feat(can): 新增CAN通道收发器Silent模式功能
- 新增SPI 0xC8命令用于切换CAN通道收发器Silent模式（只听不发） - 在canFdSetTxSilent函数中实现静默模式控制逻辑 - 在HTTP API中添加POST /can/silent端点 - 更新CAN协议文档，记录新命令和错误码E6 - 修改bus_state位图，添加bit5表示静默状态 fix(can): 优化CAN反馈任务内存使用和链路离线处理 - 将任务栈上的临时缓冲区改为静态分配，防止栈溢出 - 添加链路在线检测，在离线状态下进入休眠退避 - 修复queryMotorStatePages和queryAdcFeedback函数返回值类型 - 优化UDP日志发送的冷却退避机制 chore(config): 更新调试日志配置和版本信息 - 在VSCode设置中添加ESP-IDF串口配置 - 添加SPI调试日志级别编译期开关CONFIG_SPI_DEBUG_LOG_LEVEL - 更新固件版本至0.5.2，记录相关变更内容 - 调整SPI和CAN反馈任务的栈大小配置
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小龙虾
@@ -783,7 +783,7 @@ esp_err_t can_feedback_handler(httpd_req_t *req)
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for (uint8_t i = 0; i < CAN_CHANNEL_MAX; ++i) {
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can_feedback_result_t result = {};
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bool valid = false;
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if (ch_en[i] && !spi_paused) {
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if (ch_en[i] && !spi_paused && SpiMaster::instance().isLinkOnline()) {
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uint8_t entryIdx = 0;
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valid = (canFdQueryFeedback(i, 0, &result, &entryIdx) == 0);
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}
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@@ -881,7 +881,7 @@ esp_err_t can_feedback_handler(httpd_req_t *req)
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/* 按需查询：page 0 重置 + 统计，page 1 追加 entries（OTA 暂停期间跳过） */
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can_feedback_result_t result = {};
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bool valid = false;
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if (ch_en[i] && !spi_paused) {
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if (ch_en[i] && !spi_paused && SpiMaster::instance().isLinkOnline()) {
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uint8_t entryIdx = 0;
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int rc0 = canFdQueryFeedback(i, 0, &result, &entryIdx);
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if (rc0 == 0) {
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@@ -1070,6 +1070,64 @@ esp_err_t can_mode_handler(httpd_req_t *req)
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httpd_resp_send(req, resp, len);
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return ESP_OK;
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}
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// ============================================================
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// POST /can/silent — 切换指定 CAN 通道收发器 Silent（只听不发，SPI 0xC8）
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// 当前状态不在本端点上报：由 /can/feedback 的 bus_state bit5 单一出处提供，
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// 前端据此渲染开关样式，避免本地乐观状态与后端不一致。
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// ============================================================
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esp_err_t can_silent_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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char buf[128] = {0};
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int ret = httpd_req_recv(req, buf, sizeof(buf) - 1);
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if (ret <= 0) {
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httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "接收数据失败");
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return ESP_FAIL;
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}
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buf[ret] = '\0';
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JsonView root = jsonParse(buf);
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JsonView ch_item = jsonGet(&root, "ch");
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JsonView on_item = jsonGet(&root, "on");
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if (!root.valid || !jsonIsNumber(&ch_item) || !jsonIsNumber(&on_item)) {
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httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "缺少 ch/on 字段");
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return ESP_FAIL;
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}
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const int ch = (int)jsonGetNumberValue(&ch_item);
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const bool on = (jsonGetNumberValue(&on_item) != 0);
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char resp[128];
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int len;
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/* OTA / send_batch 独占 SPI 且正在用 CAN 发帧：此时翻静默会让 relay 半途
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* 拒发（0xE6），现场只会看到"OTA 莫名失败"。直接拒绝，不抢这条时间线。 */
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if (canFeedbackPaused()) {
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len = snprintf(resp, sizeof(resp),
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"{\"ok\":false,\"ch\":%d,\"on\":%d,\"err\":\"paused\"}",
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ch, on ? 1 : 0);
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, len);
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return ESP_OK;
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}
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uint8_t actual = 0U;
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int rc = canFdSetTxSilent(static_cast<uint8_t>(ch), on, &actual, 2000);
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if (rc != 0) {
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len = snprintf(resp, sizeof(resp),
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"{\"ok\":false,\"ch\":%d,\"on\":%d,\"err\":%d}",
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ch, on ? 1 : 0, rc);
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} else {
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len = snprintf(resp, sizeof(resp),
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"{\"ok\":true,\"ch\":%d,\"requested\":%d,\"actual\":%u}",
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ch, on ? 1 : 0, (unsigned)actual);
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}
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httpd_resp_set_type(req, "application/json");
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httpd_resp_send(req, resp, len);
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return ESP_OK;
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}
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/**
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* @brief POST /can/send_batch 流式 body 读取器。
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*
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@@ -2021,9 +2079,10 @@ esp_err_t system_status_handler(httpd_req_t *req)
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"\"resyncs\":%lu,\"max_resp_latency_us\":%lu,"
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"\"rsp_err_0x82\":%lu,\"rsp_err_last_req\":\"0x%02X\",\"rsp_err_last_p0\":\"0x%02X\","
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"\"rsp_err_last_p1\":%u,\"rsp_err_last_p2\":\"0x%02X\",\"rsp_err_last_p3\":\"0x%02X\","
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"\"rsp_err_last_p4\":%u,\"rsp_err_last_p5\":%u,"
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"\"ring_steals\":%lu,\"ring_steal_last_type\":\"0x%02X\",\"ring_steal_last_ack\":%u,"
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"\"ring_steal_last_p0\":\"0x%02X\",\"ring_steal_last_req\":\"0x%02X\","
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"\"ring_steal_diag\":[%u,\"0x%02X\",\"0x%02X\"],"
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"\"ring_steal_diag\":[%u,\"0x%02X\",\"0x%02X\",%u,%u],"
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"\"tx_total\":%lu,\"tx_retry\":%lu,\"tx_fail\":%lu,\"tx_fail_last_type\":\"0x%02X\"}",
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(unsigned)ls.version,
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role_str,
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@@ -2045,6 +2104,8 @@ esp_err_t system_status_handler(httpd_req_t *req)
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(unsigned)ls.stats.rsp_err_last_p1,
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(unsigned)ls.stats.rsp_err_last_p2,
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(unsigned)ls.stats.rsp_err_last_p3,
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(unsigned)ls.stats.rsp_err_last_p4,
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(unsigned)ls.stats.rsp_err_last_p5,
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(unsigned long)ls.stats.ring_steals,
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(unsigned)ls.stats.ring_steal_last_type,
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(unsigned)ls.stats.ring_steal_last_ack,
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@@ -2053,6 +2114,8 @@ esp_err_t system_status_handler(httpd_req_t *req)
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(unsigned)ls.stats.ring_steal_last_p1,
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(unsigned)ls.stats.ring_steal_last_p2,
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(unsigned)ls.stats.ring_steal_last_p3,
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(unsigned)ls.stats.ring_steal_last_p4,
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(unsigned)ls.stats.ring_steal_last_p5,
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(unsigned long)ls.stats.tx_total,
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(unsigned long)ls.stats.tx_retry,
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(unsigned long)ls.stats.tx_fail,
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@@ -32,6 +32,8 @@ esp_err_t system_heap_low_log_handler(httpd_req_t *req);
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// CAN 反馈快照（被动 0xC1）与接收模式
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esp_err_t can_feedback_handler(httpd_req_t *req);
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esp_err_t can_mode_handler(httpd_req_t *req);
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// CAN 通道收发器 Silent（0xC8，只听不发）
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esp_err_t can_silent_handler(httpd_req_t *req);
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// 多电机状态（被动 0xC5）
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esp_err_t motor_state_handler(httpd_req_t *req);
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@@ -481,6 +481,7 @@ esp_err_t WifiOta::httpServerStart()
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{"/can/feedback", HTTP_GET, can_feedback_handler},
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{"/can/mode", HTTP_GET, can_mode_handler},
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{"/can/mode", HTTP_POST, can_mode_handler},
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{"/can/silent", HTTP_POST, can_silent_handler},
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{"/spi/send", HTTP_POST, spi_send_handler},
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{"/motor/state", HTTP_GET, motor_state_handler},
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{"/motor/version", HTTP_GET, motor_version_handler},
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