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feat(main): 添加CAN 1Hz反馈轮询任务和HTTP接口

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- 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
2026-06-29 01:51:44 +08:00
parent a93dba60d2
commit 6335d05198
21 changed files with 1398 additions and 13 deletions
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main/transport/canfd_bridge.cpp
+192 -1
View File
@@ -1,4 +1,4 @@
/*
/*
* canfd_bridge.cpp - CANFD 3通道通信桥接实现（M4: 从 SpiMaster 提取）
*/
#include <string.h>
@@ -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;
}