feat(canfd): 添加CANFD硬件自检功能并优化初始化时序

- 新增s_channelHwOk数组跟踪各通道硬件初始化状态 - 修改CANFD初始化流程，在GPIO上电后延时200ms再进入Normal模式 - 实现selfTestL0()轻量自检函数，检查硬件初始化、退出init模式、收发器状态等 - 更新CANFD初始化逻辑，只有自检通过才标记为成功 refactor(spi): 调整SPI DMA和EXTI配置顺序避免通信失步 - 将armSpiDmasForNextCs()调用移至configureExti()之前 - 添加注释说明DMA预装和EXTI开启的时序要求 - 避免OTA跳转后ESP32立即发送HELLO导致的SPI从机失步问题 fix(app_spi): 修复HELLO_ACK响应中credit初始化问题 - 在HELLO_ACK构建前将g_localCredit设置为1 - 与requestEsp32Read()保持一致避免TX占用时credit=0的问题 - 防止主机因remoteCredit=0而拒绝发送PING帧 refactor(initial): 重构应用初始化流程添加模块状态跟踪 - 引入ModuleBit枚举和掩码机制跟踪各模块初始化状态 - 实现mark()和report()方法统一管理模块启动结果 - 按NVIC→SysTick→ESP32_EN→USART0→AppSpi→ADC→CANFD→OTA→TaskManager→Scheduler→EtherCAT→Watchdog顺序启动 - 将CANFD模块成功条件改为selfTestL0()通过才标记成功
2026-07-17 02:03:00 +08:00
parent 52d7f9be76
commit fedd39b902
5 changed files with 223 additions and 42 deletions
@@ -1,6 +1,11 @@
 /**
 * @file initial.cpp
- * @brief 应用启动初始化实现。
+ * @brief 应用启动初始化：模块成功置位，结束统一报告结果。
+ *
+ * 顺序：
+ *   NVIC → SysTick → ESP32_EN 保持 → USART0 → AppSpi（尽早 HELLO 探活）→
+ *   ADC → CANFD → OtaBootRequest → TaskManager → Scheduler →
+ *   EtherCAT(+Sync 可选) → Watchdog → report
 */

 #include "sys/initial.h"
@@ -18,49 +23,129 @@
 #include "comm/ethercat_slave.h"
 #include "comm/ethercat_sync.h"

-/**
- * @brief 执行应用级外设与调度初始化。
- * @param[in]  无。
- * @param[out] 无。
- * @retval    无返回值。
- * @note      依次完成 SysTick、USART0、ADC/温度采样、CANFD、任务管理器与调度定时器的启动。
- */
+uint32_t AppInitializer::s_mask = 0U;
+
+namespace {
+
+struct InitEntry {
+    uint32_t    bit;
+    const char *name;
+    bool        critical;
+};
+
+static const InitEntry kEntries[] = {
+    { AppInitializer::kNvic,         "nvic",          true  },
+    { AppInitializer::kSysTick,      "systick",       true  },
+    { AppInitializer::kEsp32Hold,    "esp32_hold",    true  },
+    { AppInitializer::kUsart0,       "usart0",        true  },
+    { AppInitializer::kAppSpi,       "app_spi",       true  },
+    { AppInitializer::kAdc,          "adc",           true  },
+    { AppInitializer::kCanFd,        "canfd",         true  },
+    { AppInitializer::kOtaBootReq,   "ota_boot_req",  true  },
+    { AppInitializer::kTaskManager,  "task_manager",  true  },
+    { AppInitializer::kScheduler,    "scheduler",     true  },
+    { AppInitializer::kEthercat,     "ethercat",      false },
+    { AppInitializer::kEthercatSync, "ethercat_sync", false },
+    { AppInitializer::kWatchdog,     "watchdog",      true  },
+};
+
+} // namespace
+
+void AppInitializer::mark(ModuleBit b)
+{
+    s_mask |= static_cast<uint32_t>(b);
+}
+
+void AppInitializer::report()
+{
+    bool critical_ok = true;
+    bool all_ok = true;
+    char fail_list[160] = {0};
+    size_t fail_len = 0U;
+
+    for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
+        const InitEntry &e = kEntries[i];
+        const bool ok = (s_mask & e.bit) != 0U;
+        if (ok) {
+            continue;
+        }
+        all_ok = false;
+        if (e.critical) {
+            critical_ok = false;
+        }
+        if (fail_len + 2U < sizeof(fail_list)) {
+            if (fail_len > 0U) {
+                fail_list[fail_len++] = ',';
+            }
+            const char *p = e.name;
+            while (*p != '\0' && fail_len + 1U < sizeof(fail_list)) {
+                fail_list[fail_len++] = *p++;
+            }
+            fail_list[fail_len] = '\0';
+        }
+    }
+
+    if (critical_ok && all_ok) {
+        printf("[APP] init: OK (all modules)\r\n");
+    } else if (critical_ok) {
+        printf("[APP] init: OK (critical), skipped/failed: %s\r\n",
+               fail_list[0] != '\0' ? fail_list : "?");
+    } else {
+        printf("[APP] init: FAIL, modules: %s\r\n",
+               fail_list[0] != '\0' ? fail_list : "?");
+    }
+}
+
 void AppInitializer::init()
 {
-    /* 必须最先设置 NVIC 优先级分组:确保后续 CanFd/SPI0 等外设 init 中
-     * 编码抢占/子优先级字节时使用正确的分组(PRE4_SUB0),避免在错误分组
-     * 下编码后被重新解释。EtherCAT 实时架构整改 Task3。 */
+    s_mask = 0U;
+
    nvic_priority_group_set(CONFIG_NVIC_PRIORITY_GROUP);
-    printf("[APP] init: SysTick...\r\n");
+    mark(kNvic);
+
    SysTickTimer::initMs();
-    /* ESP32 EN/RESET (PC9) 直接配置为推挽输出高电平，保持 ESP32 正常运行 */
+    mark(kSysTick);
+
    rcu_periph_clock_enable(RCU_GPIOC);
    gpio_bit_set(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN);
    gpio_init(CONFIG_ESP32_RESET_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, CONFIG_ESP32_RESET_PIN);
-    printf("[APP] init: USART0...\r\n");
+    mark(kEsp32Hold);
+
    Usart0::configurePins();
    Usart0::init();
-    printf("[APP] init: ADC...\r\n");
-    Adc::init();
-    printf("[APP] init: CANFD...\r\n");
-    CanFd::init();
-    printf("[APP] init: OtaBootRequest...\r\n");
-    OtaBootRequest::init();
-    printf("[APP] init: AppSpiCommand...\r\n");
+    mark(kUsart0);
+
+    /* SPI 尽早就绪：OTA FINISH 跳转后 ESP32 用 HELLO 探活，不能等 CAN 上电延时 */
    AppSpiCommandBus.init();
-    printf("[APP] init: TaskManager...\r\n");
+    mark(kAppSpi);
+
+    Adc::init();
+    mark(kAdc);
+
+    CanFd::init();
+    /* L0 通过才置 canfd 位 */
+    if (CanFd::selfTestL0()) {
+        mark(kCanFd);
+    }
+
+    OtaBootRequest::init();
+    mark(kOtaBootReq);
+
    TaskManager::init();
-    printf("[APP] init: SchedulerTimer...\r\n");
+    mark(kTaskManager);
+
    SchedulerTimer::init();
-    printf("[APP] init: EthercatSlave...\r\n");
+    mark(kScheduler);
+
    EthercatSlave::init();
    if (EthercatSlave::isEscReady()) {
-        printf("[APP] init: EthercatSync...\r\n");
+        mark(kEthercat);
        EthercatSync::init();
-    } else {
-        printf("[APP] init: EthercatSync SKIPPED (ESC not ready)\r\n");
+        mark(kEthercatSync);
    }
-    printf("[APP] init: Watchdog...\r\n");
+
    Watchdog::init();
-    printf("[APP] init: all done\r\n");
+    mark(kWatchdog);
+
+    report();
 }