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
85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
/*
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* motor_version.cpp - GD32 多电机版本推送解析与缓存 (SPI TYPE 0xC6)
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*
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* 镜像 motor_state.cpp 的互斥保护缓存模型。
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*/
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#include "monitor/motor_version.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include <string.h>
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namespace {
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static SemaphoreHandle_t s_mux = nullptr;
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static motor_version_table_t s_table = {};
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static uint32_t rdU32Le(const uint8_t *p)
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{
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return static_cast<uint32_t>(p[0])
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}
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static void ensureMux()
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{
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if (s_mux == nullptr) {
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s_mux = xSemaphoreCreateMutex();
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}
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}
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} // namespace
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bool onMotorVersionEvent(const uint8_t *payload, size_t len)
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{
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if (payload == nullptr || len < MOTORVER_HEADER_LEN) {
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return false;
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}
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const uint8_t count = payload[0];
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ensureMux();
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if (s_mux == nullptr) return false;
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if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) != pdTRUE) return false;
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size_t offset = MOTORVER_HEADER_LEN;
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for (uint8_t i = 0; i < count; ++i) {
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if (offset + MOTORVER_ENTRY_SIZE > len) {
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break;
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}
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const uint8_t node = payload[offset];
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if (node >= 1 && node <= MOTORVER_MAX_NODES) {
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motor_version_slot_t &slot = s_table.slots[node - 1];
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slot.node_id = node;
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slot.seq = rdU32Le(&payload[offset + 1]);
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memcpy(slot.version, &payload[offset + 5], MOTORVER_DLC);
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slot.recv_ms = esp_timer_get_time() / 1000;
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slot.valid = true;
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s_table.have_data = true;
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}
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offset += MOTORVER_ENTRY_SIZE;
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}
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xSemaphoreGive(s_mux);
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return true;
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}
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bool getLatestMotorVersion(motor_version_table_t *out)
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{
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if (out == nullptr) return false;
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ensureMux();
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if (s_mux == nullptr) return false;
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bool ok = false;
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if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
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if (s_table.have_data) {
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*out = s_table;
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ok = true;
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}
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xSemaphoreGive(s_mux);
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}
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return ok;
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}
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