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
This commit is contained in:
@@ -0,0 +1,183 @@
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/**
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* @file aes128.cpp
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* @brief AES-128 ECB 加解密实现（移植自电机 BOOT 工程 sys/aes128.cpp）。
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*/
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#include "sys/aes128.h"
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/* S盒 */
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static const uint8_t sbox[256] = {
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0x63,0x7c,0x77,0x7b,0xf2,0x6b,0x6f,0xc5,0x30,0x01,0x67,0x2b,0xfe,0xd7,0xab,0x76,
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0xca,0x82,0xc9,0x7d,0xfa,0x59,0x47,0xf0,0xad,0xd4,0xa2,0xaf,0x9c,0xa4,0x72,0xc0,
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0xb7,0xfd,0x93,0x26,0x36,0x3f,0xf7,0xcc,0x34,0xa5,0xe5,0xf1,0x71,0xd8,0x31,0x15,
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0x04,0xc7,0x23,0xc3,0x18,0x96,0x05,0x9a,0x07,0x12,0x80,0xe2,0xeb,0x27,0xb2,0x75,
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0x09,0x83,0x2c,0x1a,0x1b,0x6e,0x5a,0xa0,0x52,0x3b,0xd6,0xb3,0x29,0xe3,0x2f,0x84,
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0x53,0xd1,0x00,0xed,0x20,0xfc,0xb1,0x5b,0x6a,0xcb,0xbe,0x39,0x4a,0x4c,0x58,0xcf,
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0xd0,0xef,0xaa,0xfb,0x43,0x4d,0x33,0x85,0x45,0xf9,0x02,0x7f,0x50,0x3c,0x9f,0xa8,
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0x51,0xa3,0x40,0x8f,0x92,0x9d,0x38,0xf5,0xbc,0xb6,0xda,0x21,0x10,0xff,0xf3,0xd2,
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0xcd,0x0c,0x13,0xec,0x5f,0x97,0x44,0x17,0xc4,0xa7,0x7e,0x3d,0x64,0x5d,0x19,0x73,
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0x60,0x81,0x4f,0xdc,0x22,0x2a,0x90,0x88,0x46,0xee,0xb8,0x14,0xde,0x5e,0x0b,0xdb,
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0xe0,0x32,0x3a,0x0a,0x49,0x06,0x24,0x5c,0xc2,0xd3,0xac,0x62,0x91,0x95,0xe4,0x79,
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0xe7,0xc8,0x37,0x6d,0x8d,0xd5,0x4e,0xa9,0x6c,0x56,0xf4,0xea,0x65,0x7a,0xae,0x08,
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0xba,0x78,0x25,0x2e,0x1c,0xa6,0xb4,0xc6,0xe8,0xdd,0x74,0x1f,0x4b,0xbd,0x8b,0x8a,
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0x70,0x3e,0xb5,0x66,0x48,0x03,0xf6,0x0e,0x61,0x35,0x57,0xb9,0x86,0xc1,0x1d,0x9e,
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0xe1,0xf8,0x98,0x11,0x69,0xd9,0x8e,0x94,0x9b,0x1e,0x87,0xe9,0xce,0x55,0x28,0xdf,
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0x8c,0xa1,0x89,0x0d,0xbf,0xe6,0x42,0x68,0x41,0x99,0x2d,0x0f,0xb0,0x54,0xbb,0x16
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};
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/* 逆S盒 */
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static const uint8_t inv_sbox[256] = {
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0x52,0x09,0x6a,0xd5,0x30,0x36,0xa5,0x38,0xbf,0x40,0xa3,0x9e,0x81,0xf3,0xd7,0xfb,
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0x7c,0xe3,0x39,0x82,0x9b,0x2f,0xff,0x87,0x34,0x8e,0x43,0x44,0xc4,0xde,0xe9,0xcb,
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0x54,0x7b,0x94,0x32,0xa6,0xc2,0x23,0x3d,0xee,0x4c,0x95,0x0b,0x42,0xfa,0xc3,0x4e,
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0x08,0x2e,0xa1,0x66,0x28,0xd9,0x24,0xb2,0x76,0x5b,0xa2,0x49,0x6d,0x8b,0xd1,0x25,
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0x72,0xf8,0xf6,0x64,0x86,0x68,0x98,0x16,0xd4,0xa4,0x5c,0xcc,0x5d,0x65,0xb6,0x92,
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0x6c,0x70,0x48,0x50,0xfd,0xed,0xb9,0xda,0x5e,0x15,0x46,0x57,0xa7,0x8d,0x9d,0x84,
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0x90,0xd8,0xab,0x00,0x8c,0xbc,0xd3,0x0a,0xf7,0xe4,0x58,0x05,0xb8,0xb3,0x45,0x06,
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0xd0,0x2c,0x1e,0x8f,0xca,0x3f,0x0f,0x02,0xc1,0xaf,0xbd,0x03,0x01,0x13,0x8a,0x6b,
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0x3a,0x91,0x11,0x41,0x4f,0x67,0xdc,0xea,0x97,0xf2,0xcf,0xce,0xf0,0xb4,0xe6,0x73,
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0x96,0xac,0x74,0x22,0xe7,0xad,0x35,0x85,0xe2,0xf9,0x37,0xe8,0x1c,0x75,0xdf,0x6e,
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0x47,0xf1,0x1a,0x71,0x1d,0x29,0xc5,0x89,0x6f,0xb7,0x62,0x0e,0xaa,0x18,0xbe,0x1b,
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0xfc,0x56,0x3e,0x4b,0xc6,0xd2,0x79,0x20,0x9a,0xdb,0xc0,0xfe,0x78,0xcd,0x5a,0xf4,
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0x1f,0xdd,0xa8,0x33,0x88,0x07,0xc7,0x31,0xb1,0x12,0x10,0x59,0x27,0x80,0xec,0x5f,
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0x60,0x51,0x7f,0xa9,0x19,0xb5,0x4a,0x0d,0x2d,0xe5,0x7a,0x9f,0x93,0xc9,0x9c,0xef,
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0xa0,0xe0,0x3b,0x4d,0xae,0x2a,0xf5,0xb0,0xc8,0xeb,0xbb,0x3c,0x83,0x53,0x99,0x61,
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0x17,0x2b,0x04,0x7e,0xba,0x77,0xd6,0x26,0xe1,0x69,0x14,0x63,0x55,0x21,0x0c,0x7d
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};
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/* 轮常量 */
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static const uint8_t rcon[10] = {0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80,0x1b,0x36};
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static uint8_t xtime(uint8_t x) { return static_cast<uint8_t>((x << 1) ^ (((x >> 7) & 1) * 0x1b)); }
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static uint8_t gf_mul(uint8_t a, uint8_t b) {
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uint8_t p = 0;
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while (b) {
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if (b & 1) p ^= a;
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const uint8_t hi = a & 0x80;
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a <<= 1;
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if (hi) a ^= 0x1b;
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b >>= 1;
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}
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return p;
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}
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static void add_round_key(uint8_t *state, const uint8_t *rk) {
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for (uint8_t i = 0; i < 16; i++) state[i] ^= rk[i];
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}
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static void sub_bytes(uint8_t *state) {
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for (uint8_t i = 0; i < 16; i++) state[i] = sbox[state[i]];
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}
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static void inv_sub_bytes(uint8_t *state) {
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for (uint8_t i = 0; i < 16; i++) state[i] = inv_sbox[state[i]];
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}
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static void shift_rows(uint8_t *s) {
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uint8_t t;
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t=s[1]; s[1]=s[5]; s[5]=s[9]; s[9]=s[13]; s[13]=t;
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t=s[2]; s[2]=s[10]; s[10]=t; t=s[6]; s[6]=s[14]; s[14]=t;
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t=s[3]; s[3]=s[15]; s[15]=s[11]; s[11]=s[7]; s[7]=t;
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}
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static void inv_shift_rows(uint8_t *s) {
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uint8_t t;
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t=s[13]; s[13]=s[9]; s[9]=s[5]; s[5]=s[1]; s[1]=t;
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t=s[2]; s[2]=s[10]; s[10]=t; t=s[6]; s[6]=s[14]; s[14]=t;
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t=s[7]; s[7]=s[11]; s[11]=s[15]; s[15]=s[3]; s[3]=t;
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}
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static void mix_columns(uint8_t *s) {
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for (uint8_t c = 0; c < 4; c++) {
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const uint8_t i = c * 4;
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const uint8_t a0=s[i], a1=s[i+1], a2=s[i+2], a3=s[i+3];
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s[i] = xtime(a0) ^ xtime(a1) ^ a1 ^ a2 ^ a3;
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s[i+1] = a0 ^ xtime(a1) ^ xtime(a2) ^ a2 ^ a3;
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s[i+2] = a0 ^ a1 ^ xtime(a2) ^ xtime(a3) ^ a3;
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s[i+3] = xtime(a0) ^ a0 ^ a1 ^ a2 ^ xtime(a3);
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}
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}
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static void inv_mix_columns(uint8_t *s) {
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for (uint8_t c = 0; c < 4; c++) {
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const uint8_t i = c * 4;
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const uint8_t a0=s[i], a1=s[i+1], a2=s[i+2], a3=s[i+3];
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s[i] = gf_mul(0x0e,a0)^gf_mul(0x0b,a1)^gf_mul(0x0d,a2)^gf_mul(0x09,a3);
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s[i+1] = gf_mul(0x09,a0)^gf_mul(0x0e,a1)^gf_mul(0x0b,a2)^gf_mul(0x0d,a3);
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s[i+2] = gf_mul(0x0d,a0)^gf_mul(0x09,a1)^gf_mul(0x0e,a2)^gf_mul(0x0b,a3);
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s[i+3] = gf_mul(0x0b,a0)^gf_mul(0x0d,a1)^gf_mul(0x09,a2)^gf_mul(0x0e,a3);
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}
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}
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static void key_expansion(aes128_context *ctx) {
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memcpy(ctx->round_keys[0], ctx->key, 16);
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for (uint8_t i = 1; i <= 10; i++) {
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uint8_t temp[4];
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temp[0] = ctx->round_keys[i-1][12];
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temp[1] = ctx->round_keys[i-1][13];
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temp[2] = ctx->round_keys[i-1][14];
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temp[3] = ctx->round_keys[i-1][15];
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const uint8_t t = temp[0];
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temp[0]=temp[1]; temp[1]=temp[2]; temp[2]=temp[3]; temp[3]=t;
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temp[0]=sbox[temp[0]]; temp[1]=sbox[temp[1]];
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temp[2]=sbox[temp[2]]; temp[3]=sbox[temp[3]];
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temp[0] ^= rcon[i-1];
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ctx->round_keys[i][0] = ctx->round_keys[i-1][0] ^ temp[0];
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ctx->round_keys[i][1] = ctx->round_keys[i-1][1] ^ temp[1];
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ctx->round_keys[i][2] = ctx->round_keys[i-1][2] ^ temp[2];
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ctx->round_keys[i][3] = ctx->round_keys[i-1][3] ^ temp[3];
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for (uint8_t j = 1; j < 4; j++) {
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ctx->round_keys[i][j*4+0] = ctx->round_keys[i][(j-1)*4+0] ^ ctx->round_keys[i-1][j*4+0];
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ctx->round_keys[i][j*4+1] = ctx->round_keys[i][(j-1)*4+1] ^ ctx->round_keys[i-1][j*4+1];
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ctx->round_keys[i][j*4+2] = ctx->round_keys[i][(j-1)*4+2] ^ ctx->round_keys[i-1][j*4+2];
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ctx->round_keys[i][j*4+3] = ctx->round_keys[i][(j-1)*4+3] ^ ctx->round_keys[i-1][j*4+3];
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}
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}
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}
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void aes128_set_key(aes128_context *ctx, const uint8_t *key) {
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memcpy(ctx->key, key, AES128_KEY_LEN);
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key_expansion(ctx);
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}
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void aes128_encrypt_block(aes128_context *ctx, const uint8_t *input, uint8_t *output) {
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memcpy(ctx->state, input, AES_BLOCK_SIZE);
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add_round_key(ctx->state, ctx->round_keys[0]);
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for (uint8_t r = 1; r <= 9; r++) {
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sub_bytes(ctx->state);
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shift_rows(ctx->state);
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mix_columns(ctx->state);
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add_round_key(ctx->state, ctx->round_keys[r]);
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}
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sub_bytes(ctx->state);
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shift_rows(ctx->state);
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add_round_key(ctx->state, ctx->round_keys[10]);
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memcpy(output, ctx->state, AES_BLOCK_SIZE);
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}
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void aes128_decrypt_block(aes128_context *ctx, const uint8_t *input, uint8_t *output) {
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memcpy(ctx->state, input, AES_BLOCK_SIZE);
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add_round_key(ctx->state, ctx->round_keys[10]);
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for (uint8_t r = 9; r >= 1; r--) {
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inv_shift_rows(ctx->state);
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inv_sub_bytes(ctx->state);
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add_round_key(ctx->state, ctx->round_keys[r]);
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inv_mix_columns(ctx->state);
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}
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inv_shift_rows(ctx->state);
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inv_sub_bytes(ctx->state);
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add_round_key(ctx->state, ctx->round_keys[0]);
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memcpy(output, ctx->state, AES_BLOCK_SIZE);
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}
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void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const uint8_t *input, uint8_t *output) {
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aes128_encrypt_block(ctx, input, output);
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aes128_encrypt_block(ctx, input + 16, output + 16);
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aes128_encrypt_block(ctx, input + 32, output + 32);
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}
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void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const uint8_t *input, uint8_t *output) {
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aes128_decrypt_block(ctx, input, output);
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aes128_decrypt_block(ctx, input + 16, output + 16);
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aes128_decrypt_block(ctx, input + 32, output + 32);
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}
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@@ -0,0 +1,28 @@
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/**
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* @file aes128.h
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* @brief AES-128 ECB 加解密（纯软件实现，移植自电机 BOOT 工程）。
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* 用于电机 OTA relay 中对固件数据加密及密钥协商。
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*/
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#ifndef SYS_AES128_H
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#define SYS_AES128_H
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#include <cstdint>
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#include <cstddef>
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#include <cstring>
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static constexpr uint8_t AES128_KEY_LEN = 16U;
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static constexpr uint8_t AES_BLOCK_SIZE = 16U;
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struct aes128_context {
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uint8_t key[AES128_KEY_LEN];
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uint8_t round_keys[11][16];
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uint8_t state[AES_BLOCK_SIZE];
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};
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void aes128_set_key(aes128_context *ctx, const uint8_t *key);
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void aes128_encrypt_block(aes128_context *ctx, const uint8_t *input, uint8_t *output);
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void aes128_decrypt_block(aes128_context *ctx, const uint8_t *input, uint8_t *output);
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void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const uint8_t *input, uint8_t *output);
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void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const uint8_t *input, uint8_t *output);
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#endif /* SYS_AES128_H */
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@@ -14,31 +14,62 @@
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* 功能开关（调试/特性总闸 — 改这里即可开关，改完重编）
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* 0/false=关，1/true=开。需要 #if 的保留 #define。
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* ============================================================ */
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/** @brief 周期温度/电压 UART 打印（5s，task_manager #if）。 */
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#define CONFIG_UART_TEMP_PERIODIC_PRINT 1
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/** @brief UART 诊断详细级别（task_runner #if；0=精简 1=含 CAN 统计）。 */
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#define CONFIG_UART_DIAG_LEVEL 1
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/**
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* @brief 5s 诊断任务是否输出全量 UART 摘要（task_runner）。
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* @note 任务本身始终 5s 调度：0=默认仅状态变化/错误增量；1=周期打印 ADC/CAN/ECAT 全量行。
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* 现场抓吞吐/温度时改回 1 后重编即可。
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*/
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#define CONFIG_UART_TEMP_PERIODIC_PRINT 0
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/**
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* @brief 全量摘要详细级别（仅 PERIODIC_PRINT=1 时生效；0=ADC 精简 1=含 CAN 统计）。
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* @note 默认 0；需要 can_tx/rx/drop 等列时与 PERIODIC_PRINT 一并打开。
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*/
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#define CONFIG_UART_DIAG_LEVEL 0
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/**
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* @brief SPI 调试反馈 0xC4：GD32 ADC 温度/VDDA/VIN 1Hz 主动推送。
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* @note 调试用；0=不注册 handler、不推送。与 ESP32 GD32_ADC_FEEDBACK_ENABLE 配对。
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*/
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#define CONFIG_SPI_ADC_FEEDBACK_ENABLE 1
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/**
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* @brief 多电机状态表 0xC5：CAN STATUS 帧缓存 + 250ms 主动推送。
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* @note 0=不注册 handler、不推送、不解析 STATUS 帧。与 ESP32 端 motor_state_task 配对。
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*/
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#define CONFIG_MOTOR_STATE_ENABLE 1
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/**
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* @brief 多电机版本 0xC6：CAN 版本应答帧(0x00FF)缓存 + 事件驱动推送。
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* @note 0=不识别版本帧、不推送。与 ESP32 端 motor_version 缓存配对。
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* 版本为按需查询的低频数据，独立于 0xC5 周期推送。
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*/
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#define CONFIG_MOTOR_VERSION_ENABLE 1
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/** @brief 最大电机节点数 (node ID 1-9)。 */
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constexpr uint8_t CONFIG_MOTOR_MAX_NODES = 9U;
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/** @brief 电机离线判定超时 (ms)。超过此时间未收到 STATUS 帧则标记 offline。 */
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constexpr uint16_t CONFIG_MOTOR_OFFLINE_MS = 3000U;
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/** @brief SPI 命令逐帧日志（#if）。 */
|
||||
#define CONFIG_SPI_APP_LOG_ENABLE 0
|
||||
/** @brief CAN_SEND 成功帧详细日志（#if）。 */
|
||||
#define CONFIG_SPI_CAN_SEND_VERBOSE_LOG 0
|
||||
/** @brief CAN-FD BRS 使能（canfd.cpp #if）。 */
|
||||
#define CONFIG_CAN_FD_BRS_ENABLE 1U
|
||||
/** @brief CAN-FD BRS 使能（canfd.cpp #if）。
|
||||
* 关闭 BRS: 数据段用仲裁段同速率，牢牢性更高。
|
||||
* 电机 BOOT 无法正确接收 BRS 高速段→nonce(16B FD+BRS)被拒绝→握手失败。 */
|
||||
#define CONFIG_CAN_FD_BRS_ENABLE 0U
|
||||
/** @brief 启动时总线探测帧；正常固件关。 */
|
||||
#define CONFIG_CAN_STARTUP_BUS_TEST_ENABLE 0
|
||||
/** @brief 启动时内部回环自检；正常固件关。 */
|
||||
#define CONFIG_CAN_STARTUP_LOOPBACK_TEST_ENABLE 0
|
||||
/** @brief CAN 启动详细诊断 dump；默认关。 */
|
||||
#define CONFIG_CAN_STARTUP_DIAG_VERBOSE 0
|
||||
/** @brief CAN0/1/2 通道使能。 */
|
||||
/**
|
||||
* @brief 周期测试发送任务（taskCanTxSend，发 0x18FF5000 64B FD 帧）。
|
||||
* @note 调试用：该 PGN 无业务接收节点 ACK。auto_retrans=ENABLE 时无 ACK 被
|
||||
* 无限重发吞进 TEC（TEC 一直涨）；DISABLE 时单发失败即 MTEn→error_count++。
|
||||
* 电机拓扑下无对端应答，默认关以消除持续错误帧。需要回放测试波形时打开。
|
||||
*/
|
||||
#define CONFIG_CAN_PERIODIC_TEST_TX_ENABLE 0
|
||||
/** @brief CAN0/1/2 通道使能。CH1/CH2 未接设备，关闭避免持续 CAN 错误 + 占 SPI 带宽。 */
|
||||
constexpr bool CONFIG_CAN_CH0_ENABLE = true;
|
||||
constexpr bool CONFIG_CAN_CH1_ENABLE = true;
|
||||
constexpr bool CONFIG_CAN_CH2_ENABLE = true;
|
||||
constexpr bool CONFIG_CAN_CH1_ENABLE = false;
|
||||
constexpr bool CONFIG_CAN_CH2_ENABLE = false;
|
||||
/** @brief 主循环 WFI（main.cpp #if）。 */
|
||||
#define CONFIG_MAIN_LOOP_WFI_ENABLE 0
|
||||
/** @brief EtherCAT SYNC0 同步模式（#if）。 */
|
||||
@@ -48,13 +79,13 @@ constexpr bool CONFIG_CAN_CH2_ENABLE = true;
|
||||
* APP 固件版本号
|
||||
* ============================================================ */
|
||||
constexpr uint32_t APP_FW_VERSION_MAJOR = 1U;
|
||||
constexpr uint32_t APP_FW_VERSION_MINOR = 3U;
|
||||
constexpr uint32_t APP_FW_VERSION_PATCH = 0U;
|
||||
constexpr uint32_t APP_FW_VERSION_MINOR = 4U;
|
||||
constexpr uint32_t APP_FW_VERSION_PATCH = 75U; /* 1.4.75：尾段fed>=fw_size旁路水位门控，修复末6包死锁 */
|
||||
constexpr uint32_t APP_FW_VERSION_BUILD = 0U;
|
||||
|
||||
|
||||
/** @brief USART0 默认波特率。 */
|
||||
constexpr uint32_t CONFIG_USART0_BAUDRATE = 115200U;
|
||||
constexpr uint32_t CONFIG_USART0_BAUDRATE = 3000000U; /* 3M：诊断打印高速输出，printf 阻塞极小、不拖慢 relay */
|
||||
|
||||
/** @brief ADC 外设实例。 */
|
||||
constexpr uint32_t CONFIG_ADC_INSTANCE = ADC0;
|
||||
@@ -100,8 +131,13 @@ constexpr uint16_t CONFIG_SPI_RX_BUF_SIZE = 256U;
|
||||
constexpr uint16_t CONFIG_SPI_LOG_BUF_SIZE = 256U;
|
||||
/** @brief 主动按铃超时：ESP32 未在该时间内来读则 cancelRing（ms）。 */
|
||||
constexpr uint32_t CONFIG_SPI_RING_TIMEOUT_MS = 50U;
|
||||
/** @brief SPI 命令 handler 注册表容量。 */
|
||||
constexpr uint8_t CONFIG_SPI_MAX_COMMANDS = 8U;
|
||||
/** @brief SPI 命令 handler 注册表容量。
|
||||
*
|
||||
* 当前 init 注册 9 个：boot_request / ota_wait / ping / can_bridge /
|
||||
* can_feedback / id_snapshot / adc_feedback / motor_state / motor_ota。
|
||||
* registerHandler 表满时静默丢弃，motor_ota 曾因容量=8 被丢弃（0xD0 回 0xEE）。
|
||||
* 取 12 留余量；新增 handler 时须确认本容量足够。 */
|
||||
constexpr uint8_t CONFIG_SPI_MAX_COMMANDS = 12U;
|
||||
/** @brief 每通道不重复 ID 快照表最大条目数（与 ESP32 CANFD_ID_SNAPSHOT_MAX 对齐）。 */
|
||||
constexpr uint8_t CONFIG_CANFD_ID_SNAPSHOT_MAX = 16U;
|
||||
/** @brief 快照条目最大数据字节数（CAN FD DLC 上限）。 */
|
||||
@@ -176,10 +212,15 @@ constexpr uint32_t CONFIG_TASK_PERIOD_VREF_SAMPLE_TICKS = 5U;
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_TEMP_SAMPLE_TICKS = 10U;
|
||||
/** @brief 调度基准节拍：10ms 计数周期，单位 100us tick。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_CAN_RX_TICKS = 100U;
|
||||
/** @brief 调度基准节拍：CAN 周期发送任务周期，10 tick = 1ms。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_CAN_TX_TICKS = 10U;
|
||||
/** @brief 调度基准节拍：CAN 周期发送任务周期，100 tick = 10ms。
|
||||
* @note 原 1ms/帧过密，改为 10ms/帧以降低 CAN 总线负载与 GD32 邮箱压力。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_CAN_TX_TICKS = 100U;
|
||||
/** @brief 调度基准节拍：心跳周期，单位 100us tick。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_HEARTBEAT_TICKS = 10000U;
|
||||
/** @brief 调度基准节拍：多电机状态 0xC5 主动推送启动周期，2500 tick = 250ms。
|
||||
* @note 独立于 1Hz heartbeat，避免连带加速 OTA Boot 轮询 / CAN 反馈快照刷新 /
|
||||
* ADC 推送 / checkOffline 离线判定（3s 阈值）。前端 age 应稳定在 ~120ms。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_MOTOR_STATE_TICKS = 2500U;
|
||||
/** @brief 调度基准节拍：APP 状态/诊断打印周期，50000 tick = 5s。 */
|
||||
constexpr uint32_t CONFIG_TASK_PERIOD_DIAG_PRINT_TICKS = 50000U;
|
||||
|
||||
@@ -225,8 +266,9 @@ constexpr uint32_t CONFIG_ESC_PDI_OUTPUT_OFFSET = 0x1200U;
|
||||
constexpr size_t CONFIG_ETHERCAT_PDO_SIZE = 32U;
|
||||
|
||||
/* ---------- EXMC 引脚配置(GD32E508 EXMC 标准映射) ---------- */
|
||||
constexpr uint32_t CONFIG_ESC_EXMC_BASE_ADDR = 0x60000000U;
|
||||
/* Region1 = NE1 @ 0x60000000；数值与 gd32e50x_exmc.h 中 EXMC_BANK0_NORSRAM_REGION1 一致 */
|
||||
constexpr uint32_t CONFIG_ESC_EXMC_BASE_ADDR = 0x64000000U;
|
||||
/* Region1 = NE1 @ 0x64000000（GD32E50x 用户手册 Rev2.2 图25-3: Bank0 四 Region 各 64MB,
|
||||
* HADDR[27:26]=01 选中 NE1）。LAN9252 CS 接 PD7=EXMC_NE1，故基址为 0x64000000。 */
|
||||
#ifndef EXMC_BANK0_NORSRAM_REGION1
|
||||
#define EXMC_BANK0_NORSRAM_REGION1 ((uint32_t)0x00000001U)
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,84 @@
|
||||
/**
|
||||
* @file motor_ota_relay.h
|
||||
* @brief 电机 OTA relay 状态机 — GD32 本地完成与电机 Bootloader 的全部交互。
|
||||
*
|
||||
* 职责：
|
||||
* - AES-128 密钥协商（K_master 存本地 flash）
|
||||
* - 固件数据 AES-ECB 加密 + keyed-CRC32
|
||||
* - CAN 上逐包 stop-and-wait（发 0x101 → 等 0x102 ACK → 按包号继续）
|
||||
* - 进度/完成/错误通过 SPI ring push 报 ESP32
|
||||
*
|
||||
* ESP32 通过 SPI 0xD0(start) / 0xD1(data) / 0xD3(cancel) 喂数据，
|
||||
* GD32 通过 0xD2 ring push 报进度。
|
||||
*/
|
||||
#ifndef SYS_MOTOR_OTA_RELAY_H
|
||||
#define SYS_MOTOR_OTA_RELAY_H
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace MotorOtaRelay {
|
||||
|
||||
/* 电机 Bootloader CAN ID（固定，非节点相关） */
|
||||
static constexpr uint32_t kOtaReqId = 0x00000100U; /* Host→Motor 握手 */
|
||||
static constexpr uint32_t kOtaDataId = 0x00000101U; /* Host→Motor 数据 */
|
||||
static constexpr uint32_t kOtaAckId = 0x00000102U; /* Motor→Host ACK */
|
||||
static constexpr uint32_t kOtaWaitId = 0x00000103U; /* Motor→Host IDLE心跳 */
|
||||
static constexpr uint32_t kOtaCancelId = 0x00000000U; /* Host→Motor 取消 */
|
||||
|
||||
static constexpr uint32_t kPacketPayload = 48U; /* 每包有效载荷 */
|
||||
static constexpr uint32_t kFrameDlc = 64U; /* CAN FD DLC */
|
||||
static constexpr uint32_t kMaxFwSize = 0xC000U; /* 48 KB */
|
||||
static constexpr uint32_t kAckTimeoutMs = 5000U; /* 单包 ACK 超时 */
|
||||
static constexpr uint32_t kHandshakeTimeoutMs = 3000U;
|
||||
|
||||
enum class State : uint8_t {
|
||||
kIdle = 0,
|
||||
kHandshakeReq, /* 已发 [00 AC]，等 ACK */
|
||||
kHandshakeNonce, /* 已发 nonce，等 36B ACK */
|
||||
kHandshakeConfirm, /* 已发 confirm，等 [BA C0] */
|
||||
kErase, /* 已发 size，等擦除完成 ACK */
|
||||
kTransfer, /* 逐包传输中 */
|
||||
kFinishOta, /* 收到 0xF0F0F0F0，已发 [0A AC]，等 FINISH ACK */
|
||||
kFinished, /* 完成 */
|
||||
kError, /* 错误 */
|
||||
kPreCancel = 9 /* 等待电机 BOOT 心跳(0x103)确认已进入 Bootloader，然后进 kHandshakeReq */
|
||||
};
|
||||
|
||||
struct Status {
|
||||
State state;
|
||||
uint8_t error_code;
|
||||
uint16_t packets_acked;
|
||||
uint16_t total_packets;
|
||||
uint32_t fw_size;
|
||||
};
|
||||
|
||||
/* 初始化（注册 CAN RX 回调等） */
|
||||
void init();
|
||||
|
||||
/* 主循环推进（从 task_runner 周期调用，建议 1~5ms 一次） */
|
||||
void process();
|
||||
|
||||
/* 数据发送推进：由主循环 TaskRunner 每圈调用，按 SysTick 钟表控制每包间隔
|
||||
* （不再走 ISR 计时 + TASK 标志，消除跨上下文计数器竞争）。 */
|
||||
void onTxTick();
|
||||
|
||||
/* CAN RX 分发入口：匹配 0x102 ACK 帧时消费，返回 true 表示已处理 */
|
||||
bool onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len);
|
||||
|
||||
/* SPI 命令接口 */
|
||||
bool start(uint8_t can_channel, uint32_t fw_size);
|
||||
/**
|
||||
* @brief 喂入固件明文。payload 布局：[offset:u32 LE][data...]
|
||||
* offset 为固件绝对字节偏移；重复/重叠区间幂等 ACK，缺口拒绝(→SPI WAIT)。
|
||||
* 无 offset 的旧纯流会在 SPI 超时重传时把同一 chunk 追加进环缓（BLF 见前 236B 循环）。
|
||||
*/
|
||||
bool feedData(const uint8_t *data, uint16_t len);
|
||||
void cancel();
|
||||
|
||||
/* 状态查询 */
|
||||
Status getStatus();
|
||||
bool isActive();
|
||||
|
||||
} /* namespace MotorOtaRelay */
|
||||
|
||||
#endif /* SYS_MOTOR_OTA_RELAY_H */
|
||||
@@ -32,6 +32,7 @@ void TaskManager::init()
|
||||
g_scheduler.div_can_rx = 0U;
|
||||
g_scheduler.div_can_tx = 0U;
|
||||
g_scheduler.div_heartbeat = 0U;
|
||||
g_scheduler.div_motor_state = 0U;
|
||||
g_scheduler.div_diag_print = 0U;
|
||||
}
|
||||
|
||||
@@ -95,7 +96,6 @@ void TaskManager::tick100us()
|
||||
|
||||
if(++g_scheduler.div_can_tx >= CONFIG_TASK_PERIOD_CAN_TX_TICKS) {
|
||||
g_scheduler.div_can_tx = 0U;
|
||||
g_scheduler.tick_1ms++;
|
||||
set(1UL << TASK_CAN_TX_SEND);
|
||||
}
|
||||
|
||||
@@ -106,12 +106,18 @@ void TaskManager::tick100us()
|
||||
set(1UL << TASK_HEARTBEAT);
|
||||
}
|
||||
|
||||
#if (CONFIG_UART_TEMP_PERIODIC_PRINT != 0)
|
||||
/* 多电机状态 0xC5 推送：250ms 独立节拍。
|
||||
* 不挂在 1Hz heartbeat 上，避免连带加速 OTA Boot 轮询/CAN快照/ADC推送/checkOffline。 */
|
||||
if(++g_scheduler.div_motor_state >= CONFIG_TASK_PERIOD_MOTOR_STATE_TICKS) {
|
||||
g_scheduler.div_motor_state = 0U;
|
||||
set(1UL << TASK_MOTOR_STATE_PUSH);
|
||||
}
|
||||
|
||||
/* 始终 5s 调度诊断任务：默认静默检查错误增量，PERIODIC_PRINT=1 时打全量摘要 */
|
||||
if(++g_scheduler.div_diag_print >= CONFIG_TASK_PERIOD_DIAG_PRINT_TICKS) {
|
||||
g_scheduler.div_diag_print = 0U;
|
||||
set(1UL << TASK_DIAGNOSTIC_PRINT);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -8,8 +8,11 @@
|
||||
#include "device/watchdog.h"
|
||||
#include "device/spi/app_spi_command.h"
|
||||
#include "device/canfd.h"
|
||||
#include "device/motor_state.h"
|
||||
#include "device/motor_version.h"
|
||||
#include "sys/config.h"
|
||||
#include "sys/ota_boot_request.h"
|
||||
#include "sys/motor_ota_relay.h"
|
||||
#include "sys/task_manager.h"
|
||||
#include "sys/task_runner.h"
|
||||
#include "comm/ethercat_slave.h"
|
||||
@@ -134,7 +137,7 @@ void TaskRunner::taskAdcProcess()
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 执行 CAN 周期发送任务：每 1ms 在每个使能通道上发送一帧 CANFD 测试帧。
|
||||
* @brief 执行 CAN 周期发送任务：每 10ms 在每个使能通道上发送一帧 CANFD 测试帧。
|
||||
* @param[in] 无。
|
||||
* @param[out] 无。
|
||||
* @retval 无返回值。
|
||||
@@ -150,6 +153,7 @@ void TaskRunner::taskAdcProcess()
|
||||
*/
|
||||
void TaskRunner::taskCanTxSend()
|
||||
{
|
||||
#if (CONFIG_CAN_PERIODIC_TEST_TX_ENABLE != 0)
|
||||
static uint32_t seq = 0U;
|
||||
|
||||
for (uint8_t ch = 0U; ch < 3U; ++ch) {
|
||||
@@ -176,6 +180,11 @@ void TaskRunner::taskCanTxSend()
|
||||
seq++;
|
||||
}
|
||||
}
|
||||
#else
|
||||
/* CONFIG_CAN_PERIODIC_TEST_TX_ENABLE=0：测试帧无业务接收节点 ACK，
|
||||
* 单发模式下会持续产生 MTEn 错误帧，整任务空跑。 */
|
||||
(void)0;
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -199,6 +208,25 @@ void TaskRunner::taskCanRxParse()
|
||||
OtaBootRequest::process();
|
||||
return;
|
||||
}
|
||||
if(MotorOtaRelay::onCanFrame(s_runtime.last_rx_channel,
|
||||
s_runtime.last_rx_id,
|
||||
s_runtime.last_rx_data,
|
||||
s_runtime.last_rx_len)) {
|
||||
consumed++;
|
||||
continue;
|
||||
}
|
||||
#if (CONFIG_MOTOR_STATE_ENABLE != 0)
|
||||
MotorState::onCanFrame(s_runtime.last_rx_channel,
|
||||
s_runtime.last_rx_id,
|
||||
s_runtime.last_rx_data,
|
||||
s_runtime.last_rx_len);
|
||||
#endif
|
||||
#if (CONFIG_MOTOR_VERSION_ENABLE != 0)
|
||||
MotorVersion::onCanFrame(s_runtime.last_rx_channel,
|
||||
s_runtime.last_rx_id,
|
||||
s_runtime.last_rx_data,
|
||||
s_runtime.last_rx_len);
|
||||
#endif
|
||||
consumed++;
|
||||
}
|
||||
|
||||
@@ -221,6 +249,22 @@ void TaskRunner::taskHeartbeat()
|
||||
canFeedbackStartRound();
|
||||
/* ADC 调试反馈 1Hz：CONFIG_SPI_ADC_FEEDBACK_ENABLE=0 时为空操作 */
|
||||
adcFeedbackStartRound();
|
||||
#if (CONFIG_MOTOR_STATE_ENABLE != 0)
|
||||
MotorState::checkOffline();
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 启动多电机状态 0xC5 推送轮次（250ms 独立节拍）。
|
||||
* @note 与 taskHeartbeat 解耦：不连带加速 OTA Boot 轮询 / CAN 快照 / ADC 推送 /
|
||||
* checkOffline 离线判定（3s 阈值）。仅触发本轮 P0/P1 分页推送，
|
||||
* 实际 SPI 传输由 motorStatePushStep() 在主循环按铃协议推进。
|
||||
*/
|
||||
void TaskRunner::taskMotorStatePush()
|
||||
{
|
||||
#if (CONFIG_MOTOR_STATE_ENABLE != 0)
|
||||
motorStateStartRound();
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -238,60 +282,62 @@ bool TaskRunner::copyAdcSample(Adc::Sample *out)
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 输出当前温度、电压与 CAN 诊断信息。
|
||||
* @param[in] 无。
|
||||
* @param[out] 无。
|
||||
* @retval 无返回值。
|
||||
* @note 由 5 秒节拍触发，通过 UART 打印当前温度、电压；采用定点整数格式，避免依赖浮点 `printf` 支持。
|
||||
* @brief 5s 诊断任务：默认仅状态变化/错误增量；可选全量 UART 摘要。
|
||||
* @note CONFIG_UART_TEMP_PERIODIC_PRINT=1 时打印 ADC/CAN/ECAT 全量行（调试用）。
|
||||
* 默认=0：相对上次快照有 CAN 错误计数增量、ADC valid 跳变、ECAT ready 变化或 ISR 超阈时才打印。
|
||||
* 采用定点整数格式，避免依赖浮点 printf。
|
||||
*/
|
||||
void TaskRunner::taskDiagnosticPrint()
|
||||
{
|
||||
const auto *diag = CanFd::diag();
|
||||
const auto &s = s_runtime.sample;
|
||||
const int32_t temp_x100 = static_cast<int32_t>(s.temperature * 100.0f);
|
||||
const uint32_t vdda_mV = static_cast<uint32_t>(s.vdda * 1000.0f);
|
||||
const uint32_t vin_adc_mV = static_cast<uint32_t>(s.vin_adc_v * 1000.0f);
|
||||
|
||||
#if (CONFIG_UART_TEMP_PERIODIC_PRINT != 0)
|
||||
/* ---- Debug 全量摘要：周期刷 ADC / CAN 吞吐 / ECAT ISR 统计 ---- */
|
||||
{
|
||||
const int32_t temp_x100 = static_cast<int32_t>(s.temperature * 100.0f);
|
||||
const uint32_t vdda_mV = static_cast<uint32_t>(s.vdda * 1000.0f);
|
||||
const uint32_t vin_adc_mV = static_cast<uint32_t>(s.vin_adc_v * 1000.0f);
|
||||
|
||||
#if (CONFIG_UART_DIAG_LEVEL == 0)
|
||||
printf("[APP] uptime=%lus valid=%u, temp_raw=%u, vref_raw=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V\r\n",
|
||||
(unsigned long)g_app_uptime_sec,
|
||||
static_cast<unsigned int>(s.valid),
|
||||
static_cast<unsigned int>(s.temp_raw),
|
||||
static_cast<unsigned int>(s.vref_raw),
|
||||
static_cast<long>(temp_x100 / 100),
|
||||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV % 1000U));
|
||||
printf("[APP] uptime=%lus valid=%u, temp_raw=%u, vref_raw=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V\r\n",
|
||||
(unsigned long)g_app_uptime_sec,
|
||||
static_cast<unsigned int>(s.valid),
|
||||
static_cast<unsigned int>(s.temp_raw),
|
||||
static_cast<unsigned int>(s.vref_raw),
|
||||
static_cast<long>(temp_x100 / 100),
|
||||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV % 1000U));
|
||||
#else
|
||||
printf("[APP] uptime=%lus valid=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V, rx_ch=%u, rx_id=0x%08lX, rx_len=%u, tx_ch=%u, can_tx=%lu, can_rx=%lu, sw_drop=%lu, hw_full=%lu, hw_over=%lu, tx_abort=%lu, can_err=%lu\r\n",
|
||||
(unsigned long)g_app_uptime_sec,
|
||||
static_cast<unsigned int>(s.valid),
|
||||
static_cast<long>(temp_x100 / 100),
|
||||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV % 1000U),
|
||||
static_cast<unsigned int>(s_runtime.last_rx_channel),
|
||||
static_cast<unsigned long>(s_runtime.last_rx_id),
|
||||
static_cast<unsigned int>(s_runtime.last_rx_len),
|
||||
static_cast<unsigned int>(diag->last_tx_channel),
|
||||
static_cast<unsigned long>(diag->tx_count),
|
||||
static_cast<unsigned long>(diag->rx_count),
|
||||
static_cast<unsigned long>(diag->rx_drop_count),
|
||||
static_cast<unsigned long>(diag->rx_fifo_full_count),
|
||||
static_cast<unsigned long>(diag->rx_fifo_overfull_count),
|
||||
static_cast<unsigned long>(diag->tx_abort_count),
|
||||
static_cast<unsigned long>(diag->error_count));
|
||||
printf("[APP] uptime=%lus valid=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V, rx_ch=%u, rx_id=0x%08lX, rx_len=%u, tx_ch=%u, can_tx=%lu, can_rx=%lu, sw_drop=%lu, hw_full=%lu, hw_over=%lu, tx_abort=%lu, can_err=%lu\r\n",
|
||||
(unsigned long)g_app_uptime_sec,
|
||||
static_cast<unsigned int>(s.valid),
|
||||
static_cast<long>(temp_x100 / 100),
|
||||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||||
static_cast<unsigned long>(vin_adc_mV % 1000U),
|
||||
static_cast<unsigned int>(s_runtime.last_rx_channel),
|
||||
static_cast<unsigned long>(s_runtime.last_rx_id),
|
||||
static_cast<unsigned int>(s_runtime.last_rx_len),
|
||||
static_cast<unsigned int>(diag->last_tx_channel),
|
||||
static_cast<unsigned long>(diag->tx_count),
|
||||
static_cast<unsigned long>(diag->rx_count),
|
||||
static_cast<unsigned long>(diag->rx_drop_count),
|
||||
static_cast<unsigned long>(diag->rx_fifo_full_count),
|
||||
static_cast<unsigned long>(diag->rx_fifo_overfull_count),
|
||||
static_cast<unsigned long>(diag->tx_abort_count),
|
||||
static_cast<unsigned long>(diag->error_count));
|
||||
#endif
|
||||
|
||||
{
|
||||
if (EthercatSlave::isEscReady()) {
|
||||
uint32_t maxCyc = 0U, avgCyc = 0U, cnt = 0U;
|
||||
EthercatSlave::getIsrStats(&maxCyc, &avgCyc, &cnt);
|
||||
/* 180MHz: cycles / 180 = µs;用 *1000/180 获得毫微秒精度避免浮点 */
|
||||
/* 180MHz: cycles / 180 = µs;用 *1000/180 获得亚微秒精度避免浮点 */
|
||||
const uint32_t maxUs_x1000 = maxCyc * 1000U / 180U;
|
||||
const uint32_t avgUs_x1000 = avgCyc * 1000U / 180U;
|
||||
printf("[ECAT] periodicIsr cnt=%lu max=%lu.%03luus avg=%lu.%03luus\r\n",
|
||||
@@ -303,6 +349,88 @@ void TaskRunner::taskDiagnosticPrint()
|
||||
(unsigned long)EthercatSlave::getChipId());
|
||||
}
|
||||
}
|
||||
#else
|
||||
/* ---- 默认静默路径：仅错误增量 / 状态变化，无 uptime 心跳 ---- */
|
||||
{
|
||||
static uint32_t s_prev_rx_drop = 0U;
|
||||
static uint32_t s_prev_rx_fifo_full = 0U;
|
||||
static uint32_t s_prev_rx_fifo_overfull = 0U;
|
||||
static uint32_t s_prev_tx_abort = 0U;
|
||||
static uint32_t s_prev_error = 0U;
|
||||
static uint8_t s_prev_adc_valid = 0xFFU; /* 0xFF=尚未采样 */
|
||||
static bool s_prev_esc_ready = false;
|
||||
static bool s_esc_ready_inited = false;
|
||||
static uint32_t s_prev_ecat_max_cyc = 0U;
|
||||
|
||||
const uint32_t rx_drop = diag->rx_drop_count;
|
||||
const uint32_t rx_full = diag->rx_fifo_full_count;
|
||||
const uint32_t rx_over = diag->rx_fifo_overfull_count;
|
||||
const uint32_t tx_abort = diag->tx_abort_count;
|
||||
const uint32_t can_err = diag->error_count;
|
||||
|
||||
if (rx_drop > s_prev_rx_drop || rx_full > s_prev_rx_fifo_full
|
||||
|| rx_over > s_prev_rx_fifo_overfull || tx_abort > s_prev_tx_abort
|
||||
|| can_err > s_prev_error) {
|
||||
printf("[CAN-DIAG] uptime=%lus err=%lu(+%lu) drop=%lu(+%lu) full=%lu(+%lu) over=%lu(+%lu) abort=%lu(+%lu)\r\n",
|
||||
(unsigned long)g_app_uptime_sec,
|
||||
(unsigned long)can_err,
|
||||
(unsigned long)(can_err - s_prev_error),
|
||||
(unsigned long)rx_drop,
|
||||
(unsigned long)(rx_drop - s_prev_rx_drop),
|
||||
(unsigned long)rx_full,
|
||||
(unsigned long)(rx_full - s_prev_rx_fifo_full),
|
||||
(unsigned long)rx_over,
|
||||
(unsigned long)(rx_over - s_prev_rx_fifo_overfull),
|
||||
(unsigned long)tx_abort,
|
||||
(unsigned long)(tx_abort - s_prev_tx_abort));
|
||||
s_prev_rx_drop = rx_drop;
|
||||
s_prev_rx_fifo_full = rx_full;
|
||||
s_prev_rx_fifo_overfull = rx_over;
|
||||
s_prev_tx_abort = tx_abort;
|
||||
s_prev_error = can_err;
|
||||
}
|
||||
|
||||
if (s_prev_adc_valid == 0xFFU) {
|
||||
s_prev_adc_valid = s.valid;
|
||||
} else if (s.valid != s_prev_adc_valid) {
|
||||
printf("[APP] adc valid %u -> %u (uptime=%lus)\r\n",
|
||||
static_cast<unsigned int>(s_prev_adc_valid),
|
||||
static_cast<unsigned int>(s.valid),
|
||||
(unsigned long)g_app_uptime_sec);
|
||||
s_prev_adc_valid = s.valid;
|
||||
}
|
||||
|
||||
const bool esc_ready = EthercatSlave::isEscReady();
|
||||
if (!s_esc_ready_inited) {
|
||||
s_prev_esc_ready = esc_ready;
|
||||
s_esc_ready_inited = true;
|
||||
} else if (esc_ready != s_prev_esc_ready) {
|
||||
printf("[ECAT] ESC ready %u -> %u chip_id=0x%08lX (uptime=%lus)\r\n",
|
||||
static_cast<unsigned int>(s_prev_esc_ready ? 1U : 0U),
|
||||
static_cast<unsigned int>(esc_ready ? 1U : 0U),
|
||||
(unsigned long)EthercatSlave::getChipId(),
|
||||
(unsigned long)g_app_uptime_sec);
|
||||
s_prev_esc_ready = esc_ready;
|
||||
}
|
||||
|
||||
if (esc_ready) {
|
||||
uint32_t maxCyc = 0U, avgCyc = 0U, cnt = 0U;
|
||||
EthercatSlave::getIsrStats(&maxCyc, &avgCyc, &cnt);
|
||||
/* 阈值单位 µs → CPU 周期（180 MHz） */
|
||||
const uint32_t threshCyc = CONFIG_ETHERCAT_ISR_MAX_US_THRESHOLD * 180U;
|
||||
if (maxCyc > threshCyc && maxCyc > s_prev_ecat_max_cyc) {
|
||||
const uint32_t maxUs_x1000 = maxCyc * 1000U / 180U;
|
||||
printf("[ECAT] ISR max over threshold: max=%lu.%03luus thr=%luus cnt=%lu (uptime=%lus)\r\n",
|
||||
(unsigned long)(maxUs_x1000 / 1000U),
|
||||
(unsigned long)(maxUs_x1000 % 1000U),
|
||||
(unsigned long)CONFIG_ETHERCAT_ISR_MAX_US_THRESHOLD,
|
||||
(unsigned long)cnt,
|
||||
(unsigned long)g_app_uptime_sec);
|
||||
s_prev_ecat_max_cyc = maxCyc;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -359,12 +487,23 @@ void TaskRunner::runPending()
|
||||
OtaBootRequest::process();
|
||||
}
|
||||
|
||||
/* 电机 OTA relay：活跃时每圈推进状态机（等 ACK / 超时 / 发下一包）。
|
||||
* 非活跃时立即返回，开销可忽略。 */
|
||||
MotorOtaRelay::process();
|
||||
/* 数据发送推进：主循环每圈调用，按 SysTick 钟表控制每包间隔
|
||||
* （替代原靠 tick100us 计数 + TASK_MOTOR_OTA_TX 的方式，消除计数器竞争）。 */
|
||||
MotorOtaRelay::onTxTick();
|
||||
|
||||
/* CAN 反馈主动推送：GD32 APP 循环推送 3 通道 × 2 页反馈帧到 ESP32，
|
||||
* 替代 ESP32 主动轮询。非阻塞：上一帧未读走时立即返回。
|
||||
* 每次主循环迭代调用一次，ESP32 读走一帧后 CS 释放中断唤醒主循环继续推送。 */
|
||||
canFeedbackPushStep();
|
||||
/* 多电机状态（0xC5）：优先级介于 CAN 反馈与 ADC 之间；ring 忙则跳过。 */
|
||||
motorStatePushStep();
|
||||
/* ADC 调试反馈（0xC4）：优先级低于 CAN；ring 忙则跳过。可 config 关闭。 */
|
||||
adcFeedbackPushStep();
|
||||
/* 多电机版本（0xC6）：事件驱动、低频，优先级最低；无 dirty 版本时立即返回。 */
|
||||
motorVersionPushStep();
|
||||
|
||||
/* 周期路径( SYNC0 ISR preempt=0 )用 s_periodicSeq 序列号通知主循环,
|
||||
* 不再走 task_flags,避免 BASEPRI 临界区与 preempt=0 的 RMW 竞态。
|
||||
@@ -385,6 +524,7 @@ void TaskRunner::runPending()
|
||||
if(pending & (1UL << TASK_CAN_RX_PARSE)) taskCanRxParse();
|
||||
if(pending & (1UL << TASK_CAN_TX_SEND)) taskCanTxSend();
|
||||
if(pending & (1UL << TASK_HEARTBEAT)) taskHeartbeat();
|
||||
if(pending & (1UL << TASK_MOTOR_STATE_PUSH)) taskMotorStatePush();
|
||||
if(pending & (1UL << TASK_DIAGNOSTIC_PRINT)) taskDiagnosticPrint();
|
||||
if(pending & (1UL << TASK_ETHERCAT_PROCESS)) taskEthercatProcess();
|
||||
}
|
||||
|
||||
@@ -46,10 +46,12 @@ private:
|
||||
static void taskAdcProcess();
|
||||
/** @brief 解析并消费接收帧。 */
|
||||
static void taskCanRxParse();
|
||||
/** @brief CAN 周期发送任务；每 1ms 每通道发送一帧测试报文。 */
|
||||
/** @brief CAN 周期发送任务；每 10ms 每通道发送一帧测试报文。 */
|
||||
static void taskCanTxSend();
|
||||
/** @brief 心跳维护任务。 */
|
||||
static void taskHeartbeat();
|
||||
/** @brief 多电机状态 0xC5 主动推送启动（250ms 独立节拍）。 */
|
||||
static void taskMotorStatePush();
|
||||
/** @brief 诊断打印任务。 */
|
||||
static void taskDiagnosticPrint();
|
||||
/** @brief EtherCAT 周期/事件处理(非实时应用层 PDO 映射)。 */
|
||||
|
||||
Reference in New Issue
Block a user