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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/transport/canfd_bridge.cpp
+6 -3
View File
@@ -1,4 +1,4 @@
/*
/*
* canfd_bridge.cpp - CANFD 3通道通信桥接实现（M4: 从 SpiMaster 提取）
*/
#include <string.h>
@@ -109,7 +109,7 @@ int canFdPollFeedback(can_channel_t channel,
out->valid = 0;
uint8_t entryIdx = 0U;
constexpr uint8_t kFixedHeader = 25U; /* ch+page+total+cnt+mode+seq+rx+tx+drop+err */
constexpr uint8_t kFixedHeader = 28U; /* ch+page+total+cnt+mode+seq+rx+tx+drop+err+tec+rec+bus_state */
for (uint8_t page = 0U; page < 2U; ++page) {
uint8_t req[2] = { static_cast<uint8_t>(channel & CAN_CHANNEL_MASK), page };
@@ -134,6 +134,9 @@ int canFdPollFeedback(can_channel_t channel,
out->stats.tx_count = readU32Le(&resp_buf[13]);
out->stats.rx_drop_count = readU32Le(&resp_buf[17]);
out->stats.error_count = readU32Le(&resp_buf[21]);
out->stats.tec = resp_buf[25];
out->stats.rec = resp_buf[26];
out->stats.bus_state = resp_buf[27];
out->total_count = resp_buf[2];
}
@@ -250,7 +253,7 @@ int canFdSetRxMode(can_rx_mode_t mode,
can_rx_mode_t *actual,
uint32_t timeout_ms)
{
if (mode != CAN_RX_MODE_ALL_PASS && mode != CAN_RX_MODE_FILTER_ID) {
if (mode != CAN_RX_MODE_ALL_PASS && mode != CAN_RX_MODE_FILTER_ID && mode != CAN_RX_MODE_BRIDGE_0_TO_12) {
return -1;
}
main/transport/canfd_bridge.h
+5 -1
View File
@@ -1,4 +1,4 @@
/*
/*
* canfd_bridge.h - CANFD 3通道通信桥接（M4: 从 SpiMaster 提取）
*
* 封装 CANFD 帧格式构建 + SPI 传输，与 SpiMaster 的 OTA 协议职责解耦。
@@ -91,6 +91,7 @@ typedef struct {
typedef enum {
CAN_RX_MODE_ALL_PASS = 0, ///< 默认：禁用 ID 过滤，三路全部接收
CAN_RX_MODE_FILTER_ID = 1, ///< 按 CONFIG_CAN_RX_FILTER_ID/MASK 做标准帧过滤
CAN_RX_MODE_BRIDGE_0_TO_12 = 2, ///< CAN0 桥接：CAN0 收到的每一帧按原帧格式自动转发到 CAN1 与 CAN2
} can_rx_mode_t;
/**
@@ -104,6 +105,9 @@ typedef struct {
uint32_t tx_count;
uint32_t rx_drop_count;
uint32_t error_count;
uint8_t tec; /**< 硬件发送错误计数器 (0~255) */
uint8_t rec; /**< 硬件接收错误计数器 (0~255) */
uint8_t bus_state; /**< 总线状态位图：bit0=init,bit1=sleep,bit2=error_passive,bit3=bus_off,bit4=error_warning */
} can_channel_feedback_t;
/**