cbb
771d34398f
- 添加watchdog组件用于系统监控 - 在system_gd32e50x.c中增加USART0诊断输出，在IRC8M和PLL配置后 发送"APP"和"CLK"标识 - 优化AppSpiCommand类中的日志处理机制，使用临界区保护 - 添加对全0xFF数据包的过滤处理，避免无效命令处理 - 将OTA重启延时从滴答计数改为毫秒级延时，提高响应速度 - 移除温度传感器相关文件，添加看门狗相关文件到项目配置 - 更新FWDGT API调用方式，使用新的配置函数 - 增加详细的启动日志输出，便于调试和追踪初始化过程
425 lines
14 KiB
C++
425 lines
14 KiB
C++
/**
|
||
* @file app_spi_command.cpp
|
||
* @brief APP 运行期 SPI 命令从机实现。
|
||
*
|
||
* 复用 BOOT 的 SpiOta 协议帧格式（SOF+TYPE+LEN+PAYLOAD+CRC），
|
||
* APP 只处理进入 Bootloader 命令（TYPE=0xB0），
|
||
* 收到 OTA 命令帧（TYPE=0x01/0x02/0x03）时回复 WAIT 帧告知
|
||
* ESP32 "当前不在 BOOT 模式"。
|
||
*
|
||
* 调试日志采用延迟输出：processCommand() 只写 s_logBuf + 置 s_logPending，
|
||
* 同时置位 TASK_SPI_LOG 唤醒主循环，poll() 中立刻 printf。
|
||
*/
|
||
|
||
#include "device/app_spi_command.h"
|
||
|
||
extern "C" {
|
||
#include "gd32e50x_exti.h"
|
||
}
|
||
#include "gd32e50x_gpio.h"
|
||
#include "gd32e50x_misc.h"
|
||
#include "gd32e50x_rcu.h"
|
||
#include "gd32e50x_spi.h"
|
||
#include "sys/config.h"
|
||
#include "sys/ota_boot_request.h"
|
||
#include "sys/task_manager.h"
|
||
#include "main.h"
|
||
#include <stdio.h>
|
||
#include <string.h>
|
||
|
||
/* ============================================================
|
||
* 协议常量（与 BOOT SpiOta 一致）
|
||
* ============================================================ */
|
||
static constexpr uint8_t kSof = 0xA5U;
|
||
static constexpr uint8_t kTypeBootReq = 0xB0U;
|
||
static constexpr uint8_t kTypeOtaReq = 0x01U;
|
||
static constexpr uint8_t kTypeAppPing = 0xA1U;
|
||
static constexpr uint8_t kTypeOtaData = 0x02U;
|
||
static constexpr uint8_t kTypeOtaCancel = 0x03U;
|
||
static constexpr uint8_t kRspAck = 0x80U;
|
||
static constexpr uint8_t kRspWait = 0x81U;
|
||
static constexpr uint8_t kRspError = 0x82U;
|
||
static constexpr uint16_t kFrameOverhead = 5U;
|
||
static constexpr uint16_t kRxBufSize = 128U;
|
||
static constexpr uint16_t kTxBufSize = 64U;
|
||
static constexpr uint16_t kLogBufSize = 128U;
|
||
|
||
static bool isAllBytesValue(const uint8_t *data, uint8_t len, uint8_t value)
|
||
{
|
||
if (!data || len == 0U) {
|
||
return false;
|
||
}
|
||
for (uint8_t i = 0U; i < len; ++i) {
|
||
if (data[i] != value) {
|
||
return false;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
/* ============================================================
|
||
* 静态成员
|
||
* ============================================================ */
|
||
volatile bool AppSpiCommand::s_csActive = false;
|
||
volatile uint8_t AppSpiCommand::s_rxLen = 0U;
|
||
volatile uint8_t AppSpiCommand::s_txLen = 0U;
|
||
volatile uint8_t AppSpiCommand::s_txPos = 0U;
|
||
volatile bool AppSpiCommand::s_logPending = false;
|
||
uint8_t AppSpiCommand::s_rxBuf[kRxBufSize] = {};
|
||
uint8_t AppSpiCommand::s_txBuf[kTxBufSize] = {};
|
||
char AppSpiCommand::s_logBuf[kLogBufSize] = {};
|
||
|
||
/* ============================================================
|
||
* CRC8 / 帧构建 / 帧解析（与 BOOT SpiOta 一致）
|
||
* ============================================================ */
|
||
|
||
static uint8_t spi_crc8(const uint8_t *data, uint16_t len)
|
||
{
|
||
uint8_t crc = 0x00U;
|
||
for (uint16_t i = 0U; i < len; ++i) {
|
||
crc ^= data[i];
|
||
}
|
||
return crc;
|
||
}
|
||
|
||
static bool spi_build_frame(uint8_t type, const uint8_t *payload, uint16_t payload_len,
|
||
uint8_t *out, uint16_t *out_len)
|
||
{
|
||
if (!out || !out_len) { return false; }
|
||
uint16_t total = (uint16_t)(kFrameOverhead + payload_len);
|
||
if (total > kTxBufSize) { return false; }
|
||
out[0] = kSof;
|
||
out[1] = type;
|
||
out[2] = (uint8_t)(payload_len & 0xFFU);
|
||
out[3] = (uint8_t)((payload_len >> 8) & 0xFFU);
|
||
if (payload && payload_len > 0U) {
|
||
memcpy(&out[4], payload, payload_len);
|
||
}
|
||
out[4 + payload_len] = spi_crc8(out, (uint16_t)(4U + payload_len));
|
||
*out_len = total;
|
||
return true;
|
||
}
|
||
|
||
static bool spi_try_parse_frame(const uint8_t *frame, uint16_t frame_len,
|
||
uint8_t *type, const uint8_t **payload, uint16_t *payload_len)
|
||
{
|
||
if (!frame || frame_len < kFrameOverhead) { return false; }
|
||
if (frame[0] != kSof) { return false; }
|
||
uint16_t len = (uint16_t)(frame[2] | ((uint16_t)frame[3] << 8));
|
||
uint16_t expected = (uint16_t)(kFrameOverhead + len);
|
||
if (expected != frame_len) { return false; }
|
||
if (spi_crc8(frame, (uint16_t)(4U + len)) != frame[4U + len]) { return false; }
|
||
if (type) { *type = frame[1]; }
|
||
if (payload) { *payload = &frame[4]; }
|
||
if (payload_len) { *payload_len = len; }
|
||
return true;
|
||
}
|
||
|
||
/* ============================================================
|
||
* 延迟日志：写入缓冲（ISR 安全，不调用 printf）
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::logDeferred(const char *msg)
|
||
{
|
||
if (s_logPending) { return; }
|
||
snprintf(s_logBuf, kLogBufSize, "[SPI-APP] %s", msg);
|
||
s_logPending = true;
|
||
}
|
||
|
||
void AppSpiCommand::logDeferredFmt(const char *fmt, uint8_t val)
|
||
{
|
||
if (s_logPending) { return; }
|
||
snprintf(s_logBuf, kLogBufSize, fmt, val);
|
||
s_logPending = true;
|
||
}
|
||
|
||
/* ============================================================
|
||
* 硬件配置（与 BOOT 完全一致）
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::configureGpio()
|
||
{
|
||
rcu_periph_clock_enable(RCU_GPIOA);
|
||
rcu_periph_clock_enable(RCU_GPIOB);
|
||
rcu_periph_clock_enable(RCU_AF);
|
||
|
||
gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
|
||
gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
|
||
|
||
gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5);
|
||
gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
|
||
gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
|
||
}
|
||
|
||
void AppSpiCommand::configureSpi0()
|
||
{
|
||
rcu_periph_clock_enable(RCU_SPI0);
|
||
spi_i2s_deinit(SPI0);
|
||
|
||
spi_parameter_struct spi_init_struct;
|
||
spi_struct_para_init(&spi_init_struct);
|
||
spi_init_struct.device_mode = SPI_SLAVE;
|
||
spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
|
||
spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT;
|
||
spi_init_struct.nss = SPI_NSS_SOFT;
|
||
spi_init_struct.endian = SPI_ENDIAN_MSB;
|
||
spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_1EDGE;
|
||
spi_init_struct.prescale = SPI_PSC_8;
|
||
spi_init(SPI0, &spi_init_struct);
|
||
|
||
spi_nss_internal_low(SPI0);
|
||
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, 1U, 0U);
|
||
spi_enable(SPI0);
|
||
}
|
||
|
||
void AppSpiCommand::configureExti()
|
||
{
|
||
gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOA, GPIO_PIN_SOURCE_15);
|
||
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);
|
||
}
|
||
|
||
/* ============================================================
|
||
* 初始化
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::init()
|
||
{
|
||
s_csActive = false;
|
||
s_rxLen = 0U;
|
||
s_txLen = 0U;
|
||
s_txPos = 0U;
|
||
s_logPending = false;
|
||
memset(s_rxBuf, 0, sizeof(s_rxBuf));
|
||
memset(s_txBuf, 0xFF, sizeof(s_txBuf));
|
||
memset(s_logBuf, 0, sizeof(s_logBuf));
|
||
|
||
configureGpio();
|
||
configureSpi0();
|
||
configureExti();
|
||
}
|
||
|
||
/* ============================================================
|
||
* 帧处理：CS 释放后解析帧并准备回复（不调用 printf）
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::processCommand()
|
||
{
|
||
if (s_rxLen == 0U) {
|
||
return;
|
||
}
|
||
|
||
/* 尝试按协议帧解析 */
|
||
uint8_t frame_type = 0U;
|
||
const uint8_t *payload = nullptr;
|
||
uint16_t payload_len = 0U;
|
||
|
||
if (spi_try_parse_frame(s_rxBuf, s_rxLen, &frame_type, &payload, &payload_len)) {
|
||
/* ★ 合法帧：按 TYPE 分发 */
|
||
uint16_t tx_len = 0U;
|
||
switch (frame_type) {
|
||
case kTypeBootReq:
|
||
/* 请求进入 Bootloader */
|
||
logDeferred("BOOT_REQ → 进BOOT");
|
||
{
|
||
const bool ok = OtaBootRequest::requestEnterBoot();
|
||
uint8_t ack = ok ? CONFIG_SPI_APP_OTA_BOOT_ACK_OK
|
||
: CONFIG_SPI_APP_OTA_BOOT_ACK_ERROR;
|
||
spi_build_frame(kRspAck, &ack, 1U, s_txBuf, &tx_len);
|
||
if (ok) {
|
||
TaskManager::set(1UL << TASK_HEARTBEAT);
|
||
}
|
||
}
|
||
break;
|
||
|
||
case kTypeOtaReq:
|
||
case kTypeOtaData:
|
||
case kTypeOtaCancel:
|
||
/* OTA 命令帧 — APP 不处理，回复 WAIT */
|
||
logDeferredFmt("[SPI-APP] OTA type=0x%02X → WAIT", frame_type);
|
||
{
|
||
uint8_t hint = 0x01U;
|
||
spi_build_frame(kRspWait, &hint, 1U, s_txBuf, &tx_len);
|
||
}
|
||
break;
|
||
|
||
case kTypeAppPing:
|
||
/* APP 存活探测 — 回复 ACK 携带状态摘要 */
|
||
logDeferred("[SPI-APP] PING → APP_ALIVE");
|
||
{
|
||
/* payload: [0]=0xA1(魔术) [1]=运行秒数低8位 [2]=运行秒数高8位 [3]=任务位图低8位 */
|
||
extern volatile uint32_t g_app_uptime_sec;
|
||
uint8_t alive_payload[4] = {
|
||
0xA1U,
|
||
(uint8_t)(g_app_uptime_sec & 0xFFU),
|
||
(uint8_t)((g_app_uptime_sec >> 8) & 0xFFU),
|
||
(uint8_t)(TaskManager::state().task_flags & 0xFFU)
|
||
};
|
||
spi_build_frame(kRspAck, alive_payload, sizeof(alive_payload), s_txBuf, &tx_len);
|
||
}
|
||
break;
|
||
|
||
default:
|
||
/* 未知帧类型 */
|
||
logDeferredFmt("[SPI-APP] 未知 type=0x%02X → ERROR", frame_type);
|
||
{
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, s_txBuf, &tx_len);
|
||
}
|
||
break;
|
||
}
|
||
s_txLen = (uint8_t)tx_len;
|
||
s_txPos = 0U;
|
||
} else {
|
||
/* ★ 不符合协议帧 — 兼容旧逻辑 */
|
||
if (s_rxBuf[0] == CONFIG_SPI_APP_OTA_BOOT_CMD) {
|
||
/* 旧式单字节 0xB0 */
|
||
logDeferred("旧式0xB0 → 进BOOT");
|
||
const bool ok = OtaBootRequest::requestEnterBoot();
|
||
uint8_t ack = ok ? CONFIG_SPI_APP_OTA_BOOT_ACK_OK
|
||
: CONFIG_SPI_APP_OTA_BOOT_ACK_ERROR;
|
||
s_txBuf[0] = CONFIG_SPI_APP_OTA_BOOT_CMD;
|
||
s_txBuf[1] = ack;
|
||
s_txBuf[2] = 0x4FU;
|
||
s_txBuf[3] = 0x54U;
|
||
s_txLen = 4U;
|
||
s_txPos = 0U;
|
||
if (ok) {
|
||
TaskManager::set(1UL << TASK_HEARTBEAT);
|
||
}
|
||
} else {
|
||
/* 无法识别 */
|
||
logDeferredFmt("[SPI-APP] 非协议 0x%02X → ERROR", s_rxBuf[0]);
|
||
uint16_t tx_len = 0U;
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, s_txBuf, &tx_len);
|
||
s_txLen = (uint8_t)tx_len;
|
||
s_txPos = 0U;
|
||
}
|
||
}
|
||
|
||
/* 置位 TASK_SPI_LOG，唤醒主循环立刻打印日志 */
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
|
||
/* ============================================================
|
||
* 主循环轮询：打印延迟日志
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::poll()
|
||
{
|
||
char log_copy[kLogBufSize] = {};
|
||
bool has_log = false;
|
||
|
||
__disable_irq();
|
||
if (s_logPending) {
|
||
memcpy(log_copy, s_logBuf, sizeof(log_copy));
|
||
s_logPending = false;
|
||
has_log = true;
|
||
}
|
||
__enable_irq();
|
||
|
||
if (has_log) {
|
||
printf("%s\r\n", log_copy);
|
||
}
|
||
}
|
||
|
||
/* ============================================================
|
||
* CS 边沿处理
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::onCsAssert()
|
||
{
|
||
s_csActive = true;
|
||
s_rxLen = 0U;
|
||
s_txPos = 0U;
|
||
if (s_txLen > 0U) {
|
||
spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_TBE);
|
||
}
|
||
}
|
||
|
||
void AppSpiCommand::onCsRelease()
|
||
{
|
||
if (!s_csActive) {
|
||
return;
|
||
}
|
||
s_csActive = false;
|
||
spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
|
||
if (isAllBytesValue(s_rxBuf, s_rxLen, 0xFFU)) {
|
||
s_rxLen = 0U;
|
||
return;
|
||
}
|
||
processCommand();
|
||
}
|
||
|
||
/* ============================================================
|
||
* SPI0 / EXTI 中断处理
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::onInterrupt()
|
||
{
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RBNE) != RESET) {
|
||
if (!s_csActive && gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
|
||
onCsAssert();
|
||
}
|
||
uint8_t byte = (uint8_t)(spi_i2s_data_receive(SPI0) & 0xFFU);
|
||
if (s_csActive && s_rxLen < sizeof(s_rxBuf)) {
|
||
s_rxBuf[s_rxLen++] = byte;
|
||
}
|
||
}
|
||
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_TBE) != RESET) {
|
||
if (!s_csActive && gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
|
||
onCsAssert();
|
||
}
|
||
uint8_t tx_byte = 0xFFU;
|
||
if (s_csActive && s_txPos < s_txLen) {
|
||
tx_byte = s_txBuf[s_txPos++];
|
||
if (s_txPos >= s_txLen) {
|
||
s_txLen = 0U;
|
||
s_txPos = 0U;
|
||
spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
|
||
}
|
||
} else {
|
||
spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
|
||
}
|
||
spi_i2s_data_transmit(SPI0, tx_byte);
|
||
}
|
||
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
|
||
(void)spi_i2s_data_receive(SPI0);
|
||
s_rxLen = 0U;
|
||
}
|
||
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_FERR) != RESET) {
|
||
spi_i2s_format_error_clear(SPI0, SPI_FLAG_FERR);
|
||
}
|
||
}
|
||
|
||
void AppSpiCommand::onCsExtiInterrupt()
|
||
{
|
||
if (exti_interrupt_flag_get(EXTI_15) != RESET) {
|
||
exti_interrupt_flag_clear(EXTI_15);
|
||
if (gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
|
||
onCsAssert();
|
||
} else {
|
||
onCsRelease();
|
||
}
|
||
}
|
||
}
|
||
|
||
extern "C" void SPI0_IRQHandler(void)
|
||
{
|
||
AppSpiCommand::onInterrupt();
|
||
}
|
||
|
||
extern "C" void EXTI10_15_IRQHandler(void)
|
||
{
|
||
AppSpiCommand::onCsExtiInterrupt();
|
||
}
|