cbb
dc91883f1e
- 将原有的 monolithic app_spi_command.cpp 拆分为多个专门的命令处理器文件 - 新增 spi_command_handler.h 定义命令处理器接口和上下文结构 - 新增 app_spi_command_defs.h 提取公共协议常量定义 - 新增多个具体命令处理器实现文件： - app_spi_cmd_boot_request.cpp (进入Bootloader命令) - app_spi_cmd_ota_wait.cpp (OTA等待响应命令) - app_spi_cmd_ping.cpp (APP心跳ping命令) - app_spi_cmd_can_bridge.cpp (SPI到CAN桥接命令) - 修改 app_spi_command.cpp 仅负责SPI链路管理和命令路由逻辑 - 更新配置文件添加新源文件到项目编译列表 - 调整全局实例为对象实例(AppSpiCommandBus)，移除静态方法依赖 - 更新README文档说明新的SPI命令总线拆分架构 - 微调版本号(patch: 0 -> 1, build: 2 -> 0)
560 lines
18 KiB
C++
560 lines
18 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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#include "device/app_spi_command.h"
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#include "device/spi_command_handler.h"
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#include "device/app_spi_command_defs.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/task_manager.h"
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#include "sys/ota_boot_request.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 kSof = SpiDefs::kSof;
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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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static constexpr uint16_t kFrameOverhead = SpiDefs::kFrameOverhead;
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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, uint8_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 (uint8_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, uint8_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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/* APP 侧只接受两类事务：
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* 1) 旧式单字节 0xB0
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* 2) 完整协议帧（至少 5 字节）
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* 短于 5 字节且不是 0xB0 的事务只能是启动切换期的残包，直接忽略。 */
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return (len < kFrameOverhead) &&
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!(len == 1U && data[0] == CONFIG_SPI_APP_OTA_BOOT_CMD);
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}
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/* ============================================================
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* CRC8 / 帧构建 / 帧解析（与 BOOT SpiOta 一致）
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* ============================================================ */
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static uint8_t spi_crc8(const uint8_t *data, uint16_t len)
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{
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uint8_t crc = 0x00U;
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for (uint16_t i = 0U; i < len; ++i) {
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crc ^= data[i];
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}
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return crc;
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}
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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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uint16_t total = (uint16_t)(kFrameOverhead + payload_len);
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if (total > AppSpiCommand::kTxBufSize) { return false; }
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out[0] = kSof;
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out[1] = type;
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out[2] = (uint8_t)(payload_len & 0xFFU);
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out[3] = (uint8_t)((payload_len >> 8) & 0xFFU);
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if (payload && payload_len > 0U) {
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memcpy(&out[4], payload, payload_len);
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}
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out[4 + payload_len] = spi_crc8(out, (uint16_t)(4U + payload_len));
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*out_len = total;
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return true;
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}
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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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{
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if (!frame || !type || !payload || !payload_len) { return false; }
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/* 兼容首字节延迟：在帧头前面可能出现若干 0xFF / 0x00 残留字节，
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* 搜索到第一个 kSof 后尝试按合法帧长度校验 CRC。 */
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uint16_t s = 0U;
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while (s < frame_len && frame[s] != kSof) { ++s; }
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if (s > 0U && s < frame_len) {
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const uint16_t shifted_len = (uint16_t)(frame_len - s);
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if (shifted_len >= kFrameOverhead) {
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const uint16_t len_field = (uint16_t)frame[s + 2U] | ((uint16_t)frame[s + 3U] << 8);
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const uint16_t expected = (uint16_t)(kFrameOverhead + len_field);
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if (shifted_len >= expected &&
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spi_crc8(&frame[s], (uint16_t)(4U + len_field)) == frame[s + 4U + len_field]) {
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*type = frame[s + 1U];
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*payload = &frame[s + 4U];
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*payload_len = len_field;
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return true;
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}
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}
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}
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if (frame_len < kFrameOverhead) { return false; }
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if (frame[0] != kSof) { return false; }
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uint16_t len = (uint16_t)frame[2] | ((uint16_t)frame[3] << 8);
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uint16_t expected = (uint16_t)(kFrameOverhead + len);
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if (frame_len < expected) { return false; }
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if (spi_crc8(frame, (uint16_t)(4U + len)) != frame[4U + len]) { return false; }
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*type = frame[1];
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*payload = &frame[4];
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*payload_len = len;
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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 (!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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}
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void AppSpiCommand::postLogFmt(const char *fmt, uint8_t val)
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{
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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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}
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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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} else {
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uint8_t err = 0xEEU;
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(void)spi_build_frame(kRspError, &err, 1U, tx_buf, &built_len);
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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（与 BOOT 完全一致）
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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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}
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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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/* ============================================================
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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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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_commandCount = 0U;
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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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configureGpio();
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configureSpi0();
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configureDma();
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configureExti();
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}
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/* ============================================================
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* 命令路由
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* ============================================================ */
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void AppSpiCommand::registerHandler(ISpiCommandHandler *handler)
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{
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if (!handler || m_commandCount >= kMaxCommands) {
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return;
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}
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m_commands[m_commandCount++] = handler;
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}
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void AppSpiCommand::processCommand()
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{
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if (m_rxLen == 0U) {
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return;
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}
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/* 尝试按协议帧解析 */
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uint8_t frame_type = 0U;
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const uint8_t *payload = nullptr;
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uint16_t payload_len = 0U;
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if (spi_try_parse_frame(m_rxBuf, m_rxLen, &frame_type, &payload, &payload_len)) {
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/* 合法帧：按 TYPE 分发给已注册命令处理器 */
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uint16_t tx_len = 0U;
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bool handled = false;
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SpiCommandContext ctx{};
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ctx.frame_type = frame_type;
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ctx.payload = payload;
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ctx.payload_len = payload_len;
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ctx.tx_buf = m_txBuf;
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ctx.tx_buf_size = kTxBufSize;
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ctx.tx_len = &tx_len;
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for (uint8_t i = 0U; i < m_commandCount; ++i) {
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ISpiCommandHandler *handler = m_commands[i];
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if (handler && handler->canHandle(frame_type)) {
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handler->handle(AppSpiCommandBus, ctx);
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handled = true;
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break;
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}
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}
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if (!handled) {
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postLogFmt("[SPI-APP] 未知 type=0x%02X → ERROR", frame_type);
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uint8_t err = 0xEEU;
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spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
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}
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if (tx_len == 0U) {
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/* 兜底：避免残留上一次应答帧 */
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uint8_t err = 0xEEU;
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spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
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}
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m_txLen = (uint8_t)tx_len;
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m_txPos = 0U;
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} else {
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/* 非标准帧：保留旧式单字节 0xB0 通道，后续新命令建议走注册式帧协议 */
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const uint8_t first_valid = m_rxBuf[0U];
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if (first_valid == CONFIG_SPI_APP_OTA_BOOT_CMD) {
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postLog("旧式0xB0 → 进BOOT");
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uint16_t tx_len_legacy = 0U;
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SpiCommandContext ctx{};
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ctx.frame_type = first_valid;
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ctx.payload = nullptr;
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ctx.payload_len = 0U;
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ctx.tx_buf = m_txBuf;
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ctx.tx_buf_size = kTxBufSize;
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ctx.tx_len = &tx_len_legacy;
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bool handled = false;
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for (uint8_t i = 0U; i < m_commandCount; ++i) {
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ISpiCommandHandler *handler = m_commands[i];
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if (handler && handler->canHandle(first_valid)) {
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handler->handle(AppSpiCommandBus, ctx);
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handled = true;
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break;
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}
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}
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if (!handled) {
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const bool ok = OtaBootRequest::requestEnterBoot();
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uint8_t ack = ok ? CONFIG_SPI_APP_OTA_BOOT_ACK_OK
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: CONFIG_SPI_APP_OTA_BOOT_ACK_ERROR;
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m_txBuf[0] = CONFIG_SPI_APP_OTA_BOOT_CMD;
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m_txBuf[1] = ack;
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m_txBuf[2] = 0x4FU;
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m_txBuf[3] = 0x54U;
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tx_len_legacy = 4U;
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if (ok) {
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TaskManager::set(1UL << TASK_HEARTBEAT);
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}
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||
}
|
||
|
||
m_txLen = (uint8_t)tx_len_legacy;
|
||
m_txPos = 0U;
|
||
} else {
|
||
/* 无法识别 */
|
||
postLogFmt("[SPI-APP] 非协议 0x%02X → ERROR", first_valid);
|
||
uint16_t tx_len = 0U;
|
||
uint8_t err = 0xEEU;
|
||
spi_build_frame(kRspError, &err, 1U, m_txBuf, &tx_len);
|
||
m_txLen = (uint8_t)tx_len;
|
||
m_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 (m_logPending) {
|
||
memcpy(log_copy, m_logBuf, sizeof(log_copy));
|
||
m_logPending = false;
|
||
has_log = true;
|
||
}
|
||
__enable_irq();
|
||
|
||
if (has_log) {
|
||
printf("%s\r\n", log_copy);
|
||
}
|
||
}
|
||
|
||
/* ============================================================
|
||
* CS 边沿处理
|
||
* ============================================================ */
|
||
|
||
void AppSpiCommand::onCsAssert()
|
||
{
|
||
if (m_csActive) {
|
||
return;
|
||
}
|
||
m_csActive = true;
|
||
m_rxLen = 0U;
|
||
m_txPos = 0U;
|
||
|
||
/* 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) {
|
||
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;
|
||
}
|
||
}
|
||
|
||
if (shouldIgnoreTransaction(m_rxBuf, m_rxLen)) {
|
||
m_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 (!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) {
|
||
(void)spi_i2s_data_receive(SPI0);
|
||
m_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)
|
||
{
|
||
AppSpiCommandBus.onInterrupt();
|
||
}
|
||
|
||
extern "C" void EXTI10_15_IRQHandler(void)
|
||
{
|
||
AppSpiCommandBus.onCsExtiInterrupt();
|
||
}
|