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diff --git a/config.h b/config.h
index 9850bae..6237f32 100644
--- a/config.h
+++ b/config.h
@@ -9,6 +9,14 @@
#define u32 unsigned int
#define UNUSED(x) (void)(x)
+
+
+#define ERPC_DEBUG_ENABLE 1
+#if(ERPC_DEBUG_ENABLE == 1)
#define ERPC_DEBUG(...) printf(__VA_ARGS__)
-// #define ERPC_DEBUG(...)
+#else
+#define ERPC_DEBUG(...)
+#endif
+
+
#endif /* _CONFIG_H_ */
\ No newline at end of file
diff --git a/crc16.c b/crc16.c
index fd32d26..c125018 100644
--- a/crc16.c
+++ b/crc16.c
@@ -1,6 +1,6 @@
#include "crc16.h"
-static const uint16_t crc16tab[256] = {
+static const u16 crc16tab[256] = {
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108,
0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210,
0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b,
@@ -31,38 +31,7 @@ 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 < (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;
- u32 counter = 0;
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->head.src_id) & 0x00FF];
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->head.dest_id) & 0x00FF];
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->head.msg_len) & 0x00FF];
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->head.type) & 0x00FF];
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->head.port) & 0x00FF];
- for (counter = 0; counter < cmd->head.msg_len; counter++)
- crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->data[counter]) & 0x00FF];
- cmd->crc_16[0] = (u8)(crc >> 8);
- cmd->crc_16[1] = (u8)(crc & 0x00FF);
- return crc;
-}
-/**
- * 检查crc16校验
- * return 0:校验成功
- * return 1:校验失败
- */
-u8 cmd_check_crc16(erpc_cmd_def_t *cmd) {
- u16 crc = cmd_cal_crc16(cmd);
- if (cmd->crc_16[0] != (u8)(crc >> 8) ||
- cmd->crc_16[1] != (u8)(crc & 0x00FF)) {
- return 1;
- }
- return 0;
-}
\ No newline at end of file
+inline u16 crc16_cal(u16 data,u16 crc)
+{
+ return (crc << 8) ^ crc16tab[((crc >> 8) ^ data) & 0x00FF];
+}
diff --git a/crc16.h b/crc16.h
index adb86fb..c722b4e 100644
--- a/crc16.h
+++ b/crc16.h
@@ -8,10 +8,8 @@ extern "C" {
#include
#include
#include "config.h"
-#include "erpc_core.h"
-uint16_t crc16(const unsigned char *buf, size_t len);
-u8 cmd_check_crc16(erpc_cmd_def_t *cmd);
-u16 cmd_cal_crc16(erpc_cmd_def_t *cmd);
+u16 crc16_cal(u16 data,u16 crc);
+
#ifdef __cplusplus
}
#endif /* __cplusplus */
diff --git a/erpc_core.c b/erpc_core.c
index 05fb2ee..965dcec 100644
--- a/erpc_core.c
+++ b/erpc_core.c
@@ -1,614 +1,413 @@
#include "erpc_core.h"
-
#include "crc16.h"
-
-/**
- * 操作系统相关
- */
-
-erpc_sleep erpc_sleep_tick = NULL;
-
-static list_t erpc_hw;
-void clean_cache(erpc_hw_cfg_t *hw)
+#include "string.h"
+void cal_crc16(erpc_msg_t *msg)
{
- 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++)
- {
- hw->send_cache[i].state = ERPC_CMD_NO_ERROR;
- }
+ u16 crc = 0;
+ crc = crc16_cal(msg->src_id, crc);
+ crc = crc16_cal(msg->dest_id, crc);
+ crc = crc16_cal(msg->type, crc);
+ crc = crc16_cal(msg->len, crc);
+ for (int i = 0; i < msg->len; i++)
+ {
+ crc = crc16_cal(msg->data[i], crc);
+ }
+ msg->crc = crc;
}
-/**
- * 注册 hardware 设备
- * 线程不安全
- */
-u32 erpc_hw_add(erpc_hw_cfg_t *hw)
+u8 check_crc16(erpc_msg_t *msg)
{
- list_t *list = &erpc_hw;
- 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)
- {
- 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)
- {
- erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
- if (hw_cfg->ord == hw_ord)
+ u16 crc = 0;
+ crc = crc16_cal(msg->src_id, crc);
+ crc = crc16_cal(msg->dest_id, crc);
+ crc = crc16_cal(msg->type, crc);
+ crc = crc16_cal(msg->len, crc);
+ for (int i = 0; i < msg->len; i++)
{
- return ERPC_ERR_HW_EXIST;
+ crc = crc16_cal(msg->data[i], crc);
}
- list = list->next;
- }
- list_t *result = list_append(&erpc_hw, hw);
- if (result == NULL)
- {
- return ERPC_ERR_MALLOC_ERROR;
- }
- clean_cache(hw);
- return ERPC_NO_ERROR;
-}
-/**
- * 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)
-{
- list_t *list = &hw->cmd_list;
- if (list->data == NULL)
- {
- list->data = (void *)cmd_list;
- return ERPC_NO_ERROR;
- }
- list = list_append(&hw->cmd_list, cmd_list);
- if (list == NULL)
- {
- return ERPC_ERR_MALLOC_ERROR;
- }
- return ERPC_NO_ERROR;
-}
-/**
- * 移除 hardware 设备
- * 线程不安全
- */
-u32 erpc_hw_remove(u8 hw)
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return ERPC_ERR_NOFOND_HW;
- }
- while (list != NULL)
- {
- erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
- if (hw_cfg->ord == hw)
- {
- list_delete(&erpc_hw, list);
- free(list);
- return ERPC_NO_ERROR;
- }
- list = list->next;
- }
- return ERPC_ERR_NOFOND_HW;
-}
-/**
- * 获取 hardware 设备
- */
-erpc_hw_cfg_t *erpc_hw_get(u8 hw)
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return NULL;
- }
- while (list != NULL)
- {
- erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
- 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)
-{
- 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)
- {
- // ERPC_DEBUG("find send cache %d\n", i);
- cache_ord = i;
- break;
- }
- }
-
- CHECK_IF_ERROR(cache_ord == 255, ERPC_ERR_SEND_CACHE_FULL);
- // 准备数据
- hw_cfg->send_cache[cache_ord].state = ERPC_CMD_DATA_DEAL;
- erpc_cmd_def_t *cmd =
- (erpc_cmd_def_t *)&hw_cfg->send_cache[cache_ord].data[0];
- cmd->head.dest_id = dest_id;
- cmd->head.port = port;
- cmd->head.msg_len = len;
- 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)
- {
- for (int i = 0; i < len; i++)
- {
- cmd->data[i] = data[i];
- }
- }
- // 计算校验和
- cmd_cal_crc16(cmd);
-
- // 发送数据
- 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)
- {
- break;
- }
- if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_DEST_BUSY)
- {
- return ERPC_ERR_DEST_BUSY;
- }
- if (erpc_sleep_tick != NULL)
- {
- erpc_sleep_tick(1);
- }
- wait_time--;
- }
- u32 ret = ERPC_NO_ERROR;
- do
- {
- if (wait_time == 0)
- {
- printf("send timeout,state:%d\n", hw_cfg->send_cache[cache_ord].state);
- ret = ERPC_ERR_SEND_TIMEOUT;
- break;
- }
- 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)
- {
- ret = ERPC_ERR_DEST_NO_RESPONSE;
- break;
- }
- } while (0);
- hw_cfg->send_cache[cache_ord].state = ERPC_CMD_NO_ERROR;
- return ret;
-}
-u32 erpc_boardcast(u16 port, u8 *data, u16 len)
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return ERPC_ERR_NOFOND_HW;
- }
- while (list != NULL)
- {
- erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
- 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)
- {
- // ERPC_DEBUG("find send cache %d\n", i);
- cache_ord = i;
- break;
- }
- }
- if (cache_ord == 255)
- {
- continue;
- }
- // 准备数据
- hw_cfg->send_cache[cache_ord].state = ERPC_CMD_DATA_DEAL;
- erpc_cmd_def_t *cmd =
- (erpc_cmd_def_t *)&hw_cfg->send_cache[cache_ord].data[0];
- cmd->head.dest_id = ERPC_BOARDCAST_ID;
- cmd->head.port = port;
- cmd->head.src_id = hw_cfg->local_id;
- cmd->head.msg_len = len;
- if (data == NULL)
- {
- cmd->head.msg_len = 0;
- }
- 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);
- hw_cfg->send_cache[cache_ord].state = ERPC_CMD_WAIT_SEND;
- }
+ return crc == msg->crc;
}
-u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len)
+static erpc_cache_t *find_free_cache(erpc_hw_t *hw)
{
- 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);
- return ret;
-}
-
-u32 erpc_wait_resp_package(u8 hw, u8 dest_id, u16 port, u8 *reply_data,
- 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++)
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
{
- erpc_data_cache_t *rec_cahce = &hw_cfg->rec_cache[i];
- 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)
- {
- continue;
- }
- if (cmd->head.src_id != dest_id)
- {
- continue;
- }
- 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)
+
+ if (hw->send_cache[i].state == CACHE_FREE)
{
- *reply_len = cmd->head.msg_len;
+ return &hw->send_cache[i];
}
- }
- rec_cahce->state = ERPC_CMD_NO_ERROR;
- return ERPC_NO_ERROR;
}
- if (erpc_sleep_tick != NULL)
+ return NULL;
+}
+// static erpc_cache_t *clean_ack_cache(erpc_hw_t *hw, u8 dest_id)
+// {
+// return NULL;
+// }
+static erpc_cache_t *find_ack_cache(erpc_hw_t *hw, u8 dest_id, u16 port)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
{
- erpc_sleep_tick(1);
- }
- time_out--;
- }
- CHECK_IF_ERROR(time_out == 0, ERPC_ERR_DEST_NO_REPLY);
- 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)
-{
- u32 ret = erpc_send(hw, dest_id, port, data, len);
- if (reply_len != NULL)
- {
- *reply_len = 0;
- }
- CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret);
- 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)
-{
- erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
- 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)
- {
- 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();
- u8 ret = hw->write((u8 *)hw->send_cache[i].data, len);
- hw->send_unlock();
- CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
- hw->send_cache[i].state = ERPC_CMD_SEND_ONCE;
- }
- }
- 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++)
- {
- if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE ||
- 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)
- {
- hw->send_cache[i].state = ERPC_CMD_SEND_OK;
- return ERPC_NO_ERROR;
- }
- }
- }
- return ERPC_NO_ERROR;
-}
-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;
- cmd_send.head.msg_len = 0;
- cmd_send.head.type = PACKAGE_TYPE_CMD_RESP_ACK;
- cmd_send.head.src_id = hw->local_id;
- cmd_cal_crc16(&cmd_send);
- u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send.head.msg_len;
- hw->send_lock();
- u8 ret = hw->write((u8 *)&cmd_send, len);
- hw->send_unlock();
- CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
- 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++)
- {
- if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE ||
- 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)
- {
- 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); //
- return ERPC_NO_ERROR;
- }
- }
- }
- return ERPC_NO_ERROR;
-}
-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;
- cmd_send.head.msg_len = 0;
- cmd_send.head.type = PACKAGE_TYPE_CMD_REQ_ACK;
- cmd_send.head.src_id = hw->local_id;
- cmd_cal_crc16(&cmd_send);
- u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send.head.msg_len;
- hw->send_lock();
- u8 ret = hw->write((u8 *)&cmd_send, len);
- hw->send_unlock();
- CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
- 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)
- {
- hw->deal_lock();
- if (hw->rec_cache[i].state == ERPC_CMD_WAIT_SERVER_DEAL)
- {
- hw->rec_cache[i].state = ERPC_CMD_SERVER_DEAL;
- }
- else
- {
- hw->deal_unlock();
- continue;
- }
- hw->deal_unlock();
- // 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)
- {
- 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)
- {
- hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
- continue;
- }
- // 处理数据包
- 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;
-
- 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()
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return;
- }
- 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)
-{
- 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)
- {
- // 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;
- }
- }
- return ERPC_ERR_REC_CACHE_FULL;
-}
-void erpc_send_deal_core()
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return;
- }
- while (list != NULL)
- {
- erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
- erpc_send_data(hw);
- }
- if (erpc_sleep_tick != NULL)
- {
- erpc_sleep_tick(1);
- }
-}
-
-void erpc_rev_deal_core()
-{
- list_t *list = &erpc_hw;
- if (list->data == NULL)
- {
- return;
- }
- 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)
- {
- continue;
- }
+ erpc_cache_t *cache = &hw->send_cache[i];
+ if (cache->state == CACHE_REC_ACK && cache->msg.src_id == dest_id && cache->msg.port == port)
+ {
+ return cache;
}
- { // 多线程下，抢占处理权限
- hw->deal_lock();
- 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
- {
- // 已经有线程抢先执行了
- hw->deal_unlock();
- continue;
- }
- hw->deal_unlock();
- }
- { // 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)
- {
- 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
- erpc_cmd_list_t *cmd_obj = (erpc_cmd_list_t *)cmd_list->data;
- if (cmd_obj->cmd == cmd_def->head.port)
+ }
+ return NULL;
+}
+static u8 check_port_send_available(erpc_hw_t *hw, u8 port)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->send_cache[i];
+ if (cache->state != CACHE_FREE)
+ {
+ if (cache->msg.port == 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,
- cmd_def->data, cmd_def->head.msg_len);
- }
-
- break;
+ return 0;
}
- cmd_list = cmd_list->next;
- }
}
- // 处理完成 丢弃缓存 , 无论是否执行指令，都需要把数据包丢弃
- hw->rec_cache[j].state = ERPC_CMD_NO_ERROR;
- }
}
- list = list->next;
- }
- if (erpc_sleep_tick != NULL)
- {
- erpc_sleep_tick(1);
- }
+ return 1;
}
+static void free_port_ack_cache(erpc_hw_t *hw, u16 port)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->recv_cache[i];
+ if (cache->state == CACHE_REC_ACK)
+ {
+ if (cache->msg.port == port)
+ {
+ cache->state = CACHE_FREE;
+ }
+ }
+ }
+}
+static u32 send_data(erpc_hw_t *hw, erpc_cache_t *cache, u16 port, u16 *timeout)
+{
+ free_port_ack_cache(hw, port);
+ cache->state = CACHE_WAIT_SEND;
+ // 等待发送完成
+ while (*timeout)
+ {
+ if (cache->state == CACHE_SEND_OK)
+ {
+ return 0;
+ }
+ else if (cache->state == CACHE_SEND_HW_ERR)
+ {
+ return ERPC_ERR_SEND_HW_ERR;
+ }
+ else
+ {
+ hw->sleep(1);
+ }
+ (*timeout)--;
+ }
+
+ if (*timeout == 0)
+ {
+ return ERPC_ERR_SEND_TIMEOUT;
+ }
+ return 0;
+}
+static u32 wait_ack(erpc_hw_t *hw, erpc_cache_t *rec, u8 dest_id, u16 port, u16 *timeout)
+{
+ while (*timeout)
+ {
+ rec = find_ack_cache(hw, dest_id, port);
+ if (rec != NULL)
+ {
+ return 0;
+ }
+ hw->sleep(1);
+ (*timeout)--;
+ }
+ if (timeout == 0)
+ {
+ return ERPC_ERR_SEND_ACK_TIMEOUT;
+ }
+ return 0;
+}
+ u32 send_request(erpc_hw_t *hw, u8 dest_id, u16 port, u8 *data, u16 len, u16 timeout, u8 retry)
+{
+ erpc_cache_t *cache = find_free_cache(hw);
+ CHECK_DEAL(cache == NULL, ERPC_ERR_NO_FREE_SEND_CACHE);
+ hw->lock();
+ if (check_port_send_available(hw, port) == 0)
+ {
+ hw->unlock();
+ return ERPC_ERR_SEND_PORT_IS_INUSE;
+ }
+ cache->msg.dest_id = dest_id;
+ cache->state = CACHE_IN_USE;
+ hw->unlock();
+ cache->msg.src_id = hw->local_id;
+ cache->msg.type = ERPC_MSG_TYPE_REQUEST;
+ cache->msg.len = len;
+ cache->msg.port = port;
+ memcpy(cache->msg.data, data, len);
+ cal_crc16(&cache->msg);
+ erpc_cache_t *rec = NULL;
+ u16 timeout_copy = timeout;
+ while (retry--)
+ {
+ /**
+ * 发送失败应该立即返回，不能retry
+ */
+ u32 ret = send_data(hw, cache, port, &timeout);
+ if (ret)
+ {
+ cache->state = CACHE_FREE;
+ return ret;
+ }
+ // 等待ack
+ ret = wait_ack(hw, rec, dest_id, port, &timeout);
+ if (ret == 0)
+ {
+ break;
+ }
+ timeout = timeout_copy;
+ }
+ CHECK_DEAL(retry == 0, ERPC_ERR_SEND_ACK_TIMEOUT);
+ // 释放cache
+ cache->state = CACHE_FREE;
+ rec->state = CACHE_FREE;
+ return 0;
+}
+
+static erpc_cache_t *find_response_cache(erpc_hw_t *hw, u8 dest_id, u16 port)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->recv_cache[i];
+ if (cache->state == CACHE_GET_RESP && cache->msg.src_id == dest_id && cache->msg.port == port)
+ {
+ return cache;
+ }
+ }
+ return NULL;
+}
+static void free_response_cache(erpc_hw_t *hw, u8 dest_id, u16 port)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->recv_cache[i];
+ if (cache->state == CACHE_GET_RESP && cache->msg.src_id == dest_id && cache->msg.port == port)
+ {
+ cache->state = CACHE_FREE;
+ }
+ }
+}
+static u32 send_ack(erpc_hw_t *hw, u8 dest_id, u16 port, u16 time_out)
+{
+ erpc_cache_t *cache = find_free_cache(hw);
+ CHECK_DEAL(cache == NULL, ERPC_ERR_NO_FREE_SEND_CACHE);
+ hw->lock();
+ if (check_port_send_available(hw, port) == 0)
+ {
+ hw->unlock();
+ return ERPC_ERR_SEND_PORT_IS_INUSE;
+ }
+ cache->msg.dest_id = dest_id;
+ cache->state = CACHE_IN_USE;
+ hw->unlock();
+ cache->msg.src_id = hw->local_id;
+ cache->msg.type = ERPC_MSG_TYPE_ACK;
+ cache->msg.len = 0;
+ cache->msg.port = port;
+ cal_crc16(&cache->msg);
+ u32 ret = send_data(hw, cache, port, &time_out);
+ return ret;
+}
+/**
+ * 发送请求，等待响应
+ * @param hw 硬件接口
+ * @param dest_id 目标ID
+ * @param port 端口号
+ * @param data_out 请求数据
+ * @param len_out 请求数据长度
+ * @param data_in 响应数据
+ * @param len_in 响应数据长度
+ * @param send_timeout 发送超时时间
+ * @param recv_timeout 接收超时时间
+ * @param retry 重试次数
+ * @return 0 成功，其他失败
+ */
+ u32 send_request_wait_response(erpc_hw_t *hw, u8 dest_id, u16 port, u8 *data_out, u16 len_out, u8 *data_in, u16 *len_in, u16 send_timeout, u16 recv_timeout, u8 retry)
+{
+ free_response_cache(hw, dest_id, port);
+ u32 ret = send_request(hw, dest_id, port, data_out, len_out, send_timeout, retry);
+ CHECK_DEAL(ret != 0, ret);
+ while (recv_timeout)
+ {
+ erpc_cache_t *rec = find_response_cache(hw, dest_id, port);
+ if (rec != NULL)
+ {
+ // 拷贝数据
+ int len = rec->msg.len;
+ if (len > *len_in)
+ {
+ len = *len_in;
+ }
+ memcpy(data_in, rec->msg.data, len);
+ *len_in = len;
+ rec->state = CACHE_FREE;
+ break;
+ }
+ recv_timeout--;
+ hw->sleep(1);
+ }
+ CHECK_DEAL(recv_timeout == 0, ERPC_ERR_NO_CMD_RETURN);
+ ret = send_ack(hw, dest_id, port, send_timeout);
+ CHECK_DEAL(ret != 0, ret);
+ return 0;
+}
+
+ u32 send_response(erpc_hw_t *hw, erpc_cache_t *cache_rec, u8 *data, u16 len, u16 timeout, u8 retry)
+{
+ erpc_cache_t *cache = find_free_cache(hw);
+ CHECK_DEAL(cache == NULL, ERPC_ERR_NO_FREE_SEND_CACHE);
+ hw->lock();
+ if (check_port_send_available(hw, cache->msg.port) == 0)
+ {
+ hw->unlock();
+ return ERPC_ERR_SEND_PORT_IS_INUSE;
+ }
+ cache->msg.dest_id = cache_rec->msg.src_id;
+ cache->state = CACHE_IN_USE;
+ hw->unlock();
+ cache->msg.src_id = hw->local_id;
+ cache->msg.type = ERPC_MSG_TYPE_ACK;
+ cache->msg.len = 0;
+ cache->msg.port = cache_rec->msg.port;
+ memcpy(cache->msg.data, data, len);
+ cal_crc16(&cache->msg);
+ u16 timeout_copy = timeout;
+ erpc_cache_t *rec = NULL;
+ while (retry--)
+ {
+ u32 ret = send_data(hw, cache, cache->msg.port, &timeout);
+ if (ret)
+ {
+ cache->state = CACHE_FREE;
+ return ret;
+ }
+ // 等待ack
+ ret = wait_ack(hw, rec,cache->msg.dest_id,cache->msg.port, &timeout);
+ if (ret == 0)
+ {
+ break;
+ }
+ timeout = timeout_copy;
+ }
+ CHECK_DEAL(retry == 0, ERPC_ERR_SEND_ACK_TIMEOUT);
+ // 释放cache
+ cache->state = CACHE_FREE;
+ rec->state = CACHE_FREE;
+ return 0;
+}
+
+u32 write_rec_cache(erpc_hw_t *hw, u8 *data, u16 len)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ if (hw->recv_cache[i].state == CACHE_FREE)
+ {
+ hw->lock();
+ u8 *data_in = (u8 *)&hw->recv_cache[i].msg;
+ for (int j = 0; j < len; j++)
+ {
+ data_in[j] = data[j];
+ }
+ hw->recv_cache[i].state = CACHE_GET_DATA;
+ hw->unlock();
+ return 0;
+ }
+
+ }
+ return 1;
+}
+ void send_core(erpc_hw_t *hw)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->send_cache[i];
+ if (cache->state == CACHE_WAIT_SEND)
+ {
+ u32 ret = hw->send((u8 *)&cache->msg, cache->msg.len + ERPC_MSG_HEADER_SIZE);
+ if (ret == 0)
+ {
+ cache->state = CACHE_SEND_OK;
+ }
+ else
+ {
+ cache->state = CACHE_SEND_HW_ERR;
+ }
+ }
+ }
+}
+
+ void recv_core(erpc_hw_t *hw)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->recv_cache[i];
+ if (cache->state == CACHE_GET_DATA)
+ {
+ if (check_crc16(&cache->msg) == 1)
+ {
+ cache->state = CACHE_GET_MSG;
+ }
+ else
+ {
+ cache->state = CACHE_FREE;
+ }
+ }
+ switch (cache->state)
+ {
+ case CACHE_GET_MSG:
+ {
+ switch (cache->msg.type)
+ {
+ case ERPC_MSG_TYPE_ACK:
+ {
+ cache->state = CACHE_REC_ACK;
+ }
+ break;
+ case ERPC_MSG_TYPE_RESPONSE:
+ {
+ cache->state = CACHE_GET_RESP;
+ }
+ break;
+ case ERPC_MSG_TYPE_REQUEST:
+ {
+ cache->state = CACHE_WAIT_HANDLE;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ break;
+
+ default:
+ break;
+ }
+ }
+}
+
+void recv_handle(erpc_hw_t *hw)
+{
+ for (int i = 0; i < ERPC_MSG_CACHE_SIZE; i++)
+ {
+ erpc_cache_t *cache = &hw->recv_cache[i];
+ if (cache->state == CACHE_WAIT_HANDLE)
+ {
+
+ cache->state = CACHE_FREE;
+ }
+ }
+}
\ No newline at end of file
diff --git a/erpc_core.h b/erpc_core.h
index 0f19aaf..280997a 100644
--- a/erpc_core.h
+++ b/erpc_core.h
@@ -1,145 +1,110 @@
-#ifndef ERPC_CORE_H_
-#define ERPC_CORE_H_
-
-#include
-#include
-#include
-
+#ifndef _ERPC_CORE_H_
+#define _ERPC_CORE_H_
#include "config.h"
#include "list.h"
-#define ERPC_VERSION "0.0.1"
+#define ERPC_VERSION_MAJOR 1
+#define ERPC_VERSION_MINOR 0
+#define ERPC_VERSION_PATCH 0
-typedef enum package_type {
- PACKAGE_TYPE_DEV_POWER_ON = 0,
- PACKAGE_TYPE_CMD_REQ,
- PACKAGE_TYPE_CMD_REQ_ACK,
- PACKAGE_TYPE_CMD_RESP,
- PACKAGE_TYPE_CMD_RESP_ACK,
- PACKAGE_TYPE_CMD_REPEAT, // crc校验失败，请求重发
- PACKAGE_TYPE_DEV_POWER_OFF,
- PACKAGE_TYPE_CMD_SERCH_DEV_ONLINE,
-} package_type;
+#define ERPC_MSG_HEADER_SIZE 9
+#define ERPC_MSG_DATA_MAX_SIZE (256 - ERPC_MSG_HEADER_SIZE + 2)
+#define ERPC_MSG_CACHE_SIZE 16 // Maximum number of messages in cache
-// 广播ID
-#define ERPC_BOARDCAST_ID 0xff
+#define ERPC_SEND_TIMEOUT 30 // 发送超时时间，单位tick
+typedef struct erpc_msg_t
+{
+ u8 src_id;
+ u8 dest_id;
+ u8 type;
+ u16 port;
+ u16 len;
+ u16 crc;
+ u8 data[ERPC_MSG_DATA_MAX_SIZE];
+} erpc_msg_t;
-typedef struct erpc_cmd_head_t {
- u8 src_id;
- u8 dest_id;
- u8 type; // package_type
- u16 port; // 指令号，指令号=端口号
- 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[MAX_CMD_LEN];
-} erpc_cmd_def_t;
-
-#define CMD_MAX_RETRY 5 // 最大重发次数
-#define CMD_TIMEOUT 30 // 超时时间 tick
-#define MAX_REC_CMD_CACHE_NUM \
- 10 // 最大接收指令缓存数量，接受指令优先级>处理指令优先级
-#define MAX_SEND_CMD_CACHE_NUM \
- 10 // 最大发送指令缓存数量，发送指令优先级>接收指令优先级
-typedef enum erpc_status {
- ERPC_CMD_NO_ERROR, // 发送cache，接收cache空闲
- ERPC_CMD_DATA_DEAL, // 发送cache数据组织中
- ERPC_CMD_WAIT_SERVER_DEAL, // 等待服务线程处理接受cache
- ERPC_CMD_SERVER_DEAL, // 服务线程处理接受cache
- ERPC_CMD_WAIT_TASK_DEAL, // 等待任务线程处理指令
- ERPC_CMD_WAIT_TASK_DEAL_FINISH, // 等待任务线程处理指令完成
- ERPC_CMD_WAIT_SEND, // 等待服务线程处理发送cache
- ERPC_CMD_SEND_ONCE, // 发送指令成功
- ERPC_CMD_SEND_REPEAT, // 发送指令重发
- ERPC_CMD_SEND_OK, // 发送指令成功
- ERPC_CMD_DEST_BUSY, // 目标设备忙
- ERPC_CMD_RESP_OK, // 指令响应成功
-} erpc_status;
-
-typedef struct erpc_data_cache_t {
- u8 state;
- u8 data[256];
-} erpc_data_cache_t;
-
-typedef u32 (*erpc_cmd_handle_t)(u8 src_id, u8 dest_id, u16 port, u8 *data,
- u16 len);
-
-typedef struct erpc_cmd_list_t {
- u16 cmd;
- u32 (*handle)(u8 hw, u8 src_id, u8 dest_id, u16 port, u8 *data, u16 len);
-} erpc_cmd_list_t;
-typedef enum ERPC_ROLE {
- ERPC_ROLE_MASTER,
- ERPC_ROLE_SLAVE,
-} ERPC_ROLE;
-typedef struct erpc_hw_cfg_t {
- u8 ord;
- u8 local_id;
- u8 (*write)(u8 *data, u16 len);
- void (*send_lock)(void);
- void (*send_unlock)(void);
- erpc_data_cache_t rec_cache[MAX_REC_CMD_CACHE_NUM];
- erpc_data_cache_t send_cache[MAX_SEND_CMD_CACHE_NUM];
- void (*deal_lock)(void);
- void (*deal_unlock)(void);
- list_t cmd_list;
-} erpc_hw_cfg_t;
-
-#define CHECK_IF_ERROR(condition, error) \
- if (condition) { \
- return error; \
- }
-#define CHECK_IF_ERROR_AND_DO(condition, error, action) \
- if (condition) { \
- action; \
- return error; \
- }
-typedef enum erpc_error {
- ERPC_NO_ERROR = 0,
- ERPC_ERR_NOFOND_HW,
- ERPC_ERR_SEND_CACHE_FULL,
- ERPC_ERR_SEND_TIMEOUT,
- ERPC_ERR_HW_SEND_FAIL, // 硬件层发来的错误 erpc_hw_cfg_t.write返回错误
- ERPC_ERR_DEST_BUSY,
- ERPC_ERR_DEST_NO_RESPONSE, // 目标设备无响应
- ERPC_ERR_DEST_NO_REPLY, // 目标设备无回复或者回复超时
- ERPC_ERR_MALLOC_ERROR, // malloc失败,内存不足
- ERPC_ERR_HW_EXIST, // 硬件已经存在
- ERPC_ERR_HW_NOT_EXIST, // 硬件不存在
- ERPC_ERR_REC_CACHE_FULL, // 接收缓存满
+typedef struct erpc_cache_t
+{
+ u8 state;
+ erpc_msg_t msg;
+} erpc_cache_t;
+typedef enum erpc_msg_type
+{
+ ERPC_MSG_TYPE_REQUEST = 0,
+ ERPC_MSG_TYPE_ACK,
+ ERPC_MSG_TYPE_RESPONSE,
+}erpc_msg_type;
+typedef enum erpc_cache_state
+{
+ CACHE_FREE = 0,
+ // 占用
+ CACHE_IN_USE,
+ // 发送cache
+ CACHE_WAIT_SEND,
+ CACHE_SEND_OK,
+ CACHE_SEND_HW_ERR,
+ // 接收cache
+ CACHE_GET_DATA, // 发现数据
+ CACHE_GET_MSG, // 发现完整消息
+ CACHE_REC_ACK, // 收到ACK
+ CACHE_GET_RESP, // 收到RESP数据包
+ CACHE_WAIT_HANDLE, // 等待处理
+} erpc_cache_state;
+typedef enum erpc_error
+{
+ ERPC_OK = 0,
+ // 发送REQ
+ ERPC_ERR_NO_FREE_SEND_CACHE, // 没有空闲的发送缓存
+ ERPC_ERR_SEND_TIMEOUT, // 发送REQ超时
+ ERPC_ERR_SEND_ACK_TIMEOUT, // 发送REQ成功，但是没有收到ACK
+ ERPC_ERR_SEND_PORT_IS_INUSE, // 发送失败，端口已被占用
+ ERPC_ERR_SEND_HW_ERR, // 发送失败，硬件错误
+ // 接收REQ
+ ERPC_ERR_NO_CMD_RETURN, // 发生REQ成功，但是没有收到RESP包
} erpc_error;
-typedef void (*erpc_sleep)(u32 tick);
+typedef struct erpc_hw_t
+{
+ u8 local_id;
+ void (*lock)(void);
+ void (*unlock)(void);
+ void (*sleep)(u32 ms);
+ u32 (*send)(u8 *data, u16 len);
+ erpc_cache_t send_cache[ERPC_MSG_CACHE_SIZE];
+ erpc_cache_t recv_cache[ERPC_MSG_CACHE_SIZE];
+ list_t handler_list;
+} erpc_hw_t;
-void erpc_send_deal_core(); // 发送指令处理线程
-u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len); // 写入接受缓存
-void erpc_rev_package_core(); // 处理接受到的包，通讯层面处理
-void erpc_rev_deal_core(); // 处理接受到的指令，业务层面处理
-extern erpc_sleep erpc_sleep_tick;
+typedef struct handler_list_t
+{
+ u16 port;
+ void (*handle)(erpc_hw_t *hw, erpc_cache_t *cache, u8 *data, u16 len);
+} handler_list_t;
-u32 erpc_hw_add(erpc_hw_cfg_t *hw);
-u32 erpc_add_cmd_list(erpc_hw_cfg_t *hw, erpc_cmd_list_t *cmd_list);
+#define CHECK_DEAL(condition, error) \
+ if ((condition)) \
+ return error;
/**
- * 单纯发送消息
+ * 内核函数，需要手动sleep
*/
-u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len);
-/**
- * 发送消息并等待回复
- */
-u32 erpc_send_wait_reply(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len,
- u8 *reply_data, u16 *reply_len, u32 timeout);
-/**
- * 回复消息
- */
-u32 erpc_replay(u8 hw, u8 dest_id, u16 port, u8 *data_out, u16 len);
+void send_core(erpc_hw_t *hw);
+void recv_core(erpc_hw_t *hw);
+void recv_handle(erpc_hw_t *hw);
/**
- * 广播消息
+ * 用户函数
*/
-u32 erpc_boardcast(u16 port, u8 *data, u16 len);
+u32 send_request(erpc_hw_t *hw, u8 dest_id, u16 port, u8 *data, u16 len, u16 timeout, u8 retry);
+u32 send_request_wait_response(erpc_hw_t *hw, u8 dest_id, u16 port, u8 *data_out, u16 len_out, u8 *data_in, u16 *len_in, u16 send_timeout, u16 recv_timeout, u8 retry);
+u32 send_response(erpc_hw_t *hw, erpc_cache_t *cache, u8 *data, u16 len, u16 timeout, u8 retry);
+u32 write_rec_cache(erpc_hw_t *hw, u8 *data, u16 len);
+/**
+ * 注册处理函数
+ */
+#define EXPORT_ERPC_HANDLE(hw, _port, _handle) \
+ static handler_list_t _A##_handle = \
+ { \
+ .port = _port,\
+.handle = _handle,\
+};\
+EXPORT_LIST_NODE(hw.list,_A##_handle);
-
-#endif /* ERPC_CORE_H_ */
\ No newline at end of file
+#endif /* _ERPC_CORE_H_ */
\ No newline at end of file
diff --git a/erpc_net.c b/erpc_net.c
deleted file mode 100644
index 3c9b91f..0000000
--- a/erpc_net.c
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "erpc_net.h"
-#include "erpc_core.h"
-
diff --git a/erpc_net.h b/erpc_net.h
deleted file mode 100644
index 3d38351..0000000
--- a/erpc_net.h
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "erpc_core.h"
-
-u32 erpc_find_all();
\ No newline at end of file
diff --git a/erpc_port_self.c b/erpc_port_self.c
new file mode 100644
index 0000000..372a0d3
--- /dev/null
+++ b/erpc_port_self.c
@@ -0,0 +1,104 @@
+#include "erpc_core.h"
+
+#include
+#include
+
+HANDLE hMutex;
+
+static void lock()
+{
+ WaitForSingleObject(hMutex, INFINITE);
+}
+
+static void unlock()
+{
+ ReleaseMutex(hMutex);
+}
+static void sleep(u32 ms)
+{
+ Sleep(ms);
+}
+extern erpc_hw_t port_self;
+static u32 erpc_send(u8 *data, u16 len)
+{
+ write_rec_cache(&port_self,data,len);
+}
+erpc_hw_t port_self = {
+ .lock = lock,
+ .unlock = unlock,
+ .sleep = sleep,
+ .local_id = 0x12,
+ .send = erpc_send,
+};
+
+
+static void test1(){
+
+}
+DWORD WINAPI fun(LPVOID lpParam)
+{
+ UNUSED(lpParam);
+ while (1)
+ {
+ Sleep(1000);
+ }
+}
+DWORD WINAPI send_thread(LPVOID lpParam)
+{
+ UNUSED(lpParam);
+ while (1)
+ {
+ send_core(&port_self);
+ Sleep(1);
+ }
+}
+DWORD WINAPI recv_thread(LPVOID lpParam)
+{
+ UNUSED(lpParam);
+ while (1)
+ {
+ recv_core(&port_self);
+ Sleep(1);
+ }
+}
+
+DWORD WINAPI recv_handle_thread(LPVOID lpParam)
+{
+ UNUSED(lpParam);
+ while (1)
+ {
+ recv_handle(&port_self);
+ Sleep(1);
+ }
+}
+
+int main()
+{
+ hMutex = CreateMutex(NULL, FALSE, TEXT("MyMutex"));
+
+ if (hMutex == NULL)
+ {
+ printf("CreateMutex error: %d\n", GetLastError());
+ return 1;
+ }
+
+ HANDLE hThreads[4];
+
+ hThreads[0] = CreateThread(NULL, 0, fun, NULL, 0, NULL);
+ hThreads[1] = CreateThread(NULL, 0, send_thread, NULL, 0, NULL);
+ hThreads[2] = CreateThread(NULL, 0, recv_thread, NULL, 0, NULL);
+ hThreads[3] = CreateThread(NULL, 0, recv_handle_thread, NULL, 0, NULL);
+ // 等待所有线程完成
+ WaitForMultipleObjects(4, hThreads, TRUE, INFINITE);
+
+ // 关闭线程句柄
+ for (int i = 0; i < 4; i++)
+ {
+ CloseHandle(hThreads[i]);
+ }
+
+ // 关闭Mutex句柄
+ CloseHandle(hMutex);
+
+ return 0;
+}
diff --git a/erpc设计文档.md b/erpc设计文档.md
deleted file mode 100644
index f7d5498..0000000
--- a/erpc设计文档.md
+++ /dev/null
@@ -1,39 +0,0 @@
-
-## 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。
- 
-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。
- 
-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
- 
\ No newline at end of file
diff --git a/list.c b/list.c
index 392318c..2638010 100644
--- a/list.c
+++ b/list.c
@@ -1,90 +1,86 @@
#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));
- if (node == NULL)
- {
- return NULL;
- }
- node->data = data;
- node->next = NULL;
- return node;
-}
+#include
+#include
-list_t *list_append(list_t *head, void *data)
+int list_node_add(list_t *list, void *data)
{
- list_t *node = list_create(data);
- if (node == NULL)
+ list_node_t *new_node = (list_node_t *)malloc(sizeof(list_node_t));
+ if (new_node == NULL)
{
- return NULL;
+ return LIST_ERR_MALLOC_FAILED;
}
- if (head == NULL)
+ new_node->data = data;
+ new_node->next = NULL;
+ if (*list == NULL)
{
- return NULL;
+ *list = new_node;
}
else
{
- list_t *tail = head;
- while (tail->next != NULL)
+ list_node_t *node = *list;
+ while (node->next != NULL)
{
- tail = tail->next;
+ node = node->next;
}
- tail->next = node;
+ node->next = new_node;
}
- return head;
-}
-void list_print(list_t *head)
-{
- list_t *node = head;
- while (node != NULL)
- {
- ERPC_DEBUG("%p\n", node->data);
- node = node->next;
- }
+ return LIST_OK;
}
-
-/**
- * Destroy a list and all its nodes.
- * @param head The head of the list.
- */
-void list_destroy(list_t *head)
+int list_node_remove(list_t *list, void *data)
{
- list_t *node = head;
- while (node != NULL)
+ if (*list == NULL)
{
- list_t *next = node->next;
- free(node);
- node = next;
+ return LIST_ERR_LIST_IS_NULL;
}
-}
-/**
- * Delete a node from the list.
- * @param head The head of the list.
- */
-void list_delete(list_t *head, void *data)
-{
- list_t *node = head;
- list_t *prev = NULL;
+ list_node_t *node = *list;
+ list_node_t *prev = NULL;
while (node != NULL)
{
if (node->data == data)
{
if (prev == NULL)
{
- head = node->next;
+ if (node->next != NULL)
+ {
+ *list = node->next;
+ }
+ else
+ {
+ *list = NULL;
+ }
}
else
{
- prev->next = node->next;
+ if (node->next != NULL)
+ {
+ prev->next = node->next;
+ }
+ else
+ {
+ prev->next = NULL;
+ }
}
free(node);
- return;
+ return LIST_OK;
}
prev = node;
node = node->next;
}
+ return 0;
+}
+int list_size(list_t *list)
+{
+ if (*list == NULL)
+ {
+ return -1;
+ }
+ int size = 0;
+ list_node_t *node = *list;
+ while (node != NULL)
+ {
+ size++;
+ node = node->next;
+ }
+ return size;
}
diff --git a/list.h b/list.h
index 786051e..d5877fb 100644
--- a/list.h
+++ b/list.h
@@ -1,17 +1,47 @@
-#ifndef _LIST_H_
-#define _LIST_H_
+#ifndef LIST_H
+#define LIST_H
+#ifdef __cplusplus
+extern "C"
+{
+#endif // __cplusplus
+ typedef struct list_node_t
+ {
+ void *data;
+ struct list_node_t *next;
+ } list_node_t;
+ typedef list_node_t *list_t;
+ typedef enum list_error
+ {
+ LIST_OK = 0,
+ LIST_ERR_LIST_IS_NULL = 1,
+ LIST_ERR_MALLOC_FAILED,
+ } list_error;
+ /**
+ * @brief 创建一个节点，如果list为NULL，则创建一个空链表，否则创建一个节点并添加到链表尾部
+ * @param list 链表指针
+ * @param data 数据指针
+ */
+ int list_node_add(list_t *list, void *data);
+ /**
+ * @brief 从链表中删除节点
+ * @param list 链表指针
+ * @param data 数据指针
+ */
+ int list_node_remove(list_t *list, void *data);
+ int list_size(list_t *list);
-typedef struct list_t {
- void *data;
- struct list_t *next;
-} list_t;
-
-list_t *list_create(void *data);
-list_t *list_append(list_t *head, void *data);
-void list_print(list_t *head);
-void list_destroy(list_t *head);
-void list_delete(list_t *head, void *data);
-
-
-#endif /* _LIST_H_ */
\ No newline at end of file
+/**
+ * @param list 链表
+ * @param data 要添加的数据不要取地址，在宏定义里面自动取地址
+ * @warning 这种方式增加节点，会导致无法确定节点添加的先后顺序，更换编译环境后可能会影响编译效率
+ */
+#define EXPORT_LIST_NODE(list, data) \
+ int __attribute__((constructor)) export_list_node_##list_##data(void) \
+ { \
+ return list_node_add(&list, (void *)&data); \
+ }
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // LIST_H
diff --git a/makefile b/makefile
index 158c108..90c8dfa 100644
--- a/makefile
+++ b/makefile
@@ -7,7 +7,7 @@ CFLAGS = -Wall -Wextra -std=c11 -g
BUILD_DIR = build
# 源文件
SRCS = erpc_core.c \
- port_self.c \
+ erpc_port_self.c \
crc16.c\
list.c
diff --git a/picture/1.jpg b/picture/1.jpg
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