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feat(protocol): 更新SPI Link协议至v2版本并优化CAN通信

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- 将SPI OTA帧格式升级为SPI Link v2，采用新的帧格式：
  | SOF0 0xA5 | SOF1 0x5A | VER 0x02 | FLAGS | SESSION 4B LE |
  TX_SEQ | ACK_SEQ | CREDIT | TYPE | LEN 2B LE | RSV 2B | PAYLOAD |
  CRC32 4B LE |
- 新增V2_OVERHEAD=20字节开销，APP最大payload为236字节，BOOT为108字节
- 修改帧类型定义：ENTER_BOOT从0xB5合并至0xB0，新增CAN业务类型0xC0~C3
- 更新CAN协议文档，支持SPI Link v2-only模式，调整最大业务payload计算
- 扩展0xC1帧功能，支持双向通信和1Hz主动推送ID快照
- 添加0xC3完整ID快照帧类型，包含seq/rx_count等完整字段
- 更新协议文档中的错误码定义和反馈payload格式

refactor(main): 重构主程序入口并添加CAN反馈任务

- 在main.cpp中添加CAN反馈任务，更新启动流程注释
- 创建createCriticalTask辅助函数，统一关键任务创建逻辑
- 调整SPI初始化顺序，确保CAN反馈任务依赖正确
- 优化错误处理机制，关键任务失败时立即重启
- 将GD32版本探测移至ota_relay任务处理
- 更新版本号至0.3.48，调整编译时间和Git哈希

config: 更新SPI和BLE配置参数

- 添加SPI主机相关配置参数，包括CS GPIO、READY GPIO等引脚定义
- 配置SPI缓冲区大小：APP为256字节，BOOT为128字节
- 更新BLE滑动窗口参数，ACK窗口设为32，数据队列深度为72
- 调整SPI工作队列大小至5120字节，增加任务堆栈监控说明
This commit is contained in:
小龙虾
2026-07-16 23:00:15 +08:00
parent 51c89b3065
commit 5db3f66b8e
57 changed files with 4728 additions and 2098 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/js/can.js
+271 -122
View File
@@ -3,8 +3,8 @@
*
* CAN 页面的编排逻辑：
* - cacheElements：缓存 DOM 元素到 el（dbc.js 导出的共享 el 对象）
* - setConnectionState：CAN 页面专用连接状态更新（canConnPill 等元素）
* - testConnection：CAN 页面专用连接检测（GET /system/status，操作 el.connectionNote 等）
* - setConnectionState：顶栏 pills（连接/IP/RSSI/运行/版本）
* - testConnection：GET /system/status，静默刷新顶栏（5s）
* - clearDbc / handleDbcFile / handleDbcError：DBC 文件读取与解析流程编排
* - bindEvents：绑定所有事件监听器（调用子模块的 bindNodeFilterEvents 等）
* - init：页面初始化入口
@@ -16,19 +16,26 @@
* （操作不同的 DOM 元素集），此处保留原 can.js 版本以保证行为一致。
*/
import { state, el, getBaseUrl, parseDbc, readDbcText, buildSummary } from './can/dbc.js';
/* 子模块 import 带同一 ?v=，避免浏览器缓存旧 dbc.js（无 getDeviceIp）且保证单例 state */
import {
state, el, getBaseUrl, getDeviceIp, setDeviceIp, parseDbc, readDbcText, buildSummary,
rebuildMergedDbc, makeDbcSourceId
} from './can/dbc.js?v=20260717t';
import {
updateDbcFileInfo,
filterMessages,
bindNodeFilterEvents,
renderMessageList,
selectMessage
} from './can/messages.js';
selectMessage,
recomputeTransmitterFilterEmpty,
updateNodeFilterLabel,
updateBatchUi
} from './can/messages.js?v=20260717t';
import {
ensureMessageDefaults,
renderSelectedMessage,
updateEncodedPreview
} from './can/signals.js';
} from './can/signals.js?v=20260717t';
import {
renderHistory,
sendSelectedMessage,
@@ -37,9 +44,15 @@ import {
sendManualFrame,
resetManualFields,
loadPreviewToManual
} from './can/send.js';
import { escapeHtml as sanitizeHtml, formatUptime } from './common/utils.js';
import { showToast } from './common/toast.js';
} from './can/send.js?v=20260717t';
import {
scheduleCanPersist,
loadCanSession,
bindCanPersistLifecycle
} from './can/persist.js?v=20260717t';
import { escapeHtml as sanitizeHtml, formatUptime } from './common/utils.js?v=20260717t';
import { showToast } from './common/toast.js?v=20260717t';
import { initCanMonitor } from './can_monitor.js?v=20260717t';
// ==================== 本地工具 ====================
// 原 can.js 的 formatUptime 输出格式与 common/utils.js 略有差异（d>0 时只到 h），
@@ -50,13 +63,15 @@ import { showToast } from './common/toast.js';
function cacheElements() {
[
'toolIp', 'defaultChannel', 'manualChannel', 'manualId', 'manualDlc', 'manualData',
'testConnBtn', 'connIndicator', 'connIndicatorTxt', 'connectionNote',
'dbcDropZone', 'dbcFileInput', 'dbcFileInfo', 'dbcFileName', 'dbcMessageCount',
'dbcSignalCount', 'dbcNodeCount', 'dbcFileSize', 'dbcSearch', 'dbcHint', 'clearDbcBtn',
'dbcSignalCount', 'dbcNodeCount', 'dbcFileSize', 'dbcFileCount', 'dbcFileChips',
'dbcSearch', 'dbcHint', 'clearDbcBtn',
'importDbcBtn', 'replaceDbcBtn',
'messageList', 'sendSelectedBtn', 'generatedHex', 'generatedBytes', 'encodeHint',
'dbcResp', 'dbcRespText', 'loadPreviewToRawBtn', 'manualHint', 'sendManualBtn',
'resetManualBtn', 'manualResp', 'manualRespText', 'historyList', 'toast', 'toastIco',
'toastMsg', 'canConnPill', 'canConnTxt', 'canVersionPill', 'canChannelPill',
'toastMsg', 'canConnPill', 'canConnTxt', 'canIpPill', 'canRssiPill', 'canUptimePill',
'canVersionPill', 'canChannelPill',
'dbcSummaryPill', 'messageSummaryPill',
'selectedCountPill', 'selectAllBox', 'expandAllBtn', 'collapseAllBtn', 'sendCheckedBtn',
'nodeFilterWrap', 'nodeFilterBtn', 'nodeFilterLabel', 'nodeFilterPanel', 'nodeFilterSearch',
@@ -66,16 +81,25 @@ function cacheElements() {
});
}
// ==================== 连接状态 ====================
function setConnectionState(connected, text, buildVersion, buildTime) {
// ==================== 连接状态（仅顶栏 pills，与工作台去重） ====================
function setConnectionState(connected, text, buildVersion, buildTime, wifi, uptimeSec) {
if (el.canConnPill) {
el.canConnPill.className = 'pill ' + (connected ? 'online' : 'offline');
}
if (el.canConnTxt) el.canConnTxt.textContent = text;
if (el.connIndicator) {
el.connIndicator.className = 'conn-indicator ' + (connected ? 'ok' : 'err');
wifi = wifi || {};
if (el.canIpPill) {
var ip = wifi.ip || getDeviceIp();
el.canIpPill.textContent = 'IP ' + (ip || '--');
}
if (el.canRssiPill) {
var rssiOk = wifi.rssi !== undefined && wifi.rssi !== null && wifi.rssi !== -127;
el.canRssiPill.textContent = rssiOk ? ('RSSI ' + wifi.rssi + ' dBm') : 'RSSI --';
}
if (el.canUptimePill) {
el.canUptimePill.textContent = '运行 ' + (uptimeSec !== undefined && uptimeSec !== null
? formatUptime(uptimeSec) : '--');
}
if (el.connIndicatorTxt) el.connIndicatorTxt.textContent = text;
if (el.canVersionPill) {
el.canVersionPill.textContent = buildVersion ? ('v' + buildVersion) : 'v--';
el.canVersionPill.dataset.tooltip = buildTime ? ('编译: ' + buildTime) : '';
@@ -84,79 +108,27 @@ function setConnectionState(connected, text, buildVersion, buildTime) {
async function testConnection() {
var baseUrl = getBaseUrl();
if (el.connectionNote) {
el.connectionNote.className = 'helper-note';
el.connectionNote.innerHTML = '正在请求 <code>/system/status</code> 检查设备状态...';
}
try {
var resp = await fetch(baseUrl + '/system/status', { signal: AbortSignal.timeout(3000) });
if (!resp.ok) {
setConnectionState(false, 'HTTP ' + resp.status, '', '');
if (el.connectionNote) {
el.connectionNote.className = 'helper-note err';
el.connectionNote.innerHTML = '状态接口返回 HTTP <b>' + resp.status + '</b>，请确认设备地址和 HTTP 服务。';
}
showToast('设备响应异常: HTTP ' + resp.status, 'error');
setConnectionState(false, 'HTTP ' + resp.status, '', '', {}, null);
return;
}
var data = await resp.json();
state.latestStatus = data;
var wifi = data.wifi || {};
if (wifi.ip) setDeviceIp(wifi.ip);
var connected = !!wifi.connected;
var mode = wifi.mode || 'STA';
var text = connected ? (mode + ' 已连接') : (mode + ' 未连接');
setConnectionState(connected, text, data.version, data.build_time);
if (el.connectionNote) {
el.connectionNote.className = 'helper-note ' + (connected ? 'ok' : 'warn');
el.connectionNote.innerHTML =
'IP: <code>' + sanitizeHtml(wifi.ip || '--') + '</code>，RSSI: <b>' +
sanitizeHtml(wifi.rssi !== undefined && wifi.rssi !== -127 ? (wifi.rssi + ' dBm') : '--') +
'</b>，运行: <b>' + sanitizeHtml(formatUptime(data.uptime_sec)) + '</b>';
}
showToast(connected ? 'ESP32 当前在线' : '设备已响应，但 WiFi 未连接', connected ? 'success' : 'warning');
setConnectionState(connected, text, data.version, data.build_time, wifi, data.uptime_sec);
} catch (err) {
setConnectionState(false, '连接失败', '', '');
if (el.connectionNote) {
el.connectionNote.className = 'helper-note err';
el.connectionNote.innerHTML = '无法访问 <code>/system/status</code>：' + sanitizeHtml(err.message);
}
showToast('连接失败: ' + err.message, 'error');
setConnectionState(false, '连接失败', '', '', {}, null);
}
}
// ==================== DBC 文件流程 ====================
async function handleDbcFile(file) {
if (!file) return;
var text = await readDbcText(file);
var dbc = parseDbc(text);
state.dbcFile = file;
state.dbcText = text;
state.dbc = dbc;
state.selectedMessageKey = '';
state.signalValues = {};
state.checkedKeys = {};
state.expandedKeys = {};
state.transmitterFilter = Object.create(null);
state.transmitterFilterEmpty = true;
updateDbcFileInfo(file, dbc);
buildSummary();
filterMessages();
if (dbc.messages.length) selectMessage(dbc.messages[0].key);
else renderSelectedMessage();
if (el.dbcHint) {
el.dbcHint.className = 'helper-note ok';
el.dbcHint.innerHTML = 'DBC 已解析：<b>' + dbc.messages.length + '</b> 条报文，<b>' +
dbc.messages.reduce(function (sum, msg) { return sum + msg.signals.length; }, 0) +
'</b> 个信号。';
}
showToast('DBC 导入成功', 'success');
}
function clearDbc() {
state.dbcFile = null;
state.dbcText = '';
state.dbc = null;
state.filteredMessages = [];
// ==================== DBC 文件流程（支持多文件叠加） ====================
function resetSelectionState() {
state.selectedMessageKey = '';
state.signalValues = {};
state.checkedKeys = {};
@@ -164,22 +136,125 @@ function clearDbc() {
state.transmitterFilter = Object.create(null);
state.transmitterFilterEmpty = true;
state.generatedData = new Uint8Array(0);
if (el.dbcFileInput) el.dbcFileInput.value = '';
if (el.dbcSearch) el.dbcSearch.value = '';
updateDbcFileInfo(null, null);
}
function afterDbcSourcesChanged(opts) {
opts = opts || {};
rebuildMergedDbc();
if (opts.resetSelection) resetSelectionState();
updateDbcFileInfo();
buildSummary();
renderMessageList();
renderSelectedMessage();
filterMessages();
if (state.dbc && state.dbc.messages.length) {
if (opts.resetSelection || !state.selectedMessageKey) {
selectMessage(state.dbc.messages[0].key);
} else {
renderSelectedMessage();
updateEncodedPreview();
}
} else {
renderSelectedMessage();
}
if (el.dbcHint) {
el.dbcHint.hidden = true;
el.dbcHint.textContent = '';
}
if (!opts.skipPersist) scheduleCanPersist();
}
/**
* 添加一个或多个 DBC。同名文件覆盖旧源；不同名叠加。
* @param {FileList|File[]} fileList
*/
async function handleDbcFiles(fileList) {
var files = Array.prototype.slice.call(fileList || []).filter(function (f) {
return f && f.name;
});
if (!files.length) return;
var added = 0;
var replaced = 0;
var errors = [];
for (var i = 0; i < files.length; i++) {
var file = files[i];
try {
var text = await readDbcText(file);
var dbc = parseDbc(text);
if (!dbc.messages.length) {
errors.push(file.name + '（无报文）');
continue;
}
var existingIdx = -1;
for (var j = 0; j < state.dbcSources.length; j++) {
if (state.dbcSources[j].name === file.name) {
existingIdx = j;
break;
}
}
var entry = {
id: existingIdx >= 0 ? state.dbcSources[existingIdx].id : makeDbcSourceId(file.name),
name: file.name,
size: file.size || 0,
text: text, /* 原文，供刷新后恢复 */
dbc: dbc
};
if (existingIdx >= 0) {
state.dbcSources[existingIdx] = entry;
replaced++;
} else {
state.dbcSources.push(entry);
added++;
}
} catch (err) {
errors.push(file.name + '（' + (err && err.message ? err.message : err) + '）');
}
}
afterDbcSourcesChanged({ resetSelection: true });
if (added || replaced) {
var msg = 'DBC：';
if (added) msg += '新增 ' + added;
if (added && replaced) msg += '，';
if (replaced) msg += '覆盖 ' + replaced;
msg += '，合计 ' + state.dbcSources.length + ' 个文件';
showToast(msg, 'success');
}
if (errors.length) {
showToast('部分失败: ' + errors.slice(0, 2).join('; '), 'warning');
if (el.dbcHint) {
el.dbcHint.hidden = false;
el.dbcHint.className = 'helper-note err';
el.dbcHint.innerHTML = '导入问题：' + sanitizeHtml(errors.join('；'));
}
}
}
function removeDbcSource(sourceId) {
state.dbcSources = state.dbcSources.filter(function (s) { return s.id !== sourceId; });
afterDbcSourcesChanged({ resetSelection: true });
if (el.generatedHex) el.generatedHex.textContent = '--';
if (el.generatedBytes) el.generatedBytes.innerHTML = '';
showToast(state.dbcSources.length ? '已移除 1 个 DBC' : '已清除全部 DBC', 'success');
}
function clearDbc() {
state.dbcSources = [];
state.dbc = null;
state.filteredMessages = [];
resetSelectionState();
if (el.dbcFileInput) el.dbcFileInput.value = '';
if (el.dbcSearch) el.dbcSearch.value = '';
afterDbcSourcesChanged({ resetSelection: true });
/* 历史/原始帧表单仍保留并写回 localStorage */
if (el.generatedHex) el.generatedHex.textContent = '--';
if (el.generatedBytes) el.generatedBytes.innerHTML = '';
if (el.dbcHint) {
el.dbcHint.className = 'helper-note';
el.dbcHint.innerHTML = '当前解析器会自动识别常见 DBC 的 <code>BO_</code>、<code>SG_</code>、<code>VAL_</code>、<code>CM_</code> 和 <code>SIG_VALTYPE_</code>。';
}
}
function handleDbcError(err) {
if (el.dbcHint) {
el.dbcHint.hidden = false;
el.dbcHint.className = 'helper-note err';
el.dbcHint.innerHTML = 'DBC 解析失败：' + sanitizeHtml(err.message);
}
@@ -188,42 +263,79 @@ function handleDbcError(err) {
// ==================== 事件绑定 ====================
function bindEvents() {
el.testConnBtn.addEventListener('click', testConnection);
el.defaultChannel.addEventListener('change', function () {
el.manualChannel.value = el.defaultChannel.value;
el.canChannelPill.textContent = 'CH' + el.defaultChannel.value;
renderMessageList();
renderSelectedMessage();
updateEncodedPreview();
});
el.dbcDropZone.addEventListener('click', function () { el.dbcFileInput.click(); });
el.dbcDropZone.addEventListener('dragover', function (event) {
event.preventDefault();
el.dbcDropZone.classList.add('dragover');
});
el.dbcDropZone.addEventListener('dragleave', function () {
el.dbcDropZone.classList.remove('dragover');
});
el.dbcDropZone.addEventListener('drop', function (event) {
event.preventDefault();
el.dbcDropZone.classList.remove('dragover');
var file = event.dataTransfer && event.dataTransfer.files ? event.dataTransfer.files[0] : null;
if (file) handleDbcFile(file).catch(handleDbcError);
});
el.dbcFileInput.addEventListener('change', function (event) {
var file = event.target && event.target.files ? event.target.files[0] : null;
if (file) handleDbcFile(file).catch(handleDbcError);
});
el.clearDbcBtn.addEventListener('click', clearDbc);
el.dbcSearch.addEventListener('input', filterMessages);
if (el.defaultChannel) {
el.defaultChannel.addEventListener('change', function () {
if (el.manualChannel) el.manualChannel.value = el.defaultChannel.value;
if (el.canChannelPill) el.canChannelPill.textContent = 'CH' + el.defaultChannel.value;
renderMessageList();
renderSelectedMessage();
updateEncodedPreview();
scheduleCanPersist();
});
}
function openDbcPicker() {
if (el.dbcFileInput) el.dbcFileInput.click();
}
if (el.importDbcBtn) el.importDbcBtn.addEventListener('click', openDbcPicker);
if (el.replaceDbcBtn) el.replaceDbcBtn.addEventListener('click', openDbcPicker);
if (el.dbcDropZone) {
el.dbcDropZone.addEventListener('dragover', function (event) {
event.preventDefault();
el.dbcDropZone.classList.add('dragover');
});
el.dbcDropZone.addEventListener('dragleave', function (event) {
if (!el.dbcDropZone.contains(event.relatedTarget)) {
el.dbcDropZone.classList.remove('dragover');
}
});
el.dbcDropZone.addEventListener('drop', function (event) {
event.preventDefault();
el.dbcDropZone.classList.remove('dragover');
var files = event.dataTransfer && event.dataTransfer.files ? event.dataTransfer.files : null;
if (files && files.length) handleDbcFiles(files).catch(handleDbcError);
});
el.dbcDropZone.addEventListener('click', function (event) {
var removeBtn = event.target.closest('[data-remove-id]');
if (removeBtn) {
event.preventDefault();
event.stopPropagation();
removeDbcSource(removeBtn.getAttribute('data-remove-id'));
return;
}
if (state.dbcSources.length) return;
if (event.target.closest('button, a, input, select, label')) return;
openDbcPicker();
});
}
if (el.dbcFileInput) {
el.dbcFileInput.addEventListener('change', function (event) {
var files = event.target && event.target.files ? event.target.files : null;
if (files && files.length) handleDbcFiles(files).catch(handleDbcError);
event.target.value = '';
});
}
if (el.clearDbcBtn) el.clearDbcBtn.addEventListener('click', clearDbc);
if (el.dbcSearch) {
el.dbcSearch.addEventListener('input', function () {
filterMessages();
scheduleCanPersist();
});
}
el.sendSelectedBtn.addEventListener('click', sendSelectedMessage);
el.loadPreviewToRawBtn.addEventListener('click', loadPreviewToManual);
el.sendManualBtn.addEventListener('click', sendManualFrame);
el.resetManualBtn.addEventListener('click', resetManualFields);
el.manualData.addEventListener('input', refreshManualHint);
el.manualDlc.addEventListener('input', refreshManualHint);
el.manualId.addEventListener('input', refreshManualHint);
el.toolIp.addEventListener('change', testConnection);
el.resetManualBtn.addEventListener('click', function () {
resetManualFields();
scheduleCanPersist();
});
function onManualFieldChange() {
refreshManualHint();
scheduleCanPersist();
}
el.manualData.addEventListener('input', onManualFieldChange);
el.manualDlc.addEventListener('input', onManualFieldChange);
el.manualId.addEventListener('input', onManualFieldChange);
if (el.manualChannel) el.manualChannel.addEventListener('change', scheduleCanPersist);
if (el.sendCheckedBtn) el.sendCheckedBtn.addEventListener('click', sendCheckedMessages);
if (el.selectAllBox) el.selectAllBox.addEventListener('change', function () {
var visible = state.filteredMessages || [];
@@ -233,16 +345,19 @@ function bindEvents() {
visible.forEach(function (m) { delete state.checkedKeys[m.key]; });
}
renderMessageList();
scheduleCanPersist();
});
if (el.expandAllBtn) el.expandAllBtn.addEventListener('click', function () {
var visible = state.filteredMessages || [];
visible.forEach(function (m) { state.expandedKeys[m.key] = true; ensureMessageDefaults(m); });
renderMessageList();
scheduleCanPersist();
});
if (el.collapseAllBtn) el.collapseAllBtn.addEventListener('click', function () {
var visible = state.filteredMessages || [];
visible.forEach(function (m) { delete state.expandedKeys[m.key]; });
renderMessageList();
scheduleCanPersist();
});
bindNodeFilterEvents();
}
@@ -251,15 +366,49 @@ function bindEvents() {
function init() {
cacheElements();
bindEvents();
setConnectionState(false, '未连接', '', '');
if (el.canChannelPill) el.canChannelPill.textContent = 'CH' + el.defaultChannel.value;
if (el.manualChannel) el.manualChannel.value = el.defaultChannel.value;
bindCanPersistLifecycle();
var restoredInfo = loadCanSession();
setConnectionState(false, '未连接', '', '', { ip: getDeviceIp() }, null);
if (el.canChannelPill && el.defaultChannel) {
el.canChannelPill.textContent = 'CH' + el.defaultChannel.value;
}
if (el.manualChannel && el.defaultChannel && !restoredInfo.restored) {
el.manualChannel.value = el.defaultChannel.value;
}
recomputeTransmitterFilterEmpty();
updateNodeFilterLabel();
updateDbcFileInfo();
buildSummary();
renderMessageList();
renderSelectedMessage();
filterMessages();
if (state.dbc && state.dbc.messages.length) {
if (state.selectedMessageKey) {
selectMessage(state.selectedMessageKey);
} else {
selectMessage(state.dbc.messages[0].key);
}
} else {
renderSelectedMessage();
}
updateBatchUi();
refreshManualHint();
renderHistory();
if (restoredInfo.restored && (restoredInfo.dbcCount || restoredInfo.historyCount)) {
var tip = '已恢复会话';
if (restoredInfo.dbcCount) tip += '：' + restoredInfo.dbcCount + ' 个 DBC';
if (restoredInfo.historyCount) {
tip += (restoredInfo.dbcCount ? '，' : '：') + restoredInfo.historyCount + ' 条发送记录';
}
showToast(tip, 'success');
}
setTimeout(testConnection, 150);
/* 周期性刷新顶栏 STA/IP/RSSI/运行时间（与监控 1Hz 解耦，避免重复 pill） */
setInterval(testConnection, 5000);
/* 右侧抽屉：CAN 接收监控 */
initCanMonitor();
}
init();