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。
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小龙虾
@@ -26,6 +26,7 @@
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#include "esp_timer.h"
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#include "spi_master.h"
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#include "http_handlers.h" /* http_set_cors_headers */
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#include "server/http_util.h"
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#include "monitor/debug_log.h"
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namespace {
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@@ -37,30 +38,14 @@ constexpr size_t kPayloadDefault = 236U; /* 满帧：等效 0xD1 电机 OTA
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constexpr size_t kPayloadMax = 236U; /* APP kTxBufSize=256 - V2_OVERHEAD */
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constexpr uint32_t kFrameTimeoutMs = 500U;
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/** @brief 从 query 里取无符号整型参数，缺失/非法时返回默认值。 */
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uint32_t queryU32(httpd_req_t *req, const char *key, uint32_t defval)
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{
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char qbuf[64];
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char vbuf[16];
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if (httpd_req_get_url_query_str(req, qbuf, sizeof(qbuf)) != ESP_OK) {
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return defval;
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}
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if (httpd_query_key_value(qbuf, key, vbuf, sizeof(vbuf)) != ESP_OK) {
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return defval;
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}
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char *end = nullptr;
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const unsigned long v = strtoul(vbuf, &end, 10);
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return (end && *end == '\0') ? (uint32_t)v : defval;
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}
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} // namespace
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esp_err_t spi_speedtest_handler(httpd_req_t *req)
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{
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uint32_t frames = queryU32(req, "frames", kFramesDefault);
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uint32_t frames = http_query_u32(req, "frames", kFramesDefault);
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if (frames < 1U) { frames = 1U; }
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if (frames > kFramesMax) { frames = kFramesMax; }
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size_t payload_len = (size_t)queryU32(req, "payload", (uint32_t)kPayloadDefault);
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size_t payload_len = (size_t)http_query_u32(req, "payload", (uint32_t)kPayloadDefault);
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if (payload_len > kPayloadMax) { payload_len = kPayloadMax; }
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/* 探针 payload：递增填充（CRC32 覆盖，顺带校验数据路径完整性） */
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@@ -74,9 +59,18 @@ esp_err_t spi_speedtest_handler(httpd_req_t *req)
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uint64_t rtt_sum_us = 0U;
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uint64_t rtt_min_us = UINT64_MAX;
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uint64_t rtt_max_us = 0U;
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/* RTT 分布直方图：<2 / 2-3 / 3-4 / 4-5 / >=5 ms，用于判断抖动形态
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* （双峰=离散 +1ms 碰撞；均匀=tick 相位量化） */
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uint32_t histo[5] = {0U, 0U, 0U, 0U, 0U};
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/* RTT 分布直方图（µs 计时，<2ms 区间细化为 0.5ms 粒度）：
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* <0.5 / 0.5-1 / 1-1.5 / 1.5-2 / 2-3 / 3-5 / >=5 ms，
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* 用于判断抖动形态（<2ms 内的尖峰/双峰 vs 离散 +1ms 碰撞） */
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uint32_t histo[7] = {0U, 0U, 0U, 0U, 0U, 0U, 0U};
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/* 事务耗时（worker 内执行段，SpiMaster::lastWorkerExecUs）与
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* 调度/唤醒开销（RTT − 事务）拆解：事务慢=GD32 应答/SPI 时序；
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* 调度慢=ESP32 任务抢占（WiFi/esp_timer 等）。 */
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uint64_t w_sum_us = 0U, w_min_us = UINT64_MAX, w_max_us = 0U;
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uint64_t s_sum_us = 0U, s_min_us = UINT64_MAX, s_max_us = 0U;
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/* 5 段细分（SpiMaster::SpiProfile）：提交/调度、发送帧、等应答、读响应、唤醒 */
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uint64_t seg_sum[5] = {0U, 0U, 0U, 0U, 0U};
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uint64_t seg_max[5] = {0U, 0U, 0U, 0U, 0U};
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DEBUG_INFO("SPI", "[SPEEDTEST] start frames=%u payload=%u",
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(unsigned)frames, (unsigned)payload_len);
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@@ -100,12 +94,34 @@ esp_err_t spi_speedtest_handler(httpd_req_t *req)
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rtt_sum_us += rtt;
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if (rtt < rtt_min_us) { rtt_min_us = rtt; }
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if (rtt > rtt_max_us) { rtt_max_us = rtt; }
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const uint32_t ms_bucket = (uint32_t)(rtt / 1000U);
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if (ms_bucket < 2U) { ++histo[0]; }
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else if (ms_bucket < 3U) { ++histo[1]; }
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else if (ms_bucket < 4U) { ++histo[2]; }
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else if (ms_bucket < 5U) { ++histo[3]; }
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else { ++histo[4]; }
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const uint64_t wus = SpiMaster::instance().lastWorkerExecUs();
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const uint64_t sus = (rtt > wus) ? (rtt - wus) : 0U;
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w_sum_us += wus;
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if (wus < w_min_us) { w_min_us = wus; }
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if (wus > w_max_us) { w_max_us = wus; }
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s_sum_us += sus;
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if (sus < s_min_us) { s_min_us = sus; }
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if (sus > s_max_us) { s_max_us = sus; }
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/* 5 段细分（防回绕钳 0） */
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const SpiMaster::SpiProfile &pf = SpiMaster::instance().lastProfile();
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const uint64_t seg[5] = {
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(pf.t_w0 > pf.t_submit0) ? (pf.t_w0 - pf.t_submit0) : 0U,
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(pf.t_send1 > pf.t_send0) ? (pf.t_send1 - pf.t_send0) : 0U,
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(pf.t_wait1 > pf.t_wait0) ? (pf.t_wait1 - pf.t_wait0) : 0U,
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(pf.t_read1 > pf.t_wait1) ? (pf.t_read1 - pf.t_wait1) : 0U,
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(pf.t_submit1 > pf.t_w1) ? (pf.t_submit1 - pf.t_w1) : 0U,
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};
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for (int k = 0; k < 5; ++k) {
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seg_sum[k] += seg[k];
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if (seg[k] > seg_max[k]) { seg_max[k] = seg[k]; }
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}
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if (rtt < 500U) { ++histo[0]; }
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else if (rtt < 1000U) { ++histo[1]; }
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else if (rtt < 1500U) { ++histo[2]; }
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else if (rtt < 2000U) { ++histo[3]; }
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else if (rtt < 3000U) { ++histo[4]; }
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else if (rtt < 5000U) { ++histo[5]; }
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else { ++histo[6]; }
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} else {
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++n_fail;
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}
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@@ -120,25 +136,44 @@ esp_err_t spi_speedtest_handler(httpd_req_t *req)
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tput_kbps = ((double)n_ok * (double)payload_len) / ((double)elapsed_us / 1000000.0) / 1024.0;
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}
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if (rtt_min_us == UINT64_MAX) { rtt_min_us = 0U; }
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if (w_min_us == UINT64_MAX) { w_min_us = 0U; }
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if (s_min_us == UINT64_MAX) { s_min_us = 0U; }
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DEBUG_INFO("SPI", "[SPEEDTEST] done ok=%u fail=%u avg=%uus tput=%.1fKB/s",
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(unsigned)n_ok, (unsigned)n_fail, (unsigned)rtt_avg_us, tput_kbps);
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char text[480];
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char text[640];
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const int len = snprintf(text, sizeof(text),
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"SPI 测速结果\n"
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"帧数: %u 成功: %u 失败: %u%s\n"
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"载荷: %u B/帧 总耗时: %u ms\n"
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"往返延迟: 平均 %.1f ms 最快 %.1f ms 最慢 %.1f ms\n"
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"延迟分布: <2ms:%u 2-3ms:%u 3-4ms:%u 4-5ms:%u >=5ms:%u\n"
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"往返延迟: 平均 %llu µs 最快 %llu µs 最慢 %llu µs\n"
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"SPI 事务: 平均 %llu µs 最快 %llu µs 最慢 %llu µs\n"
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"调度开销: 平均 %llu µs 最快 %llu µs 最慢 %llu µs\n"
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"单帧分段 平均: 提交/调度 %llu | 发送帧 %llu | 等应答 %llu | 读响应 %llu | 唤醒 %llu µs\n"
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"单帧分段 最慢: 提交/调度 %llu | 发送帧 %llu | 等应答 %llu | 读响应 %llu | 唤醒 %llu µs\n"
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"延迟分布: <0.5ms:%u 0.5-1ms:%u 1-1.5ms:%u 1.5-2ms:%u 2-3ms:%u 3-5ms:%u >=5ms:%u\n"
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"等效吞吐: %.1f KB/s\n",
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(unsigned)frames, (unsigned)n_ok, (unsigned)n_fail,
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(n_fail > 0U) ? " <-- 存在失败帧, 链路异常!" : "",
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(unsigned)payload_len, (unsigned)elapsed_ms,
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(double)rtt_avg_us / 1000.0, (double)rtt_min_us / 1000.0,
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(double)rtt_max_us / 1000.0,
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(unsigned long long)rtt_avg_us, (unsigned long long)rtt_min_us,
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(unsigned long long)rtt_max_us,
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(unsigned long long)(w_sum_us / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)w_min_us, (unsigned long long)w_max_us,
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(unsigned long long)(s_sum_us / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)s_min_us, (unsigned long long)s_max_us,
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(unsigned long long)(seg_sum[0] / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)(seg_sum[1] / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)(seg_sum[2] / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)(seg_sum[3] / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)(seg_sum[4] / (n_ok > 0U ? n_ok : 1U)),
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(unsigned long long)seg_max[0], (unsigned long long)seg_max[1],
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(unsigned long long)seg_max[2], (unsigned long long)seg_max[3],
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(unsigned long long)seg_max[4],
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(unsigned)histo[0], (unsigned)histo[1], (unsigned)histo[2],
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(unsigned)histo[3], (unsigned)histo[4], tput_kbps);
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(unsigned)histo[3], (unsigned)histo[4],
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(unsigned)histo[5], (unsigned)histo[6], tput_kbps);
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http_set_cors_headers(req);
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httpd_resp_set_type(req, "text/plain; charset=utf-8");
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