2026-07-26 20:39:59 +08:00
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/**
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* @file motor_state.h
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* @brief 多电机状态表 — CAN STATUS 帧识别、内存缓存、SPI 推送序列化。
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*
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* 设计要点：
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* - 仅在主循环上下文 (taskCanRxParse / taskHeartbeat / pushStep) 中读写，
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* 无 ISR 竞态，不需要临界区。
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* - GD32 不做浮点解码，只缓存原始 32B STATUS payload，由前端按 DBC 解码。
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* - 离线判定：3s 无 STATUS 帧 → online=0。
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*/
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#ifndef DEVICE_MOTOR_STATE_H
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#define DEVICE_MOTOR_STATE_H
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#include <cstdint>
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#include <cstring>
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#include "sys/config.h"
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/* ── CAN ID 匹配规则 (29-bit 扩展帧) ──
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* 物理 ID = 0x000N_TT_SS
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* N = 节点号 (1-9), 位于 bits[19:16]
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* TT = 消息类型: 01=STATUS, 02=CMD, 03=CONFIG
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* SS = 子类型
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* STATUS = 0x000N0100
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*/
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static constexpr uint32_t kMotorStatusIdMask = 0xFFF0FFFFU; /* 屏蔽 node nibble [19:16] */
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static constexpr uint32_t kMotorStatusIdMatch = 0x00000100U; /* STATUS 类型码 */
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2026-09-01 03:07:48 +08:00
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static constexpr uint32_t kMotorConfigIdMatch = 0x00000101U; /* CONFIG 类型码 (Motor→Host, DLC 24) */
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2026-07-26 20:39:59 +08:00
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static constexpr uint8_t kMotorMaxNodes = CONFIG_MOTOR_MAX_NODES;
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2026-07-30 02:11:49 +08:00
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/* 同一节点号可能同时挂在多个 CAN 通道上（两台电机同号异线），
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* 状态表按 node×channel 双键存储，各通道独立槽位互不覆盖。 */
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static constexpr uint8_t kMotorChannels = 3U;
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static constexpr uint8_t kMotorSlotCount = kMotorMaxNodes * kMotorChannels; /* 9×3 = 27 */
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static constexpr uint8_t kMotorStatusDlc = 32U;
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static constexpr uint8_t kMotorConfigDlc = 24U; /* CONFIG 帧 DLC */
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2026-07-26 20:39:59 +08:00
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static constexpr uint16_t kMotorOfflineSec = CONFIG_MOTOR_OFFLINE_MS / 1000U;
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2026-07-30 02:11:49 +08:00
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/* ── 0xC5 推送周期运行时可调（ESP32 经 0xC5 子命令 0xFE 下发）── */
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static constexpr uint16_t kMotorPeriodMinMs = 50U; /* 最快 20Hz */
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static constexpr uint16_t kMotorPeriodMaxMs = 5000U; /* 最慢 0.2Hz */
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static constexpr uint16_t kMotorTicksPerMs = 10U; /* 100us/tick → 每 ms 10 tick */
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static constexpr uint8_t kMotorSubCmdSetPeriod = 0xFEU; /* 0xC5 请求 payload[0]=0xFE：设推送周期 */
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2026-07-26 20:39:59 +08:00
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/* ── BOOT 心跳（0x103）──
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* 电机在 Bootloader IDLE 每 ~10ms 发一次 0x00000103（固定 ID，不带节点号）。
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* 网页据此显示一个独立 BOOT 状态（不归属任何 Nx）。 */
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static constexpr uint32_t kOtaBootHeartbeatId = 0x00000103U;
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static constexpr uint32_t kBootHeartbeatTimeoutSec = 3U; /* >3s 无 0x103 → 视为退出 BOOT */
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static constexpr uint8_t kMotorActiveBootBit = 0x80U; /* 0xC5 page0 header active 字节 bit7 = boot_active */
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/* ── 序列化常量 (0xC5 payload) ── */
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static constexpr uint8_t kMotorEntrySize = 76U; /* 1+1+1+1+4+4+32+4+4+24 (STATUS+CONFIG) */
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static constexpr uint8_t kMotorPageHeaderLen = 4U; /* page+total+count+active */
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static constexpr uint8_t kMotorEntriesPerPage = 3U; /* (236-4)/76 = 3.05 → 3 */
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static constexpr uint8_t kMotorTotalPages =
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(kMotorSlotCount + kMotorEntriesPerPage - 1U) / kMotorEntriesPerPage; /* ceil(27/3) = 9 */
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/// 单电机状态槽
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struct MotorSlot {
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uint8_t node_id; ///< 1-9, 0=空槽
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uint8_t channel; ///< 最后收到帧的 CAN 通道 (0/1/2)
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uint8_t online; ///< 1=在线, 0=离线
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uint8_t dlc; ///< 最后帧 DLC (正常=32)
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uint32_t rx_count; ///< 累计收到 STATUS 帧数
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uint32_t last_rx_sec; ///< 最后收到帧时的 g_app_uptime_sec
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uint32_t seq; ///< 更新序号 (每次刷新 +1)
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uint8_t data[kMotorStatusDlc]; ///< 原始 STATUS payload
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uint32_t config_rx_count; ///< 累计收到 CONFIG 帧数
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uint32_t config_seq; ///< CONFIG 更新序号
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uint8_t config_data[kMotorConfigDlc]; ///< 原始 CONFIG payload (目标值回报)
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};
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/// 全局电机状态表
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struct MotorStateTable {
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MotorSlot slots[kMotorSlotCount]; ///< 按 (node_id-1)*kMotorChannels+channel 索引
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uint32_t global_seq; ///< 全局刷新序号
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uint32_t last_push_sec; ///< 上次推送完成时间
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uint8_t active_count; ///< 当前在线电机数
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uint32_t boot_hb_sec; ///< 最后收到 0x103 BOOT 心跳时的 uptime（0=从未）
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uint8_t boot_channel; ///< 最后 0x103 所在 CAN 通道
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uint8_t boot_active; ///< 1=最近 kBootHeartbeatTimeoutSec 内有 0x103
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};
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/// 电机状态管理命名空间
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namespace MotorState {
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/// 获取全局状态表引用
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MotorStateTable &table();
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/// CAN 帧到达时调用 (主循环上下文, taskCanRxParse 内)
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void onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len);
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/// 1Hz 离线检测 (taskHeartbeat 内)
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void checkOffline();
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/// 序列化一页电机状态到 payload 缓冲区
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/// @return 实际写入字节数, 0=参数错误
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uint16_t buildPayload(uint8_t page, uint8_t *buf, uint16_t maxLen);
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2026-07-30 02:11:49 +08:00
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/// 设置 0xC5 主动推送周期（毫秒，钳制到 [kMotorPeriodMinMs, kMotorPeriodMaxMs]）。
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/// @return 实际应用的毫秒值。
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uint16_t setPushPeriodMs(uint16_t ms);
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2026-07-26 20:39:59 +08:00
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} // namespace MotorState
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#endif /* DEVICE_MOTOR_STATE_H */
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