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feat(core): 升级固件至v0.4.1并增加GD32初始化状态监控功能

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- 修复GD32 OTA中继全程ring抑制问题：handleIdle起点reset()曾立即解除
  taskEntry设置的suppressRingService(true)，导致中继全程worker偷读OTA ACK/WAIT
- 增加reset(bool release_ring_suppress)参数控制ring抑制释放时机
- 新增GD32 APP初始化状态可视化功能（配套GD32 1.5.34+）：
  * 通过SPI 0xA3查询模块位图/关键失败位图/复位源
  * /system/status接口新增gd32_init字段提供状态详情
 * 支持故障码数组显示，前端可直接显示中文失败原因
- 添加GD32模块级故障码支持（配套GD32 1.5.36）：
  * 解析INIT_STATUS响应中的fault_codes数组
  * 每模块1B故障码，支持CANFD通道号显示
- 电机状态协议升级：STATUS DLC从32字节扩展到48字节，
  二进制协议版本升级到v2，entry大小从76字节变为92字节
- 修复SPI响应类型表，将0xA3加入短响应和APP ISR快速响应类型
This commit is contained in:
小龙虾
2026-09-09 03:23:06 +08:00
parent ebb3dcdf38
commit 5315f91475
9 changed files with 252 additions and 85 deletions
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main/server/http_handlers.cpp
+57 -5
View File
@@ -1996,6 +1996,58 @@ esp_err_t system_status_handler(httpd_req_t *req)
(unsigned long)ls.stats.max_resp_latency_us);
}
/* ── GD32 APP 初始化状态（GD32 1.5.34+）──
* state 来自身份块 [15]（HELLO/PING 自动刷新，零成本）；
* 详情（模块位图/失败位图/复位源）惰性查询 0xA3：仅 APP 角色、缓存无效、
* 距上次尝试 ≥10s（失败退避，老固件不认识 0xA3 时每 10s 才多发一帧）。
* init 状态静态不变，成功一次即终身缓存（session 重建时 SpiMaster 自清）。 */
{
const uint8_t init_state = SpiMaster::instance().gd32InitState();
const bool state_known = (init_state != GD32_INIT_STATE_UNKNOWN);
gd32_init_status_t ist = {};
bool detail_known = SpiMaster::instance().gd32InitStatusCached(&ist);
static uint32_t s_initStatusLastTryMs = 0;
const uint32_t now_ms = (uint32_t)(xTaskGetTickCount() * portTICK_PERIOD_MS);
if (!detail_known && SpiMaster::instance().gd32Role() == V2_ROLE_APP &&
(now_ms - s_initStatusLastTryMs) >= 10000U) {
s_initStatusLastTryMs = now_ms;
if (SpiMaster::instance().appInitStatus(300U, nullptr) == ESP_OK) {
detail_known = SpiMaster::instance().gd32InitStatusCached(&ist);
}
}
if (detail_known) {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len,
",\"gd32_init\":{\"state\":%u,\"state_known\":%s,\"detail_known\":true,"
"\"module_mask\":%lu,\"critical_fail_mask\":%lu,\"reset_cause\":%u",
(unsigned)ist.init_state,
state_known ? "true" : "false",
(unsigned long)ist.module_mask,
(unsigned long)ist.critical_fail_mask,
(unsigned)ist.reset_cause);
/* GD32 1.5.36+：每模块 1B 故障码数组（前端按位序解码中文原因） */
if (len > 0 && ist.has_fault_codes) {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len, ",\"fault_codes\":[");
for (uint8_t fi = 0; fi < GD32_INIT_MODULE_COUNT && len > 0; ++fi) {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len, "%s%u",
fi == 0 ? "" : ",", (unsigned)ist.fault_codes[fi]);
}
if (len > 0) {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len, "]");
}
}
if (len > 0) {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len, "}");
}
} else {
len = http_json_append(resp, HTTP_JSON_WORK_CAP, len,
",\"gd32_init\":{\"state\":%u,\"state_known\":%s,\"detail_known\":false}",
(unsigned)(state_known ? init_state : 0U),
state_known ? "true" : "false");
}
}
{
gd32_adc_feedback_t ga = {};
const bool have = getLatestGd32AdcFeedback(&ga);
@@ -2207,18 +2259,18 @@ esp_err_t motor_state_handler(httpd_req_t *req)
const uint32_t age = motorStateAgeMs();
/* 二进制模式：?bin=1（前端默认走此路径，体积比 JSON 省 66%）。
* 协议（LE，Header 12B + 每节点 Entry 44B）:
* 协议（LE，Header 12B + 每节点 Entry 92B，v0.74: STATUS DLC 48）:
* Header: magic u16 = 0x4D53 ('MS')
* ver u8 = 1
* ver u8 = 2 (v0.74: entry 76→92 / data 32→48)
* flags u8 = 0
* age_ms u32 (0xFFFFFFFF = 无数据)
* active u8 (在线电机数)
* count u8 (有效 entry 数)
* rsvd u16 = 0
* Entry: node u8, ch u8, online u8, dlc u8,
* rx_count u32, seq u32, data[32],
* rx_count u32, seq u32, data[48],
* config_rx_count u32, config_seq u32, config_data[24]
* 27 槽（9 node × 3 ch，node×channel 双键）最大 12 + 27*76 = 2064B。
* 27 槽（9 node × 3 ch，node×channel 双键）最大 12 + 27*92 = 2508B。
* 无 have_data 时仍发 header（count=0），让前端区分「无数据」与「空总线」。 */
bool want_bin = http_query_bool(req, "bin");
if (want_bin) {
@@ -2229,7 +2281,7 @@ esp_err_t motor_state_handler(httpd_req_t *req)
size_t off = 0;
/* magic 'MS' (LE: 0x53, 0x4D) */
buf[off++] = 0x53U; buf[off++] = 0x4DU;
buf[off++] = 1U; /* version */
buf[off++] = 2U; /* version (v0.74: entry 92 / data 48) */
/* flags bit0 = boot_active（总线有电机在 BOOT，0x103 心跳） */
buf[off++] = (have && tbl.boot_active) ? 0x01U : 0x00U;
/* age_ms LE u32 */