feat(main): 添加CAN 1Hz反馈轮询任务和HTTP接口
- 新增monitor/can_feedback_task.cpp组件，实现CAN 1Hz反馈轮询功能 - 在main.cpp中注册CAN反馈轮询任务，依赖SPI初始化完成后启动 - 在OTA协调器和中继模块中集成CAN反馈任务暂停/恢复机制 - 扩展CANFD桥接层，添加0xC1反馈查询、0xC2模式切换、0xC3ID快照协议支持 - 新增HTTP接口/can/feedback提供三路CAN反馈快照数据 - 新增HTTP接口/can/mode支持查询和切换CAN接收过滤模式 - 更新版本号从0.3.34到0.35 - 扩大SPI缓冲区以支持更大帧传输需求 BREAKING CHANGE: 新增CAN反馈监控功能需要GD32固件支持0xC1/0xC2/0xC3协议扩展
This commit is contained in:
小龙虾
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# CAN 通信协议文档
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> 更新日期：2026-06-29
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> 涉及固件：GD32 DCU_APP + ESP32 ESP32_COMM
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> SPI 时钟：4 MHz | 应答帧最大 payload：123 字节（kTxBufSize=128 - overhead=5）
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---
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## 1. 概述
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ESP32 通过 SPI 协议与 GD32 通信，实现三路 CAN/CANFD 的收发控制。CAN 相关 SPI 命令占用 `0xC0` ~ `0xC2` 帧类型。
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| 帧类型 | 名称 | 方向 | 用途 |
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|--------|------|------|------|
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| `0xC0` | kTypeCanSend | ESP32 → GD32 | 发送一帧 CAN 数据 |
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| `0xC1` | kTypeCanFeedback | ESP32 → GD32 | 拉取不重复 ID 快照表（分页） |
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| `0xC2` | kTypeCanSetMode | ESP32 → GD32 | 切换三路 CAN 接收过滤模式 |
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---
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## 2. SPI 协议帧格式
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所有 SPI 帧遵循统一格式：
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```
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[SOF:1B][TYPE:1B][LEN_LO:1B][LEN_HI:1B][PAYLOAD:NB][CRC8:1B]
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```
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- SOF = `0xA5`
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- LEN = payload 长度（小端 16 位）
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- CRC8 = 对 SOF+TYPE+LEN+PAYLOAD 的校验
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应答帧 TYPE：
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- `0x80` = ACK（成功）
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- `0x81` = WAIT（OTA 中间态）
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- `0x82` = ERROR
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---
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## 3. 0xC0 — CAN 发送
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### 请求 payload
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```
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[0] channel 0/1/2
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[1..4] ext_id 扩展帧 ID（Big-Endian，29 位）
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[5..N] data CAN 数据负载（1~64 字节）
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```
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### 应答 payload
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```
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[0] 0x00（ACK）或错误码
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```
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---
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## 4. 0xC1 — 不重复 ID 快照表（核心协议）
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每秒 ESP32 对每通道发 2 次请求（page=0 和 page=1），拉取该通道所有**不重复 CAN ID** 的最新帧快照。
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### 请求 payload
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```
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[0] channel 0/1/2
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[1] page 页号：0 = 条目 0~7，1 = 条目 8~15
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```
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### 应答 payload（变长，最大 123 字节）
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```
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[0] channel 回显通道号
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[1] page 回显页号
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[2] total_count 该通道实际 ID 条目总数（0~16）
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[3] entry_count 本页实际条目数
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[4] mode 当前 CAN 接收模式（0=全收, 1=过滤）
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[5..8] snapshot_seq 快照序号（LE，每秒 +1）
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[9..12] rx_count 通道累计接收帧数（LE）
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[13..16] tx_count 通道累计发送帧数（LE）
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[17..20] rx_drop_count 通道累计丢帧（LE）
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[21..24] error_count 通道累计错误（LE）
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[25..] 条目逐条拼接（见下）
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```
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### 单条目格式（变长）
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```
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[+0..+3] id CAN 报文 ID（LE）
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[+4] dlc 数据长度（1~64）
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[+5] flags bit0=FD, bit1=BRS, bit2=ESI
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[+6..+7] reserved 保留（0x00）
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[+8..+N] data 报文数据（dlc 字节）
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```
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条目总大小 = 8 + dlc 字节。
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- 标准 CAN（dlc=8）：14 字节/条 → 每页最多 8 条
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- CANFD（dlc=64）：72 字节/条 → 每页最多 1 条
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### 拉取时序
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```
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ESP32 GD32
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|--- 0xC1 [ch=0, page=0] --->|
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|<-- ACK [统计+条目0~7] -----|
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|--- 0xC1 [ch=0, page=1] --->|
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|<-- ACK [条目8~15] ---------|
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|--- 0xC1 [ch=1, page=0] --->|
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|<-- ACK [统计+条目0~7] -----|
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|--- 0xC1 [ch=1, page=1] --->|
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|<-- ACK [条目8~15] ---------|
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|--- 0xC1 [ch=2, page=0] --->|
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|<-- ACK [统计+条目0~7] -----|
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|--- 0xC1 [ch=2, page=1] --->|
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|<-- ACK [条目8~15] ---------|
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| (1 秒后重复)
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```
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每轮 6 次 SPI 事务，SPI 总线占用 ~5ms（0.5%）。
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### total_count 与 entry_count 的关系
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- `total_count` = 该通道当前所有不重复 ID 的总数（0~16）
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- `entry_count` = 本页实际返回的条目数（≤8）
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- 当 `total_count ≤ 8` 时，page=1 的 `entry_count=0`，ESP32 不再拉第二页
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- 当 `total_count = 0` 时，表示该通道未收到任何 CAN 帧
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---
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## 5. 0xC2 — 切换接收过滤模式
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### 请求 payload
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```
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[0] mode 0 = 全部接收（kModeAllPass）
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1 = 按 ID 过滤（kModeFilterId）
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```
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### 应答 payload
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```
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[0] actual_mode GD32 实际生效的模式
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```
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模式切换影响三路 CAN 通道（全局生效，不是单通道）。
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---
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## 6. GD32 端实现要点
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### 不重复 ID 快照表（canfd.h）
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```cpp
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struct IdSnapshotEntry {
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uint32_t id;
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uint32_t seq; // 更新序号
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uint32_t rx_count; // 该 ID 累计接收
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uint8_t dlc, fd_flag, brs, esi;
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uint8_t data[64];
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bool occupied;
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};
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struct IdSnapshotTable {
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IdSnapshotEntry entries[16]; // CANFD_ID_SNAPSHOT_MAX
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uint8_t count;
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uint32_t seq;
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};
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```
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### 中断更新逻辑（canfd.cpp::handleRxInterrupt）
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每收到一帧 CAN：
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1. 遍历 `s_idSnapshot[channel].entries[0..count-1]`，查找 ID 匹配的条目
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2. 找到 → 更新 data/dlc/flags/rx_count++
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3. 未找到且 count < 16 → 新建条目
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4. 未找到且 count = 16 → FIFO 淘汰最旧条目（index 0），整体左移，新条目插入末尾
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### SPI 处理器（app_spi_cmd_can_feedback.cpp）
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- `kFeedbackPayloadLen = 123`（kTxBufSize 128 - overhead 5）
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- 固定头 25 字节 + 变长条目逐条拼接
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- 条目不足时 `entry_count < kPageEntries`，ESP32 侧据此判断是否需要拉下一页
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---
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## 7. ESP32 端实现要点
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### 数据流
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```
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GD32 CAN 中断
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→ s_idSnapshot[ch].entries[匹配ID]
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↓ (1Hz 快照刷新)
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refreshFeedbackSnapshot → seq++
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↓ (ESP32 1Hz 轮询)
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0xC1 × 3通道 × 2页 = 6次 SPI/s
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↓
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can_feedback_task 缓存到 s_latest[ch]
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↓
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/can/feedback HTTP → JSON
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↓
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can_monitor.js 表格渲染
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```
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### SPI 轮询（can_feedback_task.cpp）
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- 固定 1Hz 循环，每通道发 2 次 0xC1（page=0 和 page=1）
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- OTA 进行中时暂停（`s_paused` 标志，由 OtaCoordinator 和 OtaRelay 设置）
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- 结果缓存在 `s_latest[3]`（`can_feedback_result_t`），线程安全（互斥锁）
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### HTTP 接口
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| 端点 | 方法 | 用途 |
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|------|------|------|
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| `/can/feedback` | GET | 三路 CAN 通道统计 + ID 快照表 |
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| `/can/mode` | GET | 查询当前接收模式 |
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| `/can/mode` | POST | 切换模式 `{"mode":0}` 或 `{"mode":1}` |
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| `/can/send` | POST | 发送一帧 CAN 数据 |
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### /can/feedback 响应格式
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```json
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{
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"channels": [
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{
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"ch": 0,
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"valid": true,
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"mode": 0,
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"seq": 1234,
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"rx": 5678,
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"tx": 0,
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"drop": 0,
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"err": 0,
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"count": 5,
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"entries": [
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{
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"id": "0x18DA00F1",
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"dlc": 8,
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"fd": 0,
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"brs": 0,
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"esi": 0,
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"data": "0102030405060708"
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}
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]
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},
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{ "ch": 1, "valid": false },
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{ "ch": 2, "valid": false }
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]
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}
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```
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---
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## 8. 前端（tools/can_monitor.html）
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### 页面结构
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1. **顶部状态栏**：连接状态、当前模式、轮询状态
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2. **三路通道面板**（CH0/CH1/CH2）：
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- 状态（活跃/无帧）
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- rx/tx/drop/err 统计
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- seq（活性指示）
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- 当前 ID 数量
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3. **每 ID 快照表**：
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- 通道下拉选择
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- 每行一个不重复 ID
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- 列：CAN ID | DLC | FD | BRS | ESI | 数据 (HEX)
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- 1Hz 自动刷新
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### 导航
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- OTA 控制台 (`index.html`) → "CAN 接收监控" 按钮
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- CAN 发送控制台 (`can.html`) → header "CAN 接收监控" 链接
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- CAN 接收监控 (`can_monitor.html`) → header 可跳回 CAN 发送或 OTA 控制台
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---
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## 9. 资源消耗
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| 资源 | 消耗 |
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|------|------|
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| GD32 SRAM（快照表） | 3.8KB / 128KB = 3% |
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| GD32 中断开销（16 条遍历） | < 1μs |
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| SPI 事务/秒 | 6 次（3 通道 × 2 页） |
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| SPI 总线占用 | ~5ms/s = 0.5% |
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| ESP32 RAM（缓存） | ~4KB |
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| OTA 期间 CAN 轮询 | 自动暂停 |
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---
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## 10. 已废弃
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| 项目 | 状态 | 说明 |
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|------|------|------|
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| `0xC3 kTypeIdSnapshot` | 保留定义但不使用 | 功能已合并到 0xC1 |
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| `/can/idsnap` | 已移除 | 数据由 `/can/feedback` 统一提供 |
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| `canFdPullIdSnapshot()` | 已移除 | 改用 `canFdPollFeedback()` 分页拉取 |
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@@ -10,6 +10,7 @@ idf_component_register(
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"server/http_handlers.cpp" # HTTP 路由处理（H2 从 wifi_ota 提取）
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"server/ble_ota.cpp" # BLE GATT OTA 服务器
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"monitor/health_monitor.cpp" # 系统健康监控（温度/RSSI/堆内存）
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"monitor/can_feedback_task.cpp" # CAN 1Hz 反馈轮询任务（0xC1）
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"monitor/debug_log.cpp" # 三路调试日志（UART/UDP/环形缓冲）
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INCLUDE_DIRS
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"."
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+9
-1
@@ -1,4 +1,4 @@
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/*
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/*
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* ESP32-C3FH4 OTA 中继 - 程序入口
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* 四个 FreeRTOS 任务：健康监控 / OTA Relay / WiFi Server / BLE GATT
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*
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@@ -23,6 +23,7 @@
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#include "monitor/debug_log.h"
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#include "app_config.h"
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#include "ota/esp32_ota_core.h"
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#include "monitor/can_feedback_task.h"
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/**
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* @brief 程序主入口，初始化系统组件并创建各 FreeRTOS 任务。
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@@ -150,6 +151,13 @@ extern "C" void app_main(void)
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DEBUG_INFO("MAIN", "BLE OTA 任务已创建");
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}
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// CAN 1Hz 反馈轮询任务（依赖 SPI 已初始化）
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if (startCanFeedbackTask()) {
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DEBUG_INFO("MAIN", "CAN 反馈轮询任务已创建");
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} else {
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DEBUG_WARN("MAIN", "CAN 反馈轮询任务创建失败（非致命，OTA 不受影响）");
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}
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// ★ OTA 回滚保护：标记当前固件有效
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// 启用 CONFIG_APP_ROLLBACK_ENABLE 后，新固件首次启动必须调用此函数
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// 若未调用就崩溃/重启，bootloader 会自动回退到上一个有效分区
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@@ -4,11 +4,11 @@
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// 固件版本
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#define FW_VERSION_MAJOR 0
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#define FW_VERSION_MINOR 3
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#define FW_VERSION_PATCH 34
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#define FW_VERSION_STRING "0.3.34"
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#define FW_VERSION_PATCH 35
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#define FW_VERSION_STRING "0.3.35"
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// 编译时间
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#define BUILD_TIME "2026-06-28 04:26:17"
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#define BUILD_TIME "2026-06-29 01:50:43"
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// Git 信息
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#define GIT_HASH "6ef9730"
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#define GIT_HASH "a93dba6"
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@@ -0,0 +1,181 @@
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/*
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* can_feedback_task.cpp - 周期性轮询 GD32 三路 CAN 1Hz 反馈快照
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*
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* 通过 SPI 协议帧 0xC1 拉取 GD32 端的通道统计与最近一帧信息，
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* 用调试日志输出；其它消费者（Web/WebSocket）可直接读取
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* CanFeedbackTask::snapshot(channel) 拷贝最新一份数据。
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "transport/canfd_bridge.h"
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#include "monitor/debug_log.h"
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#include "monitor/can_feedback_task.h"
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#include <string.h>
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namespace {
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constexpr uint32_t kPollIntervalMs = 1000U; ///< 1Hz 拉取节拍
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constexpr uint32_t kPollTimeoutMs = 200U; ///< 单次 SPI 事务超时
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constexpr const char *kTag = "CAN_FB";
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static can_feedback_result_t s_latest[CAN_CHANNEL_MAX];
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static bool s_valid [CAN_CHANNEL_MAX];
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static SemaphoreHandle_t s_mutex = nullptr;
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static volatile bool s_paused = false;
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static can_channel_feedback_t s_prev_stats[CAN_CHANNEL_MAX];
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static bool s_prev_valid[CAN_CHANNEL_MAX];
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static bool s_prev_poll_ok[CAN_CHANNEL_MAX];
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static void publish(uint8_t ch, const can_feedback_result_t &fb)
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{
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if (s_mutex == nullptr) return;
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if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
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s_latest[ch] = fb;
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s_valid[ch] = true;
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xSemaphoreGive(s_mutex);
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}
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}
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static void taskLoop(void *)
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{
|
||||
DEBUG_INFO(kTag, "CAN 反馈轮询任务启动 (1Hz, 0xC1)");
|
||||
|
||||
can_feedback_result_t fb{};
|
||||
for (;;) {
|
||||
/* OTA 进行中时暂停 CAN 轮询，避免抢占 SPI 导致 OTA 握手失败 */
|
||||
if (s_paused) {
|
||||
vTaskDelay(pdMS_TO_TICKS(kPollIntervalMs));
|
||||
continue;
|
||||
}
|
||||
|
||||
for (uint8_t ch = 0U; ch < CAN_CHANNEL_MAX; ++ch) {
|
||||
const int rc = canFdPollFeedback(static_cast<can_channel_t>(ch),
|
||||
&fb, kPollTimeoutMs);
|
||||
if (rc == 0) {
|
||||
publish(ch, fb);
|
||||
|
||||
const bool prevOk = s_prev_poll_ok[ch];
|
||||
const bool changed = (!s_prev_valid[ch]) ||
|
||||
(fb.stats.rx_count != s_prev_stats[ch].rx_count) ||
|
||||
(fb.stats.tx_count != s_prev_stats[ch].tx_count) ||
|
||||
(fb.stats.rx_drop_count != s_prev_stats[ch].rx_drop_count) ||
|
||||
(fb.stats.error_count != s_prev_stats[ch].error_count) ||
|
||||
(fb.stats.mode != s_prev_stats[ch].mode) ||
|
||||
(fb.stats.snapshot_seq != s_prev_stats[ch].snapshot_seq);
|
||||
const bool abnormal = (fb.stats.rx_drop_count != 0U) ||
|
||||
(fb.stats.error_count != 0U) ||
|
||||
(fb.stats.mode != 0U);
|
||||
|
||||
if (!prevOk || changed || abnormal) {
|
||||
DEBUG_INFO(kTag,
|
||||
"CH%u seq=%lu mode=%u rx=%lu tx=%lu drop=%lu err=%lu ids=%u",
|
||||
static_cast<unsigned>(ch),
|
||||
static_cast<unsigned long>(fb.stats.snapshot_seq),
|
||||
static_cast<unsigned>(fb.stats.mode),
|
||||
static_cast<unsigned long>(fb.stats.rx_count),
|
||||
static_cast<unsigned long>(fb.stats.tx_count),
|
||||
static_cast<unsigned long>(fb.stats.rx_drop_count),
|
||||
static_cast<unsigned long>(fb.stats.error_count),
|
||||
static_cast<unsigned>(fb.valid));
|
||||
}
|
||||
|
||||
s_prev_stats[ch] = fb.stats;
|
||||
s_prev_valid[ch] = true;
|
||||
s_prev_poll_ok[ch] = true;
|
||||
} else {
|
||||
if (s_prev_poll_ok[ch]) {
|
||||
DEBUG_WARN(kTag, "CH%u 轮询失败", static_cast<unsigned>(ch));
|
||||
}
|
||||
s_prev_stats[ch] = {};
|
||||
s_prev_valid[ch] = false;
|
||||
s_prev_poll_ok[ch] = false;
|
||||
}
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(kPollIntervalMs));
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
/**
|
||||
* @brief 启动 1Hz CAN 反馈轮询任务（幂等）。
|
||||
* @return true 表示任务已存在或创建成功。
|
||||
*/
|
||||
bool startCanFeedbackTask()
|
||||
{
|
||||
static bool s_started = false;
|
||||
if (s_started) return true;
|
||||
|
||||
if (s_mutex == nullptr) {
|
||||
s_mutex = xSemaphoreCreateMutex();
|
||||
if (s_mutex == nullptr) {
|
||||
DEBUG_ERR(kTag, "互斥量创建失败");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
memset(s_latest, 0, sizeof(s_latest));
|
||||
memset(s_valid, 0, sizeof(s_valid));
|
||||
|
||||
BaseType_t xRet = xTaskCreatePinnedToCore(
|
||||
taskLoop,
|
||||
"can_fb",
|
||||
4096,
|
||||
nullptr,
|
||||
4,
|
||||
nullptr,
|
||||
0);
|
||||
if (xRet != pdPASS) {
|
||||
DEBUG_ERR(kTag, "任务创建失败");
|
||||
return false;
|
||||
}
|
||||
s_started = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
void pauseCanFeedbackTask(bool pause)
|
||||
{
|
||||
s_paused = pause;
|
||||
if (pause) {
|
||||
DEBUG_INFO(kTag, "CAN 轮询已暂停（OTA 进行中）");
|
||||
} else {
|
||||
DEBUG_INFO(kTag, "CAN 轮询已恢复");
|
||||
}
|
||||
}
|
||||
|
||||
bool getLatestIdSnapshot(uint8_t channel, id_snapshot_cache_t *out)
|
||||
{
|
||||
if (channel >= CAN_CHANNEL_MAX || out == nullptr || s_mutex == nullptr) return false;
|
||||
bool ok = false;
|
||||
if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
|
||||
if (s_latest[channel].valid) {
|
||||
out->count = s_latest[channel].valid;
|
||||
memcpy(out->entries, s_latest[channel].entries, sizeof(out->entries));
|
||||
ok = true;
|
||||
}
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 拷贝某通道的最新快照（线程安全）。
|
||||
* @return true 表示拿到一份有效数据。
|
||||
*/
|
||||
bool getLatestCanFeedback(uint8_t channel, can_feedback_result_t *out)
|
||||
{
|
||||
if (channel >= CAN_CHANNEL_MAX || out == nullptr || s_mutex == nullptr) {
|
||||
return false;
|
||||
}
|
||||
bool ok = false;
|
||||
if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
|
||||
if (s_valid[channel]) {
|
||||
*out = s_latest[channel];
|
||||
ok = true;
|
||||
}
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
@@ -0,0 +1,50 @@
|
||||
/*
|
||||
* can_feedback_task.h - 周期性轮询 GD32 CAN 反馈快照的任务接口
|
||||
*/
|
||||
#ifndef CAN_FEEDBACK_TASK_H
|
||||
#define CAN_FEEDBACK_TASK_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "transport/canfd_bridge.h"
|
||||
|
||||
/** @brief ID 快照缓存结构。 */
|
||||
typedef struct {
|
||||
id_snapshot_entry_t entries[CANFD_ID_SNAPSHOT_MAX];
|
||||
uint8_t count;
|
||||
bool valid;
|
||||
} id_snapshot_cache_t;
|
||||
|
||||
/** @brief 暂停/恢复 CAN 反馈轮询（OTA 期间调用 pause=true）。 */
|
||||
void pauseCanFeedbackTask(bool pause);
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 启动 1Hz CAN 反馈轮询任务（幂等）。
|
||||
* @return true 表示任务已存在或创建成功。
|
||||
*/
|
||||
bool startCanFeedbackTask();
|
||||
|
||||
/**
|
||||
* @brief 拷贝某通道的最新反馈快照（线程安全）。
|
||||
* @param channel 0/1/2。
|
||||
* @param out 输出缓冲。
|
||||
* @return true 表示拿到一份有效数据，false 表示通道无效或尚未拿到第一份。
|
||||
*/
|
||||
bool getLatestCanFeedback(uint8_t channel, can_feedback_result_t *out);
|
||||
|
||||
/**
|
||||
* @brief 获取指定通道的最新 ID 快照（线程安全）。
|
||||
* @param channel 0/1/2。
|
||||
* @param out 输出缓冲。
|
||||
* @return true 有有效数据。
|
||||
*/
|
||||
bool getLatestIdSnapshot(uint8_t channel, id_snapshot_cache_t *out);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CAN_FEEDBACK_TASK_H
|
||||
@@ -5,6 +5,7 @@
|
||||
* 传输层（WiFi/BLE）通过本协调器发起所有 OTA 操作。
|
||||
*/
|
||||
#include "ota_coordinator.h"
|
||||
#include "monitor/can_feedback_task.h"
|
||||
#include "esp32_ota_core.h"
|
||||
#include "relay/ota_relay.h"
|
||||
#include "storage/gd32_flash_store.h"
|
||||
@@ -313,6 +314,7 @@ esp_err_t OtaCoordinator::triggerGd32Relay()
|
||||
|
||||
m_sysState = OTA_SYS_GD32_RELAYING;
|
||||
m_busySinceTick = xTaskGetTickCount(); // ★ 记录忙状态起始时刻
|
||||
pauseCanFeedbackTask(true);
|
||||
DEBUG_INFO(TAG, "触发 GD32 中继, 系统状态 → GD32_RELAYING");
|
||||
|
||||
uint32_t cmd = 1;
|
||||
@@ -336,6 +338,7 @@ void OtaCoordinator::notifyRelayStarted()
|
||||
if (h && m_sysState != OTA_SYS_GD32_RELAYING) {
|
||||
m_sysState = OTA_SYS_GD32_RELAYING;
|
||||
m_busySinceTick = xTaskGetTickCount(); // ★ 记录起始时刻
|
||||
pauseCanFeedbackTask(true);
|
||||
DEBUG_INFO(TAG, "中继已开始, 系统状态 → GD32_RELAYING");
|
||||
}
|
||||
unlock(h);
|
||||
@@ -350,10 +353,12 @@ void OtaCoordinator::notifyRelayComplete(bool success)
|
||||
m_sysState = OTA_SYS_GD32_COMPLETE;
|
||||
m_gd32StorageDone = false;
|
||||
m_busySinceTick = 0; // ★ COMPLETE 非忙
|
||||
pauseCanFeedbackTask(false);
|
||||
DEBUG_INFO(TAG, "GD32 中继完成, 系统状态 → GD32_COMPLETE");
|
||||
} else {
|
||||
m_sysState = OTA_SYS_ERROR;
|
||||
m_busySinceTick = 0; // ★ ERROR 非忙（可被后续请求恢复）
|
||||
pauseCanFeedbackTask(false);
|
||||
DEBUG_ERR(TAG, "GD32 中继失败, 系统状态 → ERROR");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
* 协议子步骤与加密/Flash 工具方法保持不变。
|
||||
*/
|
||||
#include <string.h>
|
||||
#include "monitor/can_feedback_task.h"
|
||||
#include <stdlib.h>
|
||||
#include <inttypes.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
@@ -1335,6 +1336,7 @@ void OtaRelay::taskEntry(void *pvParameters)
|
||||
DEBUG_INFO("OTA", "收到 OTA 调度信号: %" PRIu32 "，开始转发...", msg);
|
||||
// ★ H4: 通过 IRelayListener 接口回调通知协调器（不再直接依赖 OtaCoordinator）
|
||||
IRelayListener *listener = getRelayListener();
|
||||
pauseCanFeedbackTask(true);
|
||||
if (listener) listener->onRelayStarted();
|
||||
ota_result_t result = instance().forwardFirmware();
|
||||
|
||||
@@ -1353,5 +1355,6 @@ void OtaRelay::taskEntry(void *pvParameters)
|
||||
// ★ H4: 通过 IRelayListener 接口回调通知协调器中继结束
|
||||
listener = getRelayListener();
|
||||
if (listener) listener->onRelayComplete(result == OTA_RESULT_OK);
|
||||
pauseCanFeedbackTask(false);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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
|
||||
*/
|
||||
@@ -28,6 +28,7 @@
|
||||
#include "monitor/debug_log.h"
|
||||
#include "spi_master.h"
|
||||
#include "canfd_bridge.h"
|
||||
#include "monitor/can_feedback_task.h"
|
||||
#include "ble_ota.h"
|
||||
|
||||
// OTA 准备状态：/ota/prepare 完成后设置，/ota/upload 消费后清除
|
||||
@@ -714,6 +715,140 @@ esp_err_t logs_handler(httpd_req_t *req)
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
|
||||
// ============================================================
|
||||
// GET /can/feedback — 三路 CAN 1Hz 反馈快照
|
||||
// ============================================================
|
||||
esp_err_t can_feedback_handler(httpd_req_t *req)
|
||||
{
|
||||
http_set_cors_headers(req);
|
||||
|
||||
can_feedback_result_t results[CAN_CHANNEL_MAX] = {};
|
||||
bool valid[CAN_CHANNEL_MAX] = {};
|
||||
for (uint8_t i = 0; i < CAN_CHANNEL_MAX; ++i) {
|
||||
valid[i] = getLatestCanFeedback(i, &results[i]);
|
||||
}
|
||||
|
||||
/* 估算缓冲大小：每通道 ~2KB (统计+ID条目) */
|
||||
char *resp = (char *)calloc(1, 8192);
|
||||
if (!resp) {
|
||||
httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "no memory");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
char *p = resp;
|
||||
p += sprintf(p, "{\"channels\":[");
|
||||
for (uint8_t i = 0; i < CAN_CHANNEL_MAX; ++i) {
|
||||
const can_feedback_result_t &r = results[i];
|
||||
if (i > 0) p += sprintf(p, ",");
|
||||
p += sprintf(p, "{\"ch\":%u,\"valid\":%s", (unsigned)i,
|
||||
valid[i] ? "true" : "false");
|
||||
if (valid[i]) {
|
||||
p += sprintf(p,
|
||||
",\"mode\":%u,\"seq\":%lu,\"rx\":%lu,\"tx\":%lu,"
|
||||
"\"drop\":%lu,\"err\":%lu,\"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.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];
|
||||
if (j > 0) p += sprintf(p, ",");
|
||||
p += sprintf(p,
|
||||
"{\"id\":\"0x%08lX\",\"dlc\":%u,\"fd\":%u,"
|
||||
"\"brs\":%u,\"esi\":%u,\"data\":\"",
|
||||
(unsigned long)e.id,
|
||||
(unsigned)e.dlc,
|
||||
(unsigned)e.fd_flag,
|
||||
(unsigned)e.brs,
|
||||
(unsigned)e.esi);
|
||||
const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
|
||||
? e.dlc : CANFD_ID_SNAPSHOT_DATA_MAX;
|
||||
for (uint8_t d = 0; d < dataLen; ++d) {
|
||||
p += sprintf(p, "%02X", e.data[d]);
|
||||
}
|
||||
p += sprintf(p, "\"}");
|
||||
}
|
||||
p += sprintf(p, "]");
|
||||
}
|
||||
p += sprintf(p, "}");
|
||||
}
|
||||
p += sprintf(p, "]}");
|
||||
|
||||
httpd_resp_set_type(req, "application/json");
|
||||
httpd_resp_send(req, resp, (int)(p - resp));
|
||||
free(resp);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
// ============================================================
|
||||
// GET/POST /can/mode — 查询或切换三路 CAN 接收模式
|
||||
// ============================================================
|
||||
esp_err_t can_mode_handler(httpd_req_t *req)
|
||||
{
|
||||
http_set_cors_headers(req);
|
||||
|
||||
if (req->method == HTTP_GET) {
|
||||
can_feedback_result_t fb{};
|
||||
if (getLatestCanFeedback(0, &fb)) {
|
||||
char resp[64];
|
||||
int len = snprintf(resp, sizeof(resp),
|
||||
"{\"mode\":%u}", (unsigned)fb.stats.mode);
|
||||
httpd_resp_set_type(req, "application/json");
|
||||
httpd_resp_send(req, resp, len);
|
||||
} else {
|
||||
can_rx_mode_t actual = CAN_RX_MODE_ALL_PASS;
|
||||
int rc = canFdSetRxMode(CAN_RX_MODE_ALL_PASS, &actual, 500);
|
||||
char resp[64];
|
||||
int len = snprintf(resp, sizeof(resp),
|
||||
"{\"mode\":%u,\"source\":\"spi\",\"ok\":%s}",
|
||||
(unsigned)actual, rc == 0 ? "true" : "false");
|
||||
httpd_resp_set_type(req, "application/json");
|
||||
httpd_resp_send(req, resp, len);
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
char buf[128] = {0};
|
||||
int ret = httpd_req_recv(req, buf, sizeof(buf) - 1);
|
||||
if (ret <= 0) {
|
||||
httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "接收数据失败");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
buf[ret] = '\0';
|
||||
|
||||
cJSON *root = cJSON_Parse(buf);
|
||||
if (!root) {
|
||||
httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "JSON 解析失败");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
cJSON *mode_item = cJSON_GetObjectItem(root, "mode");
|
||||
if (!mode_item || !cJSON_IsNumber(mode_item)) {
|
||||
cJSON_Delete(root);
|
||||
httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "缺少 mode 字段");
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
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 actual = CAN_RX_MODE_ALL_PASS;
|
||||
int rc = canFdSetRxMode(target, &actual, 500);
|
||||
|
||||
char resp[96];
|
||||
int len = snprintf(resp, sizeof(resp),
|
||||
"{\"ok\":%s,\"requested\":%d,\"actual\":%u}",
|
||||
rc == 0 ? "true" : "false", requested, (unsigned)actual);
|
||||
httpd_resp_set_type(req, "application/json");
|
||||
httpd_resp_send(req, resp, len);
|
||||
return ESP_OK;
|
||||
}
|
||||
esp_err_t can_send_handler(httpd_req_t *req)
|
||||
{
|
||||
http_set_cors_headers(req);
|
||||
|
||||
@@ -20,4 +20,8 @@ esp_err_t spi_send_handler(httpd_req_t *req);
|
||||
esp_err_t system_status_handler(httpd_req_t *req);
|
||||
esp_err_t system_probe_handler(httpd_req_t *req);
|
||||
|
||||
// CAN 1Hz 反馈快照与接收模式
|
||||
esp_err_t can_feedback_handler(httpd_req_t *req);
|
||||
esp_err_t can_mode_handler(httpd_req_t *req);
|
||||
|
||||
#endif // HTTP_HANDLERS_H
|
||||
|
||||
@@ -456,6 +456,9 @@ esp_err_t WifiOta::httpServerStart()
|
||||
{"/system/status", HTTP_GET, system_status_handler},
|
||||
{"/system/probe", HTTP_GET, system_probe_handler},
|
||||
{"/can/send", HTTP_POST, can_send_handler},
|
||||
{"/can/feedback", HTTP_GET, can_feedback_handler},
|
||||
{"/can/mode", HTTP_GET, can_mode_handler},
|
||||
{"/can/mode", HTTP_POST, can_mode_handler},
|
||||
{"/spi/send", HTTP_POST, spi_send_handler},
|
||||
};
|
||||
|
||||
@@ -475,7 +478,7 @@ esp_err_t WifiOta::httpServerStart()
|
||||
httpd_register_uri_handler(WifiOta::instance().m_httpServer, &opts_uri);
|
||||
}
|
||||
|
||||
DEBUG_INFO("WIFI", "注册端点: /ota/upload, /ota/relay, /ota/update, /restart, /logs, /system/status, /system/probe, /can/send, /spi/send");
|
||||
DEBUG_INFO("WIFI", "注册端点: /ota/upload, /ota/relay, /ota/update, /restart, /logs, /system/status, /system/probe, /can/send, /spi/send, /can/feedback, /can/mode");
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
@@ -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>
|
||||
@@ -50,6 +50,18 @@ static int sendCanFrameOverSpi(can_channel_t channel, uint32_t ext_id,
|
||||
return static_cast<int>(copied_len);
|
||||
}
|
||||
|
||||
constexpr uint8_t kSpiCanFeedbackType = 0xC1U;
|
||||
constexpr uint8_t kSpiCanSetModeType = 0xC2U;
|
||||
constexpr uint8_t kSpiIdSnapshotType = 0xC3U;
|
||||
constexpr size_t kFeedbackPayloadLen = 123U; // 与 GD32 协议表对齐 (kTxBufSize=128 - overhead=5)
|
||||
|
||||
static inline uint32_t readU32Le(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);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
/**
|
||||
@@ -80,3 +92,182 @@ int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
|
||||
|
||||
return (sendCanFrameOverSpi(channel, ext_id, data, dlc, nullptr, 0U, 1000U) >= 0) ? 0 : -1;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 拉取一路 CAN 通道的 1Hz 反馈 + ID 快照表（GD32 SPI 帧类型 0xC1，分页）。
|
||||
* 连续拉取 page=0 和 page=1，合并为完整结果。
|
||||
*/
|
||||
int canFdPollFeedback(can_channel_t channel,
|
||||
can_feedback_result_t *out,
|
||||
uint32_t timeout_ms)
|
||||
{
|
||||
if (channel >= CAN_CHANNEL_MAX || out == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
out->valid = 0;
|
||||
uint8_t entryIdx = 0U;
|
||||
|
||||
constexpr uint8_t kFixedHeader = 25U; /* ch+page+total+cnt+mode+seq+rx+tx+drop+err */
|
||||
|
||||
for (uint8_t page = 0U; page < 2U; ++page) {
|
||||
uint8_t req[2] = { static_cast<uint8_t>(channel & CAN_CHANNEL_MASK), page };
|
||||
uint8_t resp_buf[kFeedbackPayloadLen] = {};
|
||||
uint8_t resp_type = 0U;
|
||||
size_t resp_len = 0U;
|
||||
|
||||
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
||||
kSpiCanFeedbackType,
|
||||
req, 2U,
|
||||
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
||||
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < kFixedHeader) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* 第一页时解析固定头 */
|
||||
if (page == 0U) {
|
||||
out->stats.channel = resp_buf[0];
|
||||
out->stats.mode = resp_buf[4];
|
||||
out->stats.snapshot_seq = readU32Le(&resp_buf[5]);
|
||||
out->stats.rx_count = readU32Le(&resp_buf[9]);
|
||||
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->total_count = resp_buf[2];
|
||||
}
|
||||
|
||||
const uint8_t entryCount = resp_buf[3];
|
||||
if (entryCount == 0U) break;
|
||||
|
||||
uint16_t offset = kFixedHeader;
|
||||
for (uint8_t i = 0U; i < entryCount && entryIdx < CANFD_ID_SNAPSHOT_MAX; ++i) {
|
||||
if (offset + 8U > resp_len) break;
|
||||
|
||||
id_snapshot_entry_t &e = out->entries[entryIdx];
|
||||
e.id = readU32Le(&resp_buf[offset]);
|
||||
e.dlc = resp_buf[offset + 4U];
|
||||
const uint8_t flags = resp_buf[offset + 5U];
|
||||
e.fd_flag = (flags & 0x01U) ? 1U : 0U;
|
||||
e.brs = (flags & 0x02U) ? 1U : 0U;
|
||||
e.esi = (flags & 0x04U) ? 1U : 0U;
|
||||
|
||||
const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
|
||||
? e.dlc : static_cast<uint8_t>(CANFD_ID_SNAPSHOT_DATA_MAX);
|
||||
const uint16_t entrySize = static_cast<uint16_t>(8U + dataLen);
|
||||
if (offset + entrySize > resp_len) break;
|
||||
|
||||
memcpy(e.data, &resp_buf[offset + 8U], dataLen);
|
||||
for (uint8_t d = dataLen; d < CANFD_ID_SNAPSHOT_DATA_MAX; ++d) {
|
||||
e.data[d] = 0U;
|
||||
}
|
||||
|
||||
offset += entrySize;
|
||||
entryIdx++;
|
||||
}
|
||||
|
||||
if (entryIdx >= out->total_count) break;
|
||||
}
|
||||
out->valid = 1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 切换 GD32 三路 CAN 接收过滤模式（GD32 SPI 帧类型 0xC2）。
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief 拉取指定通道的不重复 ID 快照表（GD32 SPI 帧类型 0xC3）。
|
||||
* 分页拉取，每页 8 条，最多拉 2 页（16 条）。
|
||||
*/
|
||||
int canFdPullIdSnapshot(can_channel_t channel,
|
||||
id_snapshot_entry_t *out,
|
||||
uint8_t *out_count,
|
||||
uint32_t timeout_ms)
|
||||
{
|
||||
if (channel >= CAN_CHANNEL_MAX || out == nullptr || out_count == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
*out_count = 0U;
|
||||
uint8_t total = 0U;
|
||||
|
||||
for (uint8_t page = 0U; page < 2U; ++page) {
|
||||
uint8_t req[2] = { static_cast<uint8_t>(channel), page };
|
||||
uint8_t resp_buf[kFeedbackPayloadLen] = {};
|
||||
uint8_t resp_type = 0U;
|
||||
size_t resp_len = 0U;
|
||||
|
||||
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
||||
kSpiIdSnapshotType,
|
||||
req, 2U,
|
||||
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
||||
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < 4U) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* resp: [ch][page][total_count][entry_count][entries...] */
|
||||
if (page == 0U) {
|
||||
total = resp_buf[2];
|
||||
}
|
||||
const uint8_t entryCount = resp_buf[3];
|
||||
if (entryCount == 0U) break;
|
||||
|
||||
uint16_t offset = 4U;
|
||||
for (uint8_t i = 0U; i < entryCount && *out_count < CANFD_ID_SNAPSHOT_MAX; ++i) {
|
||||
if (offset + 16U > resp_len) break;
|
||||
|
||||
id_snapshot_entry_t &e = out[*out_count];
|
||||
e.id = readU32Le(&resp_buf[offset]);
|
||||
e.seq = readU32Le(&resp_buf[offset + 4U]);
|
||||
e.rx_count = readU32Le(&resp_buf[offset + 8U]);
|
||||
e.dlc = resp_buf[offset + 12U];
|
||||
const uint8_t flags = resp_buf[offset + 13U];
|
||||
e.fd_flag = (flags & 0x01U) ? 1U : 0U;
|
||||
e.brs = (flags & 0x02U) ? 1U : 0U;
|
||||
e.esi = (flags & 0x04U) ? 1U : 0U;
|
||||
|
||||
const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
|
||||
? e.dlc : static_cast<uint8_t>(CANFD_ID_SNAPSHOT_DATA_MAX);
|
||||
const uint16_t entrySize = 16U + dataLen;
|
||||
if (offset + entrySize > resp_len) break;
|
||||
|
||||
memcpy(e.data, &resp_buf[offset + 16U], dataLen);
|
||||
/* 清零剩余字节 */
|
||||
for (uint8_t d = dataLen; d < CANFD_ID_SNAPSHOT_DATA_MAX; ++d) {
|
||||
e.data[d] = 0U;
|
||||
}
|
||||
|
||||
offset += entrySize;
|
||||
(*out_count)++;
|
||||
}
|
||||
|
||||
if (*out_count >= total) break; /* 已拉完 */
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
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) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint8_t req = static_cast<uint8_t>(mode);
|
||||
uint8_t resp_buf[1] = {0};
|
||||
uint8_t resp_type = 0U;
|
||||
size_t resp_len = 0U;
|
||||
|
||||
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
||||
kSpiCanSetModeType,
|
||||
&req, 1U,
|
||||
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
||||
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < 1U) {
|
||||
return -1;
|
||||
}
|
||||
if (actual != nullptr) {
|
||||
*actual = static_cast<can_rx_mode_t>(resp_buf[0]);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -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。
|
||||
@@ -61,4 +61,93 @@ int canFdSend(can_channel_t channel, uint32_t ext_id,
|
||||
int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
|
||||
const uint8_t *data, uint8_t dlc);
|
||||
|
||||
|
||||
// ============================================================
|
||||
// 不重复 ID 快照表（SPI 0xC3 协议配套）
|
||||
// ============================================================
|
||||
#define CANFD_ID_SNAPSHOT_MAX 16 ///< 每通道最大不重复 ID 条目数
|
||||
#define CANFD_ID_SNAPSHOT_DATA_MAX 64 ///< 快照条目最大数据字节数
|
||||
|
||||
/**
|
||||
* @brief 单个不重复 ID 的最新帧快照条目。
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t id;
|
||||
uint32_t seq;
|
||||
uint32_t rx_count;
|
||||
uint8_t dlc;
|
||||
uint8_t fd_flag;
|
||||
uint8_t brs;
|
||||
uint8_t esi;
|
||||
uint8_t data[CANFD_ID_SNAPSHOT_DATA_MAX];
|
||||
} id_snapshot_entry_t;
|
||||
|
||||
// ============================================================
|
||||
// CAN 接收过滤模式 & 1Hz 反馈快照
|
||||
// 与 GD32 DCU_APP SPI 协议帧 0xC1/0xC2 配套
|
||||
// ============================================================
|
||||
#define SPI_CAN_FEEDBACK_LAST_DATA_BYTES 93 ///< 反馈快照中最近一帧数据字节数（受 SPI 128B 应答帧约束（kTxBufSize=128 - overhead=5 - 前缀30 = 93））
|
||||
|
||||
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_t;
|
||||
|
||||
/**
|
||||
* @brief 单通道 1Hz 反馈统计。
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t channel;
|
||||
uint8_t mode;
|
||||
uint32_t snapshot_seq;
|
||||
uint32_t rx_count;
|
||||
uint32_t tx_count;
|
||||
uint32_t rx_drop_count;
|
||||
uint32_t error_count;
|
||||
} can_channel_feedback_t;
|
||||
|
||||
/**
|
||||
* @brief 单通道 0xC1 完整响应：统计 + ID 快照表。
|
||||
*/
|
||||
typedef struct {
|
||||
can_channel_feedback_t stats;
|
||||
id_snapshot_entry_t entries[CANFD_ID_SNAPSHOT_MAX];
|
||||
uint8_t total_count; /**< 该通道实际 ID 条目总数 */
|
||||
uint8_t valid; /**< 数据是否有效 */
|
||||
} can_feedback_result_t;
|
||||
|
||||
/**
|
||||
* @brief 拉取一路 CAN 通道的 1Hz 反馈快照。
|
||||
* @param channel 目标通道 0/1/2。
|
||||
* @param out 输出快照（不可为 nullptr）。
|
||||
* @param timeout_ms SPI 事务超时。
|
||||
* @return 0 成功，<0 失败（ERROR 应答、payload 长度不足或 SPI 错误）。
|
||||
*/
|
||||
int canFdPollFeedback(can_channel_t channel,
|
||||
can_feedback_result_t *out,
|
||||
uint32_t timeout_ms);
|
||||
|
||||
/**
|
||||
* @brief 切换 GD32 三路 CAN 的接收过滤模式。
|
||||
* @param mode 目标模式（0=全收，1=按 ID 过滤）。
|
||||
* @param actual 可选输出，GD32 实际生效模式。
|
||||
* @param timeout_ms SPI 事务超时。
|
||||
* @return 0 成功，<0 失败。
|
||||
*/
|
||||
int canFdSetRxMode(can_rx_mode_t mode,
|
||||
can_rx_mode_t *actual,
|
||||
uint32_t timeout_ms);
|
||||
|
||||
/**
|
||||
* @brief 拉取指定通道的不重复 ID 快照表（SPI 帧 0xC3，分页）。
|
||||
* @param channel 目标通道 0/1/2。
|
||||
* @param out 输出条目数组（至少 CANFD_ID_SNAPSHOT_MAX 个元素）。
|
||||
* @param out_count 输出实际条目数。
|
||||
* @param timeout_ms SPI 超时。
|
||||
* @return 0 成功，<0 失败。
|
||||
*/
|
||||
int canFdPullIdSnapshot(can_channel_t channel,
|
||||
id_snapshot_entry_t *out,
|
||||
uint8_t *out_count,
|
||||
uint32_t timeout_ms);
|
||||
#endif // CANFD_BRIDGE_H
|
||||
|
||||
@@ -452,7 +452,7 @@ esp_err_t SpiMaster::otaPollResponse(uint8_t *resp_type, uint8_t *resp_payload,
|
||||
esp_err_t SpiMaster::otaPollResponseUnlocked(uint8_t *resp_type, uint8_t *resp_payload,
|
||||
size_t resp_max, size_t *resp_len, uint32_t timeout_ms)
|
||||
{
|
||||
constexpr size_t kPollBytes = 96U;
|
||||
constexpr size_t kPollBytes = 160U;
|
||||
TickType_t deadline = xTaskGetTickCount() + pdMS_TO_TICKS(timeout_ms);
|
||||
|
||||
while (xTaskGetTickCount() <= deadline) {
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
#define SPI_CLOCK_HZ (4 * 1000 * 1000) // 4MHz
|
||||
#define SPI_MODE (0) // CPOL=0, CPHA=0
|
||||
#define SPI_QUEUE_SIZE (1) ///< SPI 事务队列深度
|
||||
#define SPI_OTA_FRAME_MAX (96) ///< SPI OTA 单帧最大字节数
|
||||
#define SPI_OTA_FRAME_MAX (133) ///< SPI OTA 单帧最大字节数
|
||||
|
||||
// GD32 SPI OTA 帧类型
|
||||
#define SPI_OTA_SOF (0xA5)
|
||||
|
||||
+4
-2
@@ -4,7 +4,7 @@
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>ESP32 CAN 通信控制台</title>
|
||||
<link rel="stylesheet" href="style.css?v=20260624b">
|
||||
<link rel="stylesheet" href="style.css?v=20260628a">
|
||||
</head>
|
||||
<body class="can-page">
|
||||
<div class="container can-container">
|
||||
@@ -23,6 +23,7 @@
|
||||
</div>
|
||||
<div class="header-sub can-header-actions">
|
||||
<a class="pill can-link-pill" href="index.html">返回 OTA 控制台</a>
|
||||
<a class="pill can-link-pill" href="can_monitor.html">CAN 接收监控</a>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
@@ -101,6 +102,7 @@
|
||||
</div>
|
||||
</section>
|
||||
|
||||
|
||||
<div class="can-editor-layout">
|
||||
<section class="card can-signal-card">
|
||||
<div class="card-head"><span class="ico">🎚️</span> 信号编辑</div>
|
||||
@@ -204,6 +206,6 @@
|
||||
<span id="toastMsg">操作成功</span>
|
||||
</div>
|
||||
|
||||
<script src="can.js?v=20260624b"></script>
|
||||
<script src="can.js?v=20260628a"></script>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1093,6 +1093,8 @@
|
||||
showToast('DBC 解析失败: ' + err.message, 'error');
|
||||
}
|
||||
|
||||
|
||||
|
||||
function init() {
|
||||
cacheElements();
|
||||
bindEvents();
|
||||
|
||||
@@ -0,0 +1,154 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>ESP32 CAN 接收监控</title>
|
||||
<link rel="stylesheet" href="style.css?v=20260628a">
|
||||
</head>
|
||||
<body class="can-page">
|
||||
<div class="container can-container">
|
||||
|
||||
<header class="header-bar can-header">
|
||||
<div class="header-brand">
|
||||
<span class="dot-mark"></span>
|
||||
<strong>ESP32 CAN 接收监控</strong>
|
||||
</div>
|
||||
<div class="header-status">
|
||||
<span class="pill offline" id="monConnPill"><span class="indicator"></span><span id="monConnTxt">未连接</span></span>
|
||||
<span class="pill" id="fbModePill">模式: --</span>
|
||||
<span class="pill" id="fbPollStatus">轮询: 待连接</span>
|
||||
</div>
|
||||
<div class="header-sub can-header-actions">
|
||||
<a class="pill can-link-pill" href="can.html">CAN 发送控制台</a>
|
||||
<a class="pill can-link-pill" href="index.html">返回 OTA 控制台</a>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<!-- ═══ 工作台 ═══ -->
|
||||
<section class="card can-toolbar-card">
|
||||
<div class="card-head"><span class="ico">🧰</span> 连接设置</div>
|
||||
<div class="card-body">
|
||||
<div class="can-toolbar-grid" style="grid-template-columns: minmax(260px, 1.2fr) 1fr;">
|
||||
<div class="can-toolbar-block">
|
||||
<label class="form-label" for="monIp">ESP32 IP</label>
|
||||
<div class="input-group">
|
||||
<input class="input" type="text" id="monIp" value="192.168.31.127" placeholder="输入 IP 地址">
|
||||
<button class="btn btn-outline" id="monTestBtn" type="button">测试</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="can-toolbar-block">
|
||||
<label class="form-label">接收模式</label>
|
||||
<div class="input-group">
|
||||
<button class="btn btn-primary btn-sm" id="btnModeAllPass" type="button">全收模式</button>
|
||||
<button class="btn btn-outline btn-sm" id="btnModeFilter" type="button">过滤模式</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="can-toolbar-foot">
|
||||
<div class="conn-indicator err" id="monConnIndicator">
|
||||
<span class="light"></span>
|
||||
<span id="monConnIndicatorTxt">等待连接测试</span>
|
||||
</div>
|
||||
<div class="helper-note" id="monHelper">
|
||||
页面每 1 秒通过 <code>/can/feedback</code> 拉取三路 CAN 通道快照。无 RX 的通道显示 <b>空（无 RX）</b>。
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- ═══ 三路反馈 ═══ -->
|
||||
<section class="card can-feedback-card">
|
||||
<div class="card-head"><span class="ico">📊</span> 三路 CAN 通道反馈（1Hz）</div>
|
||||
<div class="card-body">
|
||||
<div class="feedback-grid">
|
||||
|
||||
<div class="feedback-channel" id="fbCh0">
|
||||
<div class="feedback-ch-head"><span class="ch-dot ch0"></span> CAN0</div>
|
||||
<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb0State">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb0Rx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb0Tx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb0Drop">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb0Err">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb0LastId">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb0Dlc">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb0Flags">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb0Seq">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb0Delta">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb0LastData">--</span></div>
|
||||
</div>
|
||||
|
||||
<div class="feedback-channel" id="fbCh1">
|
||||
<div class="feedback-ch-head"><span class="ch-dot ch1"></span> CAN1</div>
|
||||
<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb1State">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb1Rx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb1Tx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb1Drop">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb1Err">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb1LastId">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb1Dlc">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb1Flags">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb1Seq">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb1Delta">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb1LastData">--</span></div>
|
||||
</div>
|
||||
|
||||
<div class="feedback-channel" id="fbCh2">
|
||||
<div class="feedback-ch-head"><span class="ch-dot ch2"></span> CAN2</div>
|
||||
<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb2State">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb2Rx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb2Tx">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb2Drop">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb2Err">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb2LastId">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb2Dlc">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb2Flags">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb2Seq">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb2Delta">--</span></div>
|
||||
<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb2LastData">--</span></div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
<div class="toast" id="toast">
|
||||
<span class="toast-ico" id="toastIco">✓</span>
|
||||
<span id="toastMsg">操作成功</span>
|
||||
|
||||
<!-- ═══ 每 ID 快照表 ═══ -->
|
||||
<section class="card" id="idSnapshotSection" style="margin-top:18px;">
|
||||
<div class="card-head"><span class="ico">🔬</span> 每 ID 快照表（1Hz 刷新）
|
||||
<div class="feedback-controls">
|
||||
<select class="input" id="idsnapChannel" style="width:100px;">
|
||||
<option value="0">CAN0</option>
|
||||
<option value="1">CAN1</option>
|
||||
<option value="2">CAN2</option>
|
||||
</select>
|
||||
<span class="pill" id="idsnapStatus">--</span>
|
||||
</div>
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<div class="idsnap-table-wrap">
|
||||
<table class="idsnap-table" id="idsnapTable">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>#</th><th>CAN ID</th><th>DLC</th>
|
||||
<th>FD</th><th>BRS</th><th>ESI</th><th>数据 (HEX)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody id="idsnapBody">
|
||||
<tr><td colspan="7" class="status-empty">等待数据...</td></tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
<script src="can_monitor.js?v=20260629b"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,195 @@
|
||||
(function () {
|
||||
'use strict';
|
||||
|
||||
var state = { fbTimer: null };
|
||||
|
||||
var el = {};
|
||||
|
||||
var ids = [
|
||||
'monIp', 'monTestBtn', 'monConnPill', 'monConnTxt',
|
||||
'monConnIndicator', 'monConnIndicatorTxt', 'monHelper',
|
||||
'fbModePill', 'fbPollStatus',
|
||||
'fb0State', 'fb0Rx', 'fb0Tx', 'fb0Drop', 'fb0Err', 'fb0Seq', 'fb0Delta',
|
||||
'fb1State', 'fb1Rx', 'fb1Tx', 'fb1Drop', 'fb1Err', 'fb1Seq', 'fb1Delta',
|
||||
'fb2State', 'fb2Rx', 'fb2Tx', 'fb2Drop', 'fb2Err', 'fb2Seq', 'fb2Delta',
|
||||
'btnModeAllPass', 'btnModeFilter',
|
||||
'idsnapChannel', 'idsnapStatus', 'idsnapBody',
|
||||
'toast', 'toastIco', 'toastMsg'
|
||||
];
|
||||
|
||||
function cacheElements() {
|
||||
ids.forEach(function (id) { el[id] = document.getElementById(id); });
|
||||
}
|
||||
|
||||
function showToast(msg, type) {
|
||||
type = type || 'success';
|
||||
if (!el.toast) return;
|
||||
el.toast.className = 'toast ' + (type === 'success' ? 'ok' : type === 'error' ? 'err' : 'warn') + ' show';
|
||||
el.toastIco.textContent = type === 'success' ? '\u2713' : type === 'error' ? '\u2715' : '\u26A0';
|
||||
el.toastMsg.textContent = msg;
|
||||
clearTimeout(showToast._t);
|
||||
showToast._t = setTimeout(function () { el.toast.classList.remove('show'); }, 3000);
|
||||
}
|
||||
|
||||
function sanitize(text) {
|
||||
return String(text == null ? '' : text)
|
||||
.replace(/&/g, '&').replace(/</g, '<').replace(/>/g, '>');
|
||||
}
|
||||
|
||||
function getBaseUrl() {
|
||||
var ip = (el.monIp && el.monIp.value ? el.monIp.value.trim() : '') || '192.168.31.127';
|
||||
return 'http://' + ip;
|
||||
}
|
||||
|
||||
function setConnState(ok, text) {
|
||||
if (el.monConnPill) el.monConnPill.className = 'pill ' + (ok ? 'online' : 'offline');
|
||||
if (el.monConnTxt) el.monConnTxt.textContent = text;
|
||||
if (el.monConnIndicator) el.monConnIndicator.className = 'conn-indicator ' + (ok ? 'ok' : 'err');
|
||||
if (el.monConnIndicatorTxt) el.monConnIndicatorTxt.textContent = text;
|
||||
}
|
||||
|
||||
// ── 1Hz 轮询 /can/feedback ─────────────────────────────────
|
||||
async function pollFeedback() {
|
||||
try {
|
||||
var resp = await fetch(getBaseUrl() + '/can/feedback', { signal: AbortSignal.timeout(3000) });
|
||||
if (!resp.ok) return;
|
||||
var data = await resp.json();
|
||||
var channels = data.channels || [];
|
||||
var selectedCh = el.idsnapChannel ? parseInt(el.idsnapChannel.value) : 0;
|
||||
|
||||
for (var i = 0; i < 3; i++) {
|
||||
var ch = channels[i];
|
||||
if (!ch || !ch.valid) {
|
||||
renderChannelEmpty(i);
|
||||
continue;
|
||||
}
|
||||
renderChannel(i, ch);
|
||||
}
|
||||
|
||||
// 渲染选中通道的 ID 快照表
|
||||
var sel = channels[selectedCh];
|
||||
if (sel && sel.valid && sel.entries) {
|
||||
renderIdTable(sel.entries, sel.count || sel.entries.length);
|
||||
if (el.idsnapStatus) {
|
||||
el.idsnapStatus.textContent = (sel.entries.length) + ' 个 ID';
|
||||
el.idsnapStatus.className = 'pill online';
|
||||
}
|
||||
} else {
|
||||
renderIdTableEmpty();
|
||||
}
|
||||
|
||||
if (el.fbPollStatus) {
|
||||
el.fbPollStatus.textContent = '轮询: 正常';
|
||||
el.fbPollStatus.className = 'pill online';
|
||||
}
|
||||
setConnState(true, '已连接');
|
||||
} catch (e) {
|
||||
if (el.fbPollStatus) {
|
||||
el.fbPollStatus.textContent = '轮询: 离线';
|
||||
el.fbPollStatus.className = 'pill offline';
|
||||
}
|
||||
setConnState(false, '连接失败');
|
||||
}
|
||||
}
|
||||
|
||||
function renderChannel(i, ch) {
|
||||
var p = 'fb' + i;
|
||||
if (el[p + 'State']) {
|
||||
var hasIds = ch.count > 0;
|
||||
el[p + 'State'].textContent = hasIds ? '活跃 (' + ch.count + ' ID)' : '无帧（总线空闲）';
|
||||
el[p + 'State'].className = 'fb-val ' + (hasIds ? 'ok' : 'info');
|
||||
}
|
||||
if (el[p + 'Rx']) el[p + 'Rx'].textContent = ch.rx;
|
||||
if (el[p + 'Tx']) el[p + 'Tx'].textContent = ch.tx;
|
||||
if (el[p + 'Drop']) { el[p + 'Drop'].textContent = ch.drop; el[p + 'Drop'].className = 'fb-val' + (ch.drop > 0 ? ' warn' : ''); }
|
||||
if (el[p + 'Err']) { el[p + 'Err'].textContent = ch.err; el[p + 'Err'].className = 'fb-val' + (ch.err > 0 ? ' err' : ''); }
|
||||
if (el[p + 'Seq']) el[p + 'Seq'].textContent = ch.seq;
|
||||
if (el[p + 'Delta']) { el[p + 'Delta'].textContent = ch.count || 0; el[p + 'Delta'].className = 'fb-val'; }
|
||||
if (i === 0 && el.fbModePill) el.fbModePill.textContent = '模式: ' + (ch.mode === 1 ? '过滤' : '全收');
|
||||
}
|
||||
|
||||
function renderChannelEmpty(i) {
|
||||
var p = 'fb' + i;
|
||||
if (el[p + 'State']) { el[p + 'State'].textContent = 'SPI 离线'; el[p + 'State'].className = 'fb-val err'; }
|
||||
['Rx','Tx','Drop','Err','Seq','Delta'].forEach(function (f) {
|
||||
if (el[p + f]) { el[p + f].textContent = '--'; el[p + f].className = 'fb-val'; }
|
||||
});
|
||||
}
|
||||
function renderIdTable(entries, count) {
|
||||
var tbody = el.idsnapBody;
|
||||
if (!tbody) return;
|
||||
if (!entries || !entries.length) {
|
||||
tbody.innerHTML = '<tr><td colspan="7" class="status-empty">无数据（CAN 未收到帧）</td></tr>';
|
||||
return;
|
||||
}
|
||||
var html = '';
|
||||
for (var i = 0; i < entries.length; i++) {
|
||||
var e = entries[i];
|
||||
html += '<tr>';
|
||||
html += '<td>' + (i + 1) + '</td>';
|
||||
html += '<td class="mono">' + sanitize(e.id) + '</td>';
|
||||
html += '<td>' + e.dlc + '</td>';
|
||||
html += '<td class="' + (e.fd ? 'flag-on' : 'flag-off') + '">' + (e.fd ? 'Y' : '-') + '</td>';
|
||||
html += '<td class="' + (e.brs ? 'flag-on' : 'flag-off') + '">' + (e.brs ? 'Y' : '-') + '</td>';
|
||||
html += '<td class="' + (e.esi ? 'flag-on' : 'flag-off') + '">' + (e.esi ? 'Y' : '-') + '</td>';
|
||||
html += '<td class="idsnap-data mono">' + sanitize(e.data || '--') + '</td>';
|
||||
html += '</tr>';
|
||||
}
|
||||
tbody.innerHTML = html;
|
||||
}
|
||||
|
||||
function renderIdTableEmpty() {
|
||||
var tbody = el.idsnapBody;
|
||||
if (tbody) tbody.innerHTML = '<tr><td colspan="7" class="status-empty">等待数据...</td></tr>';
|
||||
if (el.idsnapStatus) { el.idsnapStatus.textContent = '--'; el.idsnapStatus.className = 'pill'; }
|
||||
}
|
||||
|
||||
// ── 连接测试 ─────────────────────────────────────────────
|
||||
async function testConnection() {
|
||||
try {
|
||||
var resp = await fetch(getBaseUrl() + '/can/feedback', { signal: AbortSignal.timeout(3000) });
|
||||
if (!resp.ok) { setConnState(false, 'HTTP ' + resp.status); return; }
|
||||
setConnState(true, '已连接');
|
||||
showToast('ESP32 已连接', 'success');
|
||||
} catch (e) {
|
||||
setConnState(false, '连接失败');
|
||||
showToast('连接失败: ' + e.message, 'error');
|
||||
}
|
||||
}
|
||||
|
||||
// ── 模式切换 ─────────────────────────────────────────────
|
||||
async function setCanMode(mode) {
|
||||
try {
|
||||
var resp = await fetch(getBaseUrl() + '/can/mode', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ mode: mode }),
|
||||
signal: AbortSignal.timeout(3000)
|
||||
});
|
||||
var data = await resp.json();
|
||||
if (data.ok) {
|
||||
showToast('CAN 模式已切换: ' + (data.actual === 1 ? '过滤' : '全收'), 'success');
|
||||
} else {
|
||||
showToast('模式切换失败', 'error');
|
||||
}
|
||||
} catch (e) {
|
||||
showToast('模式切换失败: ' + e.message, 'error');
|
||||
}
|
||||
}
|
||||
|
||||
// ── 初始化 ───────────────────────────────────────────────
|
||||
function init() {
|
||||
cacheElements();
|
||||
setConnState(false, '未连接');
|
||||
if (el.monTestBtn) el.monTestBtn.addEventListener('click', testConnection);
|
||||
if (el.monIp) el.monIp.addEventListener('change', testConnection);
|
||||
if (el.btnModeAllPass) el.btnModeAllPass.addEventListener('click', function () { setCanMode(0); });
|
||||
if (el.btnModeFilter) el.btnModeFilter.addEventListener('click', function () { setCanMode(1); });
|
||||
if (el.idsnapChannel) el.idsnapChannel.addEventListener('change', pollFeedback);
|
||||
setTimeout(testConnection, 150);
|
||||
pollFeedback();
|
||||
state.fbTimer = setInterval(pollFeedback, 1000);
|
||||
}
|
||||
|
||||
init();
|
||||
})();
|
||||
@@ -359,6 +359,7 @@
|
||||
<div class="can-launch-actions">
|
||||
<a class="btn btn-primary can-launch-primary" href="can.html">进入 CAN 页面</a>
|
||||
<button class="btn btn-outline can-launch-secondary" type="button" onclick="window.open('can.html','_blank','noopener')">新窗口打开</button>
|
||||
<a class="btn btn-outline can-launch-secondary" href="can_monitor.html">CAN 接收监控</a>
|
||||
</div>
|
||||
<div class="can-launch-foot">
|
||||
<span class="can-launch-foot-label">说明</span>
|
||||
|
||||
@@ -1708,3 +1708,68 @@ code { color: #d3f9ff; font-family: var(--font-mono); }
|
||||
transition-duration: .001ms !important;
|
||||
}
|
||||
}
|
||||
|
||||
/* === CAN 1Hz FEEDBACK === */
|
||||
.can-feedback-card { margin-top: 18px; }
|
||||
.can-feedback-card .card-head {
|
||||
display: flex; align-items: center; justify-content: space-between; flex-wrap: wrap; gap: 10px;
|
||||
}
|
||||
.feedback-controls { display: flex; align-items: center; gap: 8px; }
|
||||
.feedback-grid {
|
||||
display: grid; grid-template-columns: repeat(3, 1fr); gap: 16px;
|
||||
}
|
||||
.feedback-channel {
|
||||
background: rgba(255,255,255,.03); border: 1px solid rgba(255,255,255,.07);
|
||||
border-radius: 10px; padding: 14px 16px;
|
||||
}
|
||||
.feedback-ch-head {
|
||||
font-weight: 700; font-size: 15px; margin-bottom: 10px;
|
||||
display: flex; align-items: center; gap: 8px;
|
||||
}
|
||||
.ch-dot {
|
||||
width: 10px; height: 10px; border-radius: 50%; display: inline-block;
|
||||
}
|
||||
.ch-dot.ch0 { background: #22d3ee; }
|
||||
.ch-dot.ch1 { background: #a78bfa; }
|
||||
.ch-dot.ch2 { background: #f59e0b; }
|
||||
.feedback-row {
|
||||
display: flex; justify-content: space-between; padding: 3px 0;
|
||||
font-size: 13px; border-bottom: 1px solid rgba(255,255,255,.04);
|
||||
}
|
||||
.feedback-row:last-child { border-bottom: none; }
|
||||
.fb-label { color: var(--muted, #8892a4); }
|
||||
.fb-val { font-weight: 600; font-variant-numeric: tabular-nums; }
|
||||
.fb-val.mono { font-family: monospace; }
|
||||
.fb-val.ok { color: #34d399; }
|
||||
.fb-val.warn { color: #f59e0b; }
|
||||
.fb-val.err { color: #f87171; }
|
||||
.fb-val.zero { color: #64748b; }
|
||||
@media (max-width: 900px) {
|
||||
.feedback-grid { grid-template-columns: 1fr; }
|
||||
}
|
||||
|
||||
/* === ID SNAPSHOT TABLE === */
|
||||
.idsnap-table-wrap { overflow-x: auto; }
|
||||
.idsnap-table {
|
||||
width: 100%; border-collapse: collapse; font-size: 13px;
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
.idsnap-table th {
|
||||
text-align: left; padding: 6px 10px; font-weight: 600;
|
||||
border-bottom: 2px solid rgba(255,255,255,.12); color: var(--muted, #8892a4);
|
||||
white-space: nowrap;
|
||||
}
|
||||
.idsnap-table td {
|
||||
padding: 5px 10px; border-bottom: 1px solid rgba(255,255,255,.05);
|
||||
white-space: nowrap;
|
||||
}
|
||||
.idsnap-table td.mono { font-family: monospace; }
|
||||
.idsnap-table tr:hover td { background: rgba(255,255,255,.03); }
|
||||
.idsnap-table .flag-on { color: #34d399; font-weight: 600; }
|
||||
.idsnap-table .flag-off { color: #475569; }
|
||||
.idsnap-data { font-family: monospace; max-width: 320px; overflow: hidden; text-overflow: ellipsis; }
|
||||
|
||||
.fb-data-cell {
|
||||
max-width: 200px; overflow: hidden; text-overflow: ellipsis;
|
||||
font-size: 11px; word-break: break-all; line-height: 1.4;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user