471 lines
10 KiB
C
471 lines
10 KiB
C
#include "stdio.h"
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#include "rtthread.h"
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#include "board.h"
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#include "mystdlib.h"
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#include "list.h"
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#include "mystring.h"
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#include "signal.h"
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#include "prot_mcu.h"
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#include "buff.h"
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#include "bytearray.h"
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#include "debug.h"
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#include "crc.h"
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typedef struct{
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uint16_t no;
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list_def *cmds;//int
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uint8_t addr;
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uint8_t cmd;
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array_def *data;
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int retry;
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int timeout_ms;
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}protm_slave;
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static int protm_slave_sub(void *a,void *b)
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{
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protm_slave *a_=a;
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protm_slave *b_=b;
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return a_->addr-b_->addr;
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}
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static int protm_slave_del(void *t)
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{
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protm_slave *p=t;
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CHECK_DO(p->cmds,list_delete);
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return 0;
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}
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static protm_slave *protm_slave_creat(void)
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{
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protm_slave *p=calloc(1,sizeof(protm_slave));
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param_check(p);
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return p;
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}
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array_def *protm_decode(protm_def *p,array_def *data);
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protm_slave *protm_get_slave(protm_def *p,uint8_t addr);
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typedef struct{
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array_def *data;
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int addr;
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}send_data_def;
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// 定义事件
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#define EVENT_RECV 0x1
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#define EVENT_SEND 0x2
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#define EVENT_TIMEOUT 0x4
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struct _protm_def{
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uart_def *uart;
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array_def *buff;
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int num_to_recv;
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rt_event_t event;
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rt_timer_t timer;
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int run;
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char *str_err;
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list_def *slaves;//protm_slave
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list_def *slaves_addr;//int
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list_def *send_data;//send_data_def
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int in_send;//在发送状态时为1
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uint8_t recv_cmd;
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uint8_t recv_src;
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};
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static void recv_irq(void *t,uint8_t d)
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{
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protm_def *p=t;
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arr_append(p->buff,d);
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switch(arr_length(p->buff)){
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case 2:
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if(arr_get(p->buff,0)=='Y'&&arr_get(p->buff,1)=='e')
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{
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p->num_to_recv=4;
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}else{
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arr_remove(p->buff,0,1);
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p->num_to_recv=0;
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}
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break;
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case 4:
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{
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int len=arr_get(p->buff,2)|(arr_get(p->buff,3)<<8);
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p->num_to_recv=len;
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}
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break;
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default:
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break;
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}
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// 此时一帧数据已完成
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if(p->num_to_recv>0&&p->num_to_recv==arr_length(p->buff))
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{
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rt_event_send(p->event,EVENT_RECV);
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}
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}
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/*
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* 与从机通信的串口是串行的，一个通信事务完成之后才能开始下一个通信
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* 协议层接收的通信事务是并行的，应用层来的通信任务会被放入队列
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*/
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static void protm_send_next(void *t);
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int protm_send(protm_def *p,send_data_def *d);
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static void protm_send_timeout(void *t);
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static void protm_run(void *t)
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{
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protm_def *p=t;
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array_def *data;
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array_def *decode_data;
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uint32_t ev;
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while(p->run)
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{
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rt_event_recv(p->event,0xffffffff,RT_EVENT_FLAG_OR|RT_EVENT_FLAG_CLEAR,RT_WAITING_FOREVER,&ev);
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if(ev&EVENT_RECV)
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{
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// DBG_LOG("protmcu:recv event.");
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data=arr_duplicate(p->buff);
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arr_clear(p->buff);
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//DBG_LOG("recv:%s",str_temp(arr_string(data)));
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decode_data=protm_decode(p,data);
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arr_delete(data);
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emit protm_recv_signal(p,p->recv_src,p->recv_cmd,arr_temp(decode_data),str_temp(str_duplicate(p->str_err)));
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irq_disable();
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p->num_to_recv=0;
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irq_enable();
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protm_send_next(p);
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}
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else if(ev&EVENT_TIMEOUT)
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{
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protm_send_timeout(p);
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}
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if (ev&EVENT_SEND)
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{
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// DBG_LOG("protmcu:send event.");
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if(list_length(p->send_data)>0)
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{
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send_data_def *a=(send_data_def *)list_get(p->send_data,0);
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protm_send(p,a);
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}
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}
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ev=0;
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}
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}
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// 发送下一个
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static void protm_send_next(void *t)
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{
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protm_def *p=t;
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rt_timer_stop(p->timer);
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list_remove(p->send_data,0);
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// 如果发送列表中有数据，此时发送
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if (list_length(p->send_data)>0)
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{
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// DBG_LOG("protmcu:EVENT_SEND.");
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rt_event_send(p->event,EVENT_SEND);
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}
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else{
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irq_disable();
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p->in_send=0;
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irq_enable();
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}
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}
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static void protm_send_timeout_cb(void *t)
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{
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protm_def *p=t;
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rt_event_send(p->event,EVENT_TIMEOUT);
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}
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// 接收超时
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static void protm_send_timeout(void *t)
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{
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protm_def *p=t;
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send_data_def *s=list_get(p->send_data,0);
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protm_slave *sl=protm_get_slave(p,s->addr);
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if(sl->retry>0){
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sl->retry--;
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DBG_WARN("slave:%d retry left ",s->addr,sl->retry);
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list_shift(p->send_data);
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}else{
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DBG_WARN("slave:%d retry timeout,remove the send data.",s->addr);
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list_remove(p->send_data,0);
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}
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// 如果发送列表中有数据，此时发送
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if (list_length(p->send_data)>0)
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{
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// DBG_LOG("protmcu:EVENT_SEND.");
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rt_event_send(p->event,EVENT_SEND);
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}
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else{
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irq_disable();
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p->in_send=0;
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irq_enable();
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}
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}
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// 发送队列删除条目
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static int _list_send_data_del(void *t)
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{
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send_data_def *a=t;
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arr_delete(a->data);
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return 0;
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}
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protm_def *protm_creat(uart_def *uart,int *addrs,int num)
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{
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static int count=0;
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char name[20]={0};
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protm_def *p=calloc(1,sizeof(protm_def));
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param_check(p);
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p->uart=uart;
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sprintf(name,"protm_event#%d",count);
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p->event=rt_event_create(name,RT_IPC_FLAG_FIFO);
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p->buff=arr_creat();
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p->run=1;
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p->slaves=list_creat(sizeof(protm_slave),protm_slave_sub,protm_slave_del,0);
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p->slaves_addr=list_creat_int();
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p->send_data=list_creat(sizeof(send_data_def),0,_list_send_data_del,0);
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// 创建超时定时器，超过指定时间则不再等待从机返回
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p->timer=rt_timer_create("port_timer",protm_send_timeout_cb,p,
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rt_tick_from_millisecond(55),
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RT_TIMER_FLAG_ONE_SHOT|RT_TIMER_FLAG_SOFT_TIMER);
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list_appends(p->slaves_addr,addrs,num);
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sprintf(name,"protm_t#%d",count);
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rt_thread_t rt_t=rt_thread_create(name,protm_run,p,512,5,20);
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rt_thread_startup(rt_t);
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p->uart->init(p->uart);
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p->uart->set_irq(p->uart,recv_irq,p);
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count++;
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return p;
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}
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// 得到指定地址的从机,找不到则添加
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protm_slave *protm_get_slave(protm_def *p,uint8_t addr)
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{
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protm_slave *r=0;
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for(int i=0;i<list_length(p->slaves);i++)
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{
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r=list_get(p->slaves,i);
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if(r->addr==addr)
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return r;
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}
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r=protm_slave_creat();
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r->addr=addr;
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r->cmds=list_creat_int();
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r->no=0;
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list_append(p->slaves,r);
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free(r);
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return list_get(p->slaves,-1);
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}
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// 设置所有从机流水号
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void protm_set_no_all(protm_def *p,uint16_t no,list_def *cmd/*int*/)
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{
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for(int i=0;i<list_length(p->slaves);i++)
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{
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protm_slave *s=list_get(p->slaves,i);
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s->no=no;
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list_clear(s->cmds);
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list_append_from(s->cmds,cmd);
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}
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}
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// 设置单个从机流水号
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void protm_set_no(protm_def *p,uint8_t addr,uint16_t no,list_def *cmd/*int*/)
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{
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protm_slave *s=protm_get_slave(p,addr);
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s->no=no;
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list_clear(s->cmds);
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list_append_from(s->cmds,cmd);
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}
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// 解码
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array_def *protm_decode(protm_def *p,array_def *data)
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{
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array_def *r=arr_creat();
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param_check(r);
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str_set(p->str_err,"ok");
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if(arr_length(data)<10)
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{
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DBG_WARN("recv data len too less.");
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str_set(p->str_err,"recv data len too less.");
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return r;
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}
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uint8_t src=arr_get(data,4);
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p->recv_src=src;
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uint16_t len=arr_get(data,2)|(arr_get(data,3)<<8);
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uint8_t crc=crc_crc8(arr_data(data),arr_length(data)-1);
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if(len!=arr_length(data))
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{
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// 如果长度不相等则产生了数据丢失
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DBG_WARN("recv data have lossed.");
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str_set(p->str_err,"recv data have lossed.");
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return r;
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}
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uint16_t no=arr_get(data,7)|(arr_get(data,8)<<8);
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uint16_t h_no=protm_get_slave(p,src)->no;
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if(no!=h_no)
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{
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// 发送一条指令等待其返回，此时流水号应相同
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//DBG_WARN("slave_addr=%d cmd_no error:h_no=%d,no=%d.",src,h_no,no);
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//str_set(p->str_err,"cmd no err.");
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//return r;
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}
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if(crc!=arr_get(data,-1))
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{
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DBG_WARN("recv data crc check error:%02x,%02x.",crc,arr_get(data,-1));
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str_set(p->str_err,"crc check err.");
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}
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p->recv_cmd=arr_get(data,6);
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list_def *cmds=protm_get_slave(p,src)->cmds;
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if(list_contains(cmds,(int []){p->recv_cmd})==0){
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// 命令号校验不对
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DBG_WARN("cmd check err.cmds=%s,recv_cmd=%d",tappend(list_string(cmds),0),p->recv_cmd);
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str_set(p->str_err,"cmd check err.");
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}
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arr_delete(r);
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return arr_mid(data,9,len-10);
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}
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// 编码
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array_def *protm_encode(protm_def *p,uint8_t dst,uint8_t cmd,list_def *comp_cmd/*int*/,array_def *data)
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{
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array_def *t=arr_creat();
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param_check(t);
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uint16_t len=arr_length(data)+10;
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protm_slave *slave=protm_get_slave(p,dst);
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slave->no++;
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protm_set_no(p,dst,slave->no,comp_cmd);
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arr_append(t,'Y');
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arr_append(t,'e');
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arr_append(t,len&0xff);
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arr_append(t,len>>8);
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arr_append(t,0);// 源地址
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arr_append(t,dst);// 目标地址
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arr_append(t,cmd);// 命令码
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arr_append(t,slave->no&0xff);
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arr_append(t,slave->no>>8);
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arr_appends_from(t,data);
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arr_append(t,crc_crc8(arr_data(t),arr_length(t)));
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return t;
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}
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// 发送数据，发送前先开启超时定时器
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int protm_send(protm_def *p,send_data_def *d)
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{
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rt_tick_t tick=0;
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protm_slave *s=protm_get_slave(p,d->addr);
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//DBG_LOG("send:%s",str_temp(arr_string(d->data)));
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tick=rt_tick_from_millisecond(s->timeout_ms);
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rt_timer_control(p->timer,RT_TIMER_CTRL_SET_TIME,&tick);
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rt_timer_start(p->timer);
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if(d->data==0)
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{
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DBG_WARN("addr=%d,d->data=0",d->addr);
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return 0;
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}
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return p->uart->write(p->uart,arr_data(d->data),arr_length(d->data));
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}
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//// 槽函数，发送数据到指定地址
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//void protm_send_call(protm_def *p,list_def *addrs/*int*/,uint8_t cmd,list_def *comp_cmd/*int*/,array_def *data)
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//{
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// param_check(p);
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// for(int i=0;i<list_length(addrs);i++)
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// {
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// uint8_t dst=(uint8_t)list_get_int(addrs,i);
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// if(list_contains(p->slaves_addr,(int []){dst})==1)
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// {
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// array_def *t=0;
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// t=protm_encode(p,dst,cmd,comp_cmd,data);
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// protm_send(p,t);
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// arr_delete(t);
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// }
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// }
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//}
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// 槽函数，发送数据到指定地址
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void protm_send_call(protm_def *p,uint8_t addr,uint8_t cmd,list_def *comp_cmd/*int*/,array_def *data,int timeout_ms,int retry)
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{
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param_check(p);
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if(list_contains(p->slaves_addr,(int []){addr})==1)
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{
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array_def *t=0;
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t=protm_encode(p,addr,cmd,comp_cmd,data);
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//protm_send(p,t);
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//arr_delete(t);
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// 添加到发送队列，发送必须等到回应或超时才能发送下一个
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DBG_LOG("send to:%d",addr);
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send_data_def sd={0};
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sd.addr=addr;sd.data=t;
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protm_slave *s=protm_get_slave(p,addr);
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s->retry=retry;
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s->timeout_ms=timeout_ms;
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list_append(p->send_data,&sd);
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if(p->in_send==0){
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irq_disable();
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p->in_send=1;
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irq_enable();
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//DBG_LOG("send call");
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rt_event_send(p->event,EVENT_SEND);
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}
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}
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}
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// 返回1表示此地址可以发送到这个端口
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int protm_contains(protm_def *p,uint8_t addr)
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{
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param_check(p);
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return list_contains(p->slaves_addr,(int []){addr});
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}
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