Refactor and clean up codebase
- Removed unused constants and type aliases in app_spi_command_defs.h and temp_sensor.h. - Simplified ISpiCommandHandler destructor to default. - Eliminated redundant methods and comments in temp_sensor and usart0 files. - Consolidated writeU32Le function to app_spi_command_defs.h for reuse. - Updated comments for clarity and accuracy in task_manager.h and task_runner.cpp. - Removed hardfault.h as it contained no declarations. - Cleaned up CANFD and watchdog implementations by removing dead code and unnecessary comments. - Updated version numbers in config.h to reflect recent changes. - Enhanced error handling and diagnostics in hardfault handling.
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@@ -32,12 +32,7 @@ void postCanSendLog(AppSpiCommand &bus, const char *result,
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result ? result : "UNKNOWN");
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bus.postLog(log_msg);
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#else
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(void)bus;
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(void)result;
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(void)can_ch;
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(void)can_id;
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(void)can_data;
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(void)can_dlc;
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(void)bus; (void)result; (void)can_ch; (void)can_id; (void)can_data; (void)can_dlc;
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#endif
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}
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@@ -50,14 +50,6 @@ static constexpr uint16_t kFeedbackPayloadLen = 123U; /* kTxBufSize=128 - over
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static constexpr uint8_t kPageEntries = 8U;
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static constexpr uint16_t kFixedHeaderLen = 28U; /* ch(1)+page(1)+total(1)+cnt(1)+mode(1)+seq(4)+rx(4)+tx(4)+drop(4)+err(4)+tec(1)+rec(1)+bus_state(1) */
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static void writeU32Le(uint8_t *dst, uint32_t value)
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{
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dst[0] = static_cast<uint8_t>(value & 0xFFU);
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dst[1] = static_cast<uint8_t>((value >> 8) & 0xFFU);
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dst[2] = static_cast<uint8_t>((value >> 16) & 0xFFU);
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dst[3] = static_cast<uint8_t>((value >> 24) & 0xFFU);
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}
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/**
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* @brief 构建一页 CAN 反馈 payload（与 ESP32 canFdPollFeedback 解析格式一致）。
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* @param[in] channel 目标通道 0/1/2。
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@@ -254,7 +246,6 @@ void canFeedbackPushStep()
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{
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static uint8_t s_channel = 0U;
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static uint8_t s_page = 0U;
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static uint32_t s_pushCount = 0U;
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/* 已收到 0xB0 进入 Bootloader 请求，停止主动按铃避免干扰 OTA 流程。
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* 复位前主循环仍在运行，但不再下拉 SPIready，让 ESP32 的
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@@ -273,19 +264,12 @@ void canFeedbackPushStep()
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return;
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}
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/* ESP32 尚未完成上一帧处理（未释放 SPIready），等待 EXTI6 上升沿。
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* 防止 GD32 在 ESP32 回到 IDLE 前按铃导致下降沿被 ISR 丢弃。 */
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if (!AppSpiCommandBus.canRingNow()) {
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return;
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}
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uint8_t payload[kFeedbackPayloadLen] = {};
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uint16_t payload_len = buildFeedbackPayload(s_channel, s_page,
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payload, sizeof(payload));
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if (payload_len > 0U) {
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(void)AppSpiCommandBus.requestEsp32Read(SpiDefs::kTypeCanFeedback,
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payload, payload_len);
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++s_pushCount; /* 仅保留计数，不打印心跳日志 */
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}
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/* 推进到下一页/下一通道，循环遍历 3 通道 × 2 页 */
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@@ -30,14 +30,6 @@ namespace {
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constexpr uint8_t kPageEntries = 8U;
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constexpr uint16_t kMaxPayloadLen = 123U; /* kTxBufSize=128 - overhead=5 */
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inline void writeU32Le(uint8_t *dst, uint32_t val)
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{
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dst[0] = static_cast<uint8_t>(val & 0xFFU);
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dst[1] = static_cast<uint8_t>((val >> 8) & 0xFFU);
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dst[2] = static_cast<uint8_t>((val >> 16) & 0xFFU);
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dst[3] = static_cast<uint8_t>((val >> 24) & 0xFFU);
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}
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class SpiIdSnapshotHandler final : public ISpiCommandHandler {
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public:
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bool canHandle(uint8_t frame_type) const override
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File diff suppressed because it is too large
Load Diff
@@ -5,39 +5,6 @@
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class ISpiCommandHandler;
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/**
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* @brief GD32 侧 SPI 链路状态机：封装按铃状态。
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*
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* v2 DATA_READY 语义：PB6 低 = 有待发数据，高 = 队列空。
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* ESP32 不再操作 PB6，无独立「完成」信号；按铃完成由 ESP32
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* 的 CS 读事务本身确认（onCsRelease 按铃响应路径调 onEsp32Complete）。
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*
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* canRingNow() 总是返回 true，由 requestEsp32Read() 的 m_ringPending
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* 检查控制重复按铃。
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*/
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class SpiLinkState {
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public:
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/** 是否允许发起新按铃。
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* v2 DATA_READY: ESP32 不再操作 PB6，无独立完成信号；
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* 总是允许，由 requestEsp32Read() 的 m_ringPending 检查控制重复。 */
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bool canRingNow() const { return true; }
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/** 发起按铃时调用（v2 下仅保留兼容写法，无实际门禁作用）。 */
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void onRingStart() { m_esp32Ready = false; }
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/** ESP32 CS 读事务完成确认（onCsRelease 按铃响应路径调用）。 */
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void onEsp32Complete() { m_esp32Ready = true; }
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/** 按铃超时取消时调用（允许重试，不依赖 EXTI）。 */
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void onRingTimeout() { m_esp32Ready = true; }
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/** 初始化（首帧允许）。 */
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void reset() { m_esp32Ready = true; }
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private:
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volatile bool m_esp32Ready = true;
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};
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/**
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* @brief APP 运行期 SPI 链路与命令路由模块。
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*
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@@ -114,11 +81,6 @@ public:
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*/
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bool requestEsp32Read(uint8_t frame_type, const uint8_t *payload, uint16_t payload_len);
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/** @brief L4 别名：主动事件入队（当前等同 requestEsp32Read）。 */
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bool enqueueEvent(uint8_t frame_type, const uint8_t *payload, uint16_t payload_len) {
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return requestEsp32Read(frame_type, payload, payload_len);
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}
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/** @brief 查询当前是否有未读按铃（ESP32 尚未来读）。 */
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bool isRingPending() const { return m_ringPending; }
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@@ -126,11 +88,6 @@ public:
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* 0xB0 进 BOOT 等路径需公开调用，避免 0xC1 残留盖住 ACK。 */
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void cancelRing();
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/** @brief 查询 ESP32 是否已完成上一帧处理（SPIready 上升沿触发）。
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* 初始为 true 允许第一次按铃；每次 requestEsp32Read 后置 false，
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* ESP32 releaseReady 产生上升沿后由 EXTI 置 true。 */
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bool canRingNow() const { return m_linkState.canRingNow(); }
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static constexpr uint16_t kRxBufSize = 256U;
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static constexpr uint16_t kTxBufSize = 256U;
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static constexpr uint16_t kLogBufSize = 256U;
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@@ -143,8 +100,7 @@ private:
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volatile bool m_csActive = false;
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/** 本笔 CS 实际收到的字节数（CS 上升沿时由 RX DMA CHCNT 反算得到）。 */
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volatile uint16_t m_rxLen = 0U;
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uint16_t m_txLen = 0U;
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volatile uint8_t m_txPos = 0U;
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volatile uint16_t m_txLen = 0U;
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volatile bool m_logPending = false;
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bool m_txActiveThisCs = false;
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/** RX DMA 接收缓冲（替代旧 RBNE 逐字节累积的 m_rxBuf）。
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@@ -159,11 +115,6 @@ private:
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volatile bool m_ringPending = false;
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/** 按铃超时截止时刻（ms，基于 SysTickTimer::getMs）。 */
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volatile uint32_t m_ringDeadline = 0U;
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/** 按铃期间暂存的请求帧长度（供 onCsAssert 装入 DMA）。 */
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volatile uint16_t m_ringTxLen = 0U;
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/** SPI 链路状态机：封装 ESP32 完成信号。 */
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SpiLinkState m_linkState;
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void configureGpio();
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void configureSpi0();
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@@ -173,6 +124,10 @@ private:
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void onCsRelease();
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void processCommand();
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/** @brief 设置 m_ringPending=true 并启动超时看护截止时刻。
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* 统一 7 处「m_ringPending=true; m_ringDeadline=now+timeout;」赋值模式。 */
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void armRingPending();
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/** @brief 在 CS 空闲期预装下一笔全双工 DMA（TX + RX）。
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* 必须在首个 SCK 之前完成，否则 EXTI CS 下降相对 ESP32 时钟偏晚，
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* 整笔事务会收 0 字节。对齐 BOOT SpiOta::armSpiDmasForNextCs。 */
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@@ -1,4 +1,4 @@
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#ifndef DEVICE_APP_SPI_COMMAND_DEFS_H
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#ifndef DEVICE_APP_SPI_COMMAND_DEFS_H
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#define DEVICE_APP_SPI_COMMAND_DEFS_H
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#include <cstdint>
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@@ -14,10 +14,6 @@
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namespace SpiDefs {
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/* 链路层帧类型（v2） */
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static constexpr uint8_t kTypeLinkHello = 0x00U;
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static constexpr uint8_t kTypeLinkError = 0x7FU;
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/* 帧类型 */
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static constexpr uint8_t kTypeOtaReq = 0x01U;
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static constexpr uint8_t kTypeOtaData = 0x02U;
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@@ -36,4 +32,12 @@ static constexpr uint8_t kRspError = 0x82U;
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} // namespace SpiDefs
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/** @brief 将 32 位值按小端写入 4 字节缓冲（供 CAN 反馈/ID 快照等 payload 复用）。 */
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inline void writeU32Le(uint8_t *dst, uint32_t val) {
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dst[0] = static_cast<uint8_t>(val & 0xFFU);
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dst[1] = static_cast<uint8_t>((val >> 8) & 0xFFU);
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dst[2] = static_cast<uint8_t>((val >> 16) & 0xFFU);
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dst[3] = static_cast<uint8_t>((val >> 24) & 0xFFU);
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}
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#endif /* DEVICE_APP_SPI_COMMAND_DEFS_H */
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@@ -1,4 +1,4 @@
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#ifndef DEVICE_SPI_COMMAND_HANDLER_H
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#ifndef DEVICE_SPI_COMMAND_HANDLER_H
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#define DEVICE_SPI_COMMAND_HANDLER_H
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#include <cstdint>
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@@ -16,10 +16,10 @@ struct SpiCommandContext {
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class ISpiCommandHandler {
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public:
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~ISpiCommandHandler() {}
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virtual bool canHandle(uint8_t frame_type) const = 0;
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virtual void handle(AppSpiCommand &bus, const SpiCommandContext &ctx) = 0;
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protected:
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~ISpiCommandHandler() = default; /* 接口基类,不允许通过基类指针 delete;裸机不退出。 */
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};
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#endif /* DEVICE_SPI_COMMAND_HANDLER_H */
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