feat(cproject): 重构项目文件结构并添加EtherCAT通信支持

- 将设备相关文件重新组织为device/spi和comm分组
- 添加EtherCAT从站通信模块(esc_exmc_bus、esc_lan9252、ethercat_slave等)
- 添加EXMC外设组件支持
- 统一文件命名规范为小写

refactor(canfd): 优化CANFD模块中断安全性和配置方式

- 替换自定义临界区函数为RT_CRITICAL_SAVE/RESTORE宏
- 使用配置常量CONFIG_IRQ_PREEMPT_CAN替代硬编码值
- 简化邮箱满时的处理逻辑，移除不必要的SysTick等待
- 移除废弃的中断保存头文件引用

refactor(timer): 更新定时器配置以使用配置常量

- 修复头文件包含路径大小写问题
- 使用CONFIG_NVIC_PRIORITY_GROUP配置项替代硬编码值

GD32E508_DCU_APP/device/ADC.cpp

@@ -1,5 +1,5 @@
 /**
- * @file ADC.cpp
+ * @file adc.cpp
  * @brief ADC 采样模块实现。
  */
 

GD32E508_DCU_APP/device/CANFD.cpp

@@ -1,13 +1,13 @@
 /**
- * @file CANFD.cpp
+ * @file canfd.cpp
  * @brief CANFD 通信模块实现。
  */
 
 #include "main.h"
 #include "device/canfd.h"
 #include "sys/config.h"
+#include "sys/critical.h"
 #include "sys/task_manager.h"
-#include "sys/systick.h"
 
 namespace {
 struct TxFrame {
@@ -44,30 +44,6 @@ constexpr CanChannelConfig kChannels[] = {
 constexpr size_t kChannelCount = sizeof(kChannels) / sizeof(kChannels[0]);
 constexpr uint8_t kTxQueueDepth = 4U;
 constexpr uint32_t kCanRxParseTaskMask = (1UL << TASK_CAN_RX_PARSE);
-
-/**
- * @brief Enter a critical section and preserve the previous interrupt mask.
- * @param[in]  无。
- * @param[out] 无。
- * @retval uint32_t Previous PRIMASK value.
- */
-static uint32_t enterCriticalSection()
-{
-    const uint32_t primask = __get_PRIMASK();
-    __disable_irq();
-    return primask;
-}
-
-/**
- * @brief Exit a critical section by restoring the saved interrupt mask.
- * @param[in]  primask Previous PRIMASK value returned by `enterCriticalSection()`.
- * @param[out] 无。
- * @retval    无返回值。
- */
-static void exitCriticalSection(uint32_t primask)
-{
-    __set_PRIMASK(primask);
-}
 } // namespace
 
 CanFd::Diag     CanFd::s_diag{};
@@ -281,7 +257,7 @@ void CanFd::init()
         initFdMode(ch.canPeriph);
         configureRxFilter(ch.canPeriph, ch.filterNumber);
         can_interrupt_enable(ch.canPeriph, CAN_INT_RFNE0 | CAN_INT_RFF0 | CAN_INT_RFO0);
-        nvic_irq_enable(ch.rx0Irq, 1U, static_cast<uint8_t>(i));
+        nvic_irq_enable(ch.rx0Irq, CONFIG_IRQ_PREEMPT_CAN, static_cast<uint8_t>(i));
 
         s_rxQueues[i].head = 0U;
         s_rxQueues[i].tail = 0U;
@@ -375,14 +351,14 @@ void CanFd::sendPrepared()
 bool CanFd::hasRxFrame()
 {
     bool found = false;
-    const uint32_t primask = enterCriticalSection();
+    uint32_t save = RT_CRITICAL_SAVE();
     for(size_t i = 0; i < kChannelCount; ++i) {
         if(s_rxQueues[i].count != 0U) {
             found = true;
             break;
         }
     }
-    exitCriticalSection(primask);
+    RT_CRITICAL_RESTORE(save);
     return found;
 }
 
@@ -401,7 +377,7 @@ bool CanFd::consumeRxFrame(uint32_t *id, uint8_t *data, uint8_t *length, uint8_t
     RxFrame localFrame{};
     bool found = false;
 
-    const uint32_t primask = enterCriticalSection();
+    uint32_t save = RT_CRITICAL_SAVE();
     for(size_t n = 0; n < kChannelCount; ++n) {
         const uint8_t idx = static_cast<uint8_t>((s_nextConsumeChannel + n) % kChannelCount);
         auto &queue = s_rxQueues[idx];
@@ -416,7 +392,7 @@ bool CanFd::consumeRxFrame(uint32_t *id, uint8_t *data, uint8_t *length, uint8_t
         found = true;
         break;
     }
-    exitCriticalSection(primask);
+    RT_CRITICAL_RESTORE(save);
 
     if(!found) {
         return false;
@@ -467,29 +443,10 @@ bool CanFd::transmitFrame(uint8_t channelIndex, uint32_t ext_id,
     const uint32_t canPeriph = kChannels[channelIndex].canPeriph;
     uint8_t mailbox = can_message_transmit(canPeriph, &tx_msg);
 
-    /* 邮箱全占时的恢复处理：
-     * 当目标控制器初始化时 auto_retrans = ENABLE，且总线上没有其它节点回 ACK，
-     * 已入邮箱的帧会无限自动重传，TME 位永不置回，导致后续帧一律 CAN_NOMAILBOX。
-     *
-     * 改良策略（两段式，尽量不丢帧）：
-     *  1) 先短自旋 ~2 ms 轮询邮箱状态。健康总线上 1 Mbps + 8 字节帧的实际发送
-     *     仅约 130 µs，正常重传几百 µs 内即可 drain，绝大多数“偶发 NOMAILBOX”
-     *     场景到这一步就已经恢复，不会触发 abort，也就不会丢帧。
-     *  2) 若 2 ms 后仍全部 PENDING（典型：物理层不通、TCAN1057A 没焊或 CAN_L/H
-     *     断线导致 ACK Error 死循环），只 abort 第一个 PENDING 邮箱腾一个位置，
-     *     最坏丢 1 帧而不是 3 帧，并通过 s_diag.tx_abort_count 暴露给串口 diag，
-     *     上层（含 SPI 桥）仍能把后续帧正常下发。 */
+    /* 邮箱全占时保持非阻塞：本函数可能处于 SPI CS 中断链路，不能等待
+     * SysTick。若 auto_retrans 因总线无 ACK 卡住全部邮箱，只立即 abort
+     * 一个 PENDING 邮箱并重投一次，把中断占用时间控制在寄存器访问级别。 */
     if (mailbox == CAN_NOMAILBOX) {
-        constexpr uint8_t kDrainPolls = 2U;
-        for (uint8_t poll = 0U; poll < kDrainPolls && mailbox == CAN_NOMAILBOX; ++poll) {
-            SysTickTimer::delayMs(1U);
-            mailbox = can_message_transmit(canPeriph, &tx_msg);
-        }
-    }
-    if (mailbox == CAN_NOMAILBOX) {
-        /* 只 abort 一个 PENDING 邮箱：找到首个 stop 成功的就停手，
-         * 不再扫描后续邮箱，把丢帧上限收敛到 1。stop 失败的邮箱
-         * （硬件正在物理发送）继续尝试下一个，避免一次 abort 都没成功。 */
         for (uint8_t mb = CAN_MAILBOX0; mb <= CAN_MAILBOX2; ++mb) {
             if (can_transmit_states(canPeriph, mb) != CAN_TRANSMIT_PENDING) {
                 continue;

GD32E508_DCU_APP/device/Timer.cpp

@@ -1,10 +1,10 @@
 /**
- * @file Timer.cpp
+ * @file timer.cpp
  * @brief 用户调度定时器模块实现。
  */
 
 #include "main.h"
-#include "device/Timer.h"
+#include "device/timer.h"
 #include "sys/task_manager.h"
 #include "sys/config.h"
 
@@ -44,7 +44,7 @@ void SchedulerTimer::configureTimer()
  */
 void SchedulerTimer::configureNvic()
 {
-    nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
+    nvic_priority_group_set(CONFIG_NVIC_PRIORITY_GROUP);
     nvic_irq_enable(CONFIG_SCHED_TIMER_IRQn, CONFIG_SCHED_TIMER_IRQ_PREEMPT_PRIO, CONFIG_SCHED_TIMER_IRQ_SUB_PRIO);
 }
 

GD32E508_DCU_APP/device/spi/app_spi_cmd_boot_request.cpp

@@ -1,6 +1,6 @@
-#include "device/spi_command_handler.h"
-#include "device/app_spi_command.h"
-#include "device/app_spi_command_defs.h"
+#include "device/spi/spi_command_handler.h"
+#include "device/spi/app_spi_command.h"
+#include "device/spi/app_spi_command_defs.h"
 #include "sys/ota_boot_request.h"
 #include "sys/config.h"
 #include "sys/task_manager.h"

GD32E508_DCU_APP/device/spi/app_spi_cmd_can_bridge.cpp

@@ -1,17 +1,21 @@
-#include "device/spi_command_handler.h"
-#include "device/app_spi_command.h"
-#include "device/app_spi_command_defs.h"
+#include "device/spi/spi_command_handler.h"
+#include "device/spi/app_spi_command.h"
+#include "device/spi/app_spi_command_defs.h"
 #include "device/canfd.h"
+#include "sys/config.h"
 #include <cstdio>
 
 namespace {
 
+#if (CONFIG_SPI_CAN_SEND_VERBOSE_LOG != 0)
 constexpr uint8_t kCanLogMaxDlc = 64U;
+#endif
 
 void postCanSendLog(AppSpiCommand &bus, const char *result,
                     uint8_t can_ch, uint32_t can_id,
                     const uint8_t *can_data, uint8_t can_dlc)
 {
+#if (CONFIG_SPI_CAN_SEND_VERBOSE_LOG != 0)
     const uint8_t logged_dlc = (can_dlc <= kCanLogMaxDlc) ? can_dlc : kCanLogMaxDlc;
     char data_hex[(kCanLogMaxDlc * 2U) + 1U] = {};
     for (uint8_t i = 0U; i < logged_dlc; ++i) {
@@ -27,6 +31,14 @@ void postCanSendLog(AppSpiCommand &bus, const char *result,
                    (logged_dlc > 0U) ? data_hex : "-",
                    result ? result : "UNKNOWN");
     bus.postLog(log_msg);
+#else
+    (void)bus;
+    (void)result;
+    (void)can_ch;
+    (void)can_id;
+    (void)can_data;
+    (void)can_dlc;
+#endif
 }
 
 class SpiCanBridgeHandler final : public ISpiCommandHandler {
@@ -39,11 +51,13 @@ public:
     void handle(AppSpiCommand &bus, const SpiCommandContext &ctx) override
     {
         if (ctx.payload_len < 6U) {
+#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
             char log_msg[AppSpiCommand::kLogBufSize] = {};
             (void)snprintf(log_msg, sizeof(log_msg),
                            "CAN_SEND payload too short: len=%u -> ERROR",
                            static_cast<unsigned>(ctx.payload_len));
             bus.postLog(log_msg);
+#endif
             uint8_t err = 0xE0U;
             bus.buildResponse(ctx.tx_buf, ctx.tx_buf_size, ctx.tx_len,
                                   SpiDefs::kRspError, &err, 1U);

GD32E508_DCU_APP/device/spi/app_spi_cmd_ota_wait.cpp

@@ -1,6 +1,6 @@
-#include "device/spi_command_handler.h"
-#include "device/app_spi_command.h"
-#include "device/app_spi_command_defs.h"
+#include "device/spi/spi_command_handler.h"
+#include "device/spi/app_spi_command.h"
+#include "device/spi/app_spi_command_defs.h"
 
 namespace {
 

GD32E508_DCU_APP/device/spi/app_spi_cmd_ping.cpp

@@ -1,6 +1,6 @@
-#include "device/spi_command_handler.h"
-#include "device/app_spi_command.h"
-#include "device/app_spi_command_defs.h"
+#include "device/spi/spi_command_handler.h"
+#include "device/spi/app_spi_command.h"
+#include "device/spi/app_spi_command_defs.h"
 #include "sys/config.h"
 #include "main.h"
 #include <cstring>

GD32E508_DCU_APP/device/spi/app_spi_command.cpp

@@ -1,4 +1,4 @@
-/**
+/**
  * @file app_spi_command.cpp
  * @brief APP 运行期 SPI 链路与命令路由实现。
  *
@@ -13,9 +13,9 @@
  * 只需要新增命令处理器，不再继续膨胀本文件。
  */
 
-#include "device/app_spi_command.h"
-#include "device/spi_command_handler.h"
-#include "device/app_spi_command_defs.h"
+#include "device/spi/app_spi_command.h"
+#include "device/spi/spi_command_handler.h"
+#include "device/spi/app_spi_command_defs.h"
 
 extern "C" {
 #include "gd32e50x_exti.h"
@@ -26,6 +26,7 @@ extern "C" {
 #include "gd32e50x_dma.h"
 #include "gd32e50x_spi.h"
 #include "sys/config.h"
+#include "sys/critical.h"
 #include "sys/task_manager.h"
 #include "sys/ota_boot_request.h"
 #include "sys/systick.h"
@@ -180,16 +181,25 @@ static bool spi_try_parse_frame(const uint8_t *frame, uint16_t frame_len,
 
 void AppSpiCommand::postLog(const char *msg)
 {
+#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
     if (!msg) return;
     snprintf(m_logBuf, kLogBufSize, "[SPI-APP] %s", msg);
     m_logPending = true;
+#else
+    (void)msg;
+#endif
 }
 
 void AppSpiCommand::postLogFmt(const char *fmt, uint8_t val)
 {
+#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
     if (!fmt) return;
     snprintf(m_logBuf, kLogBufSize, fmt, val);
     m_logPending = true;
+#else
+    (void)fmt;
+    (void)val;
+#endif
 }
 
 void AppSpiCommand::buildResponse(uint8_t *tx_buf, uint16_t tx_buf_size,
@@ -251,7 +261,7 @@ void AppSpiCommand::configureSpi0()
     spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_RBNE);
     spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_ERR);
     spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
-    nvic_irq_enable(SPI0_IRQn, 2U, 0U);
+    nvic_irq_enable(SPI0_IRQn, CONFIG_IRQ_PREEMPT_SPI_USART, 0U);
     spi_enable(SPI0);
 }
 
@@ -282,7 +292,7 @@ void AppSpiCommand::configureExti()
     exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_BOTH);
     exti_interrupt_enable(EXTI_15);
     exti_interrupt_flag_clear(EXTI_15);
-    nvic_irq_enable(EXTI10_15_IRQn, 1U, 1U);
+    nvic_irq_enable(EXTI10_15_IRQn, CONFIG_IRQ_PREEMPT_SPI_USART, 1U);
 }
 
 
@@ -341,7 +351,7 @@ void AppSpiCommand::processCommand()
     uint16_t payload_len = 0U;
 
     if (spi_try_parse_frame(m_rxBuf, m_rxLen, &frame_type, &payload, &payload_len)) {
-        if (!isFlashRelatedFrame(frame_type)) {
+        if (CONFIG_SPI_APP_LOG_ENABLE != 0 && !isFlashRelatedFrame(frame_type)) {
             postLogFmt("[SPI-APP] 收到非刷写 SPI type=0x%02X", frame_type);
         }
 
@@ -432,8 +442,10 @@ void AppSpiCommand::processCommand()
         }
     }
 
-    /* 置位 TASK_SPI_LOG，唤醒主循环立刻打印日志 */
-    TaskManager::set(1UL << TASK_SPI_LOG);
+    if (m_logPending) {
+        /* 置位 TASK_SPI_LOG，唤醒主循环立刻打印日志 */
+        TaskManager::set(1UL << TASK_SPI_LOG);
+    }
 }
 
 /* ============================================================
@@ -445,19 +457,28 @@ void AppSpiCommand::poll()
     char log_copy[kLogBufSize] = {};
     bool has_log = false;
 
-    __disable_irq();
+    uint32_t save = RT_CRITICAL_SAVE();
     if (m_logPending) {
         memcpy(log_copy, m_logBuf, sizeof(log_copy));
         m_logPending = false;
         has_log = true;
     }
-    __enable_irq();
+    RT_CRITICAL_RESTORE(save);
 
     if (has_log) {
         printf("%s\r\n", log_copy);
     }
 }
 
+void AppSpiCommand::processPendingCommand()
+{
+    if (!m_cmdPending) {
+        return;
+    }
+    m_cmdPending = false;
+    processCommand();
+}
+
 /* ============================================================
  * CS 边沿处理
  * ============================================================ */
@@ -522,7 +543,8 @@ void AppSpiCommand::onCsRelease()
         m_rxLen = 0U;
         return;
     }
-    processCommand();
+    m_cmdPending = true;
+    TaskManager::set(1UL << TASK_SPI_CMD_PROCESS);
 }
 
 /* ============================================================

GD32E508_DCU_APP/device/spi/app_spi_command.h

@@ -1,4 +1,4 @@
-#ifndef DEVICE_APP_SPI_COMMAND_H
+#ifndef DEVICE_APP_SPI_COMMAND_H
 #define DEVICE_APP_SPI_COMMAND_H
 
 #include <cstdint>
@@ -12,7 +12,7 @@ class ISpiCommandHandler;
  * - 维护 SPI0 从机的硬件链路（GPIO/SPI/DMA/EXTI）
  * - 将接收到的合法帧按 TYPE 注册式分发给 ISpiCommandHandler
  *
- * 具体命令处理逻辑不再放在这里，而是拆到 `device/app_spi_cmd_*.cpp`，
+ * 具体命令处理逻辑不再放在这里，而是拆到 `device/spi/app_spi_cmd_*.cpp`，
  * 通过 `registerHandler()` 注册进来，保持本模块可扩展。
  */
 class AppSpiCommand {
@@ -23,6 +23,9 @@ public:
     /** @brief 主循环轮询：打印延迟日志。 */
     void poll();
 
+    /** @brief 主循环调用:执行 ISR 中推迟的 SPI 命令解析(从 onCsRelease 移出)。 */
+    void processPendingCommand();
+
     /** @brief SPI0 中断处理入口。 */
     void onInterrupt();
 
@@ -66,6 +69,7 @@ private:
     uint8_t m_txLen = 0U;
     volatile uint8_t m_txPos = 0U;
     volatile bool m_logPending = false;
+    volatile bool m_cmdPending = false; /**< ISR 置位,标记有待主循环解析的 SPI 命令。 */
     uint8_t m_rxBuf[kRxBufSize] = {};
     uint8_t m_txBuf[kTxBufSize] = {};
     char m_logBuf[kLogBufSize] = {};

GD32E508_DCU_APP/device/usart0.cpp

@@ -6,6 +6,7 @@
 #include "main.h"
 #include "device/usart0.h"
 #include "sys/config.h"
+#include "sys/critical.h"
 
 uint8_t           Usart0::s_txBuf[Usart0::kTxBufSize];
 volatile uint16_t Usart0::s_txHead = 0U;
@@ -54,10 +55,10 @@ bool Usart0::isBufferEmpty()
  */
 bool Usart0::putCharNonBlocking(int ch)
 {
-    __disable_irq();
+    uint32_t save = RT_CRITICAL_SAVE();
     const uint16_t next = nextIndex(s_txHead);
     if(next == s_txTail) {
-        __enable_irq();
+        RT_CRITICAL_RESTORE(save);
         s_dropCount++;
         return false;
     }
@@ -65,7 +66,7 @@ bool Usart0::putCharNonBlocking(int ch)
     s_txBuf[s_txHead] = static_cast<uint8_t>(ch);
     s_txHead = next;
     usart_interrupt_enable(USART0, USART_INT_TBE);
-    __enable_irq();
+    RT_CRITICAL_RESTORE(save);
     return true;
 }
 
@@ -136,7 +137,7 @@ void Usart0::init()
     usart_receive_config(USART0, USART_RECEIVE_ENABLE);
     usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
     usart_enable(USART0);
-    nvic_irq_enable(USART0_IRQn, 2U, 0U);
+    nvic_irq_enable(USART0_IRQn, CONFIG_IRQ_PREEMPT_SPI_USART, 0U);
 }
 
 /* ----- 中断入口 / printf 重定向的 C 包装 --------------------------- */