initial commit

by_frame.c

@@ -0,0 +1,169 @@
+#include "by_frame.h"
+
+#include "by_serial.h"
+#include "crc16/crc16.h"
+#include "logc/log.h"
+
+by_serial_t serial_port;
+by_frame_queue_t queue_recv;
+
+uint8_t frame_buffer_recv[100];
+uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)];
+
+int frame_parse_busy;
+
+int by_frame_queue_pop(by_frame_queue_t *queue, uint8_t *element)
+{
+  if (!queue->len) {
+    return -1;
+  }
+
+  *element = queue->buff[0];
+  queue->len -= 1;
+  memmove(queue->buff, queue->buff + 1, queue->len);
+  return 0;
+}
+
+int by_frame_queue_add(by_frame_queue_t *queue, uint8_t element)
+{
+  if (queue->size == queue->len) {
+    return -1;
+  }
+
+  queue->buff[queue->len] = element;
+  queue->len += 1;
+
+  return 0;
+}
+
+int by_frame_queue_copy(by_frame_queue_t *queue, uint8_t *buff_out, int num)
+{
+  int copy_num = (queue->len < num) ? queue->len : num;
+  memcpy(buff_out, queue->buff, copy_num);
+
+  return copy_num;
+}
+
+int by_frame_queue_drop(by_frame_queue_t *queue, int num)
+{
+  int drop_num = 0;
+  uint8_t element_temp;
+
+  for (int i = 0; i < num; i++) {
+    drop_num += (!by_frame_queue_pop(queue, &element_temp));
+  }
+
+  return drop_num;
+}
+
+int by_frame_queue_find(by_frame_queue_t *queue, const uint8_t element)
+{
+  int found_num = -1;
+
+  for (int i = 0; i < queue->len; i++) {
+    if (queue->buff[i] == element) {
+      found_num = i;
+      break;
+    }
+  }
+
+  return found_num;
+}
+
+int by_frame_queue_get_used(by_frame_queue_t *queue)
+{
+  return queue->len;
+}
+
+void by_frame_queue_init(by_frame_queue_t *queue, uint8_t *buff, int buff_len)
+{
+  memset(queue, 0, sizeof(by_frame_queue_t));
+  memset(buff, 0, buff_len);
+
+  queue->buff = buff;
+  queue->size = buff_len;
+}
+
+void by_frame_send(uint8_t cmd, uint8_t *data_array, uint8_t len)
+{
+  uint16_t crc_cal            = 0;
+  const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
+
+  memset(frame_buffer_send, 0, sizeof(frame_buffer_send));
+  frame_buffer_send[0] = BY_FRAME_HEAD;
+  frame_buffer_send[1] = cmd;
+
+  if (len > data_byte_num) {
+    len = data_byte_num;
+  }
+
+  memcpy(frame_buffer_send + 2, data_array, len);
+  crc_cal = crc16_check(frame_buffer_send, 2 + data_byte_num);
+
+  frame_buffer_send[2 + data_byte_num] = (uint8_t)(crc_cal >> 8);
+  frame_buffer_send[3 + data_byte_num] = (uint8_t)(crc_cal);
+
+  by_serial_write(&serial_port, frame_buffer_send, 4 + data_byte_num);
+}
+
+/**
+ * @brief
+ *
+ * @param data_num
+ * @param data_array
+ * @todo 将其中写死的数据长度按照宏定义给出
+ */
+int by_frame_parse(uint8_t *cmd, uint32_t *data_array)
+{
+  uint8_t frame_buff[BY_FRANE_LEN] = {0};
+
+  // 先从缓冲区内复制数据到临时 buffer 里
+  for (int i = 0; i < by_serial_get_used_buffer_len(&serial_port); i++) {
+    uint8_t data = 0;
+    by_serial_read(&serial_port, &data, 1);
+    by_frame_queue_add(&queue_recv, data);
+  }
+
+  // 丢弃缓冲区头部无法解析的数据，如果剩下的数据过少则不解析
+  //   log_debug("drop %d", by_frame_queue_find(&queue_recv, BY_FRAME_HEAD));
+  int used_num = by_frame_queue_find(&queue_recv, BY_FRAME_HEAD);
+  by_frame_queue_drop(&queue_recv, used_num);
+  // 不存在帧头时退出
+  if (-1 == used_num) {
+    return -1;
+  }
+  // 剩余数据过少时退出
+  if (BY_FRANE_LEN > by_frame_queue_get_used(&queue_recv)) {
+    return -1;
+  }
+
+  log_debug("start parsing");
+  by_frame_queue_copy(&queue_recv, frame_buff, BY_FRANE_LEN);
+
+  uint16_t crc_val = (uint16_t)frame_buff[BY_FRANE_LEN - 1];
+  crc_val |= (uint16_t)(frame_buff[BY_FRANE_LEN - 2] << 8);
+
+  uint16_t crc_cal = crc16_check(frame_buff, BY_FRANE_LEN - 2);
+
+  if (crc_val == crc_cal) {
+    log_info("received successful");
+    // 丢掉当前帧头，下次解析时就不从该帧头开始
+    by_frame_queue_drop(&queue_recv, 1);
+    // TODO 复制数据
+    *cmd = frame_buff[1];
+    memcpy(data_array, &frame_buff[2], BY_FRANE_DATA_LEN);
+    return 0;
+  } else {
+    log_warn("receive failed");
+    log_warn("cal crc 0x%04X, but got 0x%04X", crc_cal, crc_val);
+    // 丢掉当前帧头，下次解析时就不从该帧头开始
+    by_frame_queue_drop(&queue_recv, 1);
+    return -1;
+  }
+}
+
+int by_frame_init(void)
+{
+  by_frame_queue_init(&queue_recv, frame_buffer_recv, sizeof(frame_buffer_recv));
+  return (by_serial_init(&serial_port, "/dev/ttyTHS0"));
+}