DCU_APP/GD32E508_DCU_APP/device/spi/app_spi_command.cpp

/**
 * @file app_spi_command.cpp
 * @brief APP 运行期 SPI 链路与命令路由实现。
 *
 * 本模块现在只负责：
 * - SPI0 从机链路初始化（GPIO/SPI/DMA/EXTI）
 * - CS、DMA、中断驱动的帧接收与发送
 * - 公共帧格式解析与应答构建
 * - 业务命令的注册与分发
 *
 * 具体命令处理逻辑已经拆到独立的 app_spi_cmd_*.cpp，
 * 通过 registerHandler() 注册进来，后续新增 SPI 业务时
 * 只需要新增命令处理器，不再继续膨胀本文件。
 *
 * 握手架构（v2 DATA_READY，PB6<->ESP32 GPIO10 开漏单线）：
 * - PB6 低 = 有待发数据（m_txLen>0 或 m_ringPending），高 = 队列空。
 * - 命令处理在 onCsRelease() EXTI ISR 内同步完成（对齐 BOOT 的 isrProcessFrame），
 *   完成后由 updateDataReady() 依据待发数据驱动 PB6，不再延迟拉高。
 * - GD32 可通过 requestEsp32Read() 设 m_ringPending 并由 updateDataReady()
 *   拉低 PB6 主动按铃，请求 ESP32 来读。
 */

#include "device/spi/app_spi_command.h"
#include "device/spi/spi_command_handler.h"
#include "device/spi/app_spi_command_defs.h"
#include "device/spi/app_spi_diag.h"
#include "spi_link_v2.h"
#include "sys/ota_boot_request.h"

extern "C" {
#include "gd32e50x_exti.h"
}
#include "gd32e50x_gpio.h"
#include "gd32e50x_misc.h"
#include "gd32e50x_rcu.h"
#include "gd32e50x_dma.h"
#include "gd32e50x_spi.h"
#include "sys/config.h"
#include "sys/critical.h"
#include "sys/systick.h"
#include "sys/cpu_load.h"
#include "sys/esp32_en.h"
#include <cstdio>
#include <cstring>

/* ============================================================
 * 本地别名：保持当前实现文件内部风格不变
 * ============================================================ */
static constexpr uint8_t kTypeBootReq   = SpiDefs::kTypeBootReq;
static constexpr uint8_t kTypeOtaReq    = SpiDefs::kTypeOtaReq;
static constexpr uint8_t kTypeOtaData   = SpiDefs::kTypeOtaData;
static constexpr uint8_t kTypeOtaCancel = SpiDefs::kTypeOtaCancel;
static constexpr uint8_t kRspError      = SpiDefs::kRspError;

/* DMA 全双工配置（与 BOOT SpiOta 一致）：
 *   DMA0_CH1: SPI0_RX   DMA0_CH2: SPI0_TX
 * RX 走 DMA 后禁用 RBNE 逐字节中断，避免 256B 事务 RX-OVR/SOF 丢失。 */
#define SPI_TX_DMA_PERIPH   DMA0
#define SPI_TX_DMA_CH       DMA_CH2
#define SPI_RX_DMA_PERIPH   DMA0
#define SPI_RX_DMA_CH       DMA_CH1

static void startSpiTxDma(const uint8_t *buf, uint16_t len)
{
    DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    DMA_INTC(SPI_TX_DMA_PERIPH) |= DMA_FLAG_ADD(DMA_CHINTF_RESET_VALUE, SPI_TX_DMA_CH);
    DMA_CHMADDR(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) = (uint32_t)buf;
    DMA_CHCNT(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) = len;
    DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) |= DMA_CHXCTL_CHEN;
}

/** @brief 启动 DMA 接收 SPI0_DATA → m_rxBuf（容量 kRxBufSize）。
 *  每次 CS 空闲期预装，下一笔 CS 上升沿时由 stopSpiDmas() 读 CHCNT 反算实际长度。 */
static void startSpiRxDma(uint8_t *rx_buf, uint16_t rx_cap)
{
    DMA_CHCTL(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    DMA_INTC(SPI_RX_DMA_PERIPH) |= DMA_FLAG_ADD(DMA_CHINTF_RESET_VALUE, SPI_RX_DMA_CH);
    DMA_CHMADDR(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) = (uint32_t)rx_buf;
    DMA_CHCNT(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) = rx_cap;
    DMA_CHCTL(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) |= DMA_CHXCTL_CHEN;
}

/** @brief 清空 SPI 接收通路残留（含 OVR），对齐 BOOT drainSpiRxHw。 */
static void drainSpiRxHw(void)
{
    while (spi_i2s_flag_get(SPI0, SPI_FLAG_RBNE) != RESET) {
        (void)spi_i2s_data_receive(SPI0);
    }
    if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
        (void)spi_i2s_data_receive(SPI0);
        (void)SPI_STAT(SPI0);
    }
}

/** @brief 停止双 DMA；返回本 CS 实际 RX 字节数（必须在 disable 前读 CHCNT）。
 *  对齐 BOOT stopSpiDmas：先读 remaining 再 disable，否则计数器被清。 */
static uint16_t stopSpiDmas(uint16_t rx_cap)
{
    const uint16_t remaining = (uint16_t)DMA_CHCNT(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH);
    DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    DMA_CHCTL(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    spi_dma_disable(SPI0, SPI_DMA_TRANSMIT);
    spi_dma_disable(SPI0, SPI_DMA_RECEIVE);
    uint16_t got = 0U;
    if (remaining <= rx_cap) {
        got = (uint16_t)(rx_cap - remaining);
    }
    return got;
}

static bool isAllBytesValue(const uint8_t *data, uint16_t len, uint8_t value)
{
    if (!data || len == 0U) {
        return false;
    }
    for (uint16_t i = 0U; i < len; ++i) {
        if (data[i] != value) {
            return false;
        }
    }
    return true;
}

static bool shouldIgnoreTransaction(const uint8_t *data, uint16_t len)
{
    if (!data || len == 0U) {
        return true;
    }

    if (isAllBytesValue(data, len, 0xFFU) || isAllBytesValue(data, len, 0x00U)) {
        return true;
    }

    /* v2 协议帧最小长度为 V2_OVERHEAD(20B)。
     * 短于该长度的事务只能是启动切换期的残包，直接忽略。
     * （0xB0 进 BOOT 现已走标准 v2 帧 handler，不再有裸字节通道。） */
    return (len < V2_OVERHEAD);
}

static bool isFlashRelatedFrame(uint8_t frame_type)
{
    switch (frame_type) {
    case kTypeOtaReq:
    case kTypeOtaData:
    case kTypeOtaCancel:
    case kTypeBootReq:
        return true;
    default:
        return false;
    }
}

/* GD32 APP 侧 CREDIT：运行时单响应缓冲 0/1（有待发=0，空闲=1）。
 * 初值必须为 1，禁止用 BOOT 的 8 槽语义；否则 HELLO 前被读到会误导主机 remoteCredit。 */
static volatile uint8_t  g_localCredit = 1U;

/* SPI Link v2 会话/序号状态机（ISR 写、主循环读写，均原子，无需临界区）。 */
static volatile uint32_t g_sessionId = 0;       /* v2 会话 ID（0=未建立） */
static volatile uint8_t  g_txSeq = 0;           /* GD32 发送序号（事件/响应帧） */
static volatile uint8_t  g_expectedRxSeq = 0;   /* 期望收到的 ESP32 请求序号 */
static volatile bool     g_v2Active = false;    /* v2 session 是否激活 */
/* 当前请求的 TX_SEQ，写入响应 ACK_SEQ，供 ESP32 做响应归属匹配（延迟一拍）。 */
static volatile uint8_t  g_pendingAckSeq = 0;

/* 响应缓存：用于重复请求重发同一响应（避免业务 handler 重复执行）。 */
static uint8_t  s_lastReqSeq = 0xFF;
static uint8_t  s_lastRespBuf[256];
static uint16_t s_lastRespLen = 0;
static bool     s_hasCachedResp = false;

/* ============================================================
 * SPI 诊断统计与现场快照
 * ============================================================ */
#if (CONFIG_SPI_DIAG_ENABLE != 0)
#define SPI_DIAG_RECORD(...) do { __VA_ARGS__; } while (0)

static SpiDiagStats s_diag = {};

const SpiDiagStats& getSpiDiagStats()
{
    s_diag.current_local_credit = (uint8_t)g_localCredit;
    s_diag.expected_rx_seq = g_expectedRxSeq;
    return s_diag;
}

void resetSpiDiagStats()
{
    memset(&s_diag, 0, sizeof(s_diag));
}

const char* spiParseResultToString(SpiParseResult res)
{
    switch (res) {
    case SPI_PARSE_OK:               return "OK";
    case SPI_PARSE_ERR_TOO_SHORT:    return "TOO_SHORT";
    case SPI_PARSE_ERR_ALL_FF:       return "ALL_FF";
    case SPI_PARSE_ERR_ALL_00:       return "ALL_00";
    case SPI_PARSE_ERR_NO_SOF:       return "NO_SOF";
    case SPI_PARSE_ERR_BAD_VERSION:  return "BAD_VERSION";
    case SPI_PARSE_ERR_BAD_LEN:      return "BAD_LEN";
    case SPI_PARSE_ERR_CRC_MISMATCH: return "CRC_MISMATCH";
    default:                         return "UNKNOWN";
    }
}
#else
#define SPI_DIAG_RECORD(...) ((void)0)
#endif

bool AppSpiCommand::isV2Active() const { return g_v2Active; }
uint32_t AppSpiCommand::getSessionId() const { return g_sessionId; }
uint8_t AppSpiCommand::getLocalCredit() const { return (uint8_t)g_localCredit; }
void AppSpiCommand::dumpDiag() const { dumpSpiDiag(); }

#if (CONFIG_SPI_DIAG_ENABLE != 0)
void dumpSpiDiag()
{
    const SpiDiagStats &st = getSpiDiagStats();
    const uint32_t now = SysTickTimer::getMs();
    const uint8_t cs_pin = (gpio_input_bit_get(GPIOA, GPIO_PIN_15) == SET) ? 1U : 0U;
    const uint8_t rdy_pin = (gpio_input_bit_get(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN) == SET) ? 1U : 0U;
    const uint16_t stat = (uint16_t)SPI_STAT(SPI0);

    printf("\r\n==================== [GD32 SPI0 LINK DIAGNOSTICS] ====================\r\n");
    printf("Status   : v2_active=%d  session_id=0x%08lX  local_credit=%u  uptime=%lums\r\n",
           AppSpiCommandBus.isV2Active() ? 1 : 0, (unsigned long)AppSpiCommandBus.getSessionId(),
           (unsigned)AppSpiCommandBus.getLocalCredit(), (unsigned long)now);
    printf("Pins & HW: CS(PA15)=%u  DATA_READY(PB6)=%u  ring_pending=%d  cs_active=%d\r\n",
           cs_pin, rdy_pin, AppSpiCommandBus.isRingPending() ? 1 : 0, AppSpiCommandBus.isCsActive() ? 1 : 0);
    printf("SPI_STAT : 0x%04X (TRANS:%d TBE:%d RBNE:%d OVR:%d FERR:%d)\r\n",
           stat, (stat & SPI_FLAG_TRANS) ? 1 : 0, (stat & SPI_FLAG_TBE) ? 1 : 0,
           (stat & SPI_FLAG_RBNE) ? 1 : 0, (stat & SPI_FLAG_RXORERR) ? 1 : 0,
           (stat & SPI_FLAG_FERR) ? 1 : 0);
    printf("CS Stats : assert=%lu  release=%lu  missed=%lu  short(<20B)=%lu  zero_len=%lu\r\n",
           (unsigned long)st.total_cs_assert, (unsigned long)st.total_cs_release,
           (unsigned long)st.missed_cs_assert, (unsigned long)st.short_rx_len_count,
           (unsigned long)st.zero_rx_len_count);
    printf("Frames   : valid_v2=%lu  parse_fail=%lu  all_FF=%lu  all_00=%lu\r\n",
           (unsigned long)st.valid_v2_frames, (unsigned long)st.parse_fail_count,
           (unsigned long)st.all_ff_count, (unsigned long)st.all_00_count);
    printf("ParseErr : CRC_err=%lu  no_SOF=%lu  SOF_drift=%lu  bad_ver=%lu  bad_len=%lu\r\n",
           (unsigned long)st.err_crc_mismatch, (unsigned long)st.err_no_sof,
           (unsigned long)st.err_sof_drift, (unsigned long)st.err_bad_version,
           (unsigned long)st.err_bad_len);
    printf("Hw Errors: RXORERR(ovr)=%lu  FERR(fmt)=%lu\r\n",
           (unsigned long)st.rx_overrun_count, (unsigned long)st.format_error_count);
    printf("Session  : HELLO_cnt=%lu  mismatch=%lu  seq_ok=%lu  seq_jump=%lu  seq_dup=%lu\r\n",
           (unsigned long)st.hello_count, (unsigned long)st.session_mismatch,
           (unsigned long)st.seq_ok_count, (unsigned long)st.seq_jump_count,
           (unsigned long)st.seq_dup_count);
    printf("Sequences: last_rx_seq=0x%02X  exp_rx_seq=0x%02X  last_tx_seq=0x%02X\r\n",
           st.last_rx_seq, st.expected_rx_seq, st.last_tx_seq);
    printf("Commands : last_rx_type=0x%02X  last_tx_type=0x%02X  error_rsp(0x82)=%lu (last_code=0x%02X)\r\n",
           st.last_rx_type, st.last_tx_type, (unsigned long)st.error_rsp_count, st.last_error_code);
    printf("Routing  : unknown_type=%lu (last=0x%02X)  handler_empty=%lu (last=0x%02X)\r\n",
           (unsigned long)st.unknown_type_count, st.last_unknown_type,
           (unsigned long)st.handler_empty_count, st.last_empty_type);
    printf("Ring Push: req=%lu  timeout=%lu  collision=%lu\r\n",
           (unsigned long)st.ring_request_count, (unsigned long)st.ring_timeout_count,
           (unsigned long)st.ring_collision_count);
    if (st.last_error_uptime_ms > 0U) {
        printf("LastErr  : at %lums, rxLen=%u, reason=%s(0x%02X), SOF_off=%u\r\n",
               (unsigned long)st.last_error_uptime_ms, (unsigned)st.last_error_rx_len,
               spiParseResultToString((SpiParseResult)st.last_error_reason),
               st.last_error_code, (unsigned)st.last_error_sof_offset);
        printf("LastBytes: [%02X %02X %02X %02X %02X %02X %02X %02X]\r\n",
               st.last_error_bytes[0], st.last_error_bytes[1], st.last_error_bytes[2], st.last_error_bytes[3],
               st.last_error_bytes[4], st.last_error_bytes[5], st.last_error_bytes[6], st.last_error_bytes[7]);
        if (st.last_error_reason == SPI_PARSE_ERR_CRC_MISMATCH) {
            printf("LastCRC  : calc=0x%08lX  exp=0x%08lX\r\n",
                   (unsigned long)st.last_error_calc_crc, (unsigned long)st.last_error_expected_crc);
        }
    }
    printf("======================================================================\r\n\r\n");
}
#endif

/* ============================================================
 * v2 帧构建 / 诊断帧解析（委托 spi_link_v2.h，三工程共用）
 * ============================================================ */

/* 构建响应帧；上层接口（type/payload）保持不变，handler 无需改动。
 * 内部调用 v2_build_frame，FLAGS 默认 V2_FLAG_RESPONSE，session/seq/credit
 * 从 v2 状态全局变量取。session 未建立时 session_id 填 0。
 * ACK_SEQ = g_pendingAckSeq（对端请求的 TX_SEQ），不能写死 0，否则 ESP32
 * otaFindFrame 在 m_v2Active 时会把合法延迟响应当成 stale 丢弃。 */
static bool spi_build_frame(uint8_t type, const uint8_t *payload, uint16_t payload_len,
                            uint8_t *out, uint16_t *out_len)
{
    if (!out || !out_len) { return false; }
    if ((uint32_t)V2_OVERHEAD + payload_len > AppSpiCommand::kTxBufSize) { return false; }

    const uint32_t sess = g_v2Active ? g_sessionId : 0U;
    size_t built = 0U;
    const bool ok = v2_build_frame(type, V2_FLAG_RESPONSE, sess,
                                  g_txSeq, g_pendingAckSeq, (uint8_t)g_localCredit,
                                  payload, payload_len, out, &built);
    if (!ok) { return false; }
    *out_len = (uint16_t)built;
    return true;
}

/* 细粒度诊断帧解析：逐项分析失败原因（无SOF/相位漂移/版本不符/长度截断/CRC位错）。 */
static bool spi_diagnose_and_parse_frame(
    const uint8_t *buf, size_t buf_len,
    uint8_t *out_type, const uint8_t **out_payload, uint16_t *out_payload_len,
    v2_header_t *out_hdr,
    SpiParseResult *out_res,
    uint32_t *out_calc_crc, uint32_t *out_exp_crc,
    uint8_t *out_sof_offset)
{
    if (!buf || buf_len == 0U) {
        if (out_res) *out_res = SPI_PARSE_ERR_TOO_SHORT;
        if (out_sof_offset) *out_sof_offset = 0xFFU;
        return false;
    }

    if (isAllBytesValue(buf, (uint16_t)buf_len, 0xFFU)) {
        if (out_res) *out_res = SPI_PARSE_ERR_ALL_FF;
        if (out_sof_offset) *out_sof_offset = 0xFFU;
        return false;
    }

    if (isAllBytesValue(buf, (uint16_t)buf_len, 0x00U)) {
        if (out_res) *out_res = SPI_PARSE_ERR_ALL_00;
        if (out_sof_offset) *out_sof_offset = 0xFFU;
        return false;
    }

    if (buf_len < V2_OVERHEAD) {
        if (out_res) *out_res = SPI_PARSE_ERR_TOO_SHORT;
        if (out_sof_offset) *out_sof_offset = 0xFFU;
        return false;
    }

    bool found_sof = false;
    size_t first_sof_offset = 0xFFU;
    SpiParseResult best_err = SPI_PARSE_ERR_NO_SOF;

    for (size_t i = 0; i + V2_OVERHEAD <= buf_len; ++i) {
        if (buf[i + V2_OFF_SOF0] != V2_SOF0 || buf[i + V2_OFF_SOF1] != V2_SOF1) {
            continue;
        }

        if (!found_sof) {
            found_sof = true;
            first_sof_offset = i;
        }

        const uint8_t version = buf[i + V2_OFF_VERSION];
        if (version != V2_VERSION) {
            best_err = SPI_PARSE_ERR_BAD_VERSION;
            continue;
        }

        const uint16_t plen = v2_get_u16le(&buf[i + V2_OFF_LEN]);
        if (plen > V2_MAX_PAYLOAD) {
            best_err = SPI_PARSE_ERR_BAD_LEN;
            continue;
        }

        const size_t total = V2_OVERHEAD + plen;
        if (i + total > buf_len) {
            best_err = SPI_PARSE_ERR_BAD_LEN;
            continue;
        }

        const uint32_t expect = v2_get_u32le(&buf[i + V2_HEADER_LEN + plen]);
        const uint32_t calc = v2_crc32(&buf[i], V2_HEADER_LEN + plen);
        if (expect != calc) {
            best_err = SPI_PARSE_ERR_CRC_MISMATCH;
            if (out_calc_crc) *out_calc_crc = calc;
            if (out_exp_crc) *out_exp_crc = expect;
            continue;
        }

        if (out_hdr) {
            out_hdr->version      = version;
            out_hdr->flags        = buf[i + V2_OFF_FLAGS];
            out_hdr->session_id   = v2_get_u32le(&buf[i + V2_OFF_SESSION]);
            out_hdr->tx_seq       = buf[i + V2_OFF_TX_SEQ];
            out_hdr->ack_seq      = buf[i + V2_OFF_ACK_SEQ];
            out_hdr->credit       = buf[i + V2_OFF_CREDIT];
            out_hdr->type         = buf[i + V2_OFF_TYPE];
            out_hdr->payload_len  = plen;
            out_hdr->frame_offset = i;
        }
        if (out_type) *out_type = buf[i + V2_OFF_TYPE];
        if (out_payload) *out_payload = (plen > 0U) ? &buf[i + V2_HEADER_LEN] : nullptr;
        if (out_payload_len) *out_payload_len = plen;
        if (out_res) *out_res = SPI_PARSE_OK;
        if (out_sof_offset) *out_sof_offset = (uint8_t)i;
        if (out_calc_crc) *out_calc_crc = calc;
        if (out_exp_crc) *out_exp_crc = expect;
        return true;
    }

    if (out_res) *out_res = best_err;
    if (out_sof_offset) *out_sof_offset = (uint8_t)first_sof_offset;
    return false;
}

/* ============================================================
 * 调试日志辅助（环形队列，避免事件并发时丢日志）
 * ============================================================ */

void AppSpiCommand::postLog(const char *msg)
{
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
    if (!msg) return;
    uint8_t next = (uint8_t)((m_logHead + 1U) % kLogSlotCount);
    if (next != m_logTail) {
        strncpy(m_logQueue[m_logHead], msg, kLogSlotLen - 1U);
        m_logQueue[m_logHead][kLogSlotLen - 1U] = '\0';
        m_logHead = next;
    }
#else
    (void)msg;
#endif
}

void AppSpiCommand::postLogFmt(const char *fmt, uint8_t val)
{
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
    if (!fmt) return;
    char tmp[kLogSlotLen];
    snprintf(tmp, sizeof(tmp), fmt, val);
    postLog(tmp);
#else
    (void)fmt;
    (void)val;
#endif
}

void AppSpiCommand::postLogFmt32(const char *fmt, uint32_t v1, uint32_t v2)
{
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
    if (!fmt) return;
    char tmp[kLogSlotLen];
    snprintf(tmp, sizeof(tmp), fmt, (unsigned long)v1, (unsigned long)v2);
    postLog(tmp);
#else
    (void)fmt;
    (void)v1;
    (void)v2;
#endif
}

void AppSpiCommand::buildResponse(uint8_t *tx_buf, uint16_t tx_buf_size,
                                  uint16_t *tx_len, uint8_t rsp_type,
                                  const uint8_t *payload, uint16_t payload_len)
{
    if (!tx_buf || !tx_len || tx_buf_size == 0U) {
        return;
    }

    uint16_t built_len = 0U;
    const bool ok = spi_build_frame(rsp_type, payload, payload_len, tx_buf, &built_len);
    if (ok) {
        *tx_len = built_len;
    }
}

/* ============================================================
 * 硬件配置
 * ============================================================ */

void AppSpiCommand::configureGpio()
{
    rcu_periph_clock_enable(RCU_GPIOA);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);

    gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
    gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);

    gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5);
    gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
    gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_15);

    /* PB6 复用为 DATA_READY 握手线（开漏输出，线与）。
     * 开漏模式：写 BRR = 下拉驱动低；写 BSRR = 高阻释放，靠外部/对端上拉拉高。
     * 语义：低 = 有待发数据，高 = 队列空；默认释放（HIGH）。 */
    gpio_init(CONFIG_SPI_READY_PORT, GPIO_MODE_OUT_OD, GPIO_OSPEED_50MHZ, CONFIG_SPI_READY_PIN);
    gpio_bit_set(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
}

void AppSpiCommand::setSpiReady(bool ready)
{
    /* 开漏线与：ready=true 释放（BSRR，高阻，靠上拉拉高）；
     *          ready=false 下拉（BRR，驱动低）。 */
    if (ready) {
        gpio_bit_set(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
    } else {
        gpio_bit_reset(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
    }
}

/* v2 DATA_READY: PB6 低 = 有待发数据，高 = 队列空。
 * L5：同步 g_localCredit（单缓冲 0/1）。 */
void AppSpiCommand::updateDataReady()
{
    const bool has_data = (m_txLen > 0U) || m_ringPending;
    setSpiReady(!has_data);
    g_localCredit = has_data ? 0U : 1U;
}

void AppSpiCommand::configureSpi0()
{
    rcu_periph_clock_enable(RCU_SPI0);
    spi_i2s_deinit(SPI0);
    (void)spi_i2s_data_receive(SPI0);  /* 清空 SPI_DATA 残留值 */

    spi_parameter_struct spi_init_struct;
    spi_struct_para_init(&spi_init_struct);
    spi_init_struct.device_mode = SPI_SLAVE;
    spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
    spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT;
    spi_init_struct.nss = SPI_NSS_SOFT;
    spi_init_struct.endian = SPI_ENDIAN_MSB;
    spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_1EDGE;
    spi_init_struct.prescale = SPI_PSC_8;
    spi_init(SPI0, &spi_init_struct);

    /* 内部 NSS 常低：SPI 从机始终就绪，不依赖 EXTI ISR 切换 internal NSS。
     * PA15 仅作 EXTI 事务边界信号，用于 onCsAssert/onCsRelease 控制 DMA 装载。 */
    spi_nss_internal_low(SPI0);
    (void)spi_i2s_data_receive(SPI0);
    spi_i2s_data_transmit(SPI0, 0xFFU);
    /* RX 改走 DMA0_CH1：禁用 RBNE 逐字节中断，避免 256B 事务 RX-OVR/SOF 丢失。 */
    spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_RBNE);
    spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_ERR);
    spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
    nvic_irq_enable(SPI0_IRQn, 2U, 0U);
    spi_enable(SPI0);
}

void AppSpiCommand::configureDma()
{
    rcu_periph_clock_enable(RCU_DMA0);

    /* TX: memory → SPI0_DATA */
    dma_deinit(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);
    dma_parameter_struct dma_cfg;
    dma_struct_para_init(&dma_cfg);
    dma_cfg.periph_addr  = (uint32_t)(SPI0 + 0x0CU);  /* SPI0_DATA 寄存器 */
    dma_cfg.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
    dma_cfg.memory_addr  = (uint32_t)m_txBuf;
    dma_cfg.memory_width = DMA_MEMORY_WIDTH_8BIT;
    dma_cfg.number       = 0U;
    dma_cfg.priority     = DMA_PRIORITY_HIGH;
    dma_cfg.periph_inc   = DMA_PERIPH_INCREASE_DISABLE;
    dma_cfg.memory_inc   = DMA_MEMORY_INCREASE_ENABLE;
    dma_cfg.direction    = DMA_MEMORY_TO_PERIPHERAL;
    dma_init(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH, &dma_cfg);
    dma_circulation_disable(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);
    dma_channel_disable(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);

    /* RX: SPI0_DATA → m_rxBuf（替代旧 RBNE 逐字节累积）。
     * 与 BOOT SpiOta 对齐：DMA0_CH1 固定映射 SPI0_RX。 */
    dma_deinit(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH);
    dma_struct_para_init(&dma_cfg);
    dma_cfg.periph_addr  = (uint32_t)(SPI0 + 0x0CU);
    dma_cfg.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
    dma_cfg.memory_addr  = (uint32_t)m_rxBuf;
    dma_cfg.memory_width = DMA_MEMORY_WIDTH_8BIT;
    dma_cfg.number       = kRxBufSize;
    dma_cfg.priority     = DMA_PRIORITY_HIGH;
    dma_cfg.periph_inc   = DMA_PERIPH_INCREASE_DISABLE;
    dma_cfg.memory_inc   = DMA_MEMORY_INCREASE_ENABLE;
    dma_cfg.direction    = DMA_PERIPHERAL_TO_MEMORY;
    dma_init(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH, &dma_cfg);
    dma_circulation_disable(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH);
    dma_channel_disable(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH);
}

void AppSpiCommand::configureExti()
{
    gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOA, GPIO_PIN_SOURCE_15);
    exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_BOTH);
    /* 先清 STAT 再开 IMR。warm jump 下 BOOT 关中断跳转前 ESP32 持续拉 CS，
     * EXTI15 STAT 大概率残留；若先 enable IMR，残留位会立即回放成一次假 CS
     * 沿进 NVIC。 */
    exti_interrupt_flag_clear(EXTI_15);
    exti_interrupt_enable(EXTI_15);
    /* SPI CS EXTI 抢占级 0。抢占级 1 与 PDI/SYNC1/SCHED 同级不抢占
     * （PDI 窗口可达数百 µs），且被 RT_CRITICAL(BASEPRI≥1) 完全屏蔽；
     * release ISR 一旦拖过 ESP32 的 CS 间隔（1ms），re-arm 落空，
     * 下一笔查询帧头部丢失。提到 0 后仅与 SYNC0/CAN-RX
     * （µs 级）同级排队，release 处理确定性 µs 级完成。代价：0xA2 pmDrive 的
     * 忙等(≤10ms，手动 PM 诊断才用)会阻塞 SYNC0——诊断窗口，可接受。 */
    nvic_irq_enable(EXTI10_15_IRQn, 0U, 1U);
}



/* ============================================================
 * 默认命令注册入口（由各 app_spi_cmd_*.cpp 提供）
 * ============================================================ */
extern void registerSpiBootRequestCommand(AppSpiCommand &bus);
extern void registerSpiOtaWaitCommand(AppSpiCommand &bus);
extern void registerSpiAppPingCommand(AppSpiCommand &bus);
extern void registerSpiInitStatusCommand(AppSpiCommand &bus);
extern void registerSpiCanBridgeCommand(AppSpiCommand &bus);
extern void registerSpiCanBurstCommand(AppSpiCommand &bus);
extern void registerSpiCanFeedbackCommand(AppSpiCommand &bus);
extern void registerSpiIdSnapshotCommand(AppSpiCommand &bus);
extern void registerSpiAdcFeedbackCommand(AppSpiCommand &bus);
extern void registerSpiMotorStateCommand(AppSpiCommand &bus);
extern void registerSpiMotorOtaCommand(AppSpiCommand &bus);
extern void registerSpiExmcDiagCommand(AppSpiCommand &bus);
extern void registerSpiDiagCommand(AppSpiCommand &bus);
AppSpiCommand AppSpiCommandBus;
void AppSpiCommand::init()
{
    m_csActive = false;
    m_rxLen = 0U;
    m_txLen = 0U;
    m_logHead = 0U;
    m_logTail = 0U;
    m_commandCount = 0U;
    m_ringPending = false;
    m_ringDeadline = 0U;
    memset(m_txBuf, 0xFF, sizeof(m_txBuf));
    memset(m_logQueue, 0, sizeof(m_logQueue));
    memset(m_commands, 0, sizeof(m_commands));

    registerSpiBootRequestCommand(AppSpiCommandBus);
    registerSpiOtaWaitCommand(AppSpiCommandBus);
    registerSpiAppPingCommand(AppSpiCommandBus);
    registerSpiInitStatusCommand(AppSpiCommandBus);
    registerSpiCanBridgeCommand(AppSpiCommandBus);
    registerSpiCanBurstCommand(AppSpiCommandBus);
    registerSpiCanFeedbackCommand(AppSpiCommandBus);
    registerSpiIdSnapshotCommand(AppSpiCommandBus);
    registerSpiAdcFeedbackCommand(AppSpiCommandBus);  /* CONFIG 关时为空注册 */
    registerSpiMotorStateCommand(AppSpiCommandBus);   /* CONFIG 关时为空注册 */
    registerSpiMotorOtaCommand(AppSpiCommandBus);
    registerSpiExmcDiagCommand(AppSpiCommandBus);
    registerSpiDiagCommand(AppSpiCommandBus);

    configureGpio();
    configureDma();
    configureSpi0();
    /* 必须先预装 DMA，再开 CS EXTI。
     * OTA 跳转后 ESP32 可能立刻打 HELLO：若 EXTI 已开而 DMA 未 arm，
     * 首笔 CS 会让 SPI 从机失步，之后长期 MISO 噪声/全 FF。 */
    armSpiDmasForNextCs();
    configureExti();
}

/** @brief 在 CS 空闲期预装下一笔全双工 DMA。
 *
 * 必须在首个 SCK 之前完成：EXTI CS 下降相对 ESP32 时钟经常偏晚，
 * 若在 onCsAssert 里才 start DMA，整笔事务会收 0 字节 → 永不 HELLO_ACK → MISO 全 0xFF。
 *
 * TX 始终按 kTxBufSize 装载：响应帧在头部，其余 0xFF。
 * 若只 DMA 实际帧长（~26B），主机打 96 时钟时 TX underrun，后续 MISO 不定。
 *
 * 对齐 BOOT SpiOta::armSpiDmasForNextCs。
 */
void AppSpiCommand::armSpiDmasForNextCs()
{
    DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    DMA_CHCTL(SPI_RX_DMA_PERIPH, SPI_RX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
    spi_dma_disable(SPI0, SPI_DMA_TRANSMIT);
    spi_dma_disable(SPI0, SPI_DMA_RECEIVE);
    drainSpiRxHw();

    /* 预填 TX：有挂起响应用响应帧（头部）+ 0xFF 填充到满缓冲 */
    if (m_txLen > 0U && m_txLen <= kTxBufSize) {
        if (m_txLen < kTxBufSize) {
            memset(&m_txBuf[m_txLen], 0xFF, (size_t)(kTxBufSize - m_txLen));
        }
    } else {
        m_txLen = 0U;
        memset(m_txBuf, 0xFF, kTxBufSize);
    }

    /* RX 缓冲清零（便于诊断时区分有效字节与残留） */
    memset(m_rxBuf, 0x00, kRxBufSize);
    m_rxLen = 0U;

    /* 预装 SPI_DATA，避免 DMA 启动前首拍 TBE 吐旧值 */
    spi_i2s_data_transmit(SPI0, m_txBuf[0]);

    /* 先使能 SPI DMA 请求，再开 DMA 通道，保证首字节即可搬运 */
    spi_dma_enable(SPI0, SPI_DMA_RECEIVE);
    spi_dma_enable(SPI0, SPI_DMA_TRANSMIT);
    startSpiRxDma(m_rxBuf, kRxBufSize);
    /* TX 永远满缓冲长度，与主机 96~256B 事务匹配，避免 underrun */
    startSpiTxDma(m_txBuf, kTxBufSize);
}

/* ============================================================
 * 命令路由
 * ============================================================ */

void AppSpiCommand::registerHandler(ISpiCommandHandler *handler)
{
    if (!handler) {
        return;
    }
    if (m_commandCount >= kMaxCommands) {
        /* 表满静默丢弃会导致命令无声失效（motor_ota 曾因此 0xD0 回 0xEE）。
         * init 在任务上下文，printf 走 USART0 中断环，启动日志可见。 */
        printf("[SPI-APP] registerHandler: 注册表满(%u)，handler 被丢弃! 请增大 CONFIG_SPI_MAX_COMMANDS\r\n",
               static_cast<unsigned>(kMaxCommands));
        return;
    }
    m_commands[m_commandCount++] = handler;
}

void AppSpiCommand::finishResponseAndReady()
{
    /* 有响应待发时 arm 按铃（ESP32 主动请求的响应即靠此通知；
     * 推送源已随 2026-08 请求驱动改造移除，无其他写者争用 m_txBuf）。
     * updateDataReady 按 m_txLen/m_ringPending 驱动 PB6。
     * 延迟日志由 poll() 无条件消费 m_logPending，无需再置任务位。 */
    if (m_txLen > 0U) {
        armRingPending();
    }
    updateDataReady();
}

void AppSpiCommand::processCommand()
{
    if (m_rxLen == 0U) {
        return;
    }

    /* 0xB0 已受理、正在写 OTA 配置页 / 即将复位：不再处理业务帧，避免打断 Flash。 */
    if (OtaBootRequest::isSpiFrozenForBoot() || OtaBootRequest::isRebootPending()) {
        m_txLen = 0U;
        updateDataReady();
        return;
    }

    uint8_t frame_type = 0U;
    const uint8_t *payload = nullptr;
    uint16_t payload_len = 0U;
    v2_header_t hdr;
    SpiParseResult parse_res = SPI_PARSE_OK;
    uint32_t calc_crc = 0U;
    uint32_t exp_crc = 0U;
    uint8_t sof_offset = 0xFFU;

    const bool parse_ok = spi_diagnose_and_parse_frame(
        m_rxBuf, m_rxLen, &frame_type, &payload, &payload_len, &hdr,
        &parse_res, &calc_crc, &exp_crc, &sof_offset);

    if (!parse_ok) {
        SPI_DIAG_RECORD(
            s_diag.parse_fail_count++;
            s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            s_diag.last_error_rx_len = m_rxLen;
            s_diag.last_error_calc_crc = calc_crc;
            s_diag.last_error_expected_crc = exp_crc;
            s_diag.last_error_sof_offset = sof_offset;
            s_diag.last_error_reason = (uint8_t)parse_res;
            s_diag.last_error_code = 0xE8U;
            memcpy(s_diag.last_error_bytes, m_rxBuf, (m_rxLen < 8U) ? m_rxLen : 8U);
        );

#if (CONFIG_SPI_APP_LOG_ENABLE != 0 && CONFIG_SPI_DIAG_ENABLE != 0)
        switch (parse_res) {
        case SPI_PARSE_ERR_CRC_MISMATCH: {
            SPI_DIAG_RECORD(s_diag.err_crc_mismatch++);
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] CRC mismatch: calc=0x%08lX exp=0x%08lX rxLen=%u",
                     (unsigned long)calc_crc, (unsigned long)exp_crc, (unsigned)m_rxLen);
            postLog(log_msg);
            break;
        }
        case SPI_PARSE_ERR_NO_SOF: {
            SPI_DIAG_RECORD(s_diag.err_no_sof++);
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] No SOF: rxLen=%u raw=[%02X %02X %02X %02X]",
                     (unsigned)m_rxLen, m_rxBuf[0], m_rxBuf[1], m_rxBuf[2], m_rxBuf[3]);
            postLog(log_msg);
            break;
        }
        case SPI_PARSE_ERR_BAD_VERSION: {
            SPI_DIAG_RECORD(s_diag.err_bad_version++);
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] Bad ver=0x%02X (exp 0x02) SOF_off=%u rxLen=%u",
                     (sof_offset < m_rxLen - 2) ? m_rxBuf[sof_offset + 2] : 0xFFU,
                     (unsigned)sof_offset, (unsigned)m_rxLen);
            postLog(log_msg);
            break;
        }
        case SPI_PARSE_ERR_BAD_LEN: {
            SPI_DIAG_RECORD(s_diag.err_bad_len++);
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] Bad len at SOF_off=%u rxLen=%u",
                     (unsigned)sof_offset, (unsigned)m_rxLen);
            postLog(log_msg);
            break;
        }
        default: {
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] Parse fail res=%d rxLen=%u",
                     (int)parse_res, (unsigned)m_rxLen);
            postLog(log_msg);
            break;
        }
        }
#endif

        if (sof_offset > 0U && sof_offset != 0xFFU) {
            SPI_DIAG_RECORD(s_diag.err_sof_drift++);
        }

        /* 0xE8 payload 携带接收诊断——[0]=0xE8, [1]=rxLen, [2..3]=rxBuf 前 2 字节, [4]=parse_res, [5]=sof_offset */
        uint16_t tx_len = 0U;
        uint8_t diag[8];
        diag[0] = 0xE8U;
        diag[1] = (m_rxLen > 255U) ? 255U : (uint8_t)m_rxLen;
        diag[2] = (m_rxLen > 0U) ? m_rxBuf[0] : 0xFFU;
        diag[3] = (m_rxLen > 1U) ? m_rxBuf[1] : 0xFFU;
        diag[4] = (uint8_t)parse_res;
        diag[5] = sof_offset;
        diag[6] = 0x5AU;
        diag[7] = 0xA5U;
        SPI_DIAG_RECORD(s_diag.error_rsp_count++);
        spi_build_frame(kRspError, diag, sizeof(diag), m_txBuf, &tx_len);
        m_txLen = tx_len;
        finishResponseAndReady();
        return;
    }

    // 解析合法 v2 帧成功
    SPI_DIAG_RECORD(
        s_diag.valid_v2_frames++;
        s_diag.last_rx_type = frame_type;
        s_diag.last_rx_seq = hdr.tx_seq;
    );
    if (sof_offset > 0U && sof_offset != 0xFFU) {
        SPI_DIAG_RECORD(s_diag.err_sof_drift++);
    }

    g_pendingAckSeq = hdr.tx_seq;

    if (frame_type == V2_TYPE_LINK_HELLO) {
        SPI_DIAG_RECORD(s_diag.hello_count++);
        Esp32En::cancelRelinkFromSpi();
        g_sessionId = hdr.session_id;
        g_txSeq = 0;
        g_expectedRxSeq = 0;
        g_v2Active = true;
        s_hasCachedResp = false;
        g_localCredit = 1U;

        uint8_t identity[V2_APP_IDENTITY_LEN];
        fillGd32AppIdentityPayload(identity);
        size_t built_len = 0U;
        v2_build_hello_ack_frame(g_sessionId, V2_ROLE_APP, (uint8_t)g_localCredit,
                                 0, hdr.tx_seq, identity, sizeof(identity),
                                 m_txBuf, &built_len);
        m_txLen = (uint16_t)built_len;

        s_lastReqSeq = hdr.tx_seq;
        memcpy(s_lastRespBuf, m_txBuf, m_txLen);
        s_lastRespLen = m_txLen;
        s_hasCachedResp = true;
        SPI_DIAG_RECORD(
            s_diag.last_tx_type = V2_TYPE_LINK_HELLO;
            s_diag.last_tx_seq = 0;
        );

        finishResponseAndReady();
        return;
    }

    if (g_v2Active) {
        if (hdr.session_id != g_sessionId) {
            SPI_DIAG_RECORD(
                s_diag.session_mismatch++;
                s_diag.last_error_code = V2_ERR_SESSION;
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
                s_diag.error_rsp_count++;
            );
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][ERR] Session mismatch: rx=0x%08lX != cur=0x%08lX",
                     (unsigned long)hdr.session_id, (unsigned long)g_sessionId);
            postLog(log_msg);
#endif

            size_t built_len = 0U;
            v2_build_error_frame(g_sessionId, g_txSeq, hdr.tx_seq,
                                 (uint8_t)g_localCredit, V2_ERR_SESSION,
                                 (uint8_t)g_expectedRxSeq, m_txBuf, &built_len);
            m_txLen = (uint16_t)built_len;
            SPI_DIAG_RECORD(
                s_diag.last_tx_type = V2_TYPE_LINK_ERROR;
                s_diag.last_tx_seq = g_txSeq;
            );
            finishResponseAndReady();
            return;
        }

        const uint8_t dist = v2_seq_distance(hdr.tx_seq, g_expectedRxSeq);
        if (dist == 0U) {
            SPI_DIAG_RECORD(s_diag.seq_ok_count++);
            g_expectedRxSeq = (uint8_t)(g_expectedRxSeq + 1U);
        } else if (dist >= 128U) {
            SPI_DIAG_RECORD(s_diag.seq_dup_count++);
            if (s_hasCachedResp && hdr.tx_seq == s_lastReqSeq) {
                postLogFmt("[SPI-DIAG][INFO] 重复请求 seq=0x%02X -> 重发缓存", hdr.tx_seq);
                memcpy(m_txBuf, s_lastRespBuf, s_lastRespLen);
                m_txLen = s_lastRespLen;
                finishResponseAndReady();
                return;
            }
        } else {
            SPI_DIAG_RECORD(
                s_diag.seq_jump_count++;
                s_diag.last_error_code = V2_ERR_SEQ_JUMP;
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            );
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
            char log_msg[128];
            snprintf(log_msg, sizeof(log_msg),
                     "[SPI-DIAG][WARN] SEQ jump: rx=0x%02X exp=0x%02X (gap=%u)",
                     hdr.tx_seq, g_expectedRxSeq, (unsigned)dist);
            postLog(log_msg);
#endif

            g_expectedRxSeq = (uint8_t)(hdr.tx_seq + 1U);

            if (frame_type != kTypeBootReq) {
                SPI_DIAG_RECORD(s_diag.error_rsp_count++);
                size_t built_len = 0U;
                v2_build_error_frame(g_sessionId, g_txSeq, hdr.tx_seq,
                                     (uint8_t)g_localCredit, V2_ERR_SEQ_JUMP,
                                     (uint8_t)g_expectedRxSeq, m_txBuf, &built_len);
                m_txLen = (uint16_t)built_len;
                SPI_DIAG_RECORD(
                    s_diag.last_tx_type = V2_TYPE_LINK_ERROR;
                    s_diag.last_tx_seq = g_txSeq;
                );
                finishResponseAndReady();
                return;
            }
            postLog("[SPI-DIAG] SEQ jump but BOOT_REQ still handled");
        }
    }

    uint16_t tx_len = 0U;
    bool handled = false;

    SpiCommandContext ctx{};
    ctx.frame_type = frame_type;
    ctx.payload = payload;
    ctx.payload_len = payload_len;
    ctx.tx_buf = m_txBuf;
    ctx.tx_buf_size = kTxBufSize;
    ctx.tx_len = &tx_len;

    for (uint8_t i = 0U; i < m_commandCount; ++i) {
        ISpiCommandHandler *handler = m_commands[i];
        if (handler && handler->canHandle(frame_type)) {
            handler->handle(AppSpiCommandBus, ctx);
            handled = true;
            break;
        }
    }

    if (!handled) {
        SPI_DIAG_RECORD(
            s_diag.unknown_type_count++;
            s_diag.last_unknown_type = frame_type;
            s_diag.last_error_code = 0xE9U;
            s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            s_diag.error_rsp_count++;
        );
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
        char log_msg[128];
        snprintf(log_msg, sizeof(log_msg),
                 "[SPI-DIAG][ERR] 未知 type=0x%02X -> ERROR 0xE9", frame_type);
        postLog(log_msg);
#endif
        uint8_t err = 0xE9U;  /* E9=无 handler 认领 */
        spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
    }

    if (tx_len == 0U) {
        SPI_DIAG_RECORD(
            s_diag.handler_empty_count++;
            s_diag.last_empty_type = frame_type;
            s_diag.last_error_code = 0xEAU;
            s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            s_diag.error_rsp_count++;
        );
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
        char log_msg[128];
        snprintf(log_msg, sizeof(log_msg),
                 "[SPI-DIAG][ERR] handler t=0x%02X tx_len=0 -> ERROR 0xEA", frame_type);
        postLog(log_msg);
#endif
        uint8_t err = 0xEAU;  /* EA=handler 命中但未产出响应 */
        spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
    }

    m_txLen = tx_len;
    SPI_DIAG_RECORD(
        s_diag.last_tx_type = m_txBuf[V2_OFF_TYPE];
        s_diag.last_tx_seq = g_txSeq;
    );

    if (g_v2Active) {
        s_lastReqSeq = hdr.tx_seq;
        memcpy(s_lastRespBuf, m_txBuf, m_txLen);
        s_lastRespLen = m_txLen;
        s_hasCachedResp = true;
        g_txSeq = (uint8_t)(g_txSeq + 1U);
    }

    finishResponseAndReady();
}


/* ============================================================
 * GD32 主动按铃：设 m_ringPending + updateDataReady() 拉低 PB6 请求 ESP32 来读
 * ============================================================ */

void AppSpiCommand::armRingPending()
{
    m_ringPending = true;
    m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
}

void AppSpiCommand::cancelRing()
{
    m_ringPending = false;
    /* 清除待发响应，防止超时后残留帧在下一次 CS assert 时被错误输出 */
    m_txLen = 0U;
    /* 释放 SPIready（高阻），避免永久占用线。
     * cancelRing 已清 m_txLen 和 m_ringPending，updateDataReady() 会释放为高。 */
    updateDataReady();
}

void AppSpiCommand::resetEsp32Link()
{
    /* ESP32 被 PC9 掉电可能死在半笔 CS 里，SPI0/DMA/EXTI 都可能卡死。
     * 做一次完整外设重初始化（对齐 init 的硬件序列），而不是只清软件状态。
     * 仅在 PC9 翻转、对端确定不在发帧时调用。 */
    nvic_irq_disable(EXTI10_15_IRQn);
    exti_interrupt_disable(EXTI_15);

    g_v2Active = false;
    g_sessionId = 0U;
    g_txSeq = 0U;
    g_expectedRxSeq = 0U;
    g_pendingAckSeq = 0U;
    g_localCredit = 1U;
    s_lastReqSeq = 0xFFU;
    s_lastRespLen = 0U;
    s_hasCachedResp = false;

    m_csActive = false;
    m_rxLen = 0U;
    m_ringPending = false;
    m_ringDeadline = 0U;
    m_txLen = 0U;
    memset(m_txBuf, 0xFF, sizeof(m_txBuf));
    memset(m_rxBuf, 0x00, sizeof(m_rxBuf));

    /* 硬件重初始化：SPI0 + DMA + CS EXTI（与 init() 同序列） */
    configureDma();
    configureSpi0();
    armSpiDmasForNextCs();
    updateDataReady();
    configureExti();
#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
    printf("[SPI-APP] resetEsp32Link: SPI0/DMA/EXTI re-init done\r\n");
#endif
}

bool AppSpiCommand::requestEsp32Read(uint8_t frame_type, const uint8_t *payload, uint16_t payload_len)
{
    SPI_DIAG_RECORD(s_diag.ring_request_count++);

    /* 若上一次按铃尚未被 ESP32 读走，拒绝重复按铃 */
    if (m_ringPending) {
        return false;
    }

    /* 构建 v2 EVENT 帧到 m_txBuf（ESP32 下次读事务时通过 DMA 输出到 MISO）。
     * 主动按铃帧使用 V2_FLAG_EVENT，session/seq 从 v2 状态全局变量取；
     * session 未建立时 session_id 填 0。 */
    const uint32_t sess = g_v2Active ? g_sessionId : 0U;
    /* L5：单缓冲 — 装载前 credit 报 1，装载后 updateDataReady 置 0 */
    g_localCredit = 1U;
    size_t built_len = 0U;
    if (!v2_build_frame(frame_type, V2_FLAG_EVENT, sess,
                        g_txSeq, 0U, (uint8_t)g_localCredit,
                        payload, payload_len, m_txBuf, &built_len)) {
        return false;
    }
    /* EVENT 帧占用一个发送序号槽位 */
    if (g_v2Active) {
        g_txSeq = (uint8_t)(g_txSeq + 1U);
    }

    m_txLen = (uint16_t)built_len;
    armRingPending();

    /* v2 DATA_READY: 已设 m_ringPending=true 且 m_txLen>0，
     * updateDataReady() 据此拉低 PB6，并置 g_localCredit=0。 */
    updateDataReady();
    return true;
}

/* ============================================================
 * 主循环轮询：打印延迟日志 + 按铃超时看护 + 周期/异常诊断报告
 * ============================================================ */

void AppSpiCommand::poll()
{
    /* 1. 打印 ISR 推迟的日志队列（环形缓冲，避免丢弃） */
    while (m_logTail != m_logHead) {
        printf("%s\r\n", m_logQueue[m_logTail]);
        m_logTail = (uint8_t)((m_logTail + 1U) % kLogSlotCount);
    }

    /* 2. 按铃超时看护：ESP32 未在 kRingTimeoutMs 内来读则放弃本次按铃。
     * 防止 ESP32 不响应时永久占用 SPIready 线导致双方死锁。 */
    if (m_ringPending) {
        uint32_t save2 = RT_CRITICAL_SAVE();
        if (m_ringPending) {
            if ((int32_t)(SysTickTimer::getMs() - m_ringDeadline) >= 0) {
                SPI_DIAG_RECORD(s_diag.ring_timeout_count++);
#if (CONFIG_SPI_DIAG_PERIODIC_PRINT != 0)
                printf("[SPI-DIAG][WARN] 按铃超时取消 (ESP32 未在 %lums 内响应, 释放 SPIready 重试)\r\n",
                       (unsigned long)kRingTimeoutMs);
#endif
                cancelRing();
            }
        }
        RT_CRITICAL_RESTORE(save2);
    }

#if (CONFIG_SPI_DIAG_ENABLE != 0 && CONFIG_SPI_DIAG_PERIODIC_PRINT != 0)
    /* 3. 定期 / 增量打印 SPI 诊断摘要 */
    static uint32_t s_lastDiagPrintMs = 0;
    static uint32_t s_lastDiagErrCount = 0;
    const uint32_t now = SysTickTimer::getMs();
    const uint32_t totalErrs = s_diag.parse_fail_count + s_diag.rx_overrun_count +
                               s_diag.short_rx_len_count + s_diag.session_mismatch +
                               s_diag.seq_jump_count + s_diag.ring_timeout_count +
                               s_diag.unknown_type_count + s_diag.handler_empty_count;

    const bool hasNewError = (totalErrs > s_lastDiagErrCount && (now - s_lastDiagPrintMs >= 2000U));
    const bool periodicCheck = (s_diag.total_cs_assert > 0U && (now - s_lastDiagPrintMs >= 5000U));

    if (hasNewError || periodicCheck) {
        s_lastDiagPrintMs = now;
        s_lastDiagErrCount = totalErrs;
        const uint8_t cs_pin = (gpio_input_bit_get(GPIOA, GPIO_PIN_15) == SET) ? 1U : 0U;
        const uint8_t rdy_pin = (gpio_input_bit_get(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN) == SET) ? 1U : 0U;
        printf("[SPI-DIAG] CS:assert=%lu rls=%lu ok_v2=%lu | err[CRC:%lu noSOF:%lu short:%lu ovr:%lu sessMis:%lu jmp:%lu tmo:%lu] pins[CS:%d RDY:%d STAT:0x%02X]\r\n",
               (unsigned long)s_diag.total_cs_assert, (unsigned long)s_diag.total_cs_release,
               (unsigned long)s_diag.valid_v2_frames,
               (unsigned long)s_diag.err_crc_mismatch, (unsigned long)s_diag.err_no_sof,
               (unsigned long)s_diag.short_rx_len_count, (unsigned long)s_diag.rx_overrun_count,
               (unsigned long)s_diag.session_mismatch, (unsigned long)s_diag.seq_jump_count,
               (unsigned long)s_diag.ring_timeout_count, cs_pin, rdy_pin, (unsigned)(s_diag.last_spi_stat & 0xFFU));
    }
#endif
}

/* ============================================================
 * CS 边沿处理
 * ============================================================ */

void AppSpiCommand::onCsAssert()
{
    SPI_DIAG_RECORD(s_diag.total_cs_assert++);
    if (m_csActive) {
        return;
    }
    m_csActive = true;
    /* CS 下降：DMA 已在空闲期由 armSpiDmasForNextCs() 预装，此处只标记忙碌。
     * v2 DATA_READY: CS 本身即互斥，PB6 不再表示「忙碌」，不在 CS 下降沿拉低。
     * 切勿在这里 stop/restart DMA，否则赶不上 ESP32 已发出的 SCK（对齐 BOOT）。 */
}

void AppSpiCommand::onCsRelease()
{
    SPI_DIAG_RECORD(s_diag.total_cs_release++);
    if (!m_csActive) {
        /* EXTI 丢失下降沿时：仍尝试收尾并 re-arm，避免永久失步（对齐 BOOT） */
        m_rxLen = stopSpiDmas(kRxBufSize);
        SPI_DIAG_RECORD(
            s_diag.missed_cs_assert++;
            s_diag.last_rx_len = m_rxLen;
            s_diag.last_spi_stat = (uint16_t)SPI_STAT(SPI0);
        );
        postLogFmt("[SPI-DIAG][WARN] CS release without assert (got %u B)", (uint8_t)m_rxLen);
        drainSpiRxHw();
        if (m_txLen > 0U) {
            m_txLen = 0U;
            memset(m_txBuf, 0xFF, sizeof(m_txBuf));
        }
        if (m_rxLen >= V2_OVERHEAD) {
            processCommand();
        } else {
            /* 残包：SPI 可能已乱，重配外设 */
            configureSpi0();
        }
        armSpiDmasForNextCs();
        updateDataReady();
        return;
    }
    m_csActive = false;

    /* 停 DMA 并取本笔 RX 长度（先读 CHCNT 再 disable，否则计数器被清） */
    m_rxLen = stopSpiDmas(kRxBufSize);
    SPI_DIAG_RECORD(
        s_diag.last_rx_len = m_rxLen;
        s_diag.last_spi_stat = (uint16_t)SPI_STAT(SPI0);
    );
    drainSpiRxHw();

    /* 若本次 CS 事务是 ESP32 响应 GD32 按铃来读请求帧，
     * 则 GD32 的请求帧已通过 DMA 输出到 MISO，取消按铃状态。 */
    if (m_ringPending) {
        bool is_v2_frame = false;
        if (m_rxLen >= 2U) {
            const uint16_t last = (m_rxLen < 16U) ? (uint16_t)(m_rxLen - 1U) : 16U;
            for (uint16_t i = 0U; i < last; ++i) {
                if (m_rxBuf[i] == V2_SOF0 && m_rxBuf[i + 1U] == V2_SOF1) {
                    is_v2_frame = true;
                    break;
                }
            }
        }
        if (is_v2_frame) {
            SPI_DIAG_RECORD(s_diag.ring_collision_count++);
            postLog("[SPI-DIAG][INFO] Ring collision: host sent v2 frame while ring pending");
            m_ringPending = false;
            m_txLen = 0U;
            memset(m_txBuf, 0xFF, sizeof(m_txBuf));
            /* 继续走 shouldIgnoreTransaction + processCommand()，不 return */
        } else {
            /* 正常按铃响应：请求帧已被读走，取消按铃状态 */
            m_ringPending = false;
            /* 请求帧已被读走，清空 TX 防止下次事务重复输出 */
            m_txLen = 0U;
            memset(m_txBuf, 0xFF, sizeof(m_txBuf));
            /* 重新预装下一笔 DMA，保证下一 CS 首字节即可收发 */
            armSpiDmasForNextCs();
            updateDataReady();
            return;
        }
    }

    if (shouldIgnoreTransaction(m_rxBuf, m_rxLen)) {
        if (m_rxLen == 0U) {
            SPI_DIAG_RECORD(
                s_diag.zero_rx_len_count++;
                s_diag.last_error_reason = (uint8_t)SPI_PARSE_ERR_TOO_SHORT;
                s_diag.last_error_rx_len = 0U;
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            );
            postLog("[SPI-DIAG][WARN] Ignored 0-byte transaction (SCK did not toggle)");
        } else if (isAllBytesValue(m_rxBuf, m_rxLen, 0xFFU)) {
            SPI_DIAG_RECORD(
                s_diag.all_ff_count++;
                s_diag.last_error_reason = (uint8_t)SPI_PARSE_ERR_ALL_FF;
                s_diag.last_error_rx_len = m_rxLen;
                memcpy(s_diag.last_error_bytes, m_rxBuf, (m_rxLen < 8U) ? m_rxLen : 8U);
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            );
            postLogFmt("[SPI-DIAG][WARN] Ignored all-0xFF transaction (%u bytes)", (uint8_t)m_rxLen);
        } else if (isAllBytesValue(m_rxBuf, m_rxLen, 0x00U)) {
            SPI_DIAG_RECORD(
                s_diag.all_00_count++;
                s_diag.last_error_reason = (uint8_t)SPI_PARSE_ERR_ALL_00;
                s_diag.last_error_rx_len = m_rxLen;
                memcpy(s_diag.last_error_bytes, m_rxBuf, (m_rxLen < 8U) ? m_rxLen : 8U);
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            );
            postLogFmt("[SPI-DIAG][WARN] Ignored all-0x00 transaction (%u bytes)", (uint8_t)m_rxLen);
        } else {
            SPI_DIAG_RECORD(
                s_diag.short_rx_len_count++;
                s_diag.last_error_reason = (uint8_t)SPI_PARSE_ERR_TOO_SHORT;
                s_diag.last_error_rx_len = m_rxLen;
                memcpy(s_diag.last_error_bytes, m_rxBuf, (m_rxLen < 8U) ? m_rxLen : 8U);
                s_diag.last_error_uptime_ms = SysTickTimer::getMs();
            );
            postLogFmt("[SPI-DIAG][WARN] Ignored short transaction (%u bytes < 20B)", (uint8_t)m_rxLen);
        }
        m_rxLen = 0U;
        /* 起机毛刺/相位漂移后仅 re-arm DMA 不够：SPI0 可能已 OVR 卡死。
         * 顺手重配 SPI0+DMA（不动 EXTI/session），下一笔 HELLO 才能收进来。 */
        configureSpi0();
        armSpiDmasForNextCs();
        updateDataReady();
        return;
    }

    m_txLen = 0U;
    memset(m_txBuf, 0xFF, sizeof(m_txBuf));
    updateDataReady();

    /* 命令处理在 EXTI ISR 内同步完成（对齐 BOOT 的 isrProcessFrame 模式），
     * 消除主循环延迟。处理完成后 processCommand() 末尾再 re-arm DMA + 释放 SPIready。 */
    processCommand();

    /* 处理完立即预装下一笔，保证下一 CS 首字节即可收发 */
    armSpiDmasForNextCs();
    updateDataReady();
}

/* ============================================================
 * SPI0 / EXTI 中断处理
 * ============================================================ */

void AppSpiCommand::onInterrupt()
{
    /* RX 已改走 DMA0_CH1：RBNE 逐字节中断已禁用，本 ISR 只保留错误标志清理。
     * CS 边沿处理全部在 onCsExtiInterrupt 的 EXTI15 ISR 里完成。 */
    if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
        SPI_DIAG_RECORD(
            s_diag.rx_overrun_count++;
            s_diag.last_spi_stat = (uint16_t)SPI_STAT(SPI0);
        );
        postLog("[SPI-DIAG][ERR] SPI0 RXORERR (RX Overrun Error)!");
        (void)spi_i2s_data_receive(SPI0);
        (void)SPI_STAT(SPI0);
    }
    if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_FERR) != RESET) {
        SPI_DIAG_RECORD(
            s_diag.format_error_count++;
            s_diag.last_spi_stat = (uint16_t)SPI_STAT(SPI0);
        );
        postLog("[SPI-DIAG][ERR] SPI0 FERR (Frame Format Error)!");
        spi_i2s_format_error_clear(SPI0, SPI_FLAG_FERR);
    }
}

void AppSpiCommand::onCsExtiInterrupt()
{
    if (exti_interrupt_flag_get(EXTI_15) != RESET) {
        exti_interrupt_flag_clear(EXTI_15);
        if (gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
            onCsAssert();
        } else {
            onCsRelease();
        }
    }
}

extern "C" void SPI0_IRQHandler(void)
{
    CpuLoad::isrEnter();
    AppSpiCommandBus.onInterrupt();
    CpuLoad::isrExit();
}

extern "C" void EXTI10_15_IRQHandler(void)
{
    CpuLoad::isrEnter();
    AppSpiCommandBus.onCsExtiInterrupt();
    CpuLoad::isrExit();
}