【无标题】

int spi_send(uint8_t* data, size_t length) {// SPI 发送数据
	for (size_t i = 0; i < length; i++) {// 发送每个字节
		SPI_DR = data[i];
		while (!(SPI_SR & SPI_FLAG_TXE)); // 等待发送完成
	}
	return 0;
}
int spi_receive(uint8_t* data, size_t length) {// SPI 接收数据
	for (size_t i = 0; i < length; i++) {
		while (!(SPI_SR & SPI_FLAG_RXNE)); // 等待数据到达
		data[i] = SPI_DR; // 接收数据
	}
	return 0;
}

#include <stdint.h>
#include <stddef.h>
#define ETHERCAT_FRAME_MAX_SIZE 512

// 定义数据帧结构
typedef struct {
	uint8_t header[2];
	uint8_t data[ETHERCAT_FRAME_MAX_SIZE];
	uint16_t length;
} EtherCAT_Frame;
// 发送 EtherCAT 帧
int send_frame(EtherCAT_Frame* frame) {
	uint8_t raw_frame[ETHERCAT_FRAME_MAX_SIZE + 2];
	raw_frame[0] = frame->header[0];
	raw_frame[1] = frame->header[1];
	memcpy(raw_frame + 2, frame->data, frame->length);
	return spi_send(raw_frame, frame->length + 2);
}
// 接收 EtherCAT 帧
int receive_frame(EtherCAT_Frame* frame) {
	uint8_t raw_frame[ETHERCAT_FRAME_MAX_SIZE + 2];
	int ret = spi_receive(raw_frame, ETHERCAT_FRAME_MAX_SIZE + 2);
	if (ret != 0) return ret;
	frame->header[0] = raw_frame[0];
	frame->header[1] = raw_frame[1];
	frame->length = raw_frame[2] | (raw_frame[3] << 8);
	memcpy(frame->data, raw_frame + 4, frame->length);
	return 0;
}

typedef enum {
	STATE_INIT = 0x01,
	STATE_PRE_OP = 0x02,
	STATE_SAFE_OP = 0x04,
	STATE_OP = 0x08
} EtherCAT_State;
EtherCAT_State current_state = STATE_INIT;
// 获取当前状态
EtherCAT_State get_state() {
	return current_state;
}
// 设置状态
int set_state(EtherCAT_State new_state) {
	if (new_state == STATE_INIT || new_state == STATE_PRE_OP ||
		new_state == STATE_SAFE_OP || new_state == STATE_OP) {
		current_state = new_state;
		return 0;
	}
	return -1; // 状态无效
}

#define SENSOR_DATA_SIZE 8  // 数据为 8 字节
uint8_t sensor_data[SENSOR_DATA_SIZE];  // 存储采集到的数据
// 初始化传感器 
void sensor_init() ；
// 从设备读取数据
int read_sensor_data(uint8_t* data) {
	//  通过 ADC 或 I2C 读取
	for (int i = 0; i < SENSOR_DATA_SIZE; i++) {
		data[i] = i * 2;   
	}
	return 0;  // 返回 0 表示成功
}
// 更新 PDO 输入数据 
int update_sensor_data_pdo() {
	// 读取数据
	if (read_sensor_data(sensor_data) != 0) {
		return -1;  // 读取数据失败
	}
	// 更新 PDO 输入数据区
	configure_pdo(0x1600, sensor_data, SENSOR_DATA_SIZE);   
	return 0;
}