cbb
079c6442d4
添加了AES128加密算法实现和电机OTA中继相关文件，包括： - ./sys/aes128.h 和 ./sys/aes128.cpp - AES128加密算法头文件和实现 - ./sys/motor_ota_relay.h 和 ./sys/motor_ota_relay.cpp - 电机OTA中继功能 - 更新了项目配置文件包含这些新模块
106 lines
2.8 KiB
C++
106 lines
2.8 KiB
C++
/**
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* @file motor_version.cpp
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* @brief 多电机版本缓存实现 — CAN 版本应答帧(0x00FF)识别、缓存、0xC6 序列化。
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*
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* 所有函数仅在主循环上下文调用（taskCanRxParse / pushStep），无 ISR 竞态。
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* 与 motor_state.cpp 不同：版本是事件驱动（收到应答才缓存+推送），无周期任务、
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* 无离线判定；pushStep 在 app_spi_cmd_motor_version.cpp（含 SPI 依赖）。
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*/
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#include "device/motor_version.h"
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#include "device/spi/app_spi_command_defs.h"
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#include <cstring>
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/* ── 全局版本表实例 ── */
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static MotorVersionTable s_verTable = {};
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namespace MotorVersion {
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MotorVersionTable &table()
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{
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return s_verTable;
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}
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void onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len)
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{
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(void)channel;
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/* 掩码匹配版本应答 ID: 0x000N00FF */
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if ((id & kMotorVersionIdMask) != kMotorVersionIdMatch) {
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return;
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}
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const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
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if (node < 1U || node > kMotorVersionMaxNodes) {
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return;
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}
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if (data == nullptr || len < 1U) {
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return;
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}
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MotorVersionSlot &slot = s_verTable.slots[node - 1U];
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slot.node_id = node;
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slot.seq = ++s_verTable.global_seq;
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/* 拷贝原始 payload（不足补 0，超长截断） */
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const uint8_t n = (len <= kMotorVersionDlc) ? len : kMotorVersionDlc;
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std::memcpy(slot.version, data, n);
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if (n < kMotorVersionDlc) {
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std::memset(&slot.version[n], 0, kMotorVersionDlc - n);
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}
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slot.dirty = 1U; /* 标记待推送 */
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}
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bool hasPending()
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{
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for (uint8_t i = 0U; i < kMotorVersionMaxNodes; ++i) {
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if (s_verTable.slots[i].dirty != 0U) {
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return true;
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}
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}
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return false;
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}
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uint16_t buildPayload(uint8_t *buf, uint16_t maxLen)
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{
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if (buf == nullptr || maxLen < kMotorVersionHeaderLen) {
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return 0U;
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}
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/* Header (2B): count 稍后回填, rsvd=0 */
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buf[0] = 0U;
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buf[1] = 0U;
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uint16_t offset = kMotorVersionHeaderLen;
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uint8_t count = 0U;
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for (uint8_t i = 0U; i < kMotorVersionMaxNodes; ++i) {
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MotorVersionSlot &slot = s_verTable.slots[i];
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if (slot.dirty == 0U) {
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continue;
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}
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/* 检查剩余空间；装不下则保留 dirty 待下轮（不丢） */
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if (offset + kMotorVersionEntrySize > maxLen) {
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break;
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}
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buf[offset + 0U] = slot.node_id;
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writeU32Le(&buf[offset + 1U], slot.seq);
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std::memcpy(&buf[offset + 5U], slot.version, kMotorVersionDlc);
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offset += kMotorVersionEntrySize;
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count++;
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slot.dirty = 0U; /* 已打包进本次推送 */
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}
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if (count == 0U) {
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return 0U;
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}
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buf[0] = count;
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return offset;
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}
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} // namespace MotorVersion
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