alientek_bootloader/dev/can/dev_can.c

#include "dev_can.h"
#include "dev_iap.h"
#include "queue.h"
#include <stdint.h>
#include <stdlib.h>
#include <string.h>

double pow_branch(double x, long long N)
{
    double ans = 1.0;
    // 贡献的初始值为 x
    double x_contribute = x;
    // 在对 N 进行二进制拆分的同时计算答案
    while (N > 0)
    {
        if (N % 2 == 1)
        {
            // 如果 N 二进制表示的最低位为 1，那么需要计入贡献
            ans *= x_contribute;
        }
        // 将贡献不断地平方
        x_contribute *= x_contribute;
        // 舍弃 N 二进制表示的最低位，这样我们每次只要判断最低位即可
        N = N >> 1;
    }
    return ans;
}
double pow(double x, double N)
{
    return N >= 0 ? pow_branch(x, N) : 1.0 / pow_branch(x, -N);
}

uint8_t recv_can_id = 0;

static uint64_t base_data;

void data_bit_move(uint8_t start_bit, uint8_t bit_len, uint64_t data)
{
    uint64_t mask        = 0;
    uint64_t source_data = (uint64_t)data;
    mask                 = pow(2, bit_len) - 1;
    base_data |= (mask & source_data) << start_bit;
}

void product_array(uint8_t send_array[8])
{
    send_array[0] = (uint8_t)base_data;
    send_array[1] = (uint8_t)(base_data >> 8);
    send_array[2] = (uint8_t)(base_data >> 16);
    send_array[3] = (uint8_t)(base_data >> 24);
    send_array[4] = (uint8_t)(base_data >> 32);
    send_array[5] = (uint8_t)(base_data >> 40);
    send_array[6] = (uint8_t)(base_data >> 48);
    send_array[7] = (uint8_t)(base_data >> 56);
    base_data     = 0;
}

uint8_t push_can_message_to_queue(uint32_t id, uint8_t len, uint8_t *p_data)
{
    pdu_tag response_msg;
    response_msg.id.r    = id;
    response_msg.reg.dlc = len;
    memcpy(&response_msg.data.u8_buf[0], p_data, len);

    if (id > 0x7FF)
    {
        response_msg.reg.ide = CAN_Id_Extended;
    }
    else
    {
        response_msg.reg.ide = CAN_Id_Standard;
    }

    if (en_queue(&can_tx_queue, response_msg) != Q_OK)
    {
        return 0;
    }

    return 1;
}

static uint8_t can_tx_frame(pdu_tag can_message)
{
    uint8_t result = CAN_TxStatus_NoMailBox;
    result         = drv_can_msg_tx(can_message.id.r, can_message.reg.ide, can_message.data.u8_buf, can_message.reg.dlc);
    return result;
}

void can_tx_callback(void)
{
    pdu_tag tx_data;

    if (de_queue(&can_tx_queue, &tx_data) == Q_OK) // 返回值为1代表读取成功
    {
        can_tx_frame(tx_data);
        CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
    }
    else
    {
        CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE);
    }
}

void can_rx_callback(CanRxMsg rx_message)
{
    pdu_tag data;
    uint8_t ps;
    uint8_t pf;
    switch (rx_message.ExtId)
    {
    case 0x18DFF4E1:
        data.id.r    = 0x18DFF4E1;
        data.reg.dlc = rx_message.DLC;
        memcpy(&data.data.u8_buf[0], rx_message.Data, rx_message.DLC);
        en_queue(&can_rx_queue, data);
        break;
    default:
        return;
    }
}

can_rx_tab can_tab[] = {
    0x18DFF4E1,
    iap_rec_handler,

};

void can_start_send(void)
{
    pdu_tag tx_msg;
    if (RESET == CAN_GetITStatus(CAN1, CAN_IT_TME))
    {

        if (de_queue(&can_tx_queue, &tx_msg) == Q_OK) // 返回值为1代表读取成功
        {
            can_tx_frame(tx_msg);
            CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
        }
    }
}

static uint8_t can_rx_process(void)
{
    uint8_t i;
    uint8_t flg = 0;
    pdu_tag rec_msg;

    for (uint8_t j = 0; j < 15; j++)
    {
        if (Q_OK == de_queue(&can_rx_queue, &rec_msg))
        {
            for (i = 0; i < ARR_SIZE(can_tab); i++)
            {
                if (can_tab[i].id == rec_msg.id.r)
                {
                    can_tab[i].p_func(rec_msg);
                    break;
                }
            }
        }
    }
}

void dev_can_network_init(void)
{
    drv_can_init();
    drv_can_rx_back_init(can_rx_callback);
    drv_can_tx_back_init(can_tx_callback);
}

void can_process(void)
{
    can_rx_process();
    can_start_send();
}