feat(spi): 更新SPI通信协议为5-wire SPI Link v2并优化握手流程
- 添加DATA_READY引脚(GPIO10)支持5-wire SPI拓扑 - 将otaTransfer调用替换为更通用的transact方法 - 更新SPI引脚定义和通信协议文档 - 修改README.md详细说明新的SPI Link v2协议 docs: 标记旧版OTA中继设计文档为已废弃 - 在esp32_ota_relay_design.md添加废弃警告 - 指向新的SPI Link v2协议文档作为权威来源 - 保留历史文档供参考但停止维护 refactor(can): 增强CANFD桥接错误处理机制 - 扩展canFdSend函数增加gd32_err_out参数 - 透传GD32细分错误码(0xE0-0xE5)到HTTP响应 - 更新HTTP处理器输出完整的错误信息 perf(monitor): 优化按铃事件等待机制 - 修改can_feedback_task.cpp中的事件等待逻辑 - 统一使用takeEvent方法替代checkGd32Request - 减少不必要的中间变量和函数调用 fix(status): 改进系统状态监控和CPU使用率统计 - 增加CPU任务快照缓冲区容量从16到32 - 添加CPU统计无效时的调试日志输出 - 更新SPI Link统计接口使用新的linkStatus方法 refactor(ota): 优化OTA中继传输和启动等待逻辑 - 调整APP启动等待重试策略(10次->20次, 500ms->300ms) - 移除数据包传输进度的日志输出减少冗余信息 - 统一使用transact方法进行SPI事务处理 bump(version): 更新固件版本到0.3.44 - 版本号从0.3.43提升至0.3.44 - 更新编译时间和Git哈希值
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小龙虾
@@ -776,8 +776,9 @@ esp_err_t can_send_handler(httpd_req_t *req)
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cJSON_Delete(root);
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uint8_t resp_data[CAN_MAX_DLC] = {0};
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uint8_t gd32_err = 0U;
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int resp_len = canFdSend(ch, ext_id, tx_data, tx_dlc,
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resp_data, sizeof(resp_data), 2000);
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resp_data, sizeof(resp_data), 2000, &gd32_err);
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char resp[512];
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if (resp_len >= 0) {
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@@ -790,7 +791,8 @@ esp_err_t can_send_handler(httpd_req_t *req)
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ch, (unsigned long)ext_id, tx_dlc, resp_len, resp_hex);
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} else {
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snprintf(resp, sizeof(resp),
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"{\"status\": \"error\", \"code\": %d}", resp_len);
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"{\"status\": \"error\", \"code\": %d, \"gd32_err\": %u}",
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resp_len, (unsigned)gd32_err);
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}
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httpd_resp_set_type(req, "application/json");
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@@ -878,7 +880,7 @@ esp_err_t spi_send_handler(httpd_req_t *req)
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static constexpr uint32_t INTERNAL_HEAP_CAPS = MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT;
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/* 状态 JSON 用静态缓冲：OTA 后 largest free 常 <2KB，calloc(8KB) 会 500 "no memory"。 */
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static constexpr size_t SYSTEM_STATUS_JSON_CAP = 6144;
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static constexpr size_t CPU_TASK_SNAPSHOT_MAX = 16;
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static constexpr size_t CPU_TASK_SNAPSHOT_MAX = 32;
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static char s_status_json[SYSTEM_STATUS_JSON_CAP];
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static SemaphoreHandle_t s_status_json_mux = nullptr;
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static portMUX_TYPE s_status_json_init_mux = portMUX_INITIALIZER_UNLOCKED;
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@@ -974,6 +976,8 @@ static void sample_cpu_usage(CpuUsageSnapshot& result)
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UBaseType_t captured_count = uxTaskGetSystemState(tasks, task_count, &total_runtime);
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int64_t now_us = esp_timer_get_time();
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if (captured_count == 0 || captured_count > task_count) {
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DEBUG_WARN("STATUS", "CPU stats: uxTaskGetSystemState 返回 0 (actual_tasks=%lu, buf_slots=%lu)",
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(unsigned long)uxTaskGetNumberOfTasks(), (unsigned long)task_count);
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free(tasks);
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return;
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}
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@@ -1038,6 +1042,15 @@ static void sample_cpu_usage(CpuUsageSnapshot& result)
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result.usage_pct = std::max(0.0, 100.0 - result.idle_pct);
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}
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if (!result.valid) {
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DEBUG_DBG("STATUS", "CPU stats: valid=false had_prev=%d total=%lu prev_total=%lu "
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"can_compute=%d delta=%lu captured=%lu",
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(int)had_previous,
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(unsigned long)total_runtime, (unsigned long)previous_total,
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(int)can_compute, (unsigned long)total_delta,
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(unsigned long)captured_count);
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}
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free(previous_samples);
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free(tasks);
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#else
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@@ -1236,34 +1249,36 @@ esp_err_t system_status_handler(httpd_req_t *req)
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len = append_cpu_status_json(resp, SYSTEM_STATUS_JSON_CAP, len, *cpu);
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/* SPI Link v2 统计（SPEC §12.1）— linkStats 用 5ms 有界超时取 SPI 锁，
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/* SPI Link v2 统计（SPEC §12.1）— linkStatus 内部用 5ms 有界超时取 SPI 锁，
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* OTA 中继期间拿不到锁时返回零值统计，绝不阻塞 /system/status 响应。 */
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{
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SpiMaster::SpiLinkStats ls = SpiMaster::instance().linkStats();
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SpiMaster::SpiLinkStatus ls = SpiMaster::instance().linkStatus();
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const char *role_str = "unknown";
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switch (SpiMaster::instance().gd32Role()) {
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switch (ls.gd32_role) {
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case 1: role_str = "app"; break;
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case 2: role_str = "boot"; break;
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default: break;
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}
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len = append_jsonf(resp, SYSTEM_STATUS_JSON_CAP, len,
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",\"spi_link\":{\"version\":2,\"gd32_role\":\"%s\",\"session_id\":\"0x%08lX\","
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"\"v2_active\":%s,\"remote_credit\":%u,"
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",\"spi_link\":{\"version\":%u,\"gd32_role\":\"%s\",\"session_id\":\"0x%08lX\","
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"\"v2_active\":%s,\"local_credit\":%u,\"remote_credit\":%u,"
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"\"crc_errors\":%lu,\"duplicate_requests\":%lu,\"seq_errors\":%lu,"
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"\"retries\":%lu,\"ready_timeouts\":%lu,\"rx_overruns\":%lu,"
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"\"resyncs\":%lu,\"max_resp_latency_us\":%lu}",
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(unsigned)ls.version,
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role_str,
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(unsigned long)SpiMaster::instance().sessionId(),
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(unsigned long)ls.session_id,
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SpiMaster::instance().v2Active() ? "true" : "false",
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(unsigned)SpiMaster::instance().remoteCredit(),
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(unsigned long)ls.crc_errors,
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(unsigned long)ls.duplicate_requests,
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(unsigned long)ls.seq_errors,
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(unsigned long)ls.retries,
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(unsigned long)ls.ready_timeouts,
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(unsigned long)ls.rx_overruns,
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(unsigned long)ls.resyncs,
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(unsigned long)ls.max_resp_latency_us);
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(unsigned)ls.local_credit,
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(unsigned)ls.remote_credit,
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(unsigned long)ls.stats.crc_errors,
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(unsigned long)ls.stats.duplicate_requests,
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(unsigned long)ls.stats.seq_errors,
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(unsigned long)ls.stats.retries,
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(unsigned long)ls.stats.ready_timeouts,
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(unsigned long)ls.stats.rx_overruns,
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(unsigned long)ls.stats.resyncs,
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(unsigned long)ls.stats.max_resp_latency_us);
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}
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// 前导逗号与前一块分隔；之前因 append_cpu_status_json 尾随逗号叠加
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