cbb
86c0ec730b
当CAN控制器因总线无ACK导致邮箱卡死时，实现两段式恢复策略： 1) 短自旋轮询邮箱状态，大多数场景下可避免触发abort而不丢帧 2) 若仍全部PENDING则只中止第一个占用邮箱，限制最坏丢帧数量为1帧 添加了tx_abort_count诊断计数器用于监控该情况，并引入SysTick延时功能 refactor(spi-cmd): 优化SPI命令日志输出格式 将CAN发送相关日志改为统一的格式化函数输出，增加数据字段十六进制显示功能， 并扩大日志缓冲区大小从128到256字节以支持更详细的日志信息 chore(spi-command): 添加SPI帧类型分类和非刷写帧日志记录 新增isFlashRelatedFrame函数区分刷写相关帧类型，在处理命令时对非刷写帧进行日志记录 perf(diagnostic): 在诊断打印中添加发送中止计数统计 更新诊断信息打印格式，增加tx_abort计数项，便于监控CAN发送异常情况
56 lines
2.0 KiB
C++
56 lines
2.0 KiB
C++
#include "device/spi_command_handler.h"
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#include "device/app_spi_command.h"
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#include "device/app_spi_command_defs.h"
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#include "sys/config.h"
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#include "main.h"
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#include <cstring>
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namespace {
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class SpiAppPingHandler final : public ISpiCommandHandler {
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public:
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bool canHandle(uint8_t frame_type) const override
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{
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return frame_type == SpiDefs::kTypeAppPing;
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}
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void handle(AppSpiCommand &bus, const SpiCommandContext &ctx) override
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{
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uint8_t alive_payload[19];
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std::memset(alive_payload, 0, sizeof(alive_payload));
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alive_payload[0] = 0xA1U; /* magic */
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alive_payload[1] = 0x55U; /* APP version tag */
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alive_payload[2] = (uint8_t)APP_FW_VERSION_MAJOR;
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alive_payload[3] = (uint8_t)APP_FW_VERSION_MINOR;
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alive_payload[4] = (uint8_t)APP_FW_VERSION_PATCH;
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alive_payload[5] = (uint8_t)APP_FW_VERSION_BUILD;
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alive_payload[6] = 0xAAU; /* BOOT version tag */
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const volatile uint32_t *bv0 = (const volatile uint32_t *)CONFIG_BOOT_VERSION_ADDR0;
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const volatile uint32_t *bv1 = (const volatile uint32_t *)CONFIG_BOOT_VERSION_ADDR1;
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uint32_t bw0 = *bv0;
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uint32_t bw1 = *bv1;
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alive_payload[7] = (uint8_t)(bw0 & 0xFFU);
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alive_payload[8] = (uint8_t)((bw0 >> 16) & 0xFFU);
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alive_payload[9] = (uint8_t)(bw1 & 0xFFU);
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alive_payload[10] = (uint8_t)((bw1 >> 16) & 0xFFU);
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alive_payload[11] = (uint8_t)(g_app_uptime_sec & 0xFFU);
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alive_payload[12] = (uint8_t)((g_app_uptime_sec >> 8) & 0xFFU);
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alive_payload[13] = (uint8_t)((g_app_uptime_sec >> 16) & 0xFFU);
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alive_payload[14] = (uint8_t)((g_app_uptime_sec >> 24) & 0xFFU);
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bus.buildResponse(ctx.tx_buf, ctx.tx_buf_size, ctx.tx_len,
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SpiDefs::kRspAck, alive_payload, sizeof(alive_payload));
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}
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};
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static SpiAppPingHandler s_handler;
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} // namespace
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void registerSpiAppPingCommand(AppSpiCommand &bus)
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{
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bus.registerHandler(&s_handler);
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}
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