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feat(ota): 优化 GD32 OTA 流程和 CAN 反馈机制

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- 实现 GD32 主动推送 CAN 反馈架构，替代 ESP32 1Hz 轮询方式，
  减少 SPI 总线占用提升带宽效率

- 添加 GD32 Bootloader 就绪检测机制，通过 PB6 硬件信号等待
  保证 OTA 过程稳定可靠

- 集成 CREDIT 感知功能，当 GD32 写 Flash 缓冲时自动等待，
  避免数据包丢失提高传输成功率

- 重构 canFdPollFeedback 为 canFdParseFeedbackPage 函数，
  支持被动解析 GD32 主动推送的数据页

- 更新版本号从 0.37 到 0.3.38 并添加 Kconfig 配置选项支持
This commit is contained in:
小龙虾
2026-07-08 02:51:38 +08:00
parent 069ce8e6a5
commit 661ae54424
13 changed files with 974 additions and 595 deletions
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main/transport/canfd_bridge.cpp
+64 -74
View File
@@ -106,90 +106,80 @@ int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
/**
* @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。
* @brief 解析 GD32 主动推送的一页 CAN 反馈 payload，累积到结果结构中。
*
* GD32 APP 通过 requestEsp32Read(0xC1) 主动推送每页反馈，ESP32 收到后
* 调用本函数解析：
* page=0 → 重置 out，填充 28 字节固定头 + 首批条目；
* page=1 → 在已有条目后追加。
* 调用方按通道维护 entryIdx，page=0 时会被重置为 0。
*/
int canFdPollFeedback(can_channel_t channel,
can_feedback_result_t *out,
uint32_t timeout_ms)
int canFdParseFeedbackPage(const uint8_t *payload, size_t len,
can_feedback_result_t *out, uint8_t *entryIdx)
{
if (channel >= CAN_CHANNEL_MAX || out == nullptr) {
if (payload == nullptr || out == nullptr || entryIdx == nullptr) {
return -1;
}
out->valid = 0;
uint8_t entryIdx = 0U;
constexpr uint8_t kFixedHeader = 28U; /* ch+page+total+cnt+mode+seq+rx+tx+drop+err+tec+rec+bus_state */
for (uint8_t page = 0U; page < 2U; ++page) {
uint8_t req[2] = { static_cast<uint8_t>(channel & CAN_CHANNEL_MASK), page };
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->stats.tec = resp_buf[25];
out->stats.rec = resp_buf[26];
out->stats.bus_state = resp_buf[27];
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;
constexpr uint8_t kFixedHeader = 28U;
if (len < kFixedHeader) {
return -1;
}
const uint8_t channel = payload[0];
const uint8_t page = payload[1];
if (channel >= CAN_CHANNEL_MAX) {
return -1;
}
/* page=0：重置并解析固定头 */
if (page == 0U) {
*entryIdx = 0U;
out->stats.channel = channel;
out->stats.mode = payload[4];
out->stats.snapshot_seq = readU32Le(&payload[5]);
out->stats.rx_count = readU32Le(&payload[9]);
out->stats.tx_count = readU32Le(&payload[13]);
out->stats.rx_drop_count = readU32Le(&payload[17]);
out->stats.error_count = readU32Le(&payload[21]);
out->stats.tec = payload[25];
out->stats.rec = payload[26];
out->stats.bus_state = payload[27];
out->total_count = payload[2];
}
/* 解析本页条目并追加 */
const uint8_t entryCount = payload[3];
uint16_t offset = kFixedHeader;
for (uint8_t i = 0U; i < entryCount && *entryIdx < CANFD_ID_SNAPSHOT_MAX; ++i) {
if (offset + 8U > len) break;
id_snapshot_entry_t &e = out->entries[*entryIdx];
e.id = readU32Le(&payload[offset]);
e.dlc = payload[offset + 4U];
const uint8_t flags = payload[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 > len) break;
memcpy(e.data, &payload[offset + 8U], dataLen);
for (uint8_t d = dataLen; d < CANFD_ID_SNAPSHOT_DATA_MAX; ++d) {
e.data[d] = 0U;
}
offset += entrySize;
(*entryIdx)++;
}
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）。