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feat(can): 添加跨通道CAN突发发送功能支持多电机同步驱动

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- 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
This commit is contained in:
小龙虾
2026-08-10 00:54:12 +08:00
parent f9cbcc396b
commit ef6d3a4be3
23 changed files with 2524 additions and 157 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/js/motor/main.js
+658 -44
View File
@@ -6,7 +6,7 @@
/* ═══════════════════════════════════════════════════════════════
电机控制台 — 共用 OTA 主页设备 IP（localStorage dcu_esp_ip），本页无连接配置
数据源:
GET /motor/state 1Hz → 节点列表 + STATUS 解码
GET /motor/state refreshIntervalMs 驱动（默认 250ms，50~5000 可调）→ 节点列表 + STATUS 解码
POST /can/send_batch 唯一发送入口（CMD / CONFIG / VERSION / OTA）
GET /can/feedback 1Hz → 状态栏 RX/TX/ERR/TEC/REC/BUS
GET /system/status 进入页自动探测 + 5s 健康检查 / 断线 2s 探测
@@ -74,6 +74,8 @@ const state = {
poll: { tick: null, probe: null, status: null, feedback: null },
pollGen: 0, // 递增使在途 tick 失效
tickInFlight: false,
tickStuck: 0, // 连续未按时完成的 motor 轮询拍数（>0 = 卡顿，通道下拉框变黄）
versionWait: null, // 挂载到主 tick 的版本等待 {node,prevSeq,deadline,resolve,reject}；命中/超时由 pollLoop 检查
feedbackInFlight: false, // /can/feedback 独立链路占用标记
statusInFlight: false, // /system/status 独立链路占用标记
failCount: 0, // 连续硬失败计数，达阈值才断线
@@ -81,6 +83,7 @@ const state = {
lastConnToastAt: 0, // toast 去抖
offlineSince: 0, // 进入离线时刻，短离线恢复不 toast
tickN: 0, // 轮询序号（每 5 轮附带 status）
recvTs: [], // 最近 N 次数据到达时间戳滑动窗口（用于计算实际接收 Hz）
statusTickN: 0, // status lite/full 交替计数（4 lite + 1 full 循环）
phaseDebug: { lastSlowReq: null, slowStats: {} }, // 慢请求诊断（>200ms）
};
@@ -90,6 +93,8 @@ const state = {
* 用法：控制台敲 motorDbg.state 。 */
window.motorDbg = {
state, // 完整 state 引用，方便深挖
get tickWorker() { return tickWorker; }, // Worker 节拍源对象（null=未创建）
get tickUseFallback() { return tickUseFallback; }, // true=已回退到 setTimeout 兜底
};
/**
* 连续「硬失败」多少次才判离线。
@@ -101,6 +106,9 @@ const CONN_TOAST_GAP_MS = 6000;
const RECOVER_TOAST_MIN_OFFLINE_MS = 8000;
/* 前端固定节拍：与 GD32 0xC5 推送周期对齐（250ms）。 */
const TICK_INTERVAL_MS = 250;
/* 固定节拍调度基准：pollLoop 完成后按绝对时间对齐下一个 tick，
* 使实际刷新周期 ≈ 设定值（单次请求耗时不再累加进周期）。 */
let tickNextAt = 0;
const PROBE_INTERVAL_MS = 2000;
const MIN_CMD_PERIOD_MS = 80;
@@ -133,6 +141,10 @@ function saveUiState() {
if (el) o[id] = el.value;
}
if (state.selectedNode != null) o.selectedNode = state.selectedNode;
/* 命令序列：步骤 + 循环次数（有内容才写入，保持旧数据兼容） */
if (seq.steps.length > 0 || seq.loops !== 0) {
o.seq = { loops: seq.loops, steps: seq.steps };
}
/* 版本缓存：state.versions 是 Map<node, {soft,hard,boot}>，序列化为普通对象 */
if (state.versions && state.versions.size > 0) {
const vo = {};
@@ -156,6 +168,14 @@ function loadUiState() {
if (el && o[id] != null) el.value = o[id];
}
if (o.selectedNode != null) state.selectedNode = o.selectedNode;
/* 恢复命令序列（旧数据无 seq 字段则保持空）；
* normStep 归一：新结构 {holdMs, actions[]} 直通，旧扁平步骤转单动作组 */
if (o.seq && Array.isArray(o.seq.steps)) {
seq.steps = o.seq.steps
.filter((s) => s && typeof s === "object")
.map(normStep);
seq.loops = clampNum(parseInt(o.seq.loops, 10) || 0, 0, 9999);
}
/* 恢复版本缓存到 state.versions Map */
if (o.versions && typeof o.versions === "object") {
for (const [n, v] of Object.entries(o.versions)) {
@@ -372,20 +392,36 @@ function cmdVal(id) {
return cmdCommitted[id] !== undefined ? cmdCommitted[id] : $("#" + id).value;
}
function buildCmdBytes() {
/* 编码一条 CMD 帧（DLC 32）。values = {mode, voltage, current, velocity, angle,
* pidCurP, pidVelP, pidAngP}，字段值接受字符串/数字（与输入框值同构）。
* 表单版与命令序列步骤共用此编码，保证两种发送路径帧格式一致。 */
function buildCmdBytes(values) {
const buf = new ArrayBuffer(32);
const dv = new DataView(buf);
const mode = parseInt($("#modeSelect").value, 10) || 0;
const mode = parseInt(values.mode, 10) || 0;
dv.setUint8(0, mode);
dv.setUint16(1, Math.round((parseFloat(cmdVal("inVoltage")) || 0) * 1000) & 0xFFFF, true);
dv.setFloat32(3, parseFloat(cmdVal("inCurrent")) || 0, true);
dv.setFloat32(7, parseFloat(cmdVal("inVelocity")) || 0, true);
dv.setFloat32(11, parseFloat(cmdVal("inAngle")) || 0, true);
dv.setInt16(15, parseInt(cmdVal("pidCurP"), 10) || 0, true);
dv.setInt16(17, parseInt(cmdVal("pidVelP"), 10) || 0, true);
dv.setInt16(19, parseInt(cmdVal("pidAngP"), 10) || 0, true);
dv.setUint16(1, Math.round((parseFloat(values.voltage) || 0) * 1000) & 0xFFFF, true);
dv.setFloat32(3, parseFloat(values.current) || 0, true);
dv.setFloat32(7, parseFloat(values.velocity) || 0, true);
dv.setFloat32(11, parseFloat(values.angle) || 0, true);
dv.setInt16(15, parseInt(values.pidCurP, 10) || 0, true);
dv.setInt16(17, parseInt(values.pidVelP, 10) || 0, true);
dv.setInt16(19, parseInt(values.pidAngP, 10) || 0, true);
return new Uint8Array(buf);
}
/* 表单版：读当前 CMD 输入区已提交值（cmdCommitted） */
function buildFormCmdBytes() {
return buildCmdBytes({
mode: $("#modeSelect").value,
voltage: cmdVal("inVoltage"),
current: cmdVal("inCurrent"),
velocity: cmdVal("inVelocity"),
angle: cmdVal("inAngle"),
pidCurP: cmdVal("pidCurP"),
pidVelP: cmdVal("pidVelP"),
pidAngP: cmdVal("pidAngP"),
});
}
function bytesToHexStr(bytes) {
let s = "";
for (let i = 0; i < bytes.length; i++) s += pad2(bytes[i]);
@@ -428,6 +464,8 @@ async function sendBatch(frames, opts) {
}
state.sendInFlight = true;
const n = frames.length;
/* 通道：默认用顶部选中通道；调用方可经 opts.ch 指定（命令序列每步独立通道） */
const txCh = (opts && Number.isInteger(opts.ch)) ? opts.ch : state.ch;
/* 单帧 3s：ESP32 handler 内部单帧超时 1200ms + HTTP 排队余量；
* 旧值 8s 会在 SPI 卡顿时长时间霸占互斥锁，阻塞后续周期 CMD */
const timeoutMs = (n <= 1) ? 3000 : Math.max(15000, n * 500);
@@ -435,7 +473,7 @@ async function sendBatch(frames, opts) {
const resp = await fetch(getBaseUrl() + "/can/send_batch", {
method: "POST",
headers: { "Content-Type": "application/json" },
body: JSON.stringify({ ch: state.ch, frames: frames }),
body: JSON.stringify({ ch: txCh, frames: frames }),
signal: AbortSignal.timeout(timeoutMs),
});
const text = await resp.text();
@@ -465,6 +503,7 @@ async function sendBatch(frames, opts) {
/* BUS_OFF / TEC 高：停止发送，3s 冷却 */
state.busCooldownUntil = nowMs() + 3000;
stopRepeat(true);
stopSeq("总线异常，命令序列已停止", true);
toast("总线异常 (" + GD32_ERR_DESC[gerr] + ") — 停止发送，冷却 3s", "err");
return { ok: false, results: results, busFault: gerr, desc: GD32_ERR_DESC[gerr] };
}
@@ -502,6 +541,79 @@ async function sendOneFrameWhenFree(id, dlc, dataHex, opts) {
return res;
}
/**
* 突发（近同时）发送多个电机动作：POST /can/send_burst。
* ESP32 转 0xC7 SPI 突发，GD32 背靠背装载各通道 CAN 邮箱，组内偏差 µs 级；
* 超过单次突发容量时 ESP32 内部分块背靠背连发（组间 ~1-2ms）。
* 与 sendBatch 共享 state.sendInFlight 互斥；流控策略与 sendBatch 一致。
* @param {Array} actions [{ch,node,mode,voltage,current,velocity,angle,pid*}]
* @returns {Promise<{ok,results?,networkError?,busFault?,busy?,desc?}>}
*/
async function sendBurst(actions, opts) {
opts = opts || {};
if (state.sendInFlight) {
return { ok: false, desc: "上一次发送仍在进行（已跳过）", busy: true };
}
if (!state.connected && !opts.allowOffline) {
return { ok: false, desc: "设备未连接", networkError: true };
}
state.sendInFlight = true;
const frames = actions.map((a) => ({
ch: a.ch, node: a.node, data: bytesToHexStr(buildCmdBytes(a)),
}));
const timeoutMs = Math.max(3000, frames.length * 250);
try {
const resp = await fetch(getBaseUrl() + "/can/send_burst", {
method: "POST",
headers: { "Content-Type": "application/json" },
body: JSON.stringify({ suffix: 0x0200, dlc: 32, frames: frames }),
signal: AbortSignal.timeout(timeoutMs),
});
const text = await resp.text();
let json = {};
try { json = text ? JSON.parse(text) : {}; } catch (e) { throw new Error("响应非合法 JSON"); }
if (!resp.ok) throw new Error("HTTP " + resp.status + ": " + (json.message || text || "发送失败"));
if (!json.results || !Array.isArray(json.results)) throw new Error("响应缺少 results");
const results = json.results.slice();
while (results.length < frames.length) {
results.push({ status: "error", code: -2, gd32_err: 0 });
}
/* 流控：取第一个错误帧的状态（同 sendBatch 逻辑） */
const firstErr = results.find((r) => r.status !== "ok") || {};
const gerr = firstErr.gd32_err;
if (gerr === 0xE4 && !opts.retried) {
/* 邮箱满：随机退避 50~150ms 重试一次 */
state.sendInFlight = false;
const backoff = 50 + Math.floor(Math.random() * 101);
await sleep(backoff);
return sendBurst(actions, Object.assign({}, opts, { retried: true }));
}
if (gerr === 0xE2 || gerr === 0xE3) {
/* BUS_OFF / TEC 高：停止发送，3s 冷却 */
state.busCooldownUntil = nowMs() + 3000;
stopRepeat(true);
stopSeq("总线异常，命令序列已停止", true);
toast("总线异常 (" + GD32_ERR_DESC[gerr] + ") — 停止发送，冷却 3s", "err");
return { ok: false, results: results, busFault: gerr, desc: GD32_ERR_DESC[gerr] };
}
const allOk = results.every((r) => r.status === "ok");
return { ok: allOk, results: results, desc: allOk ? "ok" : describeResult(firstErr) };
} catch (e) {
noteHardFailure(e, "send");
return { ok: false, networkError: true, desc: e.message || "网络错误" };
} finally {
state.sendInFlight = false;
/* latest-wins 排空（与 sendBatch 一致） */
if (!opts.retried && state.pendingCmd && state.connected && nowMs() >= state.busCooldownUntil) {
const p = state.pendingCmd;
state.pendingCmd = null;
sendBatch([{ id: p.id, dlc: p.dlc, data: p.data }], { silent: true });
}
}
}
/* ═══════════════════════ 连接稳健性 ═══════════════════════
* 设备端 /system/status、/motor/state、/can/feedback 共用 httpJsonWorkMutex。
* 任一并发 → 500 busy；旧逻辑还把瞬时失败变成 LED 黄灯/断线 toast → 「偶尔闪一下」。
@@ -600,6 +712,7 @@ function enterDisconnected(msg, source) {
state.failCount = 0;
state.offlineSince = nowMs();
stopRepeat(true);
stopSeq("连接中断，命令序列已停止", true);
stopDataPolling();
updateConnUi();
$("#netBanner").classList.add("show");
@@ -739,6 +852,21 @@ function stopDataPolling() {
stopTimer("status");
state.tickInFlight = false;
state.feedbackInFlight = false;
state.tickStuck = 0; /* 停止轮询 → 清除卡顿标记 */
/* 清理挂起的版本等待：主 tick 已停，resolve(null) 让调用方走超时分支，避免 Promise 悬挂 */
if (state.versionWait) {
const w = state.versionWait;
state.versionWait = null;
w.resolve(null);
}
updateTickStuckUi();
/* 停止 Worker 节拍（后台节流兜底） */
if (tickWorker) {
tickWorker.postMessage({ type: "stop" });
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
tickWorker = null;
tickUseFallback = false;
}
}
/**
@@ -749,6 +877,8 @@ function startPolling() {
state.failCount = 0;
state.tickN = 0;
state.statusTickN = 0;
state.recvTs = []; /* 清除旧的到达时间窗口，Hz 从新数据重新累积 */
tickNextAt = 0; /* 节拍基准重置：首个 tick 立即执行后按新间隔对齐 */
const gen = state.pollGen;
schedulePollLoop(gen, 0);
scheduleFeedbackPoll(gen, 0);
@@ -797,37 +927,121 @@ function scheduleFeedbackPoll(gen, delayMs) {
});
}, delayMs == null ? 1000 : delayMs);
}
function schedulePollLoop(gen, delayMs) {
/* ═══════ Web Worker 节拍（后台标签页不节流） ═══════
* 浏览器对后台（隐藏）标签页的 setTimeout/setInterval 强制 ≥1s 节流，
* 使刷新速度在切后台后降到 ~1Hz。Dedicated Worker 的定时器不受此限制，
* 故把 motor 轮询的节拍源放到 tick.worker.js：Worker 按设定间隔定期发
* 'tick' 消息，主线程收到后才真正发起一次 fetchMotorState。
* 前台行为与原来一致；后台也能守住设定的刷新速度。 */
const TICK_WORKER_URL = "js/motor/tick.worker.js?v=20260802g";
let tickWorker = null; /* Web Worker 节拍源（null = 未创建/失败） */
let tickUseFallback = false; /* Worker 创建/加载失败 → 回退到 setTimeout 兜底 */
/**
* tick 统一入口：Worker 每 tick、或 setTimeout 兜底触达时调用。
* 负责单飞互斥 + 卡顿标记（是否跳过由 tickInFlight 决定）。
*/
function tickHandler() {
if (!state.connected || state.probing) return;
if (state.tickInFlight) {
/* 上一拍请求仍未完成（已超出一拍时长）→ 本拍跳过并标记卡顿 */
state.tickStuck = (state.tickStuck || 0) + 1;
updateTickStuckUi();
return;
}
pollLoop(state.pollGen);
}
/**
* 确保 Worker 就绪并按 interval 校时。Worker 已存在时只更新间隔。
* Worker 加载失败（如 404 或不被服务端支持）→ 回退到 setTimeout 兜底。
*/
function ensureTickWorker(interval) {
if (tickUseFallback) return;
if (tickWorker) {
tickWorker.postMessage({ type: "update", interval });
return;
}
try {
tickWorker = new Worker(TICK_WORKER_URL);
} catch (err) {
tickWorker = null;
tickUseFallback = true;
startTickFallback(state.pollGen);
return;
}
tickWorker.onmessage = (e) => { if (e.data === "tick") tickHandler(); };
tickWorker.onerror = () => {
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
tickWorker = null;
tickUseFallback = true;
startTickFallback(state.pollGen);
};
tickWorker.postMessage({ type: "start", interval });
}
/* Worker 不可用时的兜底：留用原 setTimeout 固定节拍（前台正常，后台受节流）。 */
function startTickFallback(gen) {
if (gen !== state.pollGen) return;
stopTimer("tick");
const delay = delayMs != null ? delayMs : (state.refreshIntervalMs || TICK_INTERVAL_MS);
tickNextAt = 0;
scheduleTickFallbackFrame(gen, 0);
}
function scheduleTickFallbackFrame(gen, delayMs) {
if (gen !== state.pollGen) return;
stopTimer("tick");
const iv = state.refreshIntervalMs || TICK_INTERVAL_MS;
let delay = delayMs != null ? delayMs : iv;
if (delayMs == null && tickNextAt > 0) {
/* 固定节拍对齐：按绝对时间调度，请求耗时不再拖慢周期 */
const remain = tickNextAt - nowMs();
if (remain <= 0) delay = (tickNextAt + iv < nowMs()) ? iv : 10;
else delay = remain;
}
state.poll.tick = setTimeout(function () {
state.poll.tick = null;
pollLoop(gen);
if (gen !== state.pollGen) return;
tickHandler();
tickNextAt = (tickNextAt > 0 ? tickNextAt : nowMs()) + (state.refreshIntervalMs || TICK_INTERVAL_MS);
scheduleTickFallbackFrame(gen, null);
}, delay);
}
/**
* motor 轮询主链：只跑 fetchMotorState，feedback/status 已剥离独立定时器。
* motor 挂起 3s 超时期间，feedback 仍正常刷 CAN 统计（不再被 motor 拖）。
* 节拍由 Web Worker（或兜底 setTimeout）驱动；pollLoop 自身不重排，
* 单飞互斥和卡顿标记在 tickHandler 侧完成。失败/断线由上层停止调度。
*/
async function pollLoop(gen) {
if (gen !== state.pollGen || !state.connected || state.probing) return;
if (state.tickInFlight) {
schedulePollLoop(gen);
return;
}
if (gen !== state.pollGen) return;
state.tickInFlight = true;
try {
await fetchMotorState(gen);
if (gen !== state.pollGen || !state.connected || state.probing) return;
if (gen !== state.pollGen) return;
state.tickN += 1;
} finally {
state.tickInFlight = false;
if (gen === state.pollGen && state.connected && !state.probing) {
schedulePollLoop(gen);
}
if (state.tickStuck) { state.tickStuck = 0; updateTickStuckUi(); } /* 请求结束 → 卡顿解除 */
}
/* 版本查询搭便车主 tick 节拍：tickInFlight 已释放，checkVersionWait 异步触发，
* 不阻塞下一拍 tickHandler（/motor/version 即使慢也不会触发 tickStuck 误报）。 */
if (state.versionWait) {
checkVersionWait();
}
}
/**
* 调度 motor 节拍。delayMs === 0 表示立即触发首拍并启动 Worker；
* 之后每拍由 Worker 自然驱动，不再从这里重排。
*/
function schedulePollLoop(gen, delayMs) {
if (gen !== state.pollGen) return;
if (tickUseFallback) {
if (delayMs === 0) startTickFallback(gen);
return;
}
ensureTickWorker(state.refreshIntervalMs || TICK_INTERVAL_MS);
if (delayMs === 0) setTimeout(tickHandler, 0); /* 立即首拍，后续靠 Worker tick */
}
async function fetchSystemStatus(gen, wantFull) {
@@ -972,6 +1186,11 @@ function onMotorState(data) {
const motors = (data && data.motors) ? data.motors : [];
state.motors = motors;
/* 记录实际数据到达时间戳滑动窗口，用于 Hz 计算 */
const ts = state.recvTs;
ts.push(Date.now());
if (ts.length > RECV_HZ_WINDOW * 2) ts.splice(0, ts.length - RECV_HZ_WINDOW);
/* 解码每个 节点×通道 的 STATUS 帧 */
const decoded = new Map();
for (const m of motors) {
@@ -1193,19 +1412,43 @@ nodeListEl.addEventListener("keydown", (e) => {
});
/* ─── 节点相关标签更新 ─── */
/* 数据到达记录：滑动窗口长度（足够在 50ms~5s 间隔下都平滑） */
const RECV_HZ_WINDOW = 10;
/* STATUS 面板右上角频率：基于实际数据到达时间计算，不用用户设定的数值做死算。
* 保持近 RECV_HZ_WINDOW 次的到达时间戳滑动窗口，平均间隔 → Hz。
* 窗口未满时回退到按 refreshIntervalMs 理论值（首次显示前不空窗）。 */
function statusHzText() {
const ts = state.recvTs;
/* 过滤掉旧窗口残留（与最近一次间隔超过 2× 设定间隔的视为旧数据丢弃） */
const maxAge = (state.refreshIntervalMs || TICK_INTERVAL_MS) * 2 * RECV_HZ_WINDOW;
const cutoff = Date.now() - maxAge;
while (ts.length > 0 && ts[0] < cutoff) ts.shift();
if (ts.length >= 2) {
const span = ts[ts.length - 1] - ts[0];
const avg = span / (ts.length - 1);
if (avg > 0 && avg < 60000) {
const hz = 1000 / avg;
return (hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)) + " Hz";
}
}
/* 窗口数据不足时回退到理论值，不让面板空着 */
const hz = 1000 / (state.refreshIntervalMs || TICK_INTERVAL_MS);
return (hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)) + " Hz";
}
function updateNodeLabels() {
const n = state.selectedNode;
if (n == null) {
$("#nodeBadge").textContent = "NODE -";
$("#cmdIdLabel").textContent = "ID 0x000-0200 · DLC 32";
$("#statusIdLabel").textContent = "0x000-0100 · 1 Hz";
$("#statusIdLabel").textContent = "0x000-0100 · " + statusHzText();
document.querySelectorAll(".cfgNodeNibble").forEach((el) => (el.textContent = "-"));
return;
}
const hex = nodeHex(n);
$("#nodeBadge").textContent = `NODE ${n}`;
$("#cmdIdLabel").textContent = `ID ${hexId(ID_CMD(n))} · DLC 32`;
$("#statusIdLabel").textContent = `${hexId(ID_STATUS(n))} · 1 Hz`;
$("#statusIdLabel").textContent = `${hexId(ID_STATUS(n))} · ${statusHzText()}`;
document.querySelectorAll(".cfgNodeNibble").forEach((el) => (el.textContent = hex));
}
@@ -1299,6 +1542,19 @@ function busStateText(bs) {
return parts.length ? parts.join("|") : ("0x" + bs.toString(16));
}
/* ─── 轮询卡顿指示（fixed-tick 下某拍未按时完成 = 上一次请求仍占用链路） ───
* 通道下拉框变黄 + 悬浮提示显示连续卡顿拍数；请求结束自动清除。 */
function updateTickStuckUi() {
const sel = $("#chSelect");
if (!sel) return;
const stuck = (state.tickStuck || 0) > 0;
sel.classList.toggle("stuck", stuck);
sel.title = stuck
? `电机状态轮询卡顿：连续 ${state.tickStuck} 拍未按时完成（上一次请求仍占用链路）`
: "";
updateChSelectOptions(); /* 同步选框字色：卡顿黄色优先于在线绿色 */
}
/** 根据通道启用/信号状态更新下拉框选项：
* - 禁用通道贴 "(禁用)" 标签并置灰
* - 有信号通道（存在在线电机）贴 "●N" 标记并着色 */
@@ -1314,10 +1570,12 @@ function updateChSelectOptions() {
opt.style.color = !en ? "var(--fg-dim,#666)" : (cnt > 0 ? "var(--ok,#3ddc97)" : "");
}
/* 收起态的选框文本用的是 select 自身颜色（option 内联色仅展开时生效），
* 同步按当前选中通道的状态着色，避免选中有信号通道后绿色变回默认白 */
* 同步按当前选中通道的状态着色，避免选中有信号通道后绿色变回默认白。
* 卡顿优先：轮询卡顿时显示黄色，覆盖在线绿色（updateTickStuckUi 触发本函数同步） */
const curEn = state.chEnabled[state.ch];
const curCnt = state.chOnline[state.ch] || 0;
sel.style.color = !curEn ? "var(--fg-dim,#666)" : (curCnt > 0 ? "var(--ok,#3ddc97)" : "");
sel.style.color = (state.tickStuck || 0) > 0 ? "var(--warn,#f59e0b)"
: (!curEn ? "var(--fg-dim,#666)" : (curCnt > 0 ? "var(--ok,#3ddc97)" : ""));
}
function onFeedback(data) {
@@ -1376,7 +1634,7 @@ async function doSendCmd(silent) {
if (!requireNode()) return;
if (inBusCooldown()) return;
const node = state.selectedNode;
const bytes = buildCmdBytes();
const bytes = buildFormCmdBytes();
const id = ID_CMD(node);
const dataHex = bytesToHexStr(bytes);
const mode = parseInt($("#modeSelect").value, 10) || 0;
@@ -1418,6 +1676,7 @@ function getPeriod() {
function startRepeat() {
if (!state.connected) { toast("设备未连接", "err"); return; }
if (!requireNode()) return;
stopSeq("周期发送已启动，命令序列已停止", true); /* 与命令序列互斥 */
const period = getPeriod();
periodInput.value = period;
stopTimer("repeat");
@@ -1439,6 +1698,335 @@ periodInput.addEventListener("change", () => {
if (repeatTimer) { stopRepeat(true); startRepeat(); }
});
/* ═══════════════════════ 命令序列发送（循环发送设定步骤） ═══════════════════════
* 每步 = 一个「同步动作组」：组内每个 action = 一个电机目标（ch/node/模式/电压/电流/
* 速度/角度/PID）。执行本步时把组内全部 action 经一次 POST /can/send_burst 下发
* （ESP32 转 0xC7 突发，GD32 背靠背入各通道 CAN 邮箱），组内多电机近同时发送；
* 发完本步再等 holdMs 进下一步。循环次数 0 = 无限循环。与周期发送互斥。
* 目标完全独立于左侧选中节点：每个 action 自带 ch/node，可多通道、多电机混合搭配。
* 兼容旧数据：无 actions 的扁平旧步骤自动归一为单动作步骤（normStep）。
* 步骤持久化在 saveUiState/loadUiState（序列化到 o.seq）。 */
const seq = {
running: false,
stopRequested: false,
steps: [], /* [{holdMs, actions:[{ch,node,mode,voltage,current,velocity,angle,pidCurP,pidVelP,pidAngP}]}] */
loops: 0, /* 循环次数，0 = 无限 */
round: 1, /* 当前轮（1 起） */
stepIdx: 0, /* 当前步索引 */
statusText: "未运行",
};
const seqListEl = $("#seqList");
const seqStartBtn = $("#seqStartBtn");
const seqLoopsInput = $("#seqLoops");
function seqModeOptions(selected) {
return Object.entries(MODES).map(([v, m]) =>
`<option value="${v}"${String(v) === String(selected) ? " selected" : ""}>${v} — ${m.zh}</option>`).join("");
}
function seqChOptions(selected) {
return [0, 1, 2].map((c) =>
`<option value="${c}"${parseInt(selected, 10) === c ? " selected" : ""}>CH${c}</option>`).join("");
}
function seqNodeOptions(selected) {
return FIXED_MOTOR_NODES.map((n) =>
`<option value="${n}"${parseInt(selected, 10) === n ? " selected" : ""}>N${n}</option>`).join("");
}
/* 归一单个 action：补齐 ch/node/各参数默认值（ch/node 缺失时回退当前通道/选中节点） */
function actionFromAny(a) {
a = a || {};
return {
ch: Number.isInteger(a.ch) ? clampNum(a.ch, 0, 2) : clampNum(state.ch || 0, 0, 2),
node: (Number.isInteger(a.node) && a.node >= 1 && a.node <= 9) ? a.node : (state.selectedNode || 1),
mode: a.mode != null ? String(a.mode) : "3",
voltage: a.voltage != null ? a.voltage : "24.000",
current: a.current != null ? a.current : "0",
velocity: a.velocity != null ? a.velocity : "100",
angle: a.angle != null ? a.angle : "0",
pidCurP: a.pidCurP != null ? a.pidCurP : "100",
pidVelP: a.pidVelP != null ? a.pidVelP : "100",
pidAngP: a.pidAngP != null ? a.pidAngP : "100",
};
}
/* 归一步骤：新结构 {holdMs, actions[]}；旧扁平步骤（含 mode 等顶层字段）→ 单动作组 */
function normStep(s) {
s = s || {};
const holdMs = clampNum(parseInt(s.holdMs, 10) || 1000, 0, 600000);
if (Array.isArray(s.actions) && s.actions.length) {
return { holdMs: holdMs, actions: s.actions.map(actionFromAny) };
}
return { holdMs: holdMs, actions: [actionFromAny(s)] };
}
function cloneAction(a) { return Object.assign({}, actionFromAny(a)); }
/* 读取当前 CMD 表单已提交值 + 当前通道/选中节点，作为一个新 action（与 buildFormCmdBytes 同源） */
function defaultActionFromForm() {
return {
ch: clampNum(state.ch || 0, 0, 2),
node: (state.selectedNode >= 1 && state.selectedNode <= 9) ? state.selectedNode : 1,
mode: $("#modeSelect").value,
voltage: cmdVal("inVoltage"),
current: cmdVal("inCurrent"),
velocity: cmdVal("inVelocity"),
angle: cmdVal("inAngle"),
pidCurP: cmdVal("pidCurP"),
pidVelP: cmdVal("pidVelP"),
pidAngP: cmdVal("pidAngP"),
};
}
function renderSeqList() {
if (!seq.steps.length) {
seqListEl.innerHTML = '<div class="seq-empty">尚未添加步骤 — 点击「+ 添加步骤」把当前 CMD 表单（含当前通道/节点）存为一步；每步可再「+ 电机」加入多个动作，同一步内的动作近同时下发</div>';
} else {
seqListEl.innerHTML = seq.steps.map((s, i) => `
<div class="seq-step" data-idx="${i}">
<div class="seq-step-head">
<span class="seq-idx">步骤 ${i + 1}</span>
<span class="seq-count">${s.actions.length} 电机</span>
<span class="seq-hold-label">保持</span>
<input class="seq-num seq-hold" data-f="holdMs" type="number" value="${s.holdMs}" min="0" max="600000" step="100" aria-label="步骤 ${i + 1} 保持时间 ms" />
<span class="seq-hold-unit">ms</span>
<div class="seq-ops">
<button data-op="addAction" title="本步添加电机动作（复制最后一个动作）">
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M7 2.5v9M2.5 7h9" stroke="currentColor" stroke-width="1.5" stroke-linecap="round"/></svg>
</button>
<button data-op="up" title="上移" ${i === 0 ? "disabled" : ""}>
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M3.5 8.5 7 5l3.5 3.5" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
</button>
<button data-op="down" title="下移" ${i === seq.steps.length - 1 ? "disabled" : ""}>
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M3.5 5.5 7 9l3.5-3.5" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
</button>
<button data-op="dup" title="复制本步（含全部动作）">
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><rect x="4.5" y="4.5" width="7" height="7" rx="1.5" stroke="currentColor" stroke-width="1.2"/><rect x="2.5" y="2.5" width="7" height="7" rx="1.5" stroke="currentColor" stroke-width="1.2" opacity=".4"/></svg>
</button>
<button data-op="del" title="删除本步" class="seq-del">
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M2.5 4h9M5.5 4V3a1 1 0 0 1 1-1h1a1 1 0 0 1 1 1v1M3.5 4l.55 6.9A1 1 0 0 0 5.04 12h3.92a1 1 0 0 0 .99-.9L10.5 4" stroke="currentColor" stroke-width="1.2" stroke-linecap="round" stroke-linejoin="round"/></svg>
</button>
</div>
</div>
<div class="seq-actions">
${s.actions.map((a, j) => `
<div class="seq-action" data-aidx="${j}">
<div class="seq-action-head">
<span class="seq-action-tag">电机 ${j + 1}</span>
<select class="seq-ch" aria-label="步骤 ${i + 1} 电机 ${j + 1} 通道" title="发送通道">${seqChOptions(a.ch)}</select>
<select class="seq-node" aria-label="步骤 ${i + 1} 电机 ${j + 1} 节点" title="目标节点">${seqNodeOptions(a.node)}</select>
<select class="seq-mode" aria-label="步骤 ${i + 1} 电机 ${j + 1} 控制模式">${seqModeOptions(a.mode)}</select>
<div class="seq-ops">
<button data-op="delAction" title="删除此电机动作" class="seq-del">
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M2.5 4h9M5.5 4V3a1 1 0 0 1 1-1h1a1 1 0 0 1 1 1v1M3.5 4l.55 6.9A1 1 0 0 0 5.04 12h3.92a1 1 0 0 0 .99-.9L10.5 4" stroke="currentColor" stroke-width="1.2" stroke-linecap="round" stroke-linejoin="round"/></svg>
</button>
</div>
</div>
<div class="seq-step-fields">
<label class="field"><span class="field-label">电压 <span class="field-unit">V</span></span><input class="seq-num" data-f="voltage" type="number" value="${a.voltage}" step="0.5" /></label>
<label class="field"><span class="field-label">电流 <span class="field-unit">mA</span></span><input class="seq-num" data-f="current" type="number" value="${a.current}" step="100" /></label>
<label class="field"><span class="field-label">速度 <span class="field-unit">deg/s</span></span><input class="seq-num" data-f="velocity" type="number" value="${a.velocity}" step="10" /></label>
<label class="field"><span class="field-label">角度 <span class="field-unit">deg</span></span><input class="seq-num" data-f="angle" type="number" value="${a.angle}" step="1" /></label>
<label class="field"><span class="field-label">电流环P</span><input class="seq-num" data-f="pidCurP" type="number" value="${a.pidCurP}" step="1" /></label>
<label class="field"><span class="field-label">速度环P</span><input class="seq-num" data-f="pidVelP" type="number" value="${a.pidVelP}" step="1" /></label>
<label class="field"><span class="field-label">角度环P</span><input class="seq-num" data-f="pidAngP" type="number" value="${a.pidAngP}" step="1" /></label>
</div>
</div>`).join("")}
</div>
</div>`).join("");
}
updateSeqUi();
}
function updateSeqUi() {
const running = seq.running;
seqStartBtn.textContent = running ? "■ 停止序列" : "▶ 开始序列";
seqStartBtn.classList.toggle("btn-primary", running);
const st = $("#seqStatus");
if (st) {
if (running) {
const cs = seq.steps[seq.stepIdx];
const cnt = cs ? cs.actions.length : 0;
st.textContent = `运行中 · 步骤 ${seq.stepIdx + 1}/${seq.steps.length} (${cnt} 电机) · 第 ${seq.round} 轮`;
st.classList.add("on");
} else {
st.textContent = seq.statusText || `未运行 · ${seq.steps.length} 步`;
st.classList.remove("on");
}
}
seqListEl.classList.toggle("seq-locked", running);
seqListEl.querySelectorAll(".seq-step").forEach((row) => {
row.classList.toggle("current", running && parseInt(row.dataset.idx, 10) === seq.stepIdx);
});
seqLoopsInput.disabled = running;
$("#seqAddBtn").disabled = running;
$("#seqClearBtn").disabled = running;
}
/* 读取当前 CMD 表单已提交值作为新步骤：单动作组（用户可再「+ 电机」扩展） */
function seqReadStepFromForm() {
return { holdMs: 1000, actions: [defaultActionFromForm()] };
}
/* 步骤行编辑（input 事件同时覆盖 number 输入与 select 选择）：
* holdMs 归属步骤本身；ch/node/mode/各参数归属 .seq-action（data-aidx）对应的 action */
seqListEl.addEventListener("input", (e) => {
const row = e.target.closest(".seq-step");
if (!row) return;
const step = seq.steps[parseInt(row.dataset.idx, 10)];
if (!step) return;
const t = e.target;
if (t.dataset.f === "holdMs") {
step.holdMs = clampNum(parseInt(t.value, 10) || 0, 0, 600000);
} else {
const actRow = t.closest(".seq-action");
const action = actRow ? step.actions[parseInt(actRow.dataset.aidx, 10)] : null;
if (!action) return;
if (t.classList.contains("seq-ch")) action.ch = clampNum(parseInt(t.value, 10) || 0, 0, 2);
else if (t.classList.contains("seq-node")) action.node = clampNum(parseInt(t.value, 10) || 1, 1, 9);
else if (t.classList.contains("seq-mode")) action.mode = t.value;
else if (t.dataset.f) action[t.dataset.f] = t.value;
else return;
}
debounceSaveUi();
});
/* 步骤操作：上移/下移/复制/删除 + 动作级增删（运行中锁定，指针事件被 .seq-locked 禁用） */
seqListEl.addEventListener("click", (e) => {
const btn = e.target.closest("button[data-op]");
if (!btn || seq.running) return;
const row = btn.closest(".seq-step");
if (!row) return;
const i = parseInt(row.dataset.idx, 10);
const step = seq.steps[i];
if (!step) return;
const op = btn.dataset.op;
if (op === "up" && i > 0) {
const t = seq.steps[i]; seq.steps[i] = seq.steps[i - 1]; seq.steps[i - 1] = t;
} else if (op === "down" && i < seq.steps.length - 1) {
const t = seq.steps[i]; seq.steps[i] = seq.steps[i + 1]; seq.steps[i + 1] = t;
} else if (op === "dup") {
seq.steps.splice(i + 1, 0, { holdMs: step.holdMs, actions: step.actions.map(cloneAction) });
} else if (op === "del") {
seq.steps.splice(i, 1);
} else if (op === "addAction") {
/* 默认复制本步最后一个动作（改个节点即成另一台电机）；空步骤则取自 CMD 表单 */
step.actions.push(step.actions.length
? cloneAction(step.actions[step.actions.length - 1])
: defaultActionFromForm());
} else if (op === "delAction") {
const actRow = btn.closest(".seq-action");
if (!actRow) return;
step.actions.splice(parseInt(actRow.dataset.aidx, 10), 1);
if (!step.actions.length) seq.steps.splice(i, 1); /* 无动作则整步删除 */
} else {
return;
}
renderSeqList();
saveUiState();
});
$("#seqAddBtn").addEventListener("click", () => {
if (seq.running) return;
seq.steps.push(seqReadStepFromForm());
renderSeqList();
saveUiState();
});
$("#seqClearBtn").addEventListener("click", async () => {
if (seq.running || seq.steps.length === 0) return;
const ok = await showModal("清空命令序列", `将删除全部 ${seq.steps.length} 个步骤。`);
if (!ok) return;
seq.steps = [];
renderSeqList();
saveUiState();
});
seqLoopsInput.addEventListener("change", () => {
seq.loops = clampNum(parseInt(seqLoopsInput.value, 10) || 0, 0, 9999);
seqLoopsInput.value = seq.loops;
saveUiState();
});
seqStartBtn.addEventListener("click", () => {
if (seq.running) { stopSeq("已手动停止"); return; }
startSeq();
});
function startSeq() {
if (!state.connected) { toast("设备未连接", "err"); return; }
if (seq.steps.length === 0) { toast("请先添加至少一个步骤", "warn"); return; }
if (inBusCooldown()) return;
stopRepeat(true); /* 与周期发送互斥 */
seq.loops = clampNum(parseInt(seqLoopsInput.value, 10) || 0, 0, 9999);
seqLoopsInput.value = seq.loops;
seq.running = true;
seq.stopRequested = false;
seq.round = 1;
seq.stepIdx = 0;
seq.statusText = "";
updateSeqUi();
const totalActions = seq.steps.reduce((n, s) => n + s.actions.length, 0);
toast(`命令序列已启动 · ${seq.steps.length} 步 / ${totalActions} 电机动作 · 循环 ${seq.loops === 0 ? "无限" : seq.loops + " 次"}（同步动作组近同时下发）`, "ok");
seqRunLoop();
}
function stopSeq(reason, silent) {
seq.running = false;
seq.stopRequested = true;
seq.statusText = reason || "已停止";
updateSeqUi();
if (!silent) toast(reason || "命令序列已停止", "warn");
}
/* 序列主循环：stop-and-wait 逐步发送。每步把组内全部动作经一次 sendBurst
* （/can/send_burst → 0xC7 突发）近同时下发，发完等 holdMs 推进；
* 循环次数用尽或异常停止。 */
async function seqRunLoop() {
while (seq.running && !seq.stopRequested) {
if (!state.connected || state.probing) { stopSeq("连接断开，序列已停止", true); return; }
if (nowMs() < state.busCooldownUntil) { await sleep(200); continue; } /* 总线冷却等待 */
const step = seq.steps[seq.stepIdx];
if (!step || !Array.isArray(step.actions) || !step.actions.length) { stopSeq("序列数据无效，已停止"); return; }
let chBad = null;
for (const a of step.actions) {
if (!state.chEnabled[a.ch]) { chBad = a.ch; break; }
}
if (chBad != null) { stopSeq(`步骤 ${seq.stepIdx + 1} 的通道 CH${chBad} 已禁用，序列已停止`); return; }
updateSeqUi();
const targets = step.actions.map((a) => `CH${a.ch}·N${a.node}`).join(" ");
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
$("#sbLastSend").textContent = `最近发送: 序列步${seq.stepIdx + 1} → ${step.actions.length} 电机 [${targets}] ${time}`;
/* 互斥发送：通道忙（手动 CMD 等在途）时小退避重试本步，不推进步骤 */
let res;
let busyTries = 0;
do {
res = await sendBurst(step.actions);
if (!seq.running) return;
if (res.busy && busyTries < 20) { busyTries++; await sleep(50); }
} while (res.busy && busyTries < 20);
if (res.busFault) { stopSeq("总线异常，序列已停止"); return; }
if (res.networkError) { stopSeq("网络错误，序列已停止"); return; }
if (!res.ok) { stopSeq("发送失败：" + (res.desc || "未知错误")); return; }
for (const a of step.actions) state.lastSentMode.set(a.node, parseInt(a.mode, 10) || 0);
state.txCount++;
renderNodeList();
if (!seq.running) return;
const holdMs = clampNum(parseInt(step.holdMs, 10) || 0, 0, 600000);
if (holdMs > 0) await sleep(holdMs);
if (!seq.running) return;
if (seq.stepIdx + 1 >= seq.steps.length) {
if (seq.loops > 0 && seq.round >= seq.loops) {
stopSeq(`已完成 ${seq.loops} 轮`);
return;
}
seq.round++;
seq.stepIdx = 0;
} else {
seq.stepIdx++;
}
}
}
/* ═══════════════════════ 配置操作（CMD_CONFIG，DLC 24） ═══════════════════════ */
const CONFIG_ACTIONS = {
motReset: { title: "电机复位", bit: 0, desc: "将向节点发送 motReset 脉冲，电机立即停止并清除故障标志。运行中的电机将失去力矩输出，请确认机械安全。" },
@@ -1570,15 +2158,39 @@ async function fetchMotorVersionNode(node) {
}
}
/** 轮询直到 node 的版本 seq 超过 prevSeq（新应答）；超时返回 null。 */
async function waitMotorVersion(node, prevSeq, timeoutMs) {
const deadline = nowMs() + (timeoutMs || 5000);
while (nowMs() < deadline) {
const v = await fetchMotorVersionNode(node);
if (v && (prevSeq == null || v.seq > prevSeq)) return v;
await sleep(200);
/** 版本等待：挂载到主 tick（pollLoop），每拍检查一次 seq，命中或超时才 resolve。
* 节拍跟随 state.refreshIntervalMs（与 motor 状态轮询共用同一调度），
* 不再开独立 sleep 循环，避免与主 tick 节拍错位造成的窗口延迟。
* 超时返回 null（与原轮询语义一致）。 */
function waitMotorVersionOnTick(node, prevSeq, timeoutMs) {
return new Promise((resolve) => {
state.versionWait = {
node,
prevSeq,
deadline: nowMs() + (timeoutMs || 5000),
resolve,
};
});
}
/** 主 tick 每拍调用：检查挂起的版本等待。
* seq 增长 → resolve 并清空；超时 → resolve(null) 并清空。
* 瞬时错误忽略，下一拍重试。 */
async function checkVersionWait() {
const w = state.versionWait;
if (!w) return;
if (nowMs() >= w.deadline) {
state.versionWait = null;
w.resolve(null);
return;
}
return null;
try {
const v = await fetchMotorVersionNode(w.node);
if (v && (w.prevSeq == null || v.seq > w.prevSeq)) {
state.versionWait = null;
w.resolve(v);
}
} catch (e) { /* 瞬时 busy 忽略，下拍再查 */ }
}
$("#queryVerBtn").addEventListener("click", async () => {
@@ -1615,7 +2227,7 @@ $("#queryVerBtn").addEventListener("click", async () => {
}
state.txCount++;
const v = await waitMotorVersion(node, prevSeq, 5000);
const v = await waitMotorVersionOnTick(node, prevSeq, 5000);
if (v && v.version) {
const parsed = parseVersionPayload(v.version);
if (parsed && (parsed.soft || parsed.hard || parsed.boot)) {
@@ -2040,6 +2652,7 @@ async function startOta() {
if (!ok) return;
stopRepeat(true);
stopSeq("OTA 开始，命令序列已停止", true);
ota.running = true;
ota.node = node; /* 记录目标节点：finished 后 verifyNewApp 查版本用 */
ota.startTime = performance.now();
@@ -2229,7 +2842,7 @@ function startOtaPoll() {
const prevSeq = before ? before.seq : null;
const res = await sendOneFrameWhenFree(ID_GET_VERSION_REQ(node), 24, bytesToHexStr(new Uint8Array(24)));
if (res.ok) {
const v = await waitMotorVersion(node, prevSeq, 4000);
const v = await waitMotorVersionOnTick(node, prevSeq, 4000);
if (v && v.version) {
const parsed = parseVersionPayload(v.version);
if (parsed && parsed.soft) {
@@ -2369,16 +2982,15 @@ function applyRefreshRate() {
const v = clampNum(parseInt(refreshRateInput.value, 10) || 250, 50, 5000);
refreshRateInput.value = v;
state.refreshIntervalMs = v;
updateNodeLabels(); /* STATUS 面板右上角 Hz 跟随刷新速度 */
/* 后台节流兜底模式下清掉旧 setTimeout 节拍，避免双链 */
if (state.poll.tick) {
clearTimeout(state.poll.tick);
state.poll.tick = null;
}
/* HTTP 轮询驱动：清掉旧节拍后必须立即按新间隔重排 motor 链，
* 否则轮询链断死、STATUS 面板停更。
* tickInFlight 时在途 pollLoop 的 finally 也会重排，schedulePollLoop 内部
* stopTimer 保证不会双链并发。 */
if (state.connected && !state.probing) {
schedulePollLoop(state.pollGen, 0);
tickNextAt = 0; /* 节拍基准重置：立即按新间隔重新对齐 */
schedulePollLoop(state.pollGen, 0); /* Worker 模式只更新间隔；兜底模式立即重排 */
sendMotorPeriod(v); /* 同步 GD32 0xC5 推送周期（复用 /spi/send，命令码 0xC5 + 子命令 0xFE） */
}
const hz = 1000 / v;
@@ -2668,6 +3280,8 @@ updateConnUi();
renderNodeList();
renderStatusPanel();
restoreVersionUi(state.selectedNode); /* 回填上次缓存的版本号 */
renderSeqList(); /* 命令序列步骤渲染（依赖 loadUiState 恢复的数据） */
seqLoopsInput.value = seq.loops;
bindAutoSave();
initCmdCommit(); /* CMD 输入提交制：必须在 loadUiState 回填之后初始化，否则初始提交值是 HTML 默认值 */
otaRestorePersistedFirmware(); /* 异步恢复上次固件（无阻塞） */