RT-Thread-RT-Thread SPARK星火一号 CAN的通信内核详解RT-Thread问答社区

RT-Thread SPARK星火一号 CAN的通信内核详解

发布于 2023-09-19 13:52:05 浏览：89 订阅该版

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## RT-Thread SPARK CAN的通信内核详解

### CAN发送

#### 1. rt_device_write

```c
rt_size_t rt_device_write(rt_device_t dev,
                          rt_off_t    pos,
                          const void *buffer,
                          rt_size_t   size)
{
    /* parameter check */
    RT_ASSERT(dev != RT_NULL);
    RT_ASSERT(rt_object_get_type(&dev->parent) == RT_Object_Class_Device);

if (dev->ref_count == 0)
    {
        rt_set_errno(-RT_ERROR);
        return 0;
    }

/* call device_write interface */
    if (device_write != RT_NULL)
    {
//        rt_kprintf("device_write:%d\n",device_write(dev, pos, buffer, size));
        return device_write(dev, pos, buffer, size);
    }

/* set error code */
    rt_set_errno(-RT_ENOSYS);

return 0;
}
```

其实挺一目了然的，就是调用device的device_write接口

#### 2. device_write

```c
#define device_write    (dev->write)
```

```c
dev->write       = rt_pipe_write;
```

还挺能藏

#### 3. rt_pipe_write

```c
static rt_size_t rt_pipe_write(rt_device_t device, rt_off_t pos, const void *buffer, rt_size_t count)
{
    uint8_t *pbuf;
    rt_size_t write_bytes = 0;
    rt_pipe_t *pipe = (rt_pipe_t *)device;

if (device == RT_NULL)
    {
        rt_set_errno(EINVAL);
        return 0;
    }
    if (count == 0) return 0;

pbuf = (uint8_t *)buffer;
    rt_mutex_take(&pipe->lock, -1);

while (write_bytes < count)
    {
        int len = rt_ringbuffer_put(pipe->fifo, &pbuf[write_bytes], count - write_bytes);
        if (len <= 0) break;

write_bytes += len;
    }
    rt_mutex_release(&pipe->lock);

return write_bytes;
}
```

1. 函数接受四个参数 `device`、`pos`、`buffer` 和 `count`，分别表示设备指针、写入位置（未使用）、数据缓冲区指针和要写入的数据字节数。
2. 将数据缓冲区指针 `buffer` 强制转换为 `uint8_t` 类型的指针，方便按字节操作数据。
3. 使用互斥锁 `pipe->lock` 来保护管道操作的原子性，通过调用 `rt_mutex_take` 函数获取互斥锁。
4. 进入循环，不断写入数据到管道，直到写入的字节数达到指定的 `count`。
   - 调用 `rt_ringbuffer_put` 函数将数据写入管道的环形缓冲区（`pipe->fifo`）。该函数返回实际写入的字节数 `len`。
   - 如果 `len` 小于等于 0，说明无法继续写入数据到管道，跳出循环。
5. 释放互斥锁，通过调用 `rt_mutex_release` 函数释放互斥锁。
6. 返回已写入的字节数 `write_bytes`。

#### 4. rt_ringbuffer_put

**rt_ringbuffer**是啥？

```c
/* ring buffer */
struct rt_ringbuffer
{
    rt_uint8_t *buffer_ptr;
    /* use the msb of the {read,write}_index as mirror bit. You can see this as
     * if the buffer adds a virtual mirror and the pointers point either to the
     * normal or to the mirrored buffer. If the write_index has the same value
     * with the read_index, but in a different mirror, the buffer is full.
     * While if the write_index and the read_index are the same and within the
     * same mirror, the buffer is empty. The ASCII art of the ringbuffer is:
     *
     *          mirror = 0                    mirror = 1
     * +---+---+---+---+---+---+---+|+~~~+~~~+~~~+~~~+~~~+~~~+~~~+
     * | 0 | 1 | 2 | 3 | 4 | 5 | 6 ||| 0 | 1 | 2 | 3 | 4 | 5 | 6 | Full
     * +---+---+---+---+---+---+---+|+~~~+~~~+~~~+~~~+~~~+~~~+~~~+
     *  read_idx-^                   write_idx-^
     *
     * +---+---+---+---+---+---+---+|+~~~+~~~+~~~+~~~+~~~+~~~+~~~+
     * | 0 | 1 | 2 | 3 | 4 | 5 | 6 ||| 0 | 1 | 2 | 3 | 4 | 5 | 6 | Empty
     * +---+---+---+---+---+---+---+|+~~~+~~~+~~~+~~~+~~~+~~~+~~~+
     * read_idx-^ ^-write_idx
     *
     * The tradeoff is we could only use 32KiB of buffer for 16 bit of index.
     * But it should be enough for most of the cases.
     *
     * Ref: http://en.wikipedia.org/wiki/Circular_buffer#Mirroring */
    rt_uint16_t read_mirror : 1;
    rt_uint16_t read_index : 15;
    rt_uint16_t write_mirror : 1;
    rt_uint16_t write_index : 15;
    /* as we use msb of index as mirror bit, the size should be signed and
     * could only be positive. */
    rt_int16_t buffer_size;
};

enum rt_ringbuffer_state
{
    RT_RINGBUFFER_EMPTY,			//环形缓冲区空	
    RT_RINGBUFFER_FULL,				//环形缓冲区满
    RT_RINGBUFFER_HALFFULL,			//环形缓冲区半满
};
```

#### 定义

环形缓冲区是嵌入式系统中十分重要的一种数据结构，比如在串口处理中，串口中断接收数据直接往环形缓冲区丢数据，而应用可以从环形缓冲区取数据进行处理，这样数据在读取和写入的时候都可以在这个缓冲区里循环进行，程序员可以根据自己需要的数据大小来决定自己使用的缓冲区大小。

#### 特点

- 使用读取索引和写入索引的高位作为镜像位，通过镜像位的不同来表示缓冲区的状态。

- 当读取索引和写入索引的值相同时，但镜像位不同时，表示缓冲区已满。read_index==write_index&&

- 当读取索引和写入索引的值相同时，并且镜像位也相同时，表示缓冲区为空。

- 使用环形缓冲区的好处是当一个元素被消费时，不需要移动其他元素，因为新的元素可以直接写入到最后一个位置上，实现了一种先进先出（FIFO）的数据结构。这在很多应用中非常有用。

#### 回到实际代码

```c
rt_size_t rt_ringbuffer_put(struct rt_ringbuffer *rb,
                            const rt_uint8_t     *ptr,
                            rt_uint16_t           length)
{
    rt_uint16_t size;

RT_ASSERT(rb != RT_NULL);

/* whether has enough space */
    size = rt_ringbuffer_space_len(rb);

/* no space */
    if (size == 0)
        return 0;

/* drop some data */
    if (size < length)
        length = size;

if (rb->buffer_size - rb->write_index > length)
    {
        /* read_index - write_index = empty space */
        rt_memcpy(&rb->buffer_ptr[rb->write_index], ptr, length);
        /* this should not cause overflow because there is enough space for
         * length of data in current mirror */
        rb->write_index += length;
        return length;
    }

rt_memcpy(&rb->buffer_ptr[rb->write_index],
              &ptr[0],
              rb->buffer_size - rb->write_index);
    rt_memcpy(&rb->buffer_ptr[0],
              &ptr[rb->buffer_size - rb->write_index],
              length - (rb->buffer_size - rb->write_index));

/* we are going into the other side of the mirror */
    rb->write_mirror = ~rb->write_mirror;
    rb->write_index = length - (rb->buffer_size - rb->write_index);

return length;
}
```

该函数的目的是向环形缓冲区中写入数据，根据当前写指针的位置和可用空间的大小，判断数据是否可以连续写入当前镜像，如果不能，则跨越镜像边界继续写入。函数返回实际写入的数据长度

#### 5. 存放数据的管道结构体

```c
/**
 * Pipe Device
 */

struct rt_pipe_device
{
    struct rt_device parent;
    rt_bool_t is_named;

/* ring buffer in pipe device */
    struct rt_ringbuffer *fifo;
    rt_uint16_t bufsz;

rt_uint8_t readers;
    rt_uint8_t writers;

rt_wqueue_t reader_queue;
    rt_wqueue_t writer_queue;

struct rt_mutex lock;
};
typedef struct rt_pipe_device rt_pipe_t;
```

**rt_pipe_write**函数把我们的device指针强转为**管道device**

在它的**fifo**数据缓冲区中存储数据

### CAN接收

前面和上面差不多，直接跳到pipe层

#### rt_pipe_read

```c
static rt_size_t rt_pipe_read(rt_device_t device, rt_off_t pos, void *buffer, rt_size_t count)
{
    uint8_t *pbuf;
    rt_size_t read_bytes = 0;
    rt_pipe_t *pipe = (rt_pipe_t *)device;

if (device == RT_NULL)
    {
        rt_set_errno(EINVAL);
        return 0;
    }
    if (count == 0) return 0;

pbuf = (uint8_t *)buffer;
    rt_mutex_take(&(pipe->lock), RT_WAITING_FOREVER);

while (read_bytes < count)
    {
        int len = rt_ringbuffer_get(pipe->fifo, &pbuf[read_bytes], count - read_bytes);
        if (len <= 0) break;

read_bytes += len;
    }
    rt_mutex_release(&pipe->lock);

return read_bytes;
}
```

调用 `rt_ringbuffer_get` 函数从管道的环形缓冲区中读取数据到缓冲区中，返回实际读取的字节数。将读取的数据追加到 `pbuf` 中，并更新已读取字节数。

#### rt_ringbuffer_get

```c
/**
 * @brief Get data from the ring buffer.
 *
 * @param rb            A pointer to the ring buffer.
 * @param ptr           A pointer to the data buffer.
 * @param length        The size of the data we want to read from the ring buffer.
 *
 * @return Return the data size we read from the ring buffer.
 */
rt_size_t rt_ringbuffer_get(struct rt_ringbuffer *rb,
                            rt_uint8_t           *ptr,
                            rt_uint16_t           length)
{
    rt_size_t size;

RT_ASSERT(rb != RT_NULL);

/* whether has enough data  */
    size = rt_ringbuffer_data_len(rb);

/* no data */
    if (size == 0)
        return 0;

/* less data */
    if (size < length)
        length = size;

if (rb->buffer_size - rb->read_index > length)
    {
        /* copy all of data */
        rt_memcpy(ptr, &rb->buffer_ptr[rb->read_index], length);
        /* this should not cause overflow because there is enough space for
         * length of data in current mirror */
        rb->read_index += length;
        return length;
    }

rt_memcpy(&ptr[0],
              &rb->buffer_ptr[rb->read_index],
              rb->buffer_size - rb->read_index);
    rt_memcpy(&ptr[rb->buffer_size - rb->read_index],
              &rb->buffer_ptr[0],
              length - (rb->buffer_size - rb->read_index));

/* we are going into the other side of the mirror */
    rb->read_mirror = ~rb->read_mirror;
    rb->read_index = length - (rb->buffer_size - rb->read_index);

return length;
}
```

1. 首先通过调用 `rt_ringbuffer_data_len(rb)` 函数获取当前环形缓冲区中的数据大小。
2. 如果数据大小为0，则表示缓冲区中没有数据可读，直接返回0。
3. 如果数据大小小于要读取的长度 `length`，则将要读取的长度修改为数据大小，避免越界访问。
4. 判断从当前读取索引位置开始，到缓冲区末尾的数据是否足够读取 `length` 大小的数据。如果足够，则直接将数据复制到指定的数据缓冲区 `ptr` 中，并更新读取索引。
5. 如果从当前读取索引位置开始，到缓冲区末尾的数据不足以满足读取 `length` 大小的数据，则先将缓冲区末尾的数据复制到 `ptr` 中，然后将剩余长度的数据从缓冲区开头复制到 `ptr` 的剩余空间中。
6. 更新读取索引，将其设置为剩余数据的起始位置，并且切换读取索引的镜像位，以便正确读取数据。

### 综上所述

SPARK的can例程看似并不涉及通俗意义的can协议，只是把一段数据层层调用接口，最终写入一个can设备的pipe强转类型的**rt_ringbuffer**环形缓冲区种，然后再由要读的设备从那里读出来。比如说can0想要向can1写数据，那么就会直接把数据写在can1的环形缓存区中。