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feat(can): 添加CAN总线错误计数器和总线状态监控

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添加了硬件发送错误计数器(tec)、接收错误计数器(rec)和总线状态位图(bus_state)字段，
用于更全面的CAN总线状态监控。同时新增CAN_RX_MODE_BRIDGE_0_TO_12模式，支持CAN0到
CAN1和CAN2的桥接功能。

BREAKING CHANGE: CAN反馈协议格式扩展，增加了3个字节的状态信息。
This commit is contained in:
小龙虾
2026-07-02 02:02:27 +08:00
parent 6335d05198
commit 2fe5393769
13 changed files with 1054 additions and 244 deletions
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main/server/http_handlers.cpp
+15 -5
View File
@@ -1,4 +1,4 @@
/*
/*
* http_handlers.cpp - HTTP 请求处理器实现
* 从 wifi_ota.cpp 提取的 HTTP handler 函数
*/
@@ -746,13 +746,17 @@ esp_err_t can_feedback_handler(httpd_req_t *req)
if (valid[i]) {
p += sprintf(p,
",\"mode\":%u,\"seq\":%lu,\"rx\":%lu,\"tx\":%lu,"
"\"drop\":%lu,\"err\":%lu,\"count\":%u,\"entries\":[",
"\"drop\":%lu,\"err\":%lu,\"tec\":%u,\"rec\":%u,"
"\"bus_state\":%u,\"count\":%u,\"entries\":[",
(unsigned)r.stats.mode,
(unsigned long)r.stats.snapshot_seq,
(unsigned long)r.stats.rx_count,
(unsigned long)r.stats.tx_count,
(unsigned long)r.stats.rx_drop_count,
(unsigned long)r.stats.error_count,
(unsigned)r.stats.tec,
(unsigned)r.stats.rec,
(unsigned)r.stats.bus_state,
(unsigned)r.total_count);
for (uint8_t j = 0; j < r.total_count && j < CANFD_ID_SNAPSHOT_MAX; ++j) {
const id_snapshot_entry_t &e = r.entries[j];
@@ -836,8 +840,12 @@ esp_err_t can_mode_handler(httpd_req_t *req)
int requested = (int)cJSON_GetNumberValue(mode_item);
cJSON_Delete(root);
can_rx_mode_t target = (requested == 1) ? CAN_RX_MODE_FILTER_ID
: CAN_RX_MODE_ALL_PASS;
can_rx_mode_t target = CAN_RX_MODE_ALL_PASS;
if (requested == 1) {
target = CAN_RX_MODE_FILTER_ID;
} else if (requested == 2) {
target = CAN_RX_MODE_BRIDGE_0_TO_12;
}
can_rx_mode_t actual = CAN_RX_MODE_ALL_PASS;
int rc = canFdSetRxMode(target, &actual, 500);
@@ -1258,7 +1266,7 @@ esp_err_t system_status_handler(httpd_req_t *req)
"\"internal_heap_total\": %lu, \"default_heap_total\": %lu, "
"\"temperature\": %.1f, \"uptime_sec\": %lu, "
"\"wifi\": {\"mode\": \"%s\", \"ip\": \"%s\", \"rssi\": %d, \"connected\": %s}, "
"\"ota\": {\"sys_state\": \"%s\", \"sys_state_code\": %d, \"total_size\": %lu, \"stored_size\": %lu, \"storage_done\": %s, "
"\"ota\": {\"sys_state\": \"%s\", \"sys_state_code\": %d, \"channel\": %d, \"channel_name\": \"%s\", \"total_size\": %lu, \"stored_size\": %lu, \"storage_done\": %s, "
"\"relay_state\": %d, \"relay_seq\": %lu, \"relay_total_packets\": %lu, \"gd32_app_alive\": %s, "
"\"gd32_app\": \"v%d.%d.%d.%d\", \"gd32_boot\": \"v%d.%d.%d.%d\"}, ",
FW_VERSION, FW_BUILD_TIME, FW_GIT_HASH, HealthMonitor::instance().getCurrent(),
@@ -1278,6 +1286,8 @@ esp_err_t system_status_handler(httpd_req_t *req)
connected ? "true" : "false",
snap.sys_state_str,
(int)snap.sys_state,
(int)snap.channel,
snap.channel == OTA_CHANNEL_BLE ? "BLE" : "WIFI",
(unsigned long)snap.meta.total_size,
(unsigned long)snap.meta.stored_size,
snap.storage_done ? "true" : "false",