feat(sys): 添加AES加密和电机OTA中继功能模块

添加了AES128加密算法实现和电机OTA中继相关文件，包括： - ./sys/aes128.h 和 ./sys/aes128.cpp - AES128加密算法头文件和实现 - ./sys/motor_ota_relay.h 和 ./sys/motor_ota_relay.cpp - 电机OTA中继功能 - 更新了项目配置文件包含这些新模块
2026-07-26 20:39:59 +08:00
parent 934836618a
commit 079c6442d4
25 changed files with 2503 additions and 103 deletions
@@ -0,0 +1,148 @@
+/**
+ * @file motor_state.cpp
+ * @brief 多电机状态表实现 — CAN STATUS 帧识别、内存缓存、SPI 推送序列化。
+ *
+ * 所有函数仅在主循环上下文调用（taskCanRxParse / taskHeartbeat / pushStep），
+ * 无 ISR 竞态，不需要临界区保护。
+ */
+
+#include "device/motor_state.h"
+#include "device/spi/app_spi_command_defs.h"
+#include "main.h"
+#include <cstring>
+
+/* ── 全局状态表实例 ── */
+static MotorStateTable s_motorTable = {};
+
+namespace MotorState {
+
+MotorStateTable &table()
+{
+    return s_motorTable;
+}
+
+void onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len)
+{
+    /* BOOT 心跳 0x103（固定 ID，不带节点号）：电机在 Bootloader IDLE 每 ~10ms 发一次。
+     * 记录最近收到时刻与通道，供网页显示独立 BOOT 状态（不归属任何 Nx）。
+     * 注意：必须在 STATUS 掩码过滤之前拦截，否则 0x103 会被下面的掩码判断丢弃。 */
+    if (id == kOtaBootHeartbeatId) {
+        s_motorTable.boot_hb_sec  = g_app_uptime_sec;
+        s_motorTable.boot_channel = channel;
+        s_motorTable.boot_active  = 1U;
+        /* 0x103 仅更新 boot_active 状态，不再串口打印（高频心跳会刷屏）。 */
+        return;
+    }
+
+    /* 掩码匹配 STATUS ID: 0x000N0100 */
+    if ((id & kMotorStatusIdMask) != kMotorStatusIdMatch) {
+        return;
+    }
+
+    const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
+    if (node < 1U || node > kMotorMaxNodes) {
+        return;
+    }
+
+    MotorSlot &slot = s_motorTable.slots[node - 1U];
+
+    slot.node_id      = node;
+    slot.channel      = channel;
+    slot.online       = 1U;
+    slot.dlc          = (len <= kMotorStatusDlc) ? len : kMotorStatusDlc;
+    slot.rx_count++;
+    slot.last_rx_sec  = g_app_uptime_sec;
+    slot.seq          = ++s_motorTable.global_seq;
+
+    /* 拷贝原始 payload */
+    std::memcpy(slot.data, data, slot.dlc);
+    if (slot.dlc < kMotorStatusDlc) {
+        std::memset(&slot.data[slot.dlc], 0, kMotorStatusDlc - slot.dlc);
+    }
+}
+
+void checkOffline()
+{
+    const uint32_t now = g_app_uptime_sec;
+    uint8_t active = 0U;
+
+    for (uint8_t i = 0U; i < kMotorMaxNodes; ++i) {
+        MotorSlot &slot = s_motorTable.slots[i];
+        if (slot.node_id == 0U) {
+            continue; /* 空槽 */
+        }
+        if ((now - slot.last_rx_sec) >= kMotorOfflineSec) {
+            slot.online = 0U;
+        }
+        if (slot.online != 0U) {
+            active++;
+        }
+    }
+    s_motorTable.active_count = active;
+
+    /* BOOT 心跳超时：>kBootHeartbeatTimeoutSec 无 0x103 → 电机已退出 BOOT。 */
+    if (s_motorTable.boot_active != 0U &&
+        (now - s_motorTable.boot_hb_sec) >= kBootHeartbeatTimeoutSec) {
+        s_motorTable.boot_active = 0U;
+    }
+}
+
+uint16_t buildPayload(uint8_t page, uint8_t *buf, uint16_t maxLen)
+{
+    if (page >= kMotorTotalPages || buf == nullptr) {
+        return 0U;
+    }
+
+    /* 需要的最小空间: header + 至少 1 entry */
+    const uint16_t needed = kMotorPageHeaderLen + kMotorEntrySize;
+    if (maxLen < needed) {
+        return 0U;
+    }
+
+    const uint8_t startIdx = static_cast<uint8_t>(page * kMotorEntriesPerPage);
+    uint8_t count = 0U;
+
+    /* Header (4B) */
+    buf[0] = page;
+    buf[1] = kMotorTotalPages;
+    buf[2] = 0U; /* entry_count, 稍后回填 */
+    /* bit[6:0]=在线电机数，bit7=BOOT 心跳(0x103)活跃标志（供网页显示独立 BOOT 状态）。
+     * active_count 上限 9，bit7 空闲可复用，旧解析方读到会多算 128，故 ESP32 侧需掩 0x7F。 */
+    buf[3] = static_cast<uint8_t>((s_motorTable.active_count & 0x7FU)
+                                  | (s_motorTable.boot_active ? kMotorActiveBootBit : 0U));
+
+    uint16_t offset = kMotorPageHeaderLen;
+
+    for (uint8_t i = 0U; i < kMotorEntriesPerPage; ++i) {
+        const uint8_t slotIdx = static_cast<uint8_t>(startIdx + i);
+        if (slotIdx >= kMotorMaxNodes) {
+            break;
+        }
+
+        const MotorSlot &slot = s_motorTable.slots[slotIdx];
+        if (slot.node_id == 0U) {
+            continue; /* 跳过空槽 */
+        }
+
+        /* 检查剩余空间 */
+        if (offset + kMotorEntrySize > maxLen) {
+            break;
+        }
+
+        buf[offset + 0U] = slot.node_id;
+        buf[offset + 1U] = slot.channel;
+        buf[offset + 2U] = slot.online;
+        buf[offset + 3U] = slot.dlc;
+        writeU32Le(&buf[offset + 4U], slot.rx_count);
+        writeU32Le(&buf[offset + 8U], slot.seq);
+        std::memcpy(&buf[offset + 12U], slot.data, kMotorStatusDlc);
+
+        offset += kMotorEntrySize;
+        count++;
+    }
+
+    buf[2] = count;
+    return offset;
+}
+
+} // namespace MotorState