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fix(core): add core deal.

This commit is contained in:
chenyf 2024-10-29 16:42:21 +08:00
parent d268c5d3b0
commit de5c5a1e9b
9 changed files with 303 additions and 0 deletions
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16
.vscode/settings.json vendored Normal file
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{
"files.associations": {
"spi_port.h": "c",
"cmd_def.h": "c",
"config.h": "c",
"crc16.h": "c",
"comdef.h": "c",
"stddef.h": "c",
"core.h": "c",
"stdint.h": "c",
"cor.h": "c",
"eprc_core.h": "c",
"erpc_core.h": "c",
"type_traits": "c"
}
}

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config.h Normal file
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#ifndef _CONFIG_H_
#define _CONFIG_H_
#define ERPC_VERSION "0.0.1"
#define u8 unsigned char
#define u16 unsigned short
#define u32 unsigned int
#endif /* _CONFIG_H_ */

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crc16.c Normal file
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#include "crc16.h"
static const uint16_t 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,
0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401,
0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee,
0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6,
0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d,
0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5,
0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc,
0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4,
0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd,
0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13,
0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a,
0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e,
0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1,
0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb,
0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0,
0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8,
0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657,
0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9,
0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882,
0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e,
0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07,
0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d,
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;
}
u16 cmd_cal_crc16(erpc_cmd_def_t *cmd) {
u16 crc = 0;
u32 counter = 0;
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->src_id) & 0x00FF];
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->dest_id) & 0x00FF];
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->msg_len) & 0x00FF];
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->type) & 0x00FF];
crc = (crc << 8) ^ crc16tab[((crc >> 8) ^ cmd->port) & 0x00FF];
for (counter = 0; counter < cmd->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;
}

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#ifndef _CRC_CRC16_H
#define _CRC_CRC16_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#include <stddef.h>
#include <stdint.h>
#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);
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif

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erpc_core.c Normal file
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#include "erpc_core.h"
#include "crc16.h"
u32 erpc_report_node_self(node_cfg_t *node_cfg) {
erpc_cmd_def_t cmd;
cmd.src_id = node_cfg->local_id;
cmd.dest_id = 0xFF;
cmd.msg_len = 0;
cmd.type = PACKAGE_TYPE_DEV_POWER_ON;
cmd_cal_crc16(&cmd);
return node_cfg->write((u8 *)&cmd, sizeof(erpc_cmd_def_t));
}
u32 erpc_search_all_node(node_cfg_t *node_cfg) {
erpc_cmd_def_t cmd;
cmd.src_id = node_cfg->local_id;
cmd.dest_id = 0xFF;
cmd.msg_len = 0;
cmd.type = PACKAGE_TYPE_CMD_SERCH_DEV_ONLINE;
cmd_cal_crc16(&cmd);
return node_cfg->write((u8 *)&cmd, sizeof(erpc_cmd_def_t));
}
u32 erpc_send_cmd(node_cfg_t *node_cfg, u8 dest_id, u8 *data, u32 len) {
erpc_cmd_def_t cmd;
cmd.src_id = node_cfg->local_id;
cmd.dest_id = dest_id;
cmd.msg_len = len;
cmd.type = PACKAGE_TYPE_CMD_REQ;
cmd.data = data;
cmd_cal_crc16(&cmd);
return node_cfg->write((u8 *)&cmd, sizeof(erpc_cmd_def_t) + len);
}
u32 erpc_send_cmd_ack(node_cfg_t *node_cfg, erpc_cmd_def_t *cmd_rec,
u8 is_ack) {
erpc_cmd_def_t cmd_send;
cmd_send.src_id = node_cfg->local_id;
cmd_send.dest_id = cmd_rec->src_id;
if (is_ack)
cmd_send.type = PACKAGE_TYPE_CMD_REQ_ACK;
else
cmd_send.type = PACKAGE_TYPE_CMD_RESP_NACK;
cmd_send.msg_len = 0;
cmd_cal_crc16(&cmd_send);
return node_cfg->write((u8 *)&cmd_send, sizeof(erpc_cmd_def_t));
}
u32 erpc_send_repeat(node_cfg_t *node_cfg,u8 dest_id)
{
erpc_cmd_def_t cmd;
cmd.src_id = node_cfg->local_id;
cmd.dest_id = dest_id;
cmd.type = PACKAGE_TYPE_CMD_REPEAT;
cmd.msg_len = 0;
cmd_cal_crc16(&cmd);
return node_cfg->write((u8 *)&cmd, sizeof(erpc_cmd_def_t));
}
u32 erpc_send_msg(node_cfg_t *node_cfg, u8 dest_id, u8 *data, u32 len) {
int retry = CMD_MAX_RETRY;
node_cfg->bus_lock();
u32 ret = 0;
while (retry-- > 0) {
u32 ret = erpc_send_cmd(node_cfg, dest_id, data, len);
}
return ret;
}
u32 erpc_rec_msg_core(node_cfg_t *node_cfg, u8 *data, u32 len) {
}

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#ifndef ERPC_CORE_H_
#define ERPC_CORE_H_
#include "config.h"
#define MAX_CMD_LEN (256 - 5) // crc16最大支持256字节
#define CMD_MAX_RETRY 5 // 最大重发次数
#define CMD_TIMEOUT 30 // 超时时间 tick
#define MAX_COM 20 // 最大支持端口打开数量，可认为是同时通讯的号
typedef enum erpc_error {
DEST_SYS_BUSY = 0, // 目标系统繁忙,接收到nack
DEST_SYS_TIMEOUT, // 目标系统处理超时
BUS_CRC_ERROR, // 总线CRC错误,可能是总线通讯质量不佳
};
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_RESP_NACK,
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;
typedef struct node_cfg_t {
u8 local_id;
struct port_t {
u16 com_id;
volatile u32 time_out;
void (*pre_deal)(u8 *data, u32 len); // 数据预处理接口
u8 send_ack : 2; // 0：没有ack返回，1：ack返回 2：nack返回
u8 rec_crc : 1; // 0：crc没有故障， 1： crc有故障
u8 req_resend : 1; // 1:客户端请求重发
} port[MAX_COM];
u32 (*write)(u8 *data, u32 len);
void (*bus_lock)(void);
void (*bus_unlock)(void);
void (*sleep)(void);
} node_cfg_t;
// 广播ID
#define ERPC_BOARDCAST_ID 0xff
typedef struct erpc_cmd_def_t {
u8 src_id;
u8 dest_id;
package_type type;
u16 port; // 指令号，指令号=端口号
u8 msg_len;
u8 crc_16[2];
u8 *data;
} erpc_cmd_def_t;
#endif /* ERPC_CORE_H_ */

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erpc设计文档.md
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CRC16 校验长度为 16-256字节较为合适。
ACK丢了不重发
# 发送指令流程
1.发送数据后，始终要等待ack
2.接收数据后，始终要回复ack
3.获得ack不代表指令成功
4.crc校验不成功，发送repeat包
5.指令号=端口号
## 正常传输
| host | slave |
| ---------------- | ---------------- |
| 发送指令 | 等待指令 |
| 等待ACK回复 | 发送ACK |
| 等待指令处理完成 | 处理指令 |
| 等待指令处理完成 | 发送resp |
| 发送resp_ack | 等待resp_ack回复 |
| 处理完成 | 处理完成 |
## 指令丢失
| host | slave |
| ---------------- | --------------------- |
| 发送指令 | 等待指令 |
| 发送指令丢失 | 等待指令 |
| 超时重发指令 | 等待指令 |
| 等待ACK回复 | 指令接收成功，发送ACK |
| 等待指令处理完成 | 处理指令 |
| 等待指令处理完成 | 发送resp |
| 发送resp_ack | 等待resp_ack回复 |
| 处理完成 | 处理完成 |
## cmd ack 丢失
| host | slave |
| ---------------- | -------------------------- |
| 发送指令 | 等待指令 |
| 等待ACK回复 | 指令接收成功，发送ACK |
| 超时重发 | 指令已经开始行，发现重发包，发送ACK|
| 等待ACK回复 | 处理指令 |
| 等待指令处理完成 | 处理指令 |
| 等待指令处理完成 | 发送resp |
| 发送resp_ack | 等待resp_ack回复 |
| 处理完成 | 处理完成 |
## resp ack 丢失
| host | slave |
| ---------------- | ---------------- |
| 发送指令 | 等待指令 |
| 等待ACK回复 | 发送ACK |
| 等待指令处理完成 | 处理指令 |
| 等待指令处理完成 | 发送resp |
| 发送resp_ack | 等待resp_ack回复 |
| 处理完成 |发送resp |
| 发送resp_ack | 处理完成 |

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#include "spi_port.h"

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#include "config.h"