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feat(can): 优化CAN反馈任务错误日志记录机制

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- 添加s_lastLoggedError数组跟踪各通道最后记录的错误计数
- 实现错误计数变化时才触发告警，避免重复打印
- 扩展错误日志信息，包含TEC、REC和总线状态详细信息
- 修复P0/P1页面携带相同统计数据时的重复打印问题

perf(ota): 移除冗余的OTA协调器状态检查方法

- 删除isGd32BusyState、isEsp32BusyState等未使用的状态判断方法
- 移除esp32FinalizeErrCategory错误分类函数
- 清理相关的头文件声明，减少代码冗余

refactor(relay): 移除未使用的中继状态获取方法

- 删除getRelaySeq、getRelayTotalPackets状态查询接口
- 移除getGd32Version版本获取方法
- 清理StateLockGuard中的isLocked方法
This commit is contained in:
小龙虾
2026-07-11 17:51:42 +08:00
parent fedb08e215
commit c0ca4e2a9f
18 changed files with 404 additions and 630 deletions
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main/transport/canfd_bridge.cpp
-86
View File
@@ -58,7 +58,6 @@ static int sendCanFrameOverSpi(can_channel_t channel, uint32_t ext_id,
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) {
@@ -86,21 +85,6 @@ int canFdSend(can_channel_t channel, uint32_t ext_id,
return sendCanFrameOverSpi(channel, ext_id, data, dlc, recv_buf, recv_max, timeout_ms);
}
/**
* @brief 发送一帧无需上层消费响应的 CANFD 数据。
* GD32 APP 仍会返回 ACK/ERROR，这里主动读走响应，避免残留到下一笔 SPI 事务。
*/
int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
const uint8_t *data, uint8_t dlc)
{
if (channel >= CAN_CHANNEL_MAX || dlc > CAN_MAX_DLC || !data) {
return -1;
}
return (sendCanFrameOverSpi(channel, ext_id, data, dlc, nullptr, 0U, 1000U) >= 0) ? 0 : -1;
}
/**
* @brief 解析 GD32 主动推送的一页 CAN 反馈 payload，累积到结果结构中。
*
@@ -176,76 +160,6 @@ int canFdParseFeedbackPage(const uint8_t *payload, size_t len,
return 0;
}
/**
* @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().otaSendAndPoll(
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)