feat(spi): 增强 SPI master：性能剖析与执行耗时跟踪
- 新增 `lastWorkerExecUs()`：获取最近一次 worker 任务执行耗时（µs）。 - 引入 `SpiProfile` 结构体：事务级详细剖析，记录 SPI 事务各阶段的时间戳。 - 实现 `lastProfile()`：诊断用，获取最近一次事务剖析快照。 - SPI 时钟配置提升至 13.3 MHz，改善性能。 - 修改前端 JavaScript 轮询逻辑：新增 uptime 检查，更好地处理 ESP32 重启状态。 - SPI 测速 HTML 的计时单位由毫秒改为微秒显示。 - 新建 `spi_ring_cache.h`：共享 SPI ring push 缓存工具。 - 新增 `http_util.h`：共享 HTTP 处理器工具，含 JSON 拼接与查询参数解析。 - 引入 `json_parse.h`：轻量级 JSON 解析器，针对扁平 JSON 对象设计。 - 新增 Windows 环境下的项目构建批处理脚本。 - 重构 CAN 反馈处理：从推送式改为请求驱动架构，降低内存占用、提升效率。
This commit is contained in:
小龙虾
+109
-111
@@ -35,6 +35,59 @@ static int64_t nowMs() {
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return esp_timer_get_time() / 1000;
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}
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/* ── 共享辅助：终态判断 + QUERY SPI 事务 ── */
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/** @brief GD32 侧已进终态（IDLE/FINISHED/ERROR），喂数据应停止。 */
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static inline bool isTerminalState(motor_ota_state_t s)
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{
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return s == MOTOR_OTA_IDLE || s == MOTOR_OTA_FINISHED || s == MOTOR_OTA_ERROR;
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}
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/**
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* @brief 发 SPI 0xD0 QUERY 查询 GD32 真实状态。
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* @param out_state 非 null 时写入 GD32 返回的 state
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* @param out_err 非 null 时写入 error_code
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* @param update_status true 时把结果同步写回 s_status（持锁）
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* @return true=QUERY 成功且 ACK 有有效数据；false=SPI 失败或无 ACK
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*
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* 消除 feedTask 中 4 处重复的 qcmd[1]={2} + transact + parse qp[0..5] 块。
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*/
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static bool queryMotorOtaStatus(motor_ota_state_t *out_state = nullptr,
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uint8_t *out_err = nullptr,
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bool update_status = false)
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{
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uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
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uint8_t qt = 0, qp[16] = {0};
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size_t ql = 0;
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if (SpiMaster::instance().transact(
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kSpiMotorOtaCmd, qcmd, 1, &qt, qp, sizeof(qp), &ql, 300U) != ESP_OK
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|| qt != kRspAck || ql < 1U) {
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return false;
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}
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const motor_ota_state_t qst = static_cast<motor_ota_state_t>(qp[0]);
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if (out_state) *out_state = qst;
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if (out_err) *out_err = (ql >= 2U) ? qp[1] : 0U;
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if (update_status && s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
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s_status.state = qst;
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s_status.error_code = (ql >= 2U) ? qp[1] : 0U;
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if (ql >= 6U) {
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s_status.packets_acked = static_cast<uint16_t>(qp[2])
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| (static_cast<uint16_t>(qp[3]) << 8);
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s_status.total_packets = static_cast<uint16_t>(qp[4])
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| (static_cast<uint16_t>(qp[5]) << 8);
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}
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if (ql >= 10U) {
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s_status.fw_size = static_cast<uint32_t>(qp[6])
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| (static_cast<uint32_t>(qp[7]) << 8)
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| (static_cast<uint32_t>(qp[8]) << 16)
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| (static_cast<uint32_t>(qp[9]) << 24);
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}
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s_status.last_update_ms = nowMs();
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xSemaphoreGive(s_mutex);
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}
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return true;
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}
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/* ═══════════════════ 喂数据 task ═══════════════════ */
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static void feedTask(void *arg)
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@@ -87,8 +140,7 @@ static void feedTask(void *arg)
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* (0xD2 ring 延迟到达) 覆写 s_status 导致 feedTask 误判退出发 CANCEL。 */
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const motor_ota_status_t st = motorOtaGetStatus();
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if (nowMs() >= grace_end_ms) {
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if (st.state == MOTOR_OTA_IDLE || st.state == MOTOR_OTA_FINISHED ||
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st.state == MOTOR_OTA_ERROR) {
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if (isTerminalState(st.state)) {
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ESP_LOGW(TAG, "GD32 终态 0x%02X，停止喂数据 offset=%u/%u",
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(int)st.state, (unsigned)s_fw_offset, (unsigned)s_fw_size);
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break;
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@@ -127,36 +179,17 @@ const uint32_t remaining = s_fw_size - s_fw_offset;
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vTaskDelay(pdMS_TO_TICKS(10)); /* 快速重试（原 100ms 太慢导致吐量低） */
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/* suppress 期间 s_status 不更新，连续失败时主动 QUERY GD32 真实状态，
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* 避免 GD32 已进 ERROR 终态但 feedTask 不知道、盲重试空转到 120s 超时。 */
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if (++consec_fail >= kQueryAfterFails) {
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consec_fail = 0U;
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uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
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uint8_t qt = 0, qp[16] = {0};
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size_t ql = 0;
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if (SpiMaster::instance().transact(
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kSpiMotorOtaCmd, qcmd, 1, &qt, qp, sizeof(qp), &ql, 300U) == ESP_OK
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&& qt == kRspAck && ql >= 1U) {
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motor_ota_state_t qst = static_cast<motor_ota_state_t>(qp[0]);
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if (qst == MOTOR_OTA_IDLE || qst == MOTOR_OTA_FINISHED ||
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qst == MOTOR_OTA_ERROR) {
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ESP_LOGW(TAG, "QUERY 检测到 GD32 终态 0x%02X err=0x%02X，停止喂数据 offset=%u/%u",
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(int)qst, (unsigned)qp[1],
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(unsigned)s_fw_offset, (unsigned)s_fw_size);
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if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
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s_status.state = qst;
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s_status.error_code = qp[1];
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if (ql >= 6U) {
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s_status.packets_acked = static_cast<uint16_t>(qp[2])
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| (static_cast<uint16_t>(qp[3]) << 8);
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s_status.total_packets = static_cast<uint16_t>(qp[4])
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| (static_cast<uint16_t>(qp[5]) << 8);
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}
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s_status.last_update_ms = nowMs();
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xSemaphoreGive(s_mutex);
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}
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break;
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}
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}
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}
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if (++consec_fail >= kQueryAfterFails) {
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consec_fail = 0U;
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motor_ota_state_t qst;
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uint8_t qerr;
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if (queryMotorOtaStatus(&qst, &qerr, true) && isTerminalState(qst)) {
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ESP_LOGW(TAG, "QUERY 检测到 GD32 终态 0x%02X err=0x%02X，停止喂数据 offset=%u/%u",
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(int)qst, (unsigned)qerr,
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(unsigned)s_fw_offset, (unsigned)s_fw_size);
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break;
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}
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}
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continue; /* 不推进 offset，同 offset 重发 */
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}
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consec_fail = 0U;
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@@ -177,13 +210,8 @@ const uint32_t remaining = s_fw_size - s_fw_offset;
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/* 握手未确认时定期 QUERY：确认 GD32 已过握手阶段才标 TRANSFER */
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if (!handshake_confirmed && (ack_n & 7U) == 0U) {
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uint8_t qcmd[1] = {2U};
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uint8_t qt = 0, qp[16] = {0};
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size_t ql = 0;
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if (SpiMaster::instance().transact(
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kSpiMotorOtaCmd, qcmd, 1, &qt, qp, sizeof(qp), &ql, 300U) == ESP_OK
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&& qt == kRspAck && ql >= 1U) {
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motor_ota_state_t qst = static_cast<motor_ota_state_t>(qp[0]);
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motor_ota_state_t qst;
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if (queryMotorOtaStatus(&qst, nullptr, false)) {
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if (qst == MOTOR_OTA_ERASE || qst == MOTOR_OTA_TRANSFER ||
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qst == MOTOR_OTA_FINISH_OTA || qst == MOTOR_OTA_WAIT_APP_RUN) {
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handshake_confirmed = true;
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@@ -216,16 +244,11 @@ const uint32_t remaining = s_fw_size - s_fw_offset;
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vTaskDelay(pdMS_TO_TICKS(2));
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/* 连续 WAIT 超限：可能 GD32 auto-retry 重置了 s_fw_fed=0，
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* 当前 offset 被 gap 拒收（永远不会变 ACK）。QUERY 确认真实状态。 */
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if (++consec_wait >= kQueryAfterWaits) {
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consec_wait = 0U;
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uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
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uint8_t qt = 0, qp[16] = {0};
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size_t ql = 0;
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if (SpiMaster::instance().transact(
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kSpiMotorOtaCmd, qcmd, 1, &qt, qp, sizeof(qp), &ql, 300U) == ESP_OK
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&& qt == kRspAck && ql >= 2U) {
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const motor_ota_state_t qst = static_cast<motor_ota_state_t>(qp[0]);
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const uint8_t qerr = qp[1];
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if (++consec_wait >= kQueryAfterWaits) {
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consec_wait = 0U;
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motor_ota_state_t qst;
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uint8_t qerr;
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if (queryMotorOtaStatus(&qst, &qerr, false)) {
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if (qst != MOTOR_OTA_TRANSFER) {
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/* GD32 不在传输态（auto-retry 回了 kPreCancel/握手）：
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* 重置 offset 从头喂，配合 GD32 重新擦除+握手。 */
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@@ -237,21 +260,20 @@ const uint32_t remaining = s_fw_size - s_fw_offset;
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} else {
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handshake_confirmed = true; /* GD32 在 transfer，确认握手完成 */
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}
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/* 终态仍 break */
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if (qst == MOTOR_OTA_IDLE || qst == MOTOR_OTA_FINISHED ||
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qst == MOTOR_OTA_ERROR) {
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ESP_LOGW(TAG, "QUERY(WAIT) 终态 0x%02X err=0x%02X，停止",
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(unsigned)qst, (unsigned)qerr);
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if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
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s_status.state = qst;
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s_status.error_code = qerr;
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s_status.last_update_ms = nowMs();
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xSemaphoreGive(s_mutex);
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}
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break;
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}
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}
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}
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/* 终态仍 break */
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if (isTerminalState(qst)) {
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ESP_LOGW(TAG, "QUERY(WAIT) 终态 0x%02X err=0x%02X，停止",
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(unsigned)qst, (unsigned)qerr);
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if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
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s_status.state = qst;
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s_status.error_code = qerr;
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s_status.last_update_ms = nowMs();
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xSemaphoreGive(s_mutex);
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}
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break;
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}
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}
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}
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} else {
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/* 非 ACK/WAIT（含 ERROR/陈旧 type）：不 break 整次 OTA。
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* 曾因 poll 读到 EVENT/错 type 直接 break → fed 卡首 chunk。 */
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@@ -273,53 +295,29 @@ const uint32_t remaining = s_fw_size - s_fw_offset;
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const uint32_t exit_deadline = nowMs() + kExitPollMs;
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bool got_terminal = false;
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while (nowMs() < exit_deadline) {
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/* 优先吃 ring 推送（已恢复 suppress） */
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{
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const motor_ota_status_t st = motorOtaGetStatus();
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if (st.state == MOTOR_OTA_FINISHED || st.state == MOTOR_OTA_ERROR ||
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st.state == MOTOR_OTA_IDLE) {
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ESP_LOGI(TAG, "feedTask 退出，ring 终态: state=%u err=%u pkt=%u/%u",
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(unsigned)st.state, (unsigned)st.error_code,
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(unsigned)st.packets_acked, (unsigned)st.total_packets);
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got_terminal = true;
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break;
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}
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}
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uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
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uint8_t qresp_type = 0;
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uint8_t qresp[16] = {0};
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size_t qresp_len = 0;
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esp_err_t qr = SpiMaster::instance().transact(
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kSpiMotorOtaCmd, qcmd, 1,
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&qresp_type, qresp, sizeof(qresp), &qresp_len, 300U);
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if (qr == ESP_OK && qresp_type == kRspAck && qresp_len >= 10U) {
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const motor_ota_state_t qst = static_cast<motor_ota_state_t>(qresp[0]);
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if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
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s_status.state = qst;
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s_status.error_code = qresp[1];
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s_status.packets_acked = static_cast<uint16_t>(qresp[2])
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| (static_cast<uint16_t>(qresp[3]) << 8);
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s_status.total_packets = static_cast<uint16_t>(qresp[4])
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| (static_cast<uint16_t>(qresp[5]) << 8);
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s_status.fw_size = static_cast<uint32_t>(qresp[6])
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| (static_cast<uint32_t>(qresp[7]) << 8)
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| (static_cast<uint32_t>(qresp[8]) << 16)
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| (static_cast<uint32_t>(qresp[9]) << 24);
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s_status.last_update_ms = nowMs();
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xSemaphoreGive(s_mutex);
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}
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if (qst == MOTOR_OTA_FINISHED || qst == MOTOR_OTA_ERROR ||
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qst == MOTOR_OTA_IDLE) {
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ESP_LOGI(TAG, "feedTask 退出，QUERY 终态: state=%u err=%u pkt=%u/%u",
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(unsigned)qst, (unsigned)qresp[1],
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(unsigned)(static_cast<uint16_t>(qresp[2])
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| (static_cast<uint16_t>(qresp[3]) << 8)),
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(unsigned)(static_cast<uint16_t>(qresp[4])
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| (static_cast<uint16_t>(qresp[5]) << 8)));
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got_terminal = true;
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break;
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}
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}
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/* 优先吃 ring 推送（已恢复 suppress） */
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{
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const motor_ota_status_t st = motorOtaGetStatus();
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if (isTerminalState(st.state)) {
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ESP_LOGI(TAG, "feedTask 退出，ring 终态: state=%u err=%u pkt=%u/%u",
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(unsigned)st.state, (unsigned)st.error_code,
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(unsigned)st.packets_acked, (unsigned)st.total_packets);
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got_terminal = true;
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break;
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}
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}
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motor_ota_state_t qst;
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uint8_t qerr;
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if (queryMotorOtaStatus(&qst, &qerr, true)) {
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if (isTerminalState(qst)) {
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const motor_ota_status_t snap = motorOtaGetStatus();
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ESP_LOGI(TAG, "feedTask 退出，QUERY 终态: state=%u err=%u pkt=%u/%u",
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(unsigned)qst, (unsigned)qerr,
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(unsigned)snap.packets_acked, (unsigned)snap.total_packets);
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got_terminal = true;
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break;
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}
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}
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vTaskDelay(pdMS_TO_TICKS(kExitGapMs));
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}
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if (!got_terminal) {
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