cbb
76da7a3dd6
- 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.
384 lines
15 KiB
C++
384 lines
15 KiB
C++
/**
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* @file task_runner.cpp
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* @brief 任务执行器实现。
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*/
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#include "main.h"
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#include "device/adc.h"
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#include "device/watchdog.h"
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#include "device/spi/app_spi_command.h"
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#include "device/canfd.h"
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#include "device/temp_sensor.h"
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#include "sys/config.h"
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#include "sys/ota_boot_request.h"
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#include "sys/task_manager.h"
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#include "sys/task_runner.h"
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#include "comm/ethercat_slave.h"
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namespace {
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constexpr uint32_t kAdcFilterWindow = CONFIG_ADC_FILTER_SIZE + 1U;
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/**
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* @brief Push one sample into a fixed-size sliding window buffer.
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* @param[in,out] buffer Sample buffer with `kAdcFilterWindow` elements.
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* @param[in] value New sample value.
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*/
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static void pushSample(float *buffer, float value)
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{
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for(uint32_t i = 0U; i < CONFIG_ADC_FILTER_SIZE; ++i) {
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buffer[i] = buffer[i + 1U];
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}
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buffer[CONFIG_ADC_FILTER_SIZE] = value;
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}
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/**
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* @brief Apply median filtering to a fixed-size sample window.
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* @param[in] buffer Sample buffer with `kAdcFilterWindow` elements.
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* @return Median value in the current window.
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*/
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static float medianFilter(const float *buffer)
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{
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float sorted[kAdcFilterWindow];
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for(uint32_t i = 0U; i < kAdcFilterWindow; ++i) {
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sorted[i] = buffer[i];
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}
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for(uint32_t i = 1U; i < kAdcFilterWindow; ++i) {
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const float key = sorted[i];
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uint32_t j = i;
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while((j > 0U) && (sorted[j - 1U] > key)) {
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sorted[j] = sorted[j - 1U];
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--j;
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}
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sorted[j] = key;
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}
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return sorted[kAdcFilterWindow / 2U];
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}
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} // namespace
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struct TaskRunner::Runtime {
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Adc::Sample sample{};
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float temperature_samples[kAdcFilterWindow] = {0.0f};
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float vdda_samples[kAdcFilterWindow] = {0.0f};
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float vin_adc_samples[kAdcFilterWindow] = {0.0f};
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uint16_t last_vin_raw = 0U;
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uint16_t last_vref_raw = 0U;
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uint16_t last_temp_raw = 0U;
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uint8_t last_rx_channel = 0U;
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uint32_t last_rx_id = 0U;
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uint8_t last_rx_len = 0U;
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uint8_t last_rx_data[64] = {0};
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};
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TaskRunner::Runtime TaskRunner::s_runtime;
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/**
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* @brief 采样 VIN 与 VREF 原始 ADC 数值。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 从 ADC DMA 缓冲中读取外部 VIN_ADC 与内部 VREFINT 通道最新值。
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*/
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void TaskRunner::taskAdcVrefSample()
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{
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s_runtime.last_vin_raw = Adc::readVinRaw();
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s_runtime.last_vref_raw = Adc::readVrefRaw();
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}
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/**
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* @brief 采样内部温度通道原始 ADC 数值。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 读取 ADC DMA 缓冲中的内部温度通道最新值。
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*/
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void TaskRunner::taskAdcTempSample()
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{
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s_runtime.last_temp_raw = Adc::readTempRaw();
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}
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/**
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* @brief 根据原始采样值计算工程量结果。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 输出 `vin_adc_v`、`vdda` 和 `temperature` 等可直接使用的工程值。
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*/
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void TaskRunner::taskAdcProcess()
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{
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auto &s = s_runtime.sample;
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const float vdda = Adc::calculateVdda(s_runtime.last_vref_raw);
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const float vin_adc_v = Adc::calculateVinAdcVoltage(s_runtime.last_vin_raw, vdda);
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const float temperature = Adc::calculateTemperature(s_runtime.last_temp_raw, vdda);
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const bool sampleValid = (s_runtime.last_vref_raw > 0U) &&
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(s_runtime.last_vref_raw < 4095U) &&
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(s_runtime.last_temp_raw > 0U) &&
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(s_runtime.last_temp_raw < 4095U) &&
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(vdda >= 2.7f) && (vdda <= 3.6f) &&
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(temperature >= -40.0f) && (temperature <= 125.0f);
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if(sampleValid) {
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pushSample(s_runtime.vdda_samples, vdda);
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pushSample(s_runtime.vin_adc_samples, vin_adc_v);
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pushSample(s_runtime.temperature_samples, temperature);
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}
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s.vin_raw = s_runtime.last_vin_raw;
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s.vref_raw = s_runtime.last_vref_raw;
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s.temp_raw = s_runtime.last_temp_raw;
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s.vdda = medianFilter(s_runtime.vdda_samples);
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s.vin_adc_v = medianFilter(s_runtime.vin_adc_samples);
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s.temperature = medianFilter(s_runtime.temperature_samples);
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s.valid = sampleValid ? 1U : 0U;
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}
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/**
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* @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。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 帧格式：扩展帧 29-bit ID，CAN-FD，DLC=64，BRS 受 CONFIG_CAN_FD_BRS_ENABLE 控制。
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* 载荷布局：
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* [0] 固定标识 0xC0
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* [1] 通道号
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* [2..5] 发送序号（小端 uint32）
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* [6..7] 系统运行秒数低 16 位
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* [8..63] 填充 0xA0 + (index & 0x0F)
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* periodic=true：仅允许一个邮箱保持自动重发，不主动 abort 旧帧，
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* 跳过 TEC 保护以匹配诊断行为。
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*/
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void TaskRunner::taskCanTxSend()
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{
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static uint32_t seq = 0U;
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for (uint8_t ch = 0U; ch < 3U; ++ch) {
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if (!CanFd::isChannelEnabled(ch)) {
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continue;
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}
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uint8_t data[64];
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data[0] = 0xC0U;
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data[1] = ch;
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const uint32_t s = seq;
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data[2] = static_cast<uint8_t>(s & 0xFFU);
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data[3] = static_cast<uint8_t>((s >> 8) & 0xFFU);
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data[4] = static_cast<uint8_t>((s >> 16) & 0xFFU);
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data[5] = static_cast<uint8_t>((s >> 24) & 0xFFU);
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data[6] = static_cast<uint8_t>(g_app_uptime_sec & 0xFFU);
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data[7] = static_cast<uint8_t>((g_app_uptime_sec >> 8) & 0xFFU);
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for (uint8_t i = 8U; i < 64U; ++i) {
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data[i] = static_cast<uint8_t>(0xA0U + (i & 0x0FU));
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}
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const uint32_t extId = 0x18FF5000U | static_cast<uint32_t>(ch);
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if (CanFd::transmitFrame(ch, extId, data, sizeof(data), true) == CanFd::CanTxResult::kOk) {
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seq++;
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}
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}
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}
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/**
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* @brief 批量解析并消费待处理的 CAN 接收报文。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 一次任务按预算尽量清空软件接收队列；若仍有积压，则重新置位解析任务。
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*/
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void TaskRunner::taskCanRxParse()
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{
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uint32_t consumed = 0U;
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while(consumed < CONFIG_CAN_RX_PARSE_BUDGET) {
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if(!CanFd::consumeRxFrame(&s_runtime.last_rx_id, s_runtime.last_rx_data, &s_runtime.last_rx_len, &s_runtime.last_rx_channel)) {
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break;
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}
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if(OtaBootRequest::handleCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len)) {
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OtaBootRequest::process();
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return;
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}
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consumed++;
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}
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if(CanFd::hasRxFrame()) {
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TaskManager::set(1UL << TASK_CAN_RX_PARSE);
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}
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}
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/**
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* @brief 执行状态灯维护任务。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 当前仅保留任务入口。
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*/
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void TaskRunner::taskStatusLed() { /* 预留 */ }
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/**
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* @brief 执行系统心跳维护任务。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 当前任务:推进 OTA Boot 请求、刷新 CAN 反馈快照、启动反馈推送轮次。
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*/
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void TaskRunner::taskHeartbeat() { OtaBootRequest::process(); CanFd::refreshFeedbackSnapshot(); canFeedbackStartRound(); }
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/**
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* @brief 输出当前温度、电压与 CAN 诊断信息。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @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。
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*/
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void TaskRunner::taskDiagnosticPrint()
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{
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const auto *diag = CanFd::diag();
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const auto &s = s_runtime.sample;
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const int32_t temp_x100 = static_cast<int32_t>(s.temperature * 100.0f);
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const uint32_t vdda_mV = static_cast<uint32_t>(s.vdda * 1000.0f);
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const uint32_t vin_adc_mV = static_cast<uint32_t>(s.vin_adc_v * 1000.0f);
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#if (CONFIG_UART_DIAG_LEVEL == 0)
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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",
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(unsigned long)g_app_uptime_sec,
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static_cast<unsigned int>(s.valid),
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static_cast<unsigned int>(s.temp_raw),
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static_cast<unsigned int>(s.vref_raw),
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static_cast<long>(temp_x100 / 100),
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static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
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static_cast<unsigned long>(vdda_mV / 1000U),
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static_cast<unsigned long>(vdda_mV % 1000U),
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static_cast<unsigned long>(vin_adc_mV / 1000U),
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static_cast<unsigned long>(vin_adc_mV % 1000U));
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#else
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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_drop=%lu, tx_abort=%lu, can_err=%lu\r\n",
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(unsigned long)g_app_uptime_sec,
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static_cast<unsigned int>(s.valid),
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static_cast<long>(temp_x100 / 100),
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static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
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static_cast<unsigned long>(vdda_mV / 1000U),
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static_cast<unsigned long>(vdda_mV % 1000U),
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static_cast<unsigned long>(vin_adc_mV / 1000U),
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static_cast<unsigned long>(vin_adc_mV % 1000U),
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static_cast<unsigned int>(s_runtime.last_rx_channel),
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static_cast<unsigned long>(s_runtime.last_rx_id),
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static_cast<unsigned int>(s_runtime.last_rx_len),
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static_cast<unsigned int>(diag->last_tx_channel),
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static_cast<unsigned long>(diag->tx_count),
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static_cast<unsigned long>(diag->rx_count),
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static_cast<unsigned long>(diag->rx_drop_count),
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static_cast<unsigned long>(diag->rx_fifo_full_count),
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static_cast<unsigned long>(diag->rx_fifo_overfull_count),
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static_cast<unsigned long>(diag->tx_drop_count),
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static_cast<unsigned long>(diag->tx_abort_count),
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static_cast<unsigned long>(diag->error_count));
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#endif
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{
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if (EthercatSlave::isEscReady()) {
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uint32_t maxCyc = 0U, avgCyc = 0U, cnt = 0U;
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EthercatSlave::getIsrStats(&maxCyc, &avgCyc, &cnt);
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/* 180MHz: cycles / 180 = µs;用 *1000/180 获得毫微秒精度避免浮点 */
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const uint32_t maxUs_x1000 = maxCyc * 1000U / 180U;
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const uint32_t avgUs_x1000 = avgCyc * 1000U / 180U;
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printf("[ECAT] periodicIsr cnt=%lu max=%lu.%03luus avg=%lu.%03luus\r\n",
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(unsigned long)cnt,
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(unsigned long)(maxUs_x1000 / 1000U), (unsigned long)(maxUs_x1000 % 1000U),
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(unsigned long)(avgUs_x1000 / 1000U), (unsigned long)(avgUs_x1000 % 1000U));
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} else {
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printf("[ECAT] ESC not detected (chip id=0x%08lX), EtherCAT disabled\r\n",
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(unsigned long)EthercatSlave::getChipId());
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}
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}
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}
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/**
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* @brief 执行 EtherCAT 周期/事件处理(非实时应用层 PDO 映射)。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 由周期 ISR(EXTI0 SYNC0)或 ESC 事件 ISR(EXTI1 IRQ)置位 TASK_ETHERCAT_PROCESS。
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*/
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void TaskRunner::taskEthercatProcess()
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{
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EthercatSlave::process();
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}
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/**
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* @brief 初始化任务执行器运行时上下文。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 执行一次完整 ADC 采样，并同步填充运行时缓存的原始值起点。
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*/
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void TaskRunner::init()
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{
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Adc::collectSample(&s_runtime.sample);
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s_runtime.last_vin_raw = s_runtime.sample.vin_raw;
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s_runtime.last_vref_raw = s_runtime.sample.vref_raw;
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s_runtime.last_temp_raw = s_runtime.sample.temp_raw;
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for(uint32_t i = 0U; i < kAdcFilterWindow; ++i) {
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s_runtime.temperature_samples[i] = s_runtime.sample.temperature;
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s_runtime.vdda_samples[i] = s_runtime.sample.vdda;
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s_runtime.vin_adc_samples[i] = s_runtime.sample.vin_adc_v;
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}
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}
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/**
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* @brief 执行当前所有已置位的待处理任务。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 先原子取出任务位图；若当前没有待处理任务则直接返回。
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*/
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void TaskRunner::runPending()
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{
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Watchdog::feed();
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/* poll() 含按铃超时看门狗(cancelRing)，必须每轮无条件执行。
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* 否则日志关闭时(CONFIG_SPI_APP_LOG_ENABLE=0) m_logPending 永远为 false，
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* TASK_SPI_LOG 永不置位，poll() 永不执行，m_ringPending 卡死导致
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* canFeedbackPushStep() 永久 return -> SPI 反馈链路死锁。
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* 放在 canFeedbackPushStep() 前确保卡死的按铃先被清掉再推送下一帧。 */
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AppSpiCommandBus.poll();
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/* 0xB0 进 BOOT：必须每圈检查，不能只靠 1Hz TASK_HEARTBEAT。
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* 否则 Flash 写/复位被拖到下一秒，ESP32 HELLO 一直 role=app 超时。 */
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if (OtaBootRequest::isRebootPending()) {
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OtaBootRequest::process();
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}
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/* CAN 反馈主动推送：GD32 APP 循环推送 3 通道 × 2 页反馈帧到 ESP32，
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* 替代 ESP32 主动轮询。非阻塞：上一帧未读走时立即返回。
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* 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。 */
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canFeedbackPushStep();
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/* 周期路径( SYNC0 ISR preempt=0 )用 s_periodicSeq 序列号通知主循环,
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* 不再走 task_flags,避免 BASEPRI 临界区与 preempt=0 的 RMW 竞态。
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* 优先于 takePending() 处理,确保周期数据及时消费。
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* ESC 未焊接时 selfTest 失败,isEscReady()=false,中断未使能,
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* s_periodicSeq 不会递增,此分支自然不触发——双重守卫仅为防御性编程。 */
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if (EthercatSlave::isEscReady() && EthercatSlave::hasPendingPeriodic()) {
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EthercatSlave::markPeriodicProcessed();
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taskEthercatProcess();
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}
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const uint32_t pending = TaskManager::takePending();
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if(pending == 0U) return;
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if(pending & (1UL << TASK_ADC_VREF_SAMPLE)) taskAdcVrefSample();
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if(pending & (1UL << TASK_ADC_TEMP_SAMPLE)) taskAdcTempSample();
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if(pending & (1UL << TASK_ADC_PROCESS)) taskAdcProcess();
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if(pending & (1UL << TASK_CAN_RX_PARSE)) taskCanRxParse();
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if(pending & (1UL << TASK_CAN_TX_SEND)) taskCanTxSend();
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if(pending & (1UL << TASK_STATUS_LED)) taskStatusLed();
|
||
if(pending & (1UL << TASK_HEARTBEAT)) taskHeartbeat();
|
||
if(pending & (1UL << TASK_DIAGNOSTIC_PRINT)) taskDiagnosticPrint();
|
||
/* TASK_SPI_LOG 的 poll() 已移至 runPending() 开头无条件调用（含按铃看门狗） */
|
||
if(pending & (1UL << TASK_ETHERCAT_PROCESS)) taskEthercatProcess();
|
||
}
|