小龙虾
2138a572ee
- 新增多电机状态、版本和OTA中继监控模块（monitor/motor_state.cpp, monitor/motor_version.cpp, monitor/motor_ota_relay.cpp） - 在CAN反馈任务中添加0xC5/0xC6/0xD2类型消息处理，支持多电机状态推送 - 重构调试日志系统，将一次性JSON分配改为512B栈缓冲流式发送，降低内存峰值 - 调试UART波特率从115200提升至30000 - 修改版本管理方式，从自动生version.h改为手动维护 - 更新VSCode设置以支持ESP-IDF开发环境配置 - 在OTA协调器中添加电机OTA互斥机制，防止并发冲突 - 完善中继状态机异常处理，添加远程取消通知机制
148 lines
4.5 KiB
C++
148 lines
4.5 KiB
C++
/*
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* ESP32-C3FH4 OTA 中继 - 程序入口
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*
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* 初始化顺序（每位成功后 SystemBoot::mark=1，末尾统一 report）：
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* 1. 冷启动延时
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* 2. netif / event_loop / debug_log
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* 3. wifi earlyInit
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* 4. health_mon + task
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* 5. cpu_stats（可选）
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* 6. protocol / ota_coord
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* 7. spi init + L0 本机自检 → mark spi；HELLO 对端轻检 → mark can_link（非关键）
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* 8. ota_relay / wifi_ota / ble_ota 任务
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* 9. can_fb 任务（依赖 spi L0）
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* 10. ota_mark_valid（可选）
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* 11. SystemBoot::report()
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_system.h"
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#include "esp_netif.h"
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#include "esp_event.h"
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#include "esp_ota_ops.h"
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#include "system_boot.h"
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#include "monitor/health_monitor.h"
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#include "monitor/cpu_stats.h"
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#include "relay/ota_relay.h"
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#include "ota/ota_coordinator.h"
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#include "transport/spi_master.h"
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#include "server/wifi_ota.h"
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#include "server/ble_ota.h"
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#include "transport/protocol.h"
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#include "monitor/debug_log.h"
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#include "app_config.h"
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#include "ota/esp32_ota_core.h"
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#include "monitor/can_feedback_task.h"
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#include "monitor/motor_ota_relay.h"
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/** @brief 创建关键任务；成功返回 true。 */
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static bool createCriticalTask(TaskFunction_t entry, const char *name,
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uint32_t stack, UBaseType_t prio)
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{
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return xTaskCreatePinnedToCore(entry, name, stack, NULL, prio, NULL, 0) == pdPASS;
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}
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/**
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* @brief 程序主入口：按模块初始化并汇总结果。
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*/
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extern "C" void app_main(void)
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{
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SystemBoot::reset();
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/* 上电/欠压复位后短延时再初始化子系统 */
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{
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esp_reset_reason_t rr = esp_reset_reason();
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if (rr == ESP_RST_POWERON || rr == ESP_RST_BROWNOUT) {
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vTaskDelay(pdMS_TO_TICKS(200));
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}
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}
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Esp32OtaCore::initMutex();
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if (esp_netif_init() == ESP_OK) {
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SystemBoot::mark(BOOT_NETIF);
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}
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if (esp_event_loop_create_default() == ESP_OK) {
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SystemBoot::mark(BOOT_EVENT_LOOP);
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}
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DebugLog::instance().init();
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SystemBoot::mark(BOOT_DEBUG_LOG);
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/* earlyInit：true=已启动 STA 连接流程；false=将走 AP */
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const bool wifi_early_started_sta = WifiOta::instance().earlyInit();
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SystemBoot::mark(BOOT_WIFI_EARLY);
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HealthMonitor::instance().init();
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SystemBoot::mark(BOOT_HEALTH_MON);
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if (createCriticalTask(HealthMonitor::taskEntry, "health_mon",
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TASK_STACK_HEALTH_MON, configMAX_PRIORITIES - 4)) {
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SystemBoot::mark(BOOT_HEALTH_TASK);
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}
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CpuStats::instance().start();
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SystemBoot::mark(BOOT_CPU_STATS);
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Protocol::instance().init();
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SystemBoot::mark(BOOT_PROTOCOL);
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OtaCoordinator::instance().init();
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OtaCoordinator::instance().setBleCoexListener(&WifiOta::instance());
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SystemBoot::mark(BOOT_OTA_COORD);
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bool spi_l0_ok = false;
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{
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esp_err_t ret = SpiMaster::instance().init();
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if (ret == ESP_OK && SpiMaster::instance().selfTestL0()) {
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SystemBoot::mark(BOOT_SPI);
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spi_l0_ok = true;
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/* 对端轻检：GD32 可能仍在启动延时，失败不拉垮关键启动 */
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if (SpiMaster::instance().selfTestPeerL0()) {
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SystemBoot::mark(BOOT_CAN_LINK);
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}
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}
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}
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if (createCriticalTask(OtaRelay::taskEntry, "ota_relay",
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TASK_STACK_OTA_RELAY, configMAX_PRIORITIES - 2)) {
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SystemBoot::mark(BOOT_OTA_RELAY_TASK);
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}
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if (createCriticalTask(WifiOta::taskEntry, "wifi_ota",
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TASK_STACK_WIFI_OTA, configMAX_PRIORITIES - 3)) {
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SystemBoot::mark(BOOT_WIFI_TASK);
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}
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if (createCriticalTask(BleOta::taskEntry, "ble_ota",
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TASK_STACK_BLE_OTA, configMAX_PRIORITIES - 3)) {
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SystemBoot::mark(BOOT_BLE_TASK);
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}
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/* CAN 反馈依赖 SPI 本机 L0 */
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if (spi_l0_ok && startCanFeedbackTask()) {
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SystemBoot::mark(BOOT_CAN_FB_TASK);
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}
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motorOtaRelayInit();
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if (esp_ota_mark_app_valid_cancel_rollback() == ESP_OK) {
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SystemBoot::mark(BOOT_OTA_VALID);
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}
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DEBUG_INFO("MAIN", "ESP32-C3 OTA Relay %s, heap=%lu, wifi_early=%s",
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FW_VERSION,
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(unsigned long)esp_get_free_heap_size(),
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wifi_early_started_sta ? "STA" : "AP/other");
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const bool critical_ok = SystemBoot::report();
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if (!critical_ok) {
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DEBUG_ERR("MAIN", "critical init FAIL, restart in 3s");
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vTaskDelay(pdMS_TO_TICKS(3000));
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esp_restart();
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}
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}
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