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feat(core): 0.5.0 SPI 链路稳健性 + OTA 内存 + 状态诊断

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变更点：
1. SPI master
   - CS 事务间强制 ≥1ms，根治 GD32 CS EXTI re-arm 窗口 RX DMA 撕裂
   - APP ISR 快速响应类型禁用盲读
   - serviceRing 偷读迟到 RESPONSE 时推进 m_txSeq，避免命令被旧序号吞掉
   - tx_total/retry/fail + ring_steal_* + rsp_err_0x82 进 /system/status
2. OTA
   - 收块缓冲从常驻 4KB 静态改为会话内 RAII malloc
3. CAN / 日志
   - 0xC1 LINK_ERROR(0x7F) 风暴限流；网页 SPI 成功日志降 DBG
4. 版本
   - /system/status 的 GD32 版本只认 SPI 实时身份，不用 OtaRelay 过期缓存
5. 固件版本 0.5.0
This commit is contained in:
cbb
2026-09-20 22:58:17 +08:00
parent 5315f91475
commit 84f496c22c
8 changed files with 246 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main/server/http_handlers.cpp
+89 -16
View File
@@ -4,6 +4,7 @@
#include <string.h>
#include <stdarg.h>
#include <stdint.h>
#include <stdlib.h>
#include <inttypes.h>
#include <algorithm>
#include "freertos/FreeRTOS.h"
@@ -221,8 +222,36 @@ static int recv_json_header(httpd_req_t *req, char *buf, int buf_size)
return total;
}
/* OTA 上传静态收块：避免 OTA 中途再 malloc(2KB) 与 TCP 窗口抢堆。 */
static uint8_t s_ota_upload_recv[OTA_BLOCK_SIZE];
/* OTA 上传收块：稳态不占堆；会话开始时一次性 malloc，结束/失败由 RAII 释放。
* 旧方案常驻静态 4KB（.bss），空闲时白占；本方案把 malloc 挪到 handler 入口
* （TCP 窗口尚未灌满、协调器已拦下并发 OTA），峰值与静态相当，稳态省 4KB。
* httpd 单线程 + OTA 协调器互斥，不会两路同时持有。 */
class OtaUploadRecv {
public:
uint8_t *buf = nullptr;
OtaUploadRecv()
{
buf = static_cast<uint8_t *>(malloc(OTA_BLOCK_SIZE));
if (buf == nullptr) {
DEBUG_ERR("WIFI", "OTA收块分配失败 free=%lu big=%lu",
(unsigned long)esp_get_free_heap_size(),
(unsigned long)heap_caps_get_largest_free_block(MALLOC_CAP_DEFAULT));
}
}
~OtaUploadRecv()
{
if (buf != nullptr) {
free(buf);
buf = nullptr;
}
}
OtaUploadRecv(const OtaUploadRecv &) = delete;
OtaUploadRecv &operator=(const OtaUploadRecv &) = delete;
bool ok() const { return buf != nullptr; }
};
static uint8_t s_ota_json_scratch[256];
static uint8_t s_ota_preread[256];
@@ -239,7 +268,12 @@ esp_err_t ota_upload_handler(httpd_req_t *req)
"missing or invalid Content-Length");
}
uint8_t *recv_buf = s_ota_upload_recv;
OtaUploadRecv upload_recv;
if (!upload_recv.ok()) {
return http_send_json_error(req, "500 Internal Server Error",
"oom_upload_buf", "OTA receive buffer alloc failed");
}
uint8_t *recv_buf = upload_recv.buf;
DEBUG_WARN("WIFI", "POST /ota/upload clen=%d free=%lu big=%lu",
req->content_len,
(unsigned long)esp_get_free_heap_size(),
@@ -1630,8 +1664,9 @@ esp_err_t spi_send_handler(httpd_req_t *req)
payload_len = http_hex_to_bytes_n(hex, hex_len, payload_data, SPI_OTA_FRAME_MAX);
}
DEBUG_INFO("SPI", "WEB SPI: type=0x%02X, payload=%zu 字节",
frame_type, payload_len);
/* 诊断透传高频（网页 2s 轮询等），成功路径降为 DBG：默认 INFO 级不再刷串口 */
DEBUG_DBG("SPI", "WEB SPI: type=0x%02X, payload=%zu 字节",
frame_type, payload_len);
char resp[1024];
uint8_t resp_type = 0;
@@ -1648,8 +1683,8 @@ esp_err_t spi_send_handler(httpd_req_t *req)
"{\"status\": \"ok\", \"type\": \"%02X\", \"payload_len\": %zu, \"resp_type\": \"%02X\", \"resp_len\": %zu, \"recv\": \"%s\"}",
frame_type, payload_len, resp_type, resp_len, resp_hex);
/* 日志只记 type/len，完整 payload 仅在 HTTP JSON 返回给前端 */
DEBUG_INFO("SPI", "WEB SPI ok: type=0x%02X len=%zu",
resp_type, resp_len);
DEBUG_DBG("SPI", "WEB SPI ok: type=0x%02X len=%zu",
resp_type, resp_len);
} else {
snprintf(resp, sizeof(resp),
"{\"status\": \"error\", \"code\": %d, \"message\": \"%s\"}",
@@ -1905,6 +1940,10 @@ esp_err_t system_status_handler(httpd_req_t *req)
httpd_resp_set_type(req, "application/json");
/* ── 分块 1：核心状态 + OTA/WiFi ── */
/* GD32 版本只认 SPI 实时身份（HELLO/PING）。OtaRelay 那份缓存只在
* 中继/手动探测时写入，ECAT 直灌等旁路刷写后会永久过期——宁可报
* 0.0.0.0（前端显示未知/离线），也不回旧版本。 */
const gd32_version_t gver = SpiMaster::instance().gd32VersionCached();
int len = snprintf(resp, HTTP_JSON_WORK_CAP,
"{\"version\": \"%s\", \"build_time\": \"%s\", \"git_hash\": \"%s\", \"health\": %d, "
"\"free_heap\": %lu, \"min_free_heap\": %lu, \"largest_free_block\": %lu, "
@@ -1938,10 +1977,10 @@ esp_err_t system_status_handler(httpd_req_t *req)
(unsigned long)snap.relay.seq,
(unsigned long)snap.relay.total_packets,
snap.relay.gd32_app_alive ? "true" : "false",
snap.relay.version.app_major, snap.relay.version.app_minor,
snap.relay.version.app_patch, snap.relay.version.app_build,
snap.relay.version.boot_major, snap.relay.version.boot_minor,
snap.relay.version.boot_patch, snap.relay.version.boot_build);
gver.app_major, gver.app_minor,
gver.app_patch, gver.app_build,
gver.boot_major, gver.boot_minor,
gver.boot_patch, gver.boot_build);
if (len < 0 || (size_t)len >= HTTP_JSON_WORK_CAP) {
if (mux) {
xSemaphoreGive(mux);
@@ -1979,7 +2018,13 @@ esp_err_t system_status_handler(httpd_req_t *req)
"\"v2_active\":%s,\"local_credit\":%u,\"remote_credit\":%u,"
"\"crc_errors\":%lu,\"duplicate_requests\":%lu,\"seq_errors\":%lu,"
"\"retries\":%lu,\"ready_timeouts\":%lu,\"rx_overruns\":%lu,"
"\"resyncs\":%lu,\"max_resp_latency_us\":%lu}",
"\"resyncs\":%lu,\"max_resp_latency_us\":%lu,"
"\"rsp_err_0x82\":%lu,\"rsp_err_last_req\":\"0x%02X\",\"rsp_err_last_p0\":\"0x%02X\","
"\"rsp_err_last_p1\":%u,\"rsp_err_last_p2\":\"0x%02X\",\"rsp_err_last_p3\":\"0x%02X\","
"\"ring_steals\":%lu,\"ring_steal_last_type\":\"0x%02X\",\"ring_steal_last_ack\":%u,"
"\"ring_steal_last_p0\":\"0x%02X\",\"ring_steal_last_req\":\"0x%02X\","
"\"ring_steal_diag\":[%u,\"0x%02X\",\"0x%02X\"],"
"\"tx_total\":%lu,\"tx_retry\":%lu,\"tx_fail\":%lu,\"tx_fail_last_type\":\"0x%02X\"}",
(unsigned)ls.version,
role_str,
(unsigned long)ls.session_id,
@@ -1993,7 +2038,25 @@ esp_err_t system_status_handler(httpd_req_t *req)
(unsigned long)ls.stats.ready_timeouts,
(unsigned long)ls.stats.rx_overruns,
(unsigned long)ls.stats.resyncs,
(unsigned long)ls.stats.max_resp_latency_us);
(unsigned long)ls.stats.max_resp_latency_us,
(unsigned long)ls.stats.rsp_err_0x82,
(unsigned)ls.stats.rsp_err_last_req,
(unsigned)ls.stats.rsp_err_last_p0,
(unsigned)ls.stats.rsp_err_last_p1,
(unsigned)ls.stats.rsp_err_last_p2,
(unsigned)ls.stats.rsp_err_last_p3,
(unsigned long)ls.stats.ring_steals,
(unsigned)ls.stats.ring_steal_last_type,
(unsigned)ls.stats.ring_steal_last_ack,
(unsigned)ls.stats.ring_steal_last_p0,
(unsigned)ls.stats.ring_steal_last_req,
(unsigned)ls.stats.ring_steal_last_p1,
(unsigned)ls.stats.ring_steal_last_p2,
(unsigned)ls.stats.ring_steal_last_p3,
(unsigned long)ls.stats.tx_total,
(unsigned long)ls.stats.tx_retry,
(unsigned long)ls.stats.tx_fail,
(unsigned)ls.stats.tx_fail_last_type);
}
/* ── GD32 APP 初始化状态（GD32 1.5.34+）──
@@ -2510,11 +2573,21 @@ esp_err_t motor_ota_upload_handler(httpd_req_t *req)
coord.abortCurrent();
(void)coord.clearGd32Meta();
/* ── 流式收固件写 flash（无整固件堆缓冲；复用 OTA 静态收块）──
/* ── 流式收固件写 flash（无整固件堆缓冲；会话内临时收块）──
* ★ full_erase=true：强制擦除整个 gd32_ota 分区（252KB ~200ms），
* 杜绝上次固件残留 + 擦除位错误导致的单 bit 翻转（0xAC20 处 0x19→0x18 根因）。 */
Gd32FlashStore::instance().beginWriteSession(true);
OtaUploadRecv upload_recv;
if (!upload_recv.ok()) {
DEBUG_ERR("MOTOR_OTA", "收块分配失败 free=%lu",
(unsigned long)esp_get_free_heap_size());
httpd_resp_set_status(req, "500 Internal Server Error");
httpd_resp_set_type(req, "application/json");
httpd_resp_sendstr(req, "{\"error\":\"ota receive buffer alloc failed\"}");
return ESP_FAIL;
}
int received = 0;
while (received < content_len) {
size_t to_read = (size_t)content_len - received;
@@ -2522,7 +2595,7 @@ esp_err_t motor_ota_upload_handler(httpd_req_t *req)
otaUploadPaceIfHeapTight();
int r = httpd_req_recv(req, reinterpret_cast<char *>(s_ota_upload_recv), to_read);
int r = httpd_req_recv(req, reinterpret_cast<char *>(upload_recv.buf), to_read);
if (r <= 0) {
DEBUG_ERR("MOTOR_OTA", "upload interrupted: received=%d expected=%d", received, content_len);
httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "recv failed");
@@ -2530,7 +2603,7 @@ esp_err_t motor_ota_upload_handler(httpd_req_t *req)
}
esp_err_t werr = Gd32FlashStore::instance().flashWriteChunk(
(uint32_t)received, s_ota_upload_recv, (size_t)r);
(uint32_t)received, upload_recv.buf, (size_t)r);
if (werr != ESP_OK) {
DEBUG_ERR("MOTOR_OTA", "flash write fail @%d: %s", received, esp_err_to_name(werr));
httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "flash write failed");