/* * eth_drive.c * * Created on: 2023年1月5日 * Author: Administrator */ #include "interface_etherent.h" #include "interface_config.h" #include #include "eth_driver.h" #include "eth_driver.h" //********************************************************************* //全局变量 u8 MACAddr[6]= {0}; //MAC address u8 IPAddr[4] = { 192, 168, 17, 30 }; //IP address u8 GWIPAddr[4] = { 192, 168, 17, 1 }; //Gateway IP address u8 IPMask[4] = { 255, 255, 255, 0 }; //subnet mask u16 srcport = 8011; //source port u16 LocalPort = 8000; u16 DownloadPort = 7811; u8 SocketRecvBuf0[WCHNET_NUM_TCP][RECE_BUF_LEN] = {0}; //socket receive buffer u8 SocketRecvBuf1[RECE_BUF_LEN] = {0}; //socket receive buffer u8 SocketRecvBuf2[RECE_BUF_LEN] = {0}; //socket receive buffer u16 Desport = 7900; u8 pc_ipAddr[4] = { 192, 168, 17, 2 }; //计算机IP address u8 remote_base_ip[4] = { 192, 168, 10, 8 }; //远程基站IP address u16 remote_port = 1008; //远程基站端口 u8 tcp_socket[WCHNET_NUM_TCP]; //Save the currently connected socket SystemDataRecord g_systemDataRecord = {0,0,0,0}; u8 SocketId = 0; u8 SocketId2 = 1; u8 SocketId3 = 2; u8 SocketId4 = 3; u8 ETHResBuf[500] = {0}; u32 ETHUDPTxLen = 0; uint8_t portableOcuTimeOutCnt = 0; uint8_t remoteOcuTimeOutCnt = 0; uint8_t OwnMasterTimCnt = 0; uint8_t OwnMasterOnline = 0; uint8_t portableOcuOnline = 0; uint8_t remoteOcuOnline = 0; Timer ethernet_timer_interface; Timer ethernet_timer_interface1; /********************************************************************* * @fn mStopIfError * * @brief check if error. * * @param iError - error constants. * * @return none */ void mStopIfError(u8 iError) { if (iError == WCHNET_ERR_SUCCESS) return; printf("Error: %02X\r\n", (u16) iError); } /********************************************************************* * @fn IAP_EEPROM_ERASE * * @brief erase Data-Flash block, minimal block is 256B * * @param Page_Address - the address of the page being erased. * Length - Erased data length * * @return none */ void IAP_EEPROM_ERASE(uint32_t Page_Address, u32 Length) { u32 NbrOfPage, EraseCounter; FLASH_Unlock_Fast(); NbrOfPage = Length / FLASH_PAGE_SIZE; for (EraseCounter = 0; EraseCounter < NbrOfPage; EraseCounter++) { FLASH_ErasePage_Fast( Page_Address + (FLASH_PAGE_SIZE * EraseCounter)); //Erase 256B } FLASH_Lock_Fast(); } /********************************************************************* * @fn IAP_EEPROM_WRITE * * @brief write Data-Flash data block * * @param StartAddr - the address of the page being written. * Buffer - data buff * Length - written data length * * @return FLASH_Status */ void IAP_EEPROM_WRITE( u32 StartAddr, u8 *Buffer, u32 Length ) { u32 address = StartAddr; u32 *p_buff = (u32 *)Buffer; u16 pageNum = Length / FLASH_PAGE_SIZE; u16 lastDataNum = Length % FLASH_PAGE_SIZE; u16 i; if(pageNum){ //write by page(256B) FLASH_Unlock_Fast(); for(i = 0; i < pageNum; i++) FLASH_ProgramPage_Fast((address + FLASH_PAGE_SIZE * i),(p_buff + (FLASH_PAGE_SIZE / 4) * i)); FLASH_Lock_Fast(); } if(lastDataNum){ //write by a half word(2B) u8 *p_buff1 = Buffer + FLASH_PAGE_SIZE * pageNum; address = StartAddr + FLASH_PAGE_SIZE * pageNum; FLASH_Unlock(); for(i = 0; i < lastDataNum; i += 2) FLASH_ProgramHalfWord((address + i), *(u16 *)(p_buff1 + i)); FLASH_Lock(); } } /********************************************************************* * @fn IAP_EEPROM_READ * * @brief read Data-Flash data block * * @param StartAddr - the address of the page being read. * Buffer - data buff * Length - read data length * * @return none */ void IAP_EEPROM_READ( u32 StartAddr, u8 *Buffer, u32 Length ) { u32 address = StartAddr; u32 *p_buff = (u32 *)Buffer; while(address < (StartAddr + Length)) { *p_buff = (*(u32 *)address); address += 4; p_buff++; } } /********************************************************************* * @fn WCHNET_UdpServerRecv * * @brief UDP Receive data function * *@param socinf - socket information. * ipaddr - The IP address from which the data was sent * port - source port * buf - pointer to the data buffer * len - received data length * @return none */ void WCHNET_UdpServerRecv(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len) { u8 ip_addr[4]; //--------------------------------------------------------------------------------------- if((0xFF == buf[0]) && (0xBB == buf[1]))//自主计算机手动遥控器或者远程遥控器 { portableOcuOnline = 1; portableOcuTimeOutCnt = 0; } else if((0xFF == buf[0]) && (0xCC == buf[1]))//自主计算器 自动 { portableOcuOnline = 1; } else if(DF_DownloadDesIPAdress == ip_addr[3])//以太网接收 { } else { } } /********************************************************************* * @fn WCHNET_UdpServerRecv * * @brief UDP Receive data function * *@param socinf - socket information. * ipaddr - The IP address from which the data was sent * port - source port * buf - pointer to the data buffer * len - received data length * @return none */ void WCHNET_UdpServerRecv1(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len)//端口8000 { //--------------------------------------------------------------------------------------- if( (0x80 == buf[0]) && (0x00 == buf[1]) ) { memcpy((uint8_t *)&(un_request_frame.arr[0]),buf, sizeof(UnRequestFrame)); printf("read_id = %d \r\n",request_read_id); //20250412 保存请求者信息 for (uint8_t i = 0; i < 4; i++) { str_RequestMessage.ip_adesser[i] = ipaddr & 0xff; ipaddr = ipaddr >> 8; } str_RequestMessage.port = port; publishMessage(&un_request_frame, 1); } } /********************************************************************* * @fn WCHNET_UdpServerRecv * * @brief UDP Receive data function * *@param socinf - socket information. * ipaddr - The IP address from which the data was sent * port - source port * buf - pointer to the data buffer * len - received data length * @return none */ void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len)//端口7811 { u8 ip_addr[4]; u16 i = 0; u32 PCLen2 = 0; u8 ENETTxMessage[8] = {0,0,0,0,0,0,0,0}; //--------------------------------------------------------------------------------------- printf("Remote IP:"); for (i = 0; i < 4; i++) { ip_addr[i] = ipaddr & 0xff; printf("%d ", ip_addr[i]); ipaddr = ipaddr >> 8; } printf("srcport = %d len = %d socketid = %d\r\n", port, len, socinf->SockIndex); if((buf[0] == 0x01) && (buf[1] == 0x0A))//接收指令进入boot，然后重启 20230430增加 { g_systemDataRecord.canBootloaderUpgrade = CAN_BOOTLOADER_UPGRADE;//设置boot标志 IAP_EEPROM_ERASE(DATA_START_ADDR, FLASH_PAGE_SIZE); IAP_EEPROM_WRITE(DATA_START_ADDR, (uint8_t *)&g_systemDataRecord, 4); //写入标志量 while(1) { NVIC_SystemReset();//重启 } } else if((buf[0] == 0x01) && (buf[1] == 0x01))//反馈当前状态 { IAP_EEPROM_READ( DATA_START_ADDR, (uint8_t *)&g_systemDataRecord, 4 ); PCLen2 = 8; ENETTxMessage[0] = 0x01; ENETTxMessage[1] = 0x01; ENETTxMessage[2] = 0;//主版本号，两字节 ENETTxMessage[3] = 1; ENETTxMessage[4] = 0;//次版本号，两字节 ENETTxMessage[5] = 0; ENETTxMessage[6] = 0; ENETTxMessage[7] = NORMAL_ON;//1：固件是Bootloader, 0:固件是APP UdpSendToData(SocketId3,ENETTxMessage,&PCLen2,ip_addr,port);//测试 } } /********************************************************************* * @fn WCHNET_CreateTcpSocket * * @brief Create TCP Socket * * @return none */ void WCHNET_CreateTcpSocket(void) { u8 i; SOCK_INF TmpSocketInf; memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); memcpy((void *) TmpSocketInf.IPAddr, remote_base_ip, 4); TmpSocketInf.DesPort = remote_port; TmpSocketInf.SourPort = 1008; TmpSocketInf.ProtoType = PROTO_TYPE_TCP; TmpSocketInf.RecvBufLen = RECE_BUF_LEN; i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf); printf("SocketId %d\r\n", SocketId3); mStopIfError(i); i = WCHNET_SocketConnect(SocketId3); //make a TCP connection mStopIfError(i); } /********************************************************************* * @fn WCHNET_CreateUdpSocket * * @brief Create UDP Socket * * @return none */ void WCHNET_CreateUdpSocket(void) { // u8 i; SOCK_INF TmpSocketInf; // memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); // TmpSocketInf.SourPort = srcport; // TmpSocketInf.ProtoType = PROTO_TYPE_UDP; // TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf0; // TmpSocketInf.RecvBufLen = UDP_RECE_BUF_LEN; // TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv; // i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf); // printf("WCHNET_SocketCreat %d\r\n", SocketId); // mStopIfError(i); #if KEEPALIVE_ENABLE //Configure keep alive parameters { struct _KEEP_CFG cfg; cfg.KLIdle = 20000; cfg.KLIntvl = 15000; cfg.KLCount = 9; WCHNET_ConfigKeepLive(&cfg); } #endif memset(tcp_socket, 0xff, WCHNET_NUM_TCP); WCHNET_CreateTcpSocket(); // memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); // TmpSocketInf.SourPort = srcport; // TmpSocketInf.ProtoType = PROTO_TYPE_TCP; // i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf); // printf("SocketIdForListen %d\r\n", SocketId); // mStopIfError(i); // i = WCHNET_SocketListen(SocketId); //listen for connections // mStopIfError(i); // memset((void *)&TmpSocketInf, 0, sizeof(SOCK_INF)); TmpSocketInf.SourPort = LocalPort; TmpSocketInf.ProtoType = PROTO_TYPE_UDP; TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf1; TmpSocketInf.RecvBufLen = RECE_BUF_LEN; TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv1; WCHNET_SocketCreat(&SocketId2, &TmpSocketInf); printf("WCHNET_SocketCreat %d\r\n", SocketId2); // WCHNET_ModifyRecvBuf(SocketId, (u32)SocketRecvBuf[SocketId], RECE_BUF_LEN); memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); TmpSocketInf.SourPort = DownloadPort; TmpSocketInf.ProtoType = PROTO_TYPE_UDP; TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf2; TmpSocketInf.RecvBufLen = RECE_BUF_LEN; TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv2; WCHNET_SocketCreat(&SocketId3, &TmpSocketInf); printf("WCHNET_SocketCreat %d\r\n", SocketId3); // mStopIfError(i); } /********************************************************************* * @fn WCHNET_DataLoopback * * @brief Data loopback function. * * @param id - socket id. * * @return none */ void WCHNET_DataLoopback(u8 id) { #if 1 u8 i; u32 len; u32 endAddr = SocketInf[id].RecvStartPoint + SocketInf[id].RecvBufLen; //Receive buffer end address if ((SocketInf[id].RecvReadPoint + SocketInf[id].RecvRemLen) > endAddr) { //Calculate the length of the received data len = endAddr - SocketInf[id].RecvReadPoint; } else { len = SocketInf[id].RecvRemLen; } if(remote_port == SocketInf[id].DesPort)//接收数据，源端口正确就认为以太网传输RTCM数据 { memcpy(&RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf][0],(u8 *) SocketInf[id].RecvReadPoint,len); RTCM_Buffer1.type = ethernet; RTCM_Buffer1.buf_len = (uint16_t)len; RTCM_Buffer1.active_buf ^= 1; RTCM_Buffer1.eth_cnt ++;//累加判断 publishMessage(&RTCM_Buffer1, 1); } // printf("源端口: %u, 目标端口: %u\n", // SocketInf[id].SourPort, SocketInf[id].DesPort); // i = WCHNET_SocketSend(id, (u8 *) SocketInf[id].RecvReadPoint, &len); //send data if (i == WCHNET_ERR_SUCCESS) { WCHNET_SocketRecv(id, NULL, &len); //Clear sent data } #else u32 len, totallen; u8 *p = MyBuf, TransCnt = 255; len = WCHNET_SocketRecvLen(id, NULL); //query length printf("Receive Len = %d\r\n", len); totallen = len; WCHNET_SocketRecv(id, MyBuf, &len); //Read the data of the receive buffer into MyBuf while(1){ len = totallen; WCHNET_SocketSend(id, p, &len); //Send the data totallen -= len; //Subtract the sent length from the total length p += len; //offset buffer pointer if( !--TransCnt ) break; //Timeout exit if(totallen) continue; //If the data is not sent, continue to send break; //After sending, exit } #endif } /********************************************************************* * @fn WCHNET_HandleSockInt * * @brief Socket Interrupt Handle * * @param socketid - socket id. * intstat - interrupt status * * @return none */ void WCHNET_HandleSockInt(u8 socketid, u8 intstat) { u8 i; if (intstat & SINT_STAT_RECV) //receive data { WCHNET_DataLoopback(socketid); } if (intstat & SINT_STAT_CONNECT) //connect successfully { #if KEEPALIVE_ENABLE WCHNET_SocketSetKeepLive(socketid, ENABLE); #endif WCHNET_ModifyRecvBuf(socketid, (u32) SocketRecvBuf0[socketid], RECE_BUF_LEN); for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { if (tcp_socket[i] == 0xff) { //save connected socket id tcp_socket[i] = socketid; break; } } printf("TCP Connect Success\r\n"); printf("socket id: %d\r\n",tcp_socket[i]); } if (intstat & SINT_STAT_DISCONNECT) //disconnect { for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { //delete disconnected socket id if (tcp_socket[i] == socketid) { tcp_socket[i] = 0xff; break; } } printf("TCP Disconnect\r\n"); } if (intstat & SINT_STAT_TIM_OUT) //timeout disconnect { for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { //delete disconnected socket id if (tcp_socket[i] == socketid) { tcp_socket[i] = 0xff; break; } } printf("TCP Timeout\r\n"); WCHNET_CreateTcpSocket(); } } /********************************************************************* * @fn WCHNET_HandleGlobalInt * * @brief Global Interrupt Handle * * @return none */ void WCHNET_HandleGlobalInt(void) { u8 intstat; u16 i; u8 socketint; enter_critical_section(); intstat = WCHNET_GetGlobalInt(); //get global interrupt flag if (intstat & GINT_STAT_UNREACH) //Unreachable interrupt { // printf("GINT_STAT_UNREACH\r\n"); } if (intstat & GINT_STAT_IP_CONFLI) //IP conflict { printf("GINT_STAT_IP_CONFLI\r\n"); } if (intstat & GINT_STAT_PHY_CHANGE) //PHY status change { i = WCHNET_GetPHYStatus(); if (i & PHY_Linked_Status) printf("PHY Link Success\r\n"); } if (intstat & GINT_STAT_SOCKET) { //socket related interrupt for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { socketint = WCHNET_GetSocketInt(i); if (socketint) WCHNET_HandleSockInt(i, socketint); } } exit_critical_section(0x00); } /** * @brief UDP send, specify the target IP and target port * * @param socketid - socket id value * @param *buf - Address of the sent data * @param(in) *slen - Address of the sent length * @param *sip - destination IP address * @param port - destination port * * @param(out) *slen - actual length sent * * @return @ERR_T */ uint8_t UdpSendToData(uint8_t socketid, uint8_t *buf, uint32_t *slen, uint8_t *sip, uint16_t port)//发送数据 { uint16_t i = 0; //-------------------------------------------------------------- WCHNET_SocketUdpSendTo( socketid, buf, slen,sip, port);//发送 while(slen[0] != 0)//判断缓存是否空闲，空闲执行往下，否则就就等待一段时间，超时就直接跳出函数 { i++; if(i > DF_EthInfoWiteTime) { i = 0; return DF_SEND_Fail;//发送失败 } } return DF_SEND_Success; } /*@brief 计算字节累加校验码（取低8位） ? @param data 待校验数据的起始地址 ? @param len 数据长度（单位：字节） ? @return 校验码（低8位） ?*/ uint8_t CalculateChecksum(const uint8_t* data, size_t len) { uint32_t checksum = 0; // 使用32位变量防止溢出 for (size_t i = 0; i < len; ++i) { checksum += data[i]; // 累加每个字节 } return (uint8_t)(checksum & 0xFF); // 取低8位 } // 以太网定时器信号处理函数 static void ethernetInterfaceTimerProcess(void *signal_id) { static u_int32_t navigation_output_len = 0; // static u_int32_t navigation_output_len1 = 0; //---------------------------------------------------------------------- if (signal_id == &navigation_output1) { navigation_outputC1.bit_data.frame_header = 0xCCAA; navigation_outputC1.bit_data.frame_type = 0x2700; navigation_outputC1.bit_data.frame_length = 0x4100; navigation_outputC1.bit_data.accumulated ++; navigation_outputC1.bit_data.time = 0X00; navigation_outputC1.bit_data.car_speed = 0X00; //小端转换为大端 navigation_outputC1.bit_data.gyroscope_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_x_axis); navigation_outputC1.bit_data.gyroscope_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_y_axis); navigation_outputC1.bit_data.gyroscope_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_z_axis); navigation_outputC1.bit_data.acceleration_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_x_axis); navigation_outputC1.bit_data.acceleration_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_y_axis); navigation_outputC1.bit_data.acceleration_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_z_axis); navigation_outputC1.bit_data.magnetic_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_x_axis); navigation_outputC1.bit_data.magnetic_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_y_axis); navigation_outputC1.bit_data.magnetic_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_z_axis); navigation_outputC1.bit_data.lon = SWAP_ENDIAN_32(navigation_output1.bit_data.lon); navigation_outputC1.bit_data.lat = SWAP_ENDIAN_32(navigation_output1.bit_data.lat); navigation_outputC1.bit_data.high = SWAP_ENDIAN_32(navigation_output1.bit_data.high); navigation_outputC1.bit_data.gps_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.gps_speed); navigation_outputC1.bit_data.dual_antenna_heading = SWAP_ENDIAN_16(navigation_output1.bit_data.dual_antenna_heading); navigation_outputC1.bit_data.car_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.car_speed); navigation_outputC1.bit_data.time = SWAP_ENDIAN_32(navigation_output1.bit_data.time); navigation_outputC1.bit_data.rtk_state = navigation_output1.bit_data.rtk_state; navigation_outputC1.bit_data.crc1 = CalculateChecksum(&navigation_outputC1.arr[0],sizeof(UnInfNavigationOutputC)-1); // for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++) // { // if(tcp_socket[i] != 0xFF) // { // if(0 == navigation_output_len1) // { // navigation_output_len1 = sizeof(navigation_outputC1); // } // i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data // if (i == WCHNET_ERR_SUCCESS) { // WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data // } // } // } } else if (signal_id == &navigation_output2) { navigation_output2.bit_data.frame_header = 0xCCAA; navigation_output2.bit_data.frame_type = 0x2700; navigation_output2.bit_data.frame_length = 0x3100; navigation_output2.bit_data.accumulated ++; navigation_output2.bit_data.time = 0X00; navigation_output2.bit_data.car_speed = 0X00; //小端转换为大端 navigation_output2.bit_data.gyroscope_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_x_axis); navigation_output2.bit_data.gyroscope_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_y_axis); navigation_output2.bit_data.gyroscope_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_z_axis); navigation_output2.bit_data.acceleration_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_x_axis); navigation_output2.bit_data.acceleration_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_y_axis); navigation_output2.bit_data.acceleration_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_z_axis); navigation_output2.bit_data.magnetic_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_x_axis); navigation_output2.bit_data.magnetic_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_y_axis); navigation_output2.bit_data.magnetic_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_z_axis); navigation_output2.bit_data.lon = SWAP_ENDIAN_32(navigation_output1.bit_data.lon); navigation_output2.bit_data.lat = SWAP_ENDIAN_32(navigation_output1.bit_data.lat); navigation_output2.bit_data.high = SWAP_ENDIAN_32(navigation_output1.bit_data.high); navigation_output2.bit_data.gps_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.gps_speed); navigation_output2.bit_data.dual_antenna_heading = SWAP_ENDIAN_16(navigation_output1.bit_data.dual_antenna_heading); navigation_output2.bit_data.car_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.car_speed); navigation_output2.bit_data.time = SWAP_ENDIAN_32(navigation_output1.bit_data.time); navigation_output2.bit_data.rtk_state = navigation_output1.bit_data.rtk_state; navigation_output2.bit_data.crc1 = CalculateChecksum(&navigation_output2.arr[0],sizeof(UnInfNavigationOutput)-1); if(0 == navigation_output_len) { navigation_output_len = sizeof(navigation_output2); } UdpSendToData(SocketId2, (uint8_t *)&navigation_output2, &navigation_output_len, &str_RequestMessage.ip_adesser[0],str_RequestMessage.port);//发送数据 } else { } } void ethInterruptProcess(void *signal_id) { /*Ethernet library main task function, * which needs to be called cyclically*/ WCHNET_MainTask(); /*Query the Ethernet global interrupt, * if there is an interrupt, call the global interrupt handler*/ if(WCHNET_QueryGlobalInt()) { WCHNET_HandleGlobalInt(); } timerStart(ðernet_timer_interface, 1,1); //1ms调用一次 } void ethernetFaultProcess(void *signal_id)//以太网RTCM连接判断。 { static uint8_t eth_cnt_last = 0; if( (RTCM_Buffer1.eth_cnt == eth_cnt_last) && (ethernet == RTCM_Buffer1.type) )//如果数据一样，且那5s就是断开连接了。 { RTCM_Buffer1.type = init; } else { eth_cnt_last = RTCM_Buffer1.eth_cnt; } timerStart(ðernet_timer_interface1, 8000,1); //8s调用一次 } void ethernetInterfaceInit(void) { //----------------------------------- // 订阅定时器信号，用于定时采集 subscribe(&navigation_output1, ethernetInterfaceTimerProcess); subscribe(&navigation_output2, ethernetInterfaceTimerProcess); subscribe(ðernet_timer_interface, ethInterruptProcess); subscribe(ðernet_timer_interface1, ethernetFaultProcess); //1ms调用一次 timerStart(ðernet_timer_interface, 1,1); //1ms调用一次 timerStart(ðernet_timer_interface1, 5000,1); //5s调用一次 printf( "ethernetInterface: initial OK %d\n",getCurrentTime()); }