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fix: 修复：改进OTA错误处理和BLE OTA性能

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- 重构app.js中的OTA错误处理，以准确报告获取失败而不假设重启，从而实现正确的状态轮询。
- 通过将握手状态封装在SpiLinkState类中来增强SPI主状态管理，提高清晰度并减少直接的状态操作。
 引入otaSendAndPoll方法，以更好地处理SPI通信中的命令发送和响应轮询。
- 调整BLE OTA数据包确认逻辑，防止导致固件录变慢的虚假确认，确保仅在实际取得进展时才发送确认。
- 修改确认超时设置，以更好地适应闪存写入速度，减少不重传。
This commit is contained in:
小龙虾
2026-07-09 02:49:24 +08:00
parent 661ae54424
commit fedb08e215
16 changed files with 432 additions and 1369 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main/transport/canfd_bridge.cpp
+32 -33
View File
@@ -30,34 +30,30 @@ static int sendCanFrameOverSpi(can_channel_t channel, uint32_t ext_id,
uint8_t resp_type = 0U;
size_t resp_len = 0U;
esp_err_t ret = SpiMaster::instance().otaTransfer(
/* 两步法：otaTransfer 发命令（丢弃延迟一拍的过期响应）+ otaPollResponse 读真实响应。
* CAN 帧非幂等，命令只发一次，不重发。 */
esp_err_t ret = SpiMaster::instance().otaSendAndPoll(
kSpiCanFrameType,
tx_buf,
tx_len,
&resp_type,
recv_buf,
recv_max,
&resp_len,
timeout_ms);
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK) {
if (ret != ESP_OK) {
DEBUG_WARN("CAN", "CAN_SEND SPI失败: ch=%u id=0x%08lX err=%s",
(unsigned)channel, (unsigned long)ext_id, esp_err_to_name(ret));
return -2; /* SPI 通信失败 */
tx_buf, tx_len,
&resp_type, recv_buf, recv_max, &resp_len, timeout_ms);
if (ret != ESP_OK) {
DEBUG_WARN("CAN", "CAN_SEND SPI失败: ch=%u id=0x%08lX err=%s",
(unsigned)channel, (unsigned long)ext_id, esp_err_to_name(ret));
return -2; /* SPI 通信失败 */
}
if (resp_type == SPI_OTA_RSP_ACK) {
if (recv_buf == nullptr || recv_max == 0U) {
return static_cast<int>(resp_len);
}
/* resp_type != ACK: 读取 GD32 返回的错误码 */
uint8_t gd32_err = (resp_len > 0 && recv_buf) ? recv_buf[0] : 0xFF;
DEBUG_WARN("CAN", "CAN_SEND GD32拒绝: ch=%u id=0x%08lX resp=0x%02X err=0x%02X",
(unsigned)channel, (unsigned long)ext_id, resp_type, gd32_err);
return -3; /* GD32 返回 ERROR */
const size_t copied_len = (resp_len < recv_max) ? resp_len : recv_max;
return static_cast<int>(copied_len);
}
if (recv_buf == nullptr || recv_max == 0U) {
return static_cast<int>(resp_len);
}
const size_t copied_len = (resp_len < recv_max) ? resp_len : recv_max;
return static_cast<int>(copied_len);
/* resp_type == ERROR: 读取 GD32 返回的错误码 */
uint8_t gd32_err = (resp_len > 0 && recv_buf) ? recv_buf[0] : 0xFF;
DEBUG_WARN("CAN", "CAN_SEND GD32拒绝: ch=%u id=0x%08lX resp=0x%02X err=0x%02X",
(unsigned)channel, (unsigned long)ext_id, resp_type, gd32_err);
return -3; /* GD32 返回 ERROR */
}
constexpr uint8_t kSpiCanFeedbackType = 0xC1U;
@@ -202,7 +198,7 @@ int canFdPullIdSnapshot(can_channel_t channel,
uint8_t resp_type = 0U;
size_t resp_len = 0U;
esp_err_t ret = SpiMaster::instance().otaTransfer(
esp_err_t ret = SpiMaster::instance().otaSendAndPoll(
kSpiIdSnapshotType,
req, 2U,
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
@@ -263,15 +259,18 @@ int canFdSetRxMode(can_rx_mode_t mode,
uint8_t resp_type = 0U;
size_t resp_len = 0U;
esp_err_t ret = SpiMaster::instance().otaTransfer(
/* 两步法破解延迟一拍：发命令一次 + poll 真实响应。
* 0xC2 幂等，但两步法避免无效重试。 */
esp_err_t ret = SpiMaster::instance().otaSendAndPoll(
kSpiCanSetModeType,
&req, 1U,
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < 1U) {
return -1;
if (ret == ESP_OK && resp_type == SPI_OTA_RSP_ACK && resp_len >= 1U) {
if (actual != nullptr) {
*actual = static_cast<can_rx_mode_t>(resp_buf[0]);
}
return 0;
}
if (actual != nullptr) {
*actual = static_cast<can_rx_mode_t>(resp_buf[0]);
}
return 0;
return -1;
}