cbb
7c05496b89
- 在cproject.yml中添加spi_link模块组和相关头文件路径 - 修改boot_request.cpp中的ACK响应机制，改用标准帧格式并优化CAN反馈处理 - 重构ping.cpp响应payload结构，包含版本信息、运行时间等16字节数据 - 添加systick.h依赖用于获取系统运行时间 - 优化启动bootloader流程，避免SPI中断阻塞问题
897 lines
32 KiB
C++
897 lines
32 KiB
C++
/**
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* @file app_spi_command.cpp
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* @brief APP 运行期 SPI 链路与命令路由实现。
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*
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* 本模块现在只负责：
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* - SPI0 从机链路初始化（GPIO/SPI/DMA/EXTI）
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* - CS、DMA、中断驱动的帧接收与发送
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* - 公共帧格式解析与应答构建
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* - 业务命令的注册与分发
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*
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* 具体命令处理逻辑已经拆到独立的 app_spi_cmd_*.cpp，
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* 通过 registerHandler() 注册进来，后续新增 SPI 业务时
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* 只需要新增命令处理器，不再继续膨胀本文件。
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*
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* 握手架构（v2 DATA_READY，PB6<->ESP32 GPIO10 开漏单线）：
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* - PB6 低 = 有待发数据（m_txLen>0 或 m_ringPending），高 = 队列空。
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* - 命令处理在 onCsRelease() EXTI ISR 内同步完成（对齐 BOOT 的 isrProcessFrame），
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* 完成后由 updateDataReady() 依据待发数据驱动 PB6，不再延迟拉高。
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* - GD32 可通过 requestEsp32Read() 设 m_ringPending 并由 updateDataReady()
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* 拉低 PB6 主动按铃，请求 ESP32 来读。
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*/
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#include "device/spi/app_spi_command.h"
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#include "device/spi/spi_command_handler.h"
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#include "device/spi/app_spi_command_defs.h"
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#include "spi_link_v2.h"
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#include "sys/ota_boot_request.h"
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extern "C" {
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#include "gd32e50x_exti.h"
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}
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#include "gd32e50x_gpio.h"
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#include "gd32e50x_misc.h"
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#include "gd32e50x_rcu.h"
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#include "gd32e50x_dma.h"
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#include "gd32e50x_spi.h"
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#include "sys/config.h"
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#include "sys/critical.h"
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#include "sys/task_manager.h"
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#include "sys/systick.h"
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#include "main.h"
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#include <cstdio>
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#include <cstring>
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/* ============================================================
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* 本地别名：保持当前实现文件内部风格不变
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* ============================================================ */
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static constexpr uint8_t kTypeBootReq = SpiDefs::kTypeBootReq;
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static constexpr uint8_t kTypeCanSend = SpiDefs::kTypeCanSend;
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static constexpr uint8_t kTypeOtaReq = SpiDefs::kTypeOtaReq;
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static constexpr uint8_t kTypeAppPing = SpiDefs::kTypeAppPing;
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static constexpr uint8_t kTypeOtaData = SpiDefs::kTypeOtaData;
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static constexpr uint8_t kTypeOtaCancel = SpiDefs::kTypeOtaCancel;
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static constexpr uint8_t kRspAck = SpiDefs::kRspAck;
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static constexpr uint8_t kRspWait = SpiDefs::kRspWait;
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static constexpr uint8_t kRspError = SpiDefs::kRspError;
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/* DMA 配置（与 BOOT SpiOta 一致：DMA0_CH2 用于 SPI0 TX） */
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#define SPI_TX_DMA_PERIPH DMA0
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#define SPI_TX_DMA_CH DMA_CH2
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static void startSpiTxDma(const uint8_t *buf, uint16_t len)
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{
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DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
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DMA_INTC(SPI_TX_DMA_PERIPH) |= DMA_FLAG_ADD(DMA_CHINTF_RESET_VALUE, SPI_TX_DMA_CH);
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DMA_CHMADDR(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) = (uint32_t)buf;
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DMA_CHCNT(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) = len;
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DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) |= DMA_CHXCTL_CHEN;
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}
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static bool isAllBytesValue(const uint8_t *data, uint16_t len, uint8_t value)
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{
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if (!data || len == 0U) {
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return false;
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}
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for (uint16_t i = 0U; i < len; ++i) {
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if (data[i] != value) {
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return false;
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}
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}
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return true;
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}
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static bool shouldIgnoreTransaction(const uint8_t *data, uint16_t len)
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{
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if (!data || len == 0U) {
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return true;
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}
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if (isAllBytesValue(data, len, 0xFFU) || isAllBytesValue(data, len, 0x00U)) {
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return true;
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}
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/* v2 协议帧最小长度为 V2_OVERHEAD(20B)。
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* 短于该长度的事务只能是启动切换期的残包，直接忽略。
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* （0xB0 进 BOOT 现已走标准 v2 帧 handler，不再有裸字节通道。） */
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return (len < V2_OVERHEAD);
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}
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static bool isFlashRelatedFrame(uint8_t frame_type)
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{
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switch (frame_type) {
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case kTypeOtaReq:
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case kTypeOtaData:
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case kTypeOtaCancel:
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case kTypeBootReq:
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return true;
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default:
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return false;
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}
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}
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/* GD32 APP 侧同步状态机（ISR 与主循环只读/原子写，避免临界区开销）。 */
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static volatile uint8_t g_localCredit = 8U;
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static volatile uint8_t g_remoteCredit = 8U;
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/* SPI Link v2 会话/序号状态机（ISR 写、主循环读写，均原子，无需临界区）。 */
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static volatile uint32_t g_sessionId = 0; /* v2 会话 ID（0=未建立） */
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static volatile uint8_t g_txSeq = 0; /* GD32 发送序号（事件/响应帧） */
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static volatile uint8_t g_expectedRxSeq = 0; /* 期望收到的 ESP32 请求序号 */
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static volatile bool g_v2Active = false; /* v2 session 是否激活 */
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/* 当前请求的 TX_SEQ，写入响应 ACK_SEQ，供 ESP32 做响应归属匹配（延迟一拍）。 */
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static volatile uint8_t g_pendingAckSeq = 0;
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/* 响应缓存：用于重复请求重发同一响应（避免业务 handler 重复执行）。 */
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static uint8_t s_lastReqSeq = 0xFF;
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static uint8_t s_lastRespBuf[256];
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static uint16_t s_lastRespLen = 0;
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static bool s_hasCachedResp = false;
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/* ============================================================
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* v2 帧构建 / 帧解析（委托 spi_link_v2.h，三工程共用）
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* ============================================================ */
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/* 构建响应帧；上层接口（type/payload）保持不变，handler 无需改动。
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* 内部调用 v2_build_frame，FLAGS 默认 V2_FLAG_RESPONSE，session/seq/credit
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* 从 v2 状态全局变量取。session 未建立时 session_id 填 0。
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* ACK_SEQ = g_pendingAckSeq（对端请求的 TX_SEQ），不能写死 0，否则 ESP32
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* otaFindFrame 在 m_v2Active 时会把合法延迟响应当成 stale 丢弃。 */
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static bool spi_build_frame(uint8_t type, const uint8_t *payload, uint16_t payload_len,
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uint8_t *out, uint16_t *out_len)
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{
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if (!out || !out_len) { return false; }
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if ((uint32_t)V2_OVERHEAD + payload_len > AppSpiCommand::kTxBufSize) { return false; }
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const uint32_t sess = g_v2Active ? g_sessionId : 0U;
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size_t built = 0U;
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const bool ok = v2_build_frame(type, V2_FLAG_RESPONSE, sess,
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g_txSeq, g_pendingAckSeq, (uint8_t)g_localCredit,
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payload, payload_len, out, &built);
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if (!ok) { return false; }
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*out_len = (uint16_t)built;
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return true;
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}
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/* 解析 v2 帧；委托 v2_parse_frame，扫描 SOF 并校验 VERSION/CRC32。
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* 旧的 0xA5 CRC8 帧兼容路径已移除（v2 不再向后兼容 v1）。 */
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static bool spi_try_parse_frame(const uint8_t *frame, uint16_t frame_len,
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uint8_t *type, const uint8_t **payload, uint16_t *payload_len,
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v2_header_t *out_hdr = nullptr)
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{
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if (!frame || !type || !payload || !payload_len) { return false; }
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v2_header_t hdr;
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const uint8_t *pload = nullptr;
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const bool ok = v2_parse_frame(frame, frame_len, &hdr, &pload);
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if (!ok) { return false; }
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g_remoteCredit = hdr.credit;
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*type = hdr.type;
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*payload = pload;
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*payload_len = hdr.payload_len;
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if (out_hdr) { *out_hdr = hdr; }
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return true;
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}
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/* ============================================================
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* 调试日志辅助
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* ============================================================ */
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void AppSpiCommand::postLog(const char *msg)
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{
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#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
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if (!msg) return;
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snprintf(m_logBuf, kLogBufSize, "[SPI-APP] %s", msg);
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m_logPending = true;
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#else
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(void)msg;
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#endif
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}
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void AppSpiCommand::postLogFmt(const char *fmt, uint8_t val)
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{
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#if (CONFIG_SPI_APP_LOG_ENABLE != 0)
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if (!fmt) return;
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snprintf(m_logBuf, kLogBufSize, fmt, val);
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m_logPending = true;
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#else
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(void)fmt;
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(void)val;
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#endif
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}
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void AppSpiCommand::buildResponse(uint8_t *tx_buf, uint16_t tx_buf_size,
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uint16_t *tx_len, uint8_t rsp_type,
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const uint8_t *payload, uint16_t payload_len)
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{
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if (!tx_buf || !tx_len || tx_buf_size == 0U) {
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return;
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}
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uint16_t built_len = 0U;
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const bool ok = spi_build_frame(rsp_type, payload, payload_len, tx_buf, &built_len);
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if (ok) {
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*tx_len = built_len;
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}
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}
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/* ============================================================
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* 硬件配置
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* ============================================================ */
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void AppSpiCommand::configureGpio()
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{
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
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gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
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gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5);
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gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
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gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
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/* PB6 复用为 DATA_READY 握手线（开漏输出，线与）。
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* 开漏模式：写 BRR = 下拉驱动低；写 BSRR = 高阻释放，靠外部/对端上拉拉高。
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* 语义：低 = 有待发数据，高 = 队列空；默认释放（HIGH）。 */
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gpio_init(CONFIG_SPI_READY_PORT, GPIO_MODE_OUT_OD, GPIO_OSPEED_50MHZ, CONFIG_SPI_READY_PIN);
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gpio_bit_set(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
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}
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void AppSpiCommand::setSpiReady(bool ready)
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{
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/* 开漏线与：ready=true 释放（BSRR，高阻，靠上拉拉高）；
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* ready=false 下拉（BRR，驱动低）。 */
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if (ready) {
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gpio_bit_set(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
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} else {
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gpio_bit_reset(CONFIG_SPI_READY_PORT, CONFIG_SPI_READY_PIN);
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}
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}
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/* v2 DATA_READY: PB6 低 = 有待发数据，高 = 队列空。
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* 替代旧 BUSY/READY 语义中所有 setSpiReady 调用。 */
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void AppSpiCommand::updateDataReady()
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{
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const bool has_data = (m_txLen > 0U) || m_ringPending;
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setSpiReady(!has_data);
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}
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void AppSpiCommand::configureSpi0()
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{
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rcu_periph_clock_enable(RCU_SPI0);
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spi_i2s_deinit(SPI0);
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spi_parameter_struct spi_init_struct;
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spi_struct_para_init(&spi_init_struct);
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spi_init_struct.device_mode = SPI_SLAVE;
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spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
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spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT;
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spi_init_struct.nss = SPI_NSS_SOFT;
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spi_init_struct.endian = SPI_ENDIAN_MSB;
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spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_1EDGE;
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spi_init_struct.prescale = SPI_PSC_8;
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spi_init(SPI0, &spi_init_struct);
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spi_nss_internal_low(SPI0);
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(void)spi_i2s_data_receive(SPI0);
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spi_i2s_data_transmit(SPI0, 0xFFU);
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spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_RBNE);
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spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_ERR);
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spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
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nvic_irq_enable(SPI0_IRQn, 2U, 0U);
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spi_enable(SPI0);
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}
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void AppSpiCommand::configureDma()
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{
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rcu_periph_clock_enable(RCU_DMA0);
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dma_deinit(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);
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dma_parameter_struct dma_cfg;
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dma_struct_para_init(&dma_cfg);
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dma_cfg.periph_addr = (uint32_t)(SPI0 + 0x0CU); /* SPI0_DATA 寄存器 */
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dma_cfg.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
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dma_cfg.memory_addr = (uint32_t)m_txBuf;
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dma_cfg.memory_width = DMA_MEMORY_WIDTH_8BIT;
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dma_cfg.number = 0U;
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dma_cfg.priority = DMA_PRIORITY_HIGH;
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dma_cfg.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_cfg.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_cfg.direction = DMA_MEMORY_TO_PERIPHERAL;
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dma_init(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH, &dma_cfg);
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dma_circulation_disable(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);
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dma_channel_disable(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH);
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}
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void AppSpiCommand::configureExti()
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{
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gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOA, GPIO_PIN_SOURCE_15);
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exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_BOTH);
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exti_interrupt_enable(EXTI_15);
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exti_interrupt_flag_clear(EXTI_15);
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nvic_irq_enable(EXTI10_15_IRQn, 1U, 1U);
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}
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void AppSpiCommand::configureSpiReadyExti()
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{
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/* PB6 已在 configureGpio() 配置为开漏输出，此处保留 EXTI6 中断使能。
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* v2 DATA_READY: ESP32 不再操作 PB6，EXTI6 上升沿无业务含义，
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* onSpiReadyExti() 仅清标志避免反复触发。 */
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gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOB, GPIO_PIN_SOURCE_6);
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exti_init(EXTI_6, EXTI_INTERRUPT, EXTI_TRIG_RISING);
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exti_interrupt_enable(EXTI_6);
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exti_interrupt_flag_clear(EXTI_6);
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nvic_irq_enable(EXTI5_9_IRQn, CONFIG_IRQ_PREEMPT_SPI_USART, 1U);
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}
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void AppSpiCommand::onSpiReadyExti()
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{
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/* v2 DATA_READY: ESP32 不再操作 PB6，EXTI6 上升沿不再有意义。
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* 清除中断标志避免反复触发。 */
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if (exti_interrupt_flag_get(EXTI_6) != RESET) {
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exti_interrupt_flag_clear(EXTI_6);
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}
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}
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/* ============================================================
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* 默认命令注册入口（由各 app_spi_cmd_*.cpp 提供）
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* ============================================================ */
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extern void registerSpiBootRequestCommand(AppSpiCommand &bus);
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extern void registerSpiOtaWaitCommand(AppSpiCommand &bus);
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extern void registerSpiAppPingCommand(AppSpiCommand &bus);
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extern void registerSpiCanBridgeCommand(AppSpiCommand &bus);
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extern void registerSpiCanFeedbackCommand(AppSpiCommand &bus);
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extern void registerSpiIdSnapshotCommand(AppSpiCommand &bus);
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AppSpiCommand AppSpiCommandBus;
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void AppSpiCommand::init()
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{
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m_csActive = false;
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m_rxLen = 0U;
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m_txLen = 0U;
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m_txPos = 0U;
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m_logPending = false;
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m_txActiveThisCs = false;
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m_commandCount = 0U;
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m_ringPending = false;
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m_ringDeadline = 0U;
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m_ringTxLen = 0U;
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m_linkState.reset();
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memset(m_txBuf, 0xFF, sizeof(m_txBuf));
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memset(m_logBuf, 0, sizeof(m_logBuf));
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memset(m_commands, 0, sizeof(m_commands));
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registerSpiBootRequestCommand(AppSpiCommandBus);
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registerSpiOtaWaitCommand(AppSpiCommandBus);
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registerSpiAppPingCommand(AppSpiCommandBus);
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registerSpiCanBridgeCommand(AppSpiCommandBus);
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registerSpiCanFeedbackCommand(AppSpiCommandBus);
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registerSpiIdSnapshotCommand(AppSpiCommandBus);
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configureGpio();
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configureSpi0();
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configureDma();
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configureExti();
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configureSpiReadyExti();
|
||
}
|
||
|
||
/* ============================================================
|
||
* 命令路由
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::registerHandler(ISpiCommandHandler *handler)
|
||
{
|
||
if (!handler || m_commandCount >= kMaxCommands) {
|
||
return;
|
||
}
|
||
m_commands[m_commandCount++] = handler;
|
||
}
|
||
|
||
void AppSpiCommand::processCommand()
|
||
{
|
||
if (m_rxLen == 0U) {
|
||
return;
|
||
}
|
||
|
||
/* 0xB0 已受理、正在写 OTA 配置页 / 即将复位：不再处理业务帧，避免打断 Flash。 */
|
||
if (OtaBootRequest::isSpiFrozenForBoot() || OtaBootRequest::isRebootPending()) {
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
|
||
/* 尝试按 v2 协议帧解析；同时取回完整帧头用于 session/seq 校验 */
|
||
uint8_t frame_type = 0U;
|
||
const uint8_t *payload = nullptr;
|
||
uint16_t payload_len = 0U;
|
||
v2_header_t hdr;
|
||
|
||
if (!spi_try_parse_frame(m_rxBuf, m_rxLen, &frame_type, &payload, &payload_len, &hdr)) {
|
||
/* 无法解析为合法 v2 帧：构建 ERROR 响应 */
|
||
postLogFmt("[SPI-APP] 非v2帧 0x%02X -> ERROR", m_rxBuf[0]);
|
||
uint16_t tx_len = 0U;
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
|
||
m_txLen = tx_len;
|
||
m_txPos = 0U;
|
||
|
||
if (m_logPending) {
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
|
||
if (CONFIG_SPI_APP_LOG_ENABLE != 0 && !isFlashRelatedFrame(frame_type)) {
|
||
postLogFmt("[SPI-APP] 收到非刷写 SPI type=0x%02X", frame_type);
|
||
}
|
||
|
||
/* 响应归属：ACK_SEQ 必须回显请求 TX_SEQ（延迟一拍 + ESP32 otaFindFrame 匹配）。 */
|
||
g_pendingAckSeq = hdr.tx_seq;
|
||
|
||
/* ---------- HELLO 建链路处理（在 session 校验之前） ---------- */
|
||
if (frame_type == V2_TYPE_LINK_HELLO) {
|
||
/* 接受 ESP32 提供的 session_id，重置本端序号状态机 */
|
||
g_sessionId = hdr.session_id;
|
||
g_txSeq = 0;
|
||
g_expectedRxSeq = 0;
|
||
g_v2Active = true;
|
||
s_hasCachedResp = false;
|
||
|
||
/* 构建 HELLO_ACK 响应帧（回显 session_id + 角色 + credit_max） */
|
||
size_t built_len = 0U;
|
||
v2_build_hello_ack_frame(g_sessionId, V2_ROLE_APP, (uint8_t)g_localCredit,
|
||
0, hdr.tx_seq, m_txBuf, &built_len);
|
||
m_txLen = (uint16_t)built_len;
|
||
m_txPos = 0U;
|
||
|
||
/* 缓存 HELLO_ACK 便于重复 HELLO 重发 */
|
||
s_lastReqSeq = hdr.tx_seq;
|
||
memcpy(s_lastRespBuf, m_txBuf, m_txLen);
|
||
s_lastRespLen = m_txLen;
|
||
s_hasCachedResp = true;
|
||
|
||
if (m_logPending) {
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
|
||
/* ---------- SESSION / SEQ 校验（仅在 v2 session 激活后生效） ---------- */
|
||
if (g_v2Active) {
|
||
/* session_id 不匹配：构建 LINK_ERROR(V2_ERR_SESSION)，跳过 handler */
|
||
if (hdr.session_id != g_sessionId) {
|
||
postLogFmt("[SPI-APP] session 不匹配 0x%02X -> LINK_ERROR",
|
||
(uint8_t)(hdr.session_id & 0xFFU));
|
||
size_t built_len = 0U;
|
||
v2_build_error_frame(g_sessionId, g_txSeq, hdr.tx_seq,
|
||
(uint8_t)g_localCredit, V2_ERR_SESSION,
|
||
(uint8_t)g_expectedRxSeq, m_txBuf, &built_len);
|
||
m_txLen = (uint16_t)built_len;
|
||
m_txPos = 0U;
|
||
|
||
if (m_logPending) {
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
|
||
/* 序号回绕距离判定 */
|
||
const uint8_t dist = v2_seq_distance(hdr.tx_seq, g_expectedRxSeq);
|
||
if (dist == 0U) {
|
||
/* 正常：序号匹配，推进期望序号 */
|
||
g_expectedRxSeq = (uint8_t)(g_expectedRxSeq + 1U);
|
||
} else if (dist >= 128U) {
|
||
/* 重复请求：重发缓存的响应帧，跳过 handler */
|
||
if (s_hasCachedResp && hdr.tx_seq == s_lastReqSeq) {
|
||
postLogFmt("[SPI-APP] 重复请求 seq=0x%02X -> 重发缓存", hdr.tx_seq);
|
||
memcpy(m_txBuf, s_lastRespBuf, s_lastRespLen);
|
||
m_txLen = s_lastRespLen;
|
||
m_txPos = 0U;
|
||
|
||
if (m_logPending) {
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
/* 无缓存可用：按正常请求处理 */
|
||
} else {
|
||
/* dist 1-127：序号跳变。对齐期望序号后：
|
||
* - 普通业务：回 LINK_ERROR 并丢弃（避免副作用）
|
||
* - 0xB0 ENTER_BOOT：控制面命令，仍必须执行，否则永远进不了 BOOT */
|
||
postLogFmt("[SPI-APP] SEQ jump rx=0x%02X", hdr.tx_seq);
|
||
g_expectedRxSeq = (uint8_t)(hdr.tx_seq + 1U);
|
||
|
||
if (frame_type != kTypeBootReq) {
|
||
size_t built_len = 0U;
|
||
v2_build_error_frame(g_sessionId, g_txSeq, hdr.tx_seq,
|
||
(uint8_t)g_localCredit, V2_ERR_SEQ_JUMP,
|
||
(uint8_t)g_expectedRxSeq, m_txBuf, &built_len);
|
||
m_txLen = (uint16_t)built_len;
|
||
m_txPos = 0U;
|
||
|
||
if (m_logPending) {
|
||
TaskManager::set(1UL << TASK_SPI_LOG);
|
||
}
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
postLog("SEQ jump but BOOT_REQ still handled");
|
||
/* fall through → 业务分发 */
|
||
}
|
||
}
|
||
|
||
/* ---------- 业务命令分发 ---------- */
|
||
uint16_t tx_len = 0U;
|
||
bool handled = false;
|
||
|
||
SpiCommandContext ctx{};
|
||
ctx.frame_type = frame_type;
|
||
ctx.payload = payload;
|
||
ctx.payload_len = payload_len;
|
||
ctx.tx_buf = m_txBuf;
|
||
ctx.tx_buf_size = kTxBufSize;
|
||
ctx.tx_len = &tx_len;
|
||
|
||
for (uint8_t i = 0U; i < m_commandCount; ++i) {
|
||
ISpiCommandHandler *handler = m_commands[i];
|
||
if (handler && handler->canHandle(frame_type)) {
|
||
handler->handle(AppSpiCommandBus, ctx);
|
||
handled = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (!handled) {
|
||
postLogFmt("[SPI-APP] 未知 type=0x%02X -> ERROR", frame_type);
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
|
||
}
|
||
|
||
if (tx_len == 0U) {
|
||
/* 兜底：避免残留上一次应答帧 */
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
|
||
}
|
||
|
||
m_txLen = tx_len;
|
||
m_txPos = 0U;
|
||
|
||
/* 缓存本次响应，便于重复请求时重发（避免 handler 重复执行副作用） */
|
||
if (g_v2Active) {
|
||
s_lastReqSeq = hdr.tx_seq;
|
||
memcpy(s_lastRespBuf, m_txBuf, m_txLen);
|
||
s_lastRespLen = m_txLen;
|
||
s_hasCachedResp = true;
|
||
/* 推进本端发送序号（响应帧占用一个 tx_seq 槽位） */
|
||
g_txSeq = (uint8_t)(g_txSeq + 1U);
|
||
}
|
||
|
||
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);
|
||
}
|
||
|
||
/* 应答帧已就绪：由 updateDataReady() 依据 m_txLen 驱动 PB6（有待发=低）。
|
||
* 命令处理已在 ISR 内同步完成，无需 m_cmdPending 推迟机制。 */
|
||
|
||
/* 有响应待发时，设置按铃标志阻止主循环 canFeedbackPushStep() 覆盖 m_txBuf。
|
||
* ESP32 下次 CS assert 时 DMA 输出响应，onCsRelease 清除 m_ringPending。
|
||
* 50ms 超时后 cancelRing() 清除，恢复 CAN 反馈推送。 */
|
||
if (m_txLen > 0U) {
|
||
m_ringPending = true;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
}
|
||
updateDataReady();
|
||
}
|
||
|
||
/* ============================================================
|
||
* GD32 主动按铃：设 m_ringPending + updateDataReady() 拉低 PB6 请求 ESP32 来读
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::cancelRing()
|
||
{
|
||
m_ringPending = false;
|
||
m_ringTxLen = 0U;
|
||
/* 清除待发响应，防止超时后残留帧在下一次 CS assert 时被错误输出 */
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
/* 超时后允许重试，不依赖 ESP32 releaseReady 上升沿 */
|
||
m_linkState.onRingTimeout();
|
||
/* 释放 SPIready（高阻），避免永久占用线。
|
||
* cancelRing 已清 m_txLen 和 m_ringPending，updateDataReady() 会释放为高。 */
|
||
updateDataReady();
|
||
}
|
||
|
||
bool AppSpiCommand::requestEsp32Read(uint8_t frame_type, const uint8_t *payload, uint16_t payload_len)
|
||
{
|
||
/* 若上一次按铃尚未被 ESP32 读走，拒绝重复按铃 */
|
||
if (m_ringPending) {
|
||
return false;
|
||
}
|
||
|
||
/* 构建 v2 EVENT 帧到 m_txBuf（ESP32 下次读事务时通过 DMA 输出到 MISO）。
|
||
* 主动按铃帧使用 V2_FLAG_EVENT，session/seq 从 v2 状态全局变量取；
|
||
* session 未建立时 session_id 填 0。 */
|
||
const uint32_t sess = g_v2Active ? g_sessionId : 0U;
|
||
size_t built_len = 0U;
|
||
if (!v2_build_frame(frame_type, V2_FLAG_EVENT, sess,
|
||
g_txSeq, 0U, (uint8_t)g_localCredit,
|
||
payload, payload_len, m_txBuf, &built_len)) {
|
||
return false;
|
||
}
|
||
/* EVENT 帧占用一个发送序号槽位 */
|
||
if (g_v2Active) {
|
||
g_txSeq = (uint8_t)(g_txSeq + 1U);
|
||
}
|
||
|
||
m_ringTxLen = (uint16_t)built_len;
|
||
m_txLen = (uint16_t)built_len;
|
||
m_txPos = 0U;
|
||
m_ringDeadline = SysTickTimer::getMs() + kRingTimeoutMs;
|
||
m_ringPending = true;
|
||
/* 消费完成 flag，等 ESP32 releaseReady 触发 EXTI6 上升沿 */
|
||
m_linkState.onRingStart();
|
||
|
||
/* v2 DATA_READY: 已设 m_ringPending=true 且 m_txLen>0，
|
||
* updateDataReady() 据此拉低 PB6，通知 ESP32「有待发数据」。 */
|
||
updateDataReady();
|
||
return true;
|
||
}
|
||
|
||
/* ============================================================
|
||
* 主循环轮询：打印延迟日志 + 按铃超时看护
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::poll()
|
||
{
|
||
/* 打印 ISR 推迟的日志 */
|
||
char log_copy[kLogBufSize] = {};
|
||
bool has_log = false;
|
||
|
||
uint32_t save = RT_CRITICAL_SAVE();
|
||
if (m_logPending) {
|
||
memcpy(log_copy, m_logBuf, sizeof(log_copy));
|
||
m_logPending = false;
|
||
has_log = true;
|
||
}
|
||
RT_CRITICAL_RESTORE(save);
|
||
|
||
if (has_log) {
|
||
printf("%s\r\n", log_copy);
|
||
}
|
||
|
||
/* 按铃超时看护：ESP32 未在 kRingTimeoutMs 内来读则放弃本次按铃。
|
||
* 防止 ESP32 不响应时永久占用 SPIready 线导致双方死锁。 */
|
||
if (m_ringPending) {
|
||
uint32_t save2 = RT_CRITICAL_SAVE();
|
||
if (m_ringPending) {
|
||
if ((int32_t)(SysTickTimer::getMs() - m_ringDeadline) >= 0) {
|
||
printf("[SPI-APP] 按铃超时取消 (ESP32 未响应, 释放 SPIready 重试)\r\n");
|
||
cancelRing();
|
||
}
|
||
}
|
||
RT_CRITICAL_RESTORE(save2);
|
||
}
|
||
}
|
||
|
||
/* ============================================================
|
||
* CS 边沿处理
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::onCsAssert()
|
||
{
|
||
if (m_csActive) {
|
||
return;
|
||
}
|
||
m_csActive = true;
|
||
/* v2 DATA_READY: CS 本身即互斥，PB6 不再表示「忙碌」，不在 CS 下降沿拉低。
|
||
* PB6 仅由 updateDataReady() 依据待发数据驱动，避免与队列语义冲突。 */
|
||
m_rxLen = 0U;
|
||
m_txPos = 0U;
|
||
m_txActiveThisCs = false;
|
||
|
||
/* 停止 DMA 并清理旧状态 */
|
||
DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
|
||
spi_dma_disable(SPI0, SPI_DMA_TRANSMIT);
|
||
|
||
/* 与 BOOT 一致：清除 SPI 双缓冲中的残留数据 */
|
||
spi_i2s_data_transmit(SPI0, 0xFFU);
|
||
if (spi_i2s_flag_get(SPI0, SPI_FLAG_TBE) != RESET) {
|
||
spi_i2s_data_transmit(SPI0, 0xFFU);
|
||
}
|
||
|
||
/* 清除错误标志 */
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
|
||
(void)spi_i2s_data_receive(SPI0);
|
||
}
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_FERR) != RESET) {
|
||
spi_i2s_format_error_clear(SPI0, SPI_FLAG_FERR);
|
||
}
|
||
|
||
/* 启动 DMA 发送响应帧（与 BOOT 完全一致） */
|
||
if (m_txLen > 0U) {
|
||
m_txActiveThisCs = true;
|
||
spi_dma_enable(SPI0, SPI_DMA_TRANSMIT);
|
||
startSpiTxDma(m_txBuf, m_txLen);
|
||
} else {
|
||
/* 无响应时发送全 0xFF 填充 */
|
||
spi_dma_enable(SPI0, SPI_DMA_TRANSMIT);
|
||
startSpiTxDma(m_txBuf, kTxBufSize);
|
||
}
|
||
}
|
||
|
||
void AppSpiCommand::onCsRelease()
|
||
{
|
||
if (!m_csActive) {
|
||
return;
|
||
}
|
||
m_csActive = false;
|
||
|
||
/* 停止 DMA */
|
||
DMA_CHCTL(SPI_TX_DMA_PERIPH, SPI_TX_DMA_CH) &= ~DMA_CHXCTL_CHEN;
|
||
spi_dma_disable(SPI0, SPI_DMA_TRANSMIT);
|
||
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RBNE) != RESET) {
|
||
uint8_t last_byte = (uint8_t)(spi_i2s_data_receive(SPI0) & 0xFFU);
|
||
if (m_rxLen < sizeof(m_rxBuf)) {
|
||
m_rxBuf[m_rxLen++] = last_byte;
|
||
}
|
||
}
|
||
|
||
/* 若本次 CS 事务是 ESP32 响应 GD32 按铃来读请求帧，
|
||
* 则 GD32 的请求帧已通过 DMA 输出到 MISO，取消按铃状态。
|
||
*
|
||
* 但需区分：ESP32 发的是 dummy 读（按铃响应）还是 v2 协议帧（如 PING/OTA/0xB0）。
|
||
* 若 GD32 正在按铃时 ESP32 发协议帧，会因 m_ringPending=true 被误吞，
|
||
* 导致命令无法处理。检测到 v2 SOF 时取消按铃并走正常命令处理。 */
|
||
if (m_ringPending) {
|
||
/* 判断本次收到的数据是否为 v2 协议帧（扫描 SOF0 SOF1）。
|
||
* 取代旧 containsSyncSof，直接用 V2_SOF0/V2_SOF1。
|
||
* 0xB0 进 BOOT 现已走标准 v2 帧 handler，不再单独检测裸字节。 */
|
||
bool is_v2_frame = false;
|
||
if (m_rxLen >= 2U) {
|
||
const uint16_t last = (m_rxLen < 16U) ? (uint16_t)(m_rxLen - 1U) : 16U;
|
||
for (uint16_t i = 0U; i < last; ++i) {
|
||
if (m_rxBuf[i] == V2_SOF0 && m_rxBuf[i + 1U] == V2_SOF1) {
|
||
is_v2_frame = true;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
if (is_v2_frame) {
|
||
/* ESP32 发的是 v2 协议帧（如 PING/OTA/0xB0 等），不是按铃响应。
|
||
* 取消按铃，清空 TX 让 processCommand() 重新装载对应应答。
|
||
* processCommand() 末尾由 updateDataReady() 依据新 m_txLen 驱动 PB6。 */
|
||
m_ringPending = false;
|
||
m_ringTxLen = 0U;
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
memset(m_txBuf, 0xFF, sizeof(m_txBuf));
|
||
/* 继续走 shouldIgnoreTransaction + processCommand()，不 return */
|
||
} else {
|
||
/* 正常按铃响应：请求帧已被读走，取消按铃状态 */
|
||
m_ringPending = false;
|
||
m_ringTxLen = 0U;
|
||
/* 请求帧已被读走，清空 TX 防止下次事务重复输出 */
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
memset(m_txBuf, 0xFF, sizeof(m_txBuf));
|
||
/* v2 DATA_READY: 已清 m_txLen=0 与 m_ringPending=false，
|
||
* updateDataReady() 释放为高；ESP32 完成 CS 即视为已读走确认。 */
|
||
m_linkState.onEsp32Complete();
|
||
updateDataReady();
|
||
/* 上层若需要 ESP32 处理该请求帧，由 ESP32 侧读到的帧 TYPE 决定后续动作 */
|
||
return;
|
||
}
|
||
}
|
||
|
||
if (shouldIgnoreTransaction(m_rxBuf, m_rxLen)) {
|
||
m_rxLen = 0U;
|
||
if (m_txActiveThisCs) {
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
memset(m_txBuf, 0xFF, sizeof(m_txBuf));
|
||
}
|
||
m_txActiveThisCs = false;
|
||
/* v2 DATA_READY: shouldIgnoreTransaction 路径已清 m_txLen=0，
|
||
* updateDataReady() 释放为高，避免 PB6 卡 LOW。 */
|
||
updateDataReady();
|
||
return;
|
||
}
|
||
|
||
m_txLen = 0U;
|
||
m_txPos = 0U;
|
||
m_txActiveThisCs = false;
|
||
memset(m_txBuf, 0xFF, sizeof(m_txBuf));
|
||
|
||
/* 命令处理在 EXTI ISR 内同步完成（对齐 BOOT 的 isrProcessFrame 模式），
|
||
* 消除主循环延迟。处理完成后 processCommand() 末尾释放 SPIready。 */
|
||
processCommand();
|
||
}
|
||
|
||
/* ============================================================
|
||
* SPI0 / EXTI 中断处理
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::onInterrupt()
|
||
{
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RBNE) != RESET) {
|
||
if (!m_csActive && gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
|
||
onCsAssert();
|
||
}
|
||
uint8_t byte = (uint8_t)(spi_i2s_data_receive(SPI0) & 0xFFU);
|
||
if (m_csActive && m_rxLen < sizeof(m_rxBuf)) {
|
||
m_rxBuf[m_rxLen++] = byte;
|
||
}
|
||
}
|
||
|
||
/* TBE 已由 DMA 替代，不再处理 */
|
||
|
||
if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
|
||
/* 读取并丢弃 overrun 字节以清除标志，但保留已收到的帧数据。
|
||
* 丢失的字节会导致 CRC 校验失败，由 spi_try_parse_frame 优雅处理
|
||
* （返回 false -> processCommand 构建 ERROR 响应），
|
||
* 而不是重置 m_rxLen 导致整帧丢失。 */
|
||
(void)spi_i2s_data_receive(SPI0);
|
||
}
|
||
|
||
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)
|
||
{
|
||
AppSpiCommandBus.onInterrupt();
|
||
}
|
||
|
||
extern "C" void EXTI10_15_IRQHandler(void)
|
||
{
|
||
AppSpiCommandBus.onCsExtiInterrupt();
|
||
}
|
||
|
||
extern "C" void EXTI5_9_IRQHandler(void)
|
||
{
|
||
AppSpiCommandBus.onSpiReadyExti();
|
||
}
|