cbb
f63114f5fd
- 将 CANFD 接收机制由轮询改为 FIFO0 的中断事件驱动处理 - 实现循环取空硬件 FIFO0，提高接收效率和响应速度 - 引入环形缓冲区缓存接收帧，支持多路通道多帧队列管理 - 置位解析任务标志位，实现接收数据的异步解析 - 增加接收中断统计，包括 FIFO 满和溢出计数 - 重构临界区代码，使用自定义函数保护中断状态 - 修改接收过滤器配置，支持按掩码匹配标准帧进入 FIFO0 - 使能 CAN FIFO0 多种中断标志，包括非空、满和溢出中断
397 lines
13 KiB
C++
397 lines
13 KiB
C++
/**
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* @file app_spi_command.cpp
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* @brief APP 运行期 SPI 命令从机实现。
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*
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* 复用 BOOT 的 SpiOta 协议帧格式（SOF+TYPE+LEN+PAYLOAD+CRC），
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* APP 只处理进入 Bootloader 命令（TYPE=0xB0），
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* 收到 OTA 命令帧（TYPE=0x01/0x02/0x03）时回复 WAIT 帧告知
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* ESP32 "当前不在 BOOT 模式"。
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*
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* 调试日志采用延迟输出：processCommand() 只写 s_logBuf + 置 s_logPending，
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* 同时置位 TASK_SPI_LOG 唤醒主循环，poll() 中立刻 printf。
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*/
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#include "device/app_spi_command.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_spi.h"
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#include "sys/config.h"
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#include "sys/ota_boot_request.h"
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#include "sys/task_manager.h"
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#include "main.h"
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#include <stdio.h>
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#include <string.h>
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/* ============================================================
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* 协议常量（与 BOOT SpiOta 一致）
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* ============================================================ */
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static constexpr uint8_t kSof = 0xA5U;
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static constexpr uint8_t kTypeBootReq = 0xB0U;
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static constexpr uint8_t kTypeOtaReq = 0x01U;
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static constexpr uint8_t kTypeAppPing = 0xA1U;
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static constexpr uint8_t kTypeOtaData = 0x02U;
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static constexpr uint8_t kTypeOtaCancel = 0x03U;
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static constexpr uint8_t kRspAck = 0x80U;
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static constexpr uint8_t kRspWait = 0x81U;
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static constexpr uint8_t kRspError = 0x82U;
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static constexpr uint16_t kFrameOverhead = 5U;
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static constexpr uint16_t kRxBufSize = 128U;
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static constexpr uint16_t kTxBufSize = 64U;
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static constexpr uint16_t kLogBufSize = 128U;
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/* ============================================================
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* 静态成员
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* ============================================================ */
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volatile bool AppSpiCommand::s_csActive = false;
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volatile uint8_t AppSpiCommand::s_rxLen = 0U;
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volatile uint8_t AppSpiCommand::s_txLen = 0U;
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volatile uint8_t AppSpiCommand::s_txPos = 0U;
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volatile bool AppSpiCommand::s_logPending = false;
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uint8_t AppSpiCommand::s_rxBuf[kRxBufSize] = {};
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uint8_t AppSpiCommand::s_txBuf[kTxBufSize] = {};
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char AppSpiCommand::s_logBuf[kLogBufSize] = {};
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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 > 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 || 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 (expected != frame_len) { return false; }
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if (spi_crc8(frame, (uint16_t)(4U + len)) != frame[4U + len]) { return false; }
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if (type) { *type = frame[1]; }
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if (payload) { *payload = &frame[4]; }
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if (payload_len) { *payload_len = len; }
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return true;
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}
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/* ============================================================
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* 延迟日志：写入缓冲（ISR 安全，不调用 printf）
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* ============================================================ */
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void AppSpiCommand::logDeferred(const char *msg)
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{
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if (s_logPending) { return; }
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snprintf(s_logBuf, kLogBufSize, "[SPI-APP] %s", msg);
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s_logPending = true;
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}
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void AppSpiCommand::logDeferredFmt(const char *fmt, uint8_t val)
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{
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if (s_logPending) { return; }
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snprintf(s_logBuf, kLogBufSize, fmt, val);
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s_logPending = true;
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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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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, 1U, 0U);
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spi_enable(SPI0);
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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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* 初始化
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* ============================================================ */
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void AppSpiCommand::init()
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{
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s_csActive = false;
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s_rxLen = 0U;
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s_txLen = 0U;
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s_txPos = 0U;
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s_logPending = false;
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memset(s_rxBuf, 0, sizeof(s_rxBuf));
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memset(s_txBuf, 0xFF, sizeof(s_txBuf));
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memset(s_logBuf, 0, sizeof(s_logBuf));
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configureGpio();
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configureSpi0();
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configureExti();
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}
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/* ============================================================
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* 帧处理：CS 释放后解析帧并准备回复（不调用 printf）
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* ============================================================ */
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void AppSpiCommand::processCommand()
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{
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if (s_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(s_rxBuf, s_rxLen, &frame_type, &payload, &payload_len)) {
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/* ★ 合法帧：按 TYPE 分发 */
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uint16_t tx_len = 0U;
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switch (frame_type) {
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case kTypeBootReq:
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/* 请求进入 Bootloader */
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logDeferred("BOOT_REQ → 进BOOT");
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{
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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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spi_build_frame(kRspAck, &ack, 1U, s_txBuf, &tx_len);
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if (ok) {
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TaskManager::set(1UL << TASK_HEARTBEAT);
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}
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}
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break;
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case kTypeOtaReq:
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case kTypeOtaData:
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case kTypeOtaCancel:
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/* OTA 命令帧 — APP 不处理，回复 WAIT */
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logDeferredFmt("[SPI-APP] OTA type=0x%02X → WAIT", frame_type);
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{
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uint8_t hint = 0x01U;
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spi_build_frame(kRspWait, &hint, 1U, s_txBuf, &tx_len);
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}
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break;
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case kTypeAppPing:
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/* APP 存活探测 — 回复 ACK 携带状态摘要 */
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logDeferred("[SPI-APP] PING → APP_ALIVE");
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{
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/* 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 */
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extern volatile uint32_t g_app_uptime_sec;
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uint8_t alive_payload[4] = {
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0xA1U,
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(uint8_t)(g_app_uptime_sec & 0xFFU),
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(uint8_t)((g_app_uptime_sec >> 8) & 0xFFU),
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(uint8_t)(TaskManager::state().task_flags & 0xFFU)
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};
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spi_build_frame(kRspAck, alive_payload, sizeof(alive_payload), s_txBuf, &tx_len);
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}
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break;
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default:
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/* 未知帧类型 */
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logDeferredFmt("[SPI-APP] 未知 type=0x%02X → ERROR", frame_type);
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{
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uint8_t err = 0xEEU;
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spi_build_frame(kRspError, &err, 1U, s_txBuf, &tx_len);
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}
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break;
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}
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s_txLen = (uint8_t)tx_len;
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s_txPos = 0U;
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} else {
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/* ★ 不符合协议帧 — 兼容旧逻辑 */
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if (s_rxBuf[0] == CONFIG_SPI_APP_OTA_BOOT_CMD) {
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/* 旧式单字节 0xB0 */
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logDeferred("旧式0xB0 → 进BOOT");
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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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s_txBuf[0] = CONFIG_SPI_APP_OTA_BOOT_CMD;
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s_txBuf[1] = ack;
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s_txBuf[2] = 0x4FU;
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s_txBuf[3] = 0x54U;
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s_txLen = 4U;
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s_txPos = 0U;
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if (ok) {
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TaskManager::set(1UL << TASK_HEARTBEAT);
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}
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} else {
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/* 无法识别 */
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logDeferredFmt("[SPI-APP] 非协议 0x%02X → ERROR", s_rxBuf[0]);
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uint16_t tx_len = 0U;
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uint8_t err = 0xEEU;
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spi_build_frame(kRspError, &err, 1U, s_txBuf, &tx_len);
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s_txLen = (uint8_t)tx_len;
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s_txPos = 0U;
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}
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}
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/* 置位 TASK_SPI_LOG，唤醒主循环立刻打印日志 */
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TaskManager::set(1UL << TASK_SPI_LOG);
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}
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/* ============================================================
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* 主循环轮询：打印延迟日志
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* ============================================================ */
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void AppSpiCommand::poll()
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{
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if (s_logPending) {
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s_logPending = false;
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printf("%s\r\n", s_logBuf);
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}
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}
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/* ============================================================
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* CS 边沿处理
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* ============================================================ */
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void AppSpiCommand::onCsAssert()
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{
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s_csActive = true;
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s_rxLen = 0U;
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s_txPos = 0U;
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if (s_txLen > 0U) {
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spi_i2s_interrupt_enable(SPI0, SPI_I2S_INT_TBE);
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}
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}
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void AppSpiCommand::onCsRelease()
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{
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if (!s_csActive) {
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return;
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}
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s_csActive = false;
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spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
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processCommand();
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}
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/* ============================================================
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* SPI0 / EXTI 中断处理
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* ============================================================ */
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void AppSpiCommand::onInterrupt()
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{
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if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RBNE) != RESET) {
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if (!s_csActive && gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
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onCsAssert();
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}
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uint8_t byte = (uint8_t)(spi_i2s_data_receive(SPI0) & 0xFFU);
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if (s_csActive && s_rxLen < sizeof(s_rxBuf)) {
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s_rxBuf[s_rxLen++] = byte;
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}
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}
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if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_TBE) != RESET) {
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if (!s_csActive && gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
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onCsAssert();
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}
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uint8_t tx_byte = 0xFFU;
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if (s_csActive && s_txPos < s_txLen) {
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tx_byte = s_txBuf[s_txPos++];
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if (s_txPos >= s_txLen) {
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s_txLen = 0U;
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s_txPos = 0U;
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spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
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}
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} else {
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spi_i2s_interrupt_disable(SPI0, SPI_I2S_INT_TBE);
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}
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spi_i2s_data_transmit(SPI0, tx_byte);
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}
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if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_RXORERR) != RESET) {
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(void)spi_i2s_data_receive(SPI0);
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s_rxLen = 0U;
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}
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if (spi_i2s_interrupt_flag_get(SPI0, SPI_I2S_INT_FLAG_FERR) != RESET) {
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spi_i2s_format_error_clear(SPI0, SPI_FLAG_FERR);
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}
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}
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void AppSpiCommand::onCsExtiInterrupt()
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{
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if (exti_interrupt_flag_get(EXTI_15) != RESET) {
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exti_interrupt_flag_clear(EXTI_15);
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if (gpio_input_bit_get(GPIOA, GPIO_PIN_15) == RESET) {
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onCsAssert();
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} else {
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onCsRelease();
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}
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}
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}
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extern "C" void SPI0_IRQHandler(void)
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{
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AppSpiCommand::onInterrupt();
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}
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extern "C" void EXTI10_15_IRQHandler(void)
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{
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AppSpiCommand::onCsExtiInterrupt();
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} |