feat(can): 添加跨通道CAN突发发送功能支持多电机同步驱动
- 新增 /can/send_burst HTTP接口，支持一次SPI事务批量发送多帧CAN消息 - 实现canFdSendBurst函数，通过0xC7 SPI类型实现背靠背装载各通道邮箱 - 添加canBurstCapacity函数计算单次突发最大帧数限制 - 突发发送期间暂停can_feedback_task避免SPI抢占冲突 refactor(can_feedback_task): 改造为周期查询+事件消费模式 - 0xC4/0xC5从GD32主动推送改为ESP32周期查询（250ms/1s） - 0xC6/0xD2仍保留事件驱动推送模式，由任务消费处理 - 消除OTA期间GD32悬空按铃导致的超时刷屏问题 - 电机OTA期间也暂停任务避免与0xD1抢夺SPI资源 perf(ota_relay): 增加重发次数上限提升传输可靠性 - 将kMaxDataSends从3次增加到5次，提高数据包传输成功率 chore(version): 更新固件版本号至0.3.78 - 版本查询checkVersionWait移到tickInFlight释放后异步触发 - 避免/motor/version请求拖长tick导致tickStuck误报通道闪黄
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小龙虾
@@ -1330,6 +1330,234 @@ esp_err_t can_send_batch_handler(httpd_req_t *req)
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return ESP_OK;
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}
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/**
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* @brief POST /can/send_burst — CAN 跨通道突发发送（一次 SPI 事务多帧近同时）。
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*
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* JSON: { "suffix": 512, "dlc": 32, "frames": [ { "ch":0, "node":1, "data":"HEX" }, ... ] }
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* suffix = CAN ID 低 16 位（CMD=0x0200），id=(node<<16)|suffix；dlc 为本批统一数据长度。
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* frames 可超过单次突发容量：内部按 canBurstCapacity(dlc) 分块，块与块之间背靠背
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* 连续发起 SPI 事务（间隔 ~<1ms），实现「组内近同时、组间尽量紧」的多电机同步驱动。
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*
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* 返回: { "status":"ok","sent":N,"results":[ {"status":"ok"} | {"status":"error","code":c,"gd32_err":g}, ... ] }
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* 单帧总线故障(0xE2/0xE3)/邮箱满(0xE4)等经 ACK 的每帧状态字节透传，前端据此处理冷却。
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*/
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esp_err_t can_send_burst_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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constexpr int kMaxTotalFrames = 24; /* 单次请求帧数上限（一步同步电机数上限） */
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constexpr uint32_t kBurstTimeoutMs = 200U; /* 单次突发 SPI 事务超时 */
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constexpr int kMaxBody = 49152;
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int content_len = req->content_len;
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if (content_len <= 0 || content_len > kMaxBody) {
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return http_send_json_error(req, "400 Bad Request", "bad_body",
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"body 长度无效或过大");
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}
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BatchBodyReader reader(req, content_len);
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auto findKey = [&](const char *key) -> bool {
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const size_t kl = strlen(key);
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size_t match = 0;
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int c;
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while ((c = reader.nextChar()) != -1) {
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if (c == key[match]) {
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if (++match == kl) return true;
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} else {
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match = (c == key[0]) ? 1 : 0;
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}
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}
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return false;
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};
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auto skipWs = [&]() {
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int c;
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while ((c = reader.peekChar()) != -1) {
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if (c == ' ' || c == '\t' || c == '\n' || c == '\r') {
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reader.nextChar();
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} else {
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break;
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}
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}
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};
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auto findChar = [&](char target) -> bool {
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int c;
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while ((c = reader.nextChar()) != -1) {
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if (c == target) return true;
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}
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return false;
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};
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auto readInt = [&]() -> long {
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skipWs();
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long sign = 1;
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int c = reader.peekChar();
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if (c == '-') { reader.nextChar(); sign = -1; }
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long v = 0;
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while ((c = reader.peekChar()) != -1 && c >= '0' && c <= '9') {
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v = v * 10 + (c - '0');
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reader.nextChar();
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}
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return v * sign;
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};
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char frameJson[320];
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auto readFrameObj = [&]() -> int {
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skipWs();
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int c = reader.peekChar();
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if (c != '{') return -1;
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reader.nextChar();
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frameJson[0] = '{';
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size_t n = 1;
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int depth = 1;
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while ((c = reader.nextChar()) != -1) {
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if (c == '{') {
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depth++;
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} else if (c == '}') {
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depth--;
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if (depth == 0) {
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if (n + 1 >= sizeof(frameJson)) return -1;
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frameJson[n++] = '}';
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frameJson[n] = '\0';
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return (int)n;
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}
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}
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if (n + 1 >= sizeof(frameJson)) return -1;
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frameJson[n++] = (char)c;
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}
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return -1;
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};
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/* ── prefix：suffix / dlc / frames ── */
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if (!findKey("\"suffix\"") || !findChar(':')) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "缺少 suffix 字段");
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}
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long suffix_val = readInt();
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if (!findKey("\"dlc\"") || !findChar(':')) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "缺少 dlc 字段");
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}
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long dlc_val = readInt();
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if (dlc_val < 0 || dlc_val > CAN_MAX_DLC) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "dlc 超出范围");
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}
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if (!findKey("\"frames\"") || !findChar('[')) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "缺少 frames 字段");
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}
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const uint8_t dlc = static_cast<uint8_t>(dlc_val);
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const uint16_t suffix = static_cast<uint16_t>(suffix_val & 0xFFFF);
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const uint8_t cap = canBurstCapacity(dlc);
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if (cap == 0U) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "dlc 过大无法突发");
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}
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/* 静态缓冲：httpd 单线程，避免大栈占用 */
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static uint8_t s_chnode[kMaxTotalFrames];
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static uint8_t s_data[kMaxTotalFrames][CAN_MAX_DLC];
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static uint8_t s_status[kMaxTotalFrames];
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int total = 0;
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while (total < kMaxTotalFrames) {
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skipWs();
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int c = reader.peekChar();
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if (c == -1 || c == ']') break;
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if (c == ',') { reader.nextChar(); continue; }
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if (c != '{') { reader.nextChar(); continue; }
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int flen = readFrameObj();
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if (flen <= 0) break;
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JsonView fr = jsonParse(frameJson);
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if (!fr.valid) {
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return http_send_json_error(req, "400 Bad Request", "bad_frame", "帧 JSON 非法");
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}
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JsonView ch_it = jsonGet(&fr, "ch");
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JsonView node_it = jsonGet(&fr, "node");
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JsonView data_it = jsonGet(&fr, "data");
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if (!jsonIsNumber(&ch_it) || !jsonIsNumber(&node_it)) {
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return http_send_json_error(req, "400 Bad Request", "bad_frame", "帧缺少 ch/node");
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}
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const int chv = static_cast<int>(jsonGetNumberValue(&ch_it));
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const int nodev = static_cast<int>(jsonGetNumberValue(&node_it));
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if (chv < 0 || chv >= CAN_CHANNEL_MAX) {
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return http_send_json_error(req, "400 Bad Request", "bad_frame", "ch 非法(0~2)");
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}
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uint8_t data_buf[CAN_MAX_DLC];
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uint8_t nbytes = 0U;
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if (jsonIsString(&data_it)) {
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size_t hex_len = 0U;
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const char *hex = jsonGetStringValue(&data_it, &hex_len);
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if (hex) {
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nbytes = static_cast<uint8_t>(
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http_hex_to_bytes_n(hex, hex_len, data_buf, CAN_MAX_DLC));
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}
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}
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if (nbytes != dlc) {
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return http_send_json_error(req, "400 Bad Request", "bad_frame",
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"帧 data 长度与 dlc 不一致");
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}
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s_chnode[total] = static_cast<uint8_t>(((chv & 0x0F) << 4) | (nodev & 0x0F));
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if (dlc > 0U) {
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memcpy(s_data[total], data_buf, dlc);
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}
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total++;
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}
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if (total == 0) {
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return http_send_json_error(req, "400 Bad Request", "bad_args", "frames 为空");
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}
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/* ── 分块背靠背突发发送 ── */
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pauseCanFeedbackTask(true);
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bool aborted = false;
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for (int off = 0; off < total && !aborted; off += cap) {
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const int n = ((total - off) > cap) ? cap : (total - off);
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can_burst_entry_t entries[CAN_BURST_HARD_MAX];
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for (int i = 0; i < n; ++i) {
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entries[i].chnode = s_chnode[off + i];
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entries[i].data = s_data[off + i];
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}
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uint8_t chunk_status[CAN_BURST_HARD_MAX];
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uint8_t gerr = 0U;
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(void)esp_task_wdt_reset();
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const int rc = canFdSendBurst(suffix, dlc, entries, static_cast<uint8_t>(n),
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chunk_status, sizeof(chunk_status),
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kBurstTimeoutMs, &gerr);
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if (rc < 0) {
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/* SPI 失败/协议错误：本块及之后标记失败并中止 */
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const uint8_t code = (rc == -3) ? gerr : 0xEEU;
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for (int i = 0; i < n; ++i) s_status[off + i] = code;
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for (int j = off + n; j < total; ++j) s_status[j] = 0xEEU;
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aborted = true;
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break;
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}
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for (int i = 0; i < n; ++i) s_status[off + i] = chunk_status[i];
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}
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pauseCanFeedbackTask(false);
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/* ── 组装 JSON 响应 ── */
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static char resp_buf[1600];
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int off = snprintf(resp_buf, sizeof(resp_buf),
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"{\"status\":\"ok\",\"sent\":%d,\"results\":[", total);
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for (int i = 0; i < total; ++i) {
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const uint8_t st = s_status[i];
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int w;
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if (st == 0x00U) {
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w = snprintf(resp_buf + off, sizeof(resp_buf) - off,
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"%s{\"status\":\"ok\"}", (i == 0) ? "" : ",");
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} else {
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w = snprintf(resp_buf + off, sizeof(resp_buf) - off,
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"%s{\"status\":\"error\",\"code\":-3,\"gd32_err\":%u}",
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(i == 0) ? "" : ",", (unsigned)st);
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}
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if (w < 0 || off + w >= (int)sizeof(resp_buf)) break;
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off += w;
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}
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if (off < (int)sizeof(resp_buf) - 2) {
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resp_buf[off++] = ']';
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resp_buf[off++] = '}';
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}
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httpd_resp_set_type(req, "application/json");
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return httpd_resp_send(req, resp_buf, off);
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}
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esp_err_t spi_send_handler(httpd_req_t *req)
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{
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http_set_cors_headers(req);
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