62 lines
1.5 KiB
C
62 lines
1.5 KiB
C
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/*
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* spi_ring_cache.h - SPI ring push 缓存共享辅助
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*
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* gd32_adc_feedback / motor_state / motor_version 三个模块共用相同的
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* 互斥懒创建 + 小端读 + ageMs 计算样板，提取到此处消除三份拷贝。
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*/
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#ifndef SPI_RING_CACHE_H
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#define SPI_RING_CACHE_H
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ── 小端读 ── */
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static inline uint16_t rdU16Le(const uint8_t *p)
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{
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return (uint16_t)((uint16_t)p[0] | ((uint16_t)p[1] << 8));
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}
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static inline uint32_t rdU32Le(const uint8_t *p)
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{
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return (uint32_t)p[0]
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| ((uint32_t)p[1] << 8)
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| ((uint32_t)p[2] << 16)
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| ((uint32_t)p[3] << 24);
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}
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/* ── 互斥懒创建 ── */
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static inline void ringCacheEnsureMux(SemaphoreHandle_t *mux)
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{
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if (*mux == nullptr) {
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*mux = xSemaphoreCreateMutex();
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}
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}
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/* ── 通用 ageMs ──
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* 传入缓存的 have 标志 + recv_ms 时间戳，返回距 now 的毫秒数。
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* 无数据或 recv_ms<=0 返回 UINT32_MAX。
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*/
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static inline uint32_t ringCacheAgeMs(bool have, int64_t recv_ms)
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{
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if (!have || recv_ms <= 0) return UINT32_MAX;
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const int64_t now = esp_timer_get_time() / 1000;
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if (now < recv_ms) return 0U;
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const int64_t age = now - recv_ms;
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return (age > (int64_t)UINT32_MAX) ? UINT32_MAX : (uint32_t)age;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif // SPI_RING_CACHE_H
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