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feat(sys): 添加AES加密和电机OTA中继功能模块

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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:
cbb
2026-07-26 20:39:59 +08:00
parent 934836618a
commit 079c6442d4
25 changed files with 2503 additions and 103 deletions
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GD32E508_DCU_APP/sys/task_runner.cpp
+182 -42
View File
@@ -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();
}