; erpc_cmd_def_t cmd_send;
cmd_send.head.dest_id = cmd_rev->head.src_id; cmd_send.head.dest_id = cmd_rev->head.src_id;
cmd_send.head.port = cmd_rev->head.port; cmd_send.head.port = cmd_rev->head.port;
@ -305,44 +370,56 @@ u32 erpc_send_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev) {
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
u32 erpc_rev_package(erpc_hw_cfg_t *hw) { 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) { 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]; erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&hw->rec_cache[i].data[0];
// 检查crc // 检查crc
u8 crc_result = cmd_check_crc16(cmd); u8 crc_result = cmd_check_crc16(cmd);
// 丢弃错误数据包 // 丢弃错误数据包
if (crc_result) { if (crc_result)
{
hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
continue; continue;
} }
// 丢弃不是本地数据包 // 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; hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
continue; continue;
} }
// 处理数据包 // 处理数据包
switch (cmd->head.type) { switch (cmd->head.type)
{
case PACKAGE_TYPE_CMD_REQ: case PACKAGE_TYPE_CMD_REQ:
printf("{REQ}\n"); ERPC_DEBUG("{REQ}\n");
erpc_send_ack_package(hw, cmd); erpc_send_ack_package(hw, cmd);
hw->rec_cache[i].state = ERPC_CMD_WAIT_TASK_DEAL; hw->rec_cache[i].state = ERPC_CMD_WAIT_TASK_DEAL;
break; break;
case PACKAGE_TYPE_CMD_REQ_ACK: case PACKAGE_TYPE_CMD_REQ_ACK:
case PACKAGE_TYPE_CMD_RESP_ACK: ERPC_DEBUG("{ACK}\n");
printf("{ACK}\n");
erpc_rev_ack_package(hw, cmd); erpc_rev_ack_package(hw, cmd);
hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
break; break;
case PACKAGE_TYPE_CMD_REPEAT: case PACKAGE_TYPE_CMD_REPEAT:
erpc_rev_repeat_package(hw, cmd); erpc_rev_repeat_package(hw, cmd);
hw->rec_cache[i].state = ERPC_CMD_NO_ERROR; hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
break; break;
case PACKAGE_TYPE_CMD_RESP: case PACKAGE_TYPE_CMD_RESP:
printf("{RESP}\n"); ERPC_DEBUG("{RESP}\n");
erpc_rev_resp_package(hw, cmd); erpc_rev_resp_package(hw, cmd);
hw->rec_cache[i].state = ERPC_CMD_RESP_OK; hw->rec_cache[i].state = ERPC_CMD_RESP_OK;
break; 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: default:
break; break;
@ -351,23 +428,29 @@ u32 erpc_rev_package(erpc_hw_cfg_t *hw) {
} }
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
} }
void erpc_rev_package_core() { void erpc_rev_package_core()
{
list_t *list = &erpc_hw; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
return; return;
} }
while (list != NULL) { while (list != NULL)
{
erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
erpc_rev_package(hw); erpc_rev_package(hw);
list = list->next; 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); erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW); CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++) { 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); 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); memcpy(hw_cfg->rec_cache[i].data, data, len);
hw_cfg->rec_cache[i].state = ERPC_CMD_WAIT_SERVER_DEAL; hw_cfg->rec_cache[i].state = ERPC_CMD_WAIT_SERVER_DEAL;
return ERPC_NO_ERROR; return ERPC_NO_ERROR;
@ -375,40 +458,52 @@ u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len) {
} }
return ERPC_ERR_REC_CACHE_FULL; return ERPC_ERR_REC_CACHE_FULL;
} }
void erpc_send_deal_core() { void erpc_send_deal_core()
{
list_t *list = &erpc_hw; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
return; return;
} }
while (list != NULL) { while (list != NULL)
{
erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
erpc_send_data(hw); erpc_send_data(hw);
} }
if (erpc_sleep_tick != NULL) { if (erpc_sleep_tick != NULL)
{
erpc_sleep_tick(1); erpc_sleep_tick(1);
} }
} }
void erpc_rev_deal_core() { void erpc_rev_deal_core()
{
list_t *list = &erpc_hw; list_t *list = &erpc_hw;
if (list->data == NULL) { if (list->data == NULL)
{
return; return;
} }
while (list != NULL) { while (list != NULL)
{
erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data; erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
{ // 遍历接收缓存 { // 遍历接收缓存
for (int j = 0; j < MAX_REC_CMD_CACHE_NUM; j++) { for (int j = 0; j < MAX_REC_CMD_CACHE_NUM; j++)
{
{ // 发现等待处理的数据包 { // 发现等待处理的数据包
if (hw->rec_cache[j].state != ERPC_CMD_WAIT_TASK_DEAL) { if (hw->rec_cache[j].state != ERPC_CMD_WAIT_TASK_DEAL)
{
continue; continue;
} }
} }
{ // 多线程下，抢占处理权限 { // 多线程下，抢占处理权限
hw->deal_lock(); 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 // 获取指令的处理权限
hw->rec_cache[j].state = ERPC_CMD_WAIT_TASK_DEAL_FINISH; hw->rec_cache[j].state = ERPC_CMD_WAIT_TASK_DEAL_FINISH;
} else { }
else
{
// 已经有线程抢先执行了 // 已经有线程抢先执行了
hw->deal_unlock(); hw->deal_unlock();
continue; continue;
@ -419,15 +514,19 @@ void erpc_rev_deal_core() {
// 搜索指令列表 // 搜索指令列表
list_t *cmd_list = &hw->cmd_list; list_t *cmd_list = &hw->cmd_list;
// 链表是空的 // 链表是空的
if (cmd_list->data == NULL) { if (cmd_list->data == NULL)
{
continue; continue;
} }
// 获取指令指针 // 获取指令指针
erpc_cmd_def_t *cmd_def = (erpc_cmd_def_t *)hw->rec_cache[j].data; 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; erpc_cmd_list_t *cmd_obj = (erpc_cmd_list_t *)cmd_list->data;
if (cmd_obj->cmd == cmd_def->head.port) { if (cmd_obj->cmd == cmd_def->head.port)
if (cmd_obj->handle != NULL) { {
if (cmd_obj->handle != NULL)
{
// 指令调用 // 指令调用
cmd_obj->handle(hw->ord, cmd_def->head.src_id, cmd_obj->handle(hw->ord, cmd_def->head.src_id,
cmd_def->head.dest_id, cmd_def->head.port, cmd_def->head.dest_id, cmd_def->head.port,
@ -445,7 +544,8 @@ void erpc_rev_deal_core() {
} }
list = list->next; list = list->next;
} }
if (erpc_sleep_tick != NULL) { if (erpc_sleep_tick != NULL)
{
erpc_sleep_tick(1); erpc_sleep_tick(1);
} }
} }

5
erpc_core.h
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@ -31,13 +31,14 @@ typedef struct erpc_cmd_head_t {
u8 msg_len; u8 msg_len;
} erpc_cmd_head_t; } 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 { typedef struct erpc_cmd_def_t {
erpc_cmd_head_t head; erpc_cmd_head_t head;
u8 crc_16[2]; u8 crc_16[2];
u8 *data; u8 data[MAX_CMD_LEN];
} erpc_cmd_def_t; } erpc_cmd_def_t;
#define MAX_CMD_LEN (256 - sizeof(erpc_cmd_head_t)) // crc16最大支持256字节
#define CMD_MAX_RETRY 5 // 最大重发次数 #define CMD_MAX_RETRY 5 // 最大重发次数
#define CMD_TIMEOUT 30 // 超时时间 tick #define CMD_TIMEOUT 30 // 超时时间 tick
#define MAX_REC_CMD_CACHE_NUM \ #define MAX_REC_CMD_CACHE_NUM \

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38
erpc设计文档.md
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@ -1 +1,39 @@
## 协议设计
### 指令通讯
1. 指令发送方法：<br>
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：<br>
接口：<br>
```c
u32 erpc_sand(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len)
```
描述：<br>
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：<br>
接口：<br>
```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：<br>
本质由2条指令组成。<br>
主机发送req指令，从机直接回复。主机开始等待从机指令。<br>
从机处理完成后，向主机发送rep指令，并附带回复数据。<br>
主机收到rep指令后，开始等待rep指令的ack确认。<br>
![](./picture/2.jpg)
4. 指令工作在单线程模式下：<br>
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。<br>
4. 多device通讯方法：<br>
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。<br>
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。<br>
u16(port) = u8(cmd) + u8(device_id);<br>
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)

5
list.c
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@ -1,6 +1,7 @@
#include "list.h" #include "list.h"
#include "stdio.h" #include "stdio.h"
#include "stdlib.h"
#include "config.h"
list_t *list_create(void *data) list_t *list_create(void *data)
{ {
list_t *node = (list_t *)malloc(sizeof(list_t)); list_t *node = (list_t *)malloc(sizeof(list_t));
@ -41,7 +42,7 @@ void list_print(list_t *head)
list_t *node = head; list_t *node = head;
while (node != NULL) while (node != NULL)
{ {
printf("%p\n", node->data); ERPC_DEBUG("%p\n", node->data);
node = node->next; node = node->next;
} }
} }

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8
makefile
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@ -3,8 +3,8 @@
# 指定编译器 # 指定编译器
CC = gcc CC = gcc
# 指定编译选项 # 指定编译选项
CFLAGS = -Wall -Wextra -std=c11 CFLAGS = -Wall -Wextra -std=c11 -g
BUILD_DIR = build
# 源文件 # 源文件
SRCS = erpc_core.c \ SRCS = erpc_core.c \
port_self.c \ port_self.c \
@ -22,11 +22,11 @@ all: $(Target)
# 链接目标 # 链接目标
$(Target): $(OBJS) $(Target): $(OBJS)
$(CC) -o $@ $^ $(CC) -o $@ $(addprefix $(BUILD_DIR)/, $^)
# 编译源文件 # 编译源文件
%.o: %.c %.o: %.c
$(CC) $(CFLAGS) -c $< -o $@ $(CC) $(CFLAGS) -c $< -o $(BUILD_DIR)/$@
# 清理目标 # 清理目标
clean: clean:

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77
port_self.c
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@ -6,20 +6,48 @@
#include "erpc_core.h" #include "erpc_core.h"
#include "windows.h" #include "windows.h"
#include <stdio.h> #include <stdio.h>
void hellworld() u32 hellworld(u8 hw, u8 src_id, u8 dest_id, u16 port, u8 *data, u16 len)
{ {
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"; 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[] = { erpc_cmd_list_t erpc_cmd_list[] = {
{.cmd = 0x01, hellworld}, {.cmd = 0x01, hellworld},
@ -49,7 +77,7 @@ static void send_unlock_h()
ReleaseMutex(send_lock); ReleaseMutex(send_lock);
} }
u8 data[300]; 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); erpc_set_rev_cahce(0, data, len);
return 0; return 0;
@ -66,7 +94,7 @@ erpc_hw_cfg_t self_hw_cfg = {
}; };
void erpc_cmd_config() 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]); 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) DWORD WINAPI send_task(LPVOID lpParam)
{ {
UNUSED(lpParam);
while (1) while (1)
{ {
erpc_send_deal_core(); erpc_send_deal_core();
@ -85,10 +114,11 @@ DWORD WINAPI send_task(LPVOID lpParam)
} }
DWORD WINAPI rev_task(LPVOID lpParam) DWORD WINAPI rev_task(LPVOID lpParam)
{ {
UNUSED(lpParam);
while (1) while (1)
{ {
// printf("rev_task\n"); // ERPC_DEBUG("rev_task\n");
erpc_rev_package_core(); erpc_rev_package_core();
erpc_rev_deal_core(); erpc_rev_deal_core();
} }
@ -96,42 +126,47 @@ DWORD WINAPI rev_task(LPVOID lpParam)
DWORD WINAPI test_task(LPVOID lpParam) DWORD WINAPI test_task(LPVOID lpParam)
{ {
printf("test_task\n"); UNUSED(lpParam);
ERPC_DEBUG("test_task\n");
while (1) while (1)
{ {
// printf("[test_task]send\n"); // ERPC_DEBUG("[test_task]send\n");
u32 ret = erpc_send(self_hw_cfg.ord, self_hw_cfg.local_id, 0x01, NULL, 0); char msg[] = "miao miao miao\n";
printf("[test_task]send ret:%d\n", ret); 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); 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); 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); sys_sleep(1000);
} }
} }
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {
UNUSED(argc);
UNUSED(argv);
u32 ret = 0; u32 ret = 0;
printf("erpc_port_self start\n"); ERPC_DEBUG("erpc_port_self start\n");
ret = erpc_hw_add(&self_hw_cfg); 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); CHECK_IF_ERROR(ret, 0);
erpc_cmd_config(); 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; erpc_sleep_tick = sys_sleep;
HANDLE threadHandle[3]; HANDLE threadHandle[3];
deal_lock = CreateMutex(NULL, FALSE, NULL); deal_lock = CreateMutex(NULL, FALSE, NULL);
if (deal_lock == 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; return 1;
} }
send_lock = CreateMutex(NULL, FALSE, NULL); send_lock = CreateMutex(NULL, FALSE, NULL);
if (send_lock == 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; return 1;
} }
threadHandle[0] = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)send_task, NULL, 0, NULL); threadHandle[0] = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)send_task, NULL, 0, NULL);

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port_self.exe
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port_self.o
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45
架构.drawio Normal file
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