feat(esp32): 添加多电机OTA中继功能并优化调试日志系统

- 新增多电机状态、版本和OTA中继监控模块（monitor/motor_state.cpp, monitor/motor_version.cpp, monitor/motor_ota_relay.cpp） - 在CAN反馈任务中添加0xC5/0xC6/0xD2类型消息处理，支持多电机状态推送 - 重构调试日志系统，将一次性JSON分配改为512B栈缓冲流式发送，降低内存峰值 - 调试UART波特率从115200提升至30000 - 修改版本管理方式，从自动生version.h改为手动维护 - 更新VSCode设置以支持ESP-IDF开发环境配置 - 在OTA协调器中添加电机OTA互斥机制，防止并发冲突 - 完善中继状态机异常处理，添加远程取消通知机制
2026-07-26 20:40:16 +08:00
parent 770ae14156
commit 2138a572ee
47 changed files with 6469 additions and 799 deletions
@@ -0,0 +1,84 @@
+/*
+ * motor_version.cpp - GD32 多电机版本推送解析与缓存 (SPI TYPE 0xC6)
+ *
+ * 镜像 motor_state.cpp 的互斥保护缓存模型。
+ */
+#include "monitor/motor_version.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+
+#include <string.h>
+
+namespace {
+
+static SemaphoreHandle_t s_mux = nullptr;
+static motor_version_table_t s_table = {};
+
+static uint32_t rdU32Le(const uint8_t *p)
+{
+    return static_cast<uint32_t>(p[0])
+         | (static_cast<uint32_t>(p[1]) << 8)
+         | (static_cast<uint32_t>(p[2]) << 16)
+         | (static_cast<uint32_t>(p[3]) << 24);
+}
+
+static void ensureMux()
+{
+    if (s_mux == nullptr) {
+        s_mux = xSemaphoreCreateMutex();
+    }
+}
+
+} // namespace
+
+bool onMotorVersionEvent(const uint8_t *payload, size_t len)
+{
+    if (payload == nullptr || len < MOTORVER_HEADER_LEN) {
+        return false;
+    }
+
+    const uint8_t count = payload[0];
+
+    ensureMux();
+    if (s_mux == nullptr) return false;
+    if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) != pdTRUE) return false;
+
+    size_t offset = MOTORVER_HEADER_LEN;
+    for (uint8_t i = 0; i < count; ++i) {
+        if (offset + MOTORVER_ENTRY_SIZE > len) {
+            break;
+        }
+        const uint8_t node = payload[offset];
+        if (node >= 1 && node <= MOTORVER_MAX_NODES) {
+            motor_version_slot_t &slot = s_table.slots[node - 1];
+            slot.node_id = node;
+            slot.seq     = rdU32Le(&payload[offset + 1]);
+            memcpy(slot.version, &payload[offset + 5], MOTORVER_DLC);
+            slot.recv_ms = esp_timer_get_time() / 1000;
+            slot.valid   = true;
+            s_table.have_data = true;
+        }
+        offset += MOTORVER_ENTRY_SIZE;
+    }
+
+    xSemaphoreGive(s_mux);
+    return true;
+}
+
+bool getLatestMotorVersion(motor_version_table_t *out)
+{
+    if (out == nullptr) return false;
+    ensureMux();
+    if (s_mux == nullptr) return false;
+
+    bool ok = false;
+    if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
+        if (s_table.have_data) {
+            *out = s_table;
+            ok = true;
+        }
+        xSemaphoreGive(s_mux);
+    }
+    return ok;
+}