小龙虾
adb7dc65ca
移除 _assistant_backups 目录中的 app.js.bak_2026-05-05_0451 备份文件， 该文件包含完整的JavaScript应用程序代码，包括全局状态管理、工具函数、 日志系统、连接管理、CAN帧发送、文件处理、固件上传等功能模块。
403 lines
14 KiB
C++
403 lines
14 KiB
C++
/*
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* spi_master.c - SPI Master 驱动实现
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* T1.1 - T1.4
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* ESP-IDF 6.0 适配版本
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* CANFD 3通道发送接口
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*/
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#include <string.h>
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/spi_master.h"
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#include "soc/spi_struct.h"
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#include "esp_err.h"
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#include "spi_master.h"
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#include "monitor/debug_log.h"
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static uint8_t spi_ota_crc8(const uint8_t *data, size_t len)
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{
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uint8_t crc = 0x00;
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for (size_t i = 0; i < len; ++i) {
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crc ^= data[i];
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}
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return crc;
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}
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static bool spi_ota_build_frame(uint8_t type, const uint8_t *payload, size_t payload_len,
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uint8_t *out, size_t *out_len)
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{
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if (!out || !out_len) return false;
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size_t total = 5 + payload_len;
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if (total > SPI_OTA_FRAME_MAX) return false;
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out[0] = SPI_OTA_SOF;
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out[1] = type;
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out[2] = (uint8_t)(payload_len & 0xFF);
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out[3] = (uint8_t)((payload_len >> 8) & 0xFF);
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if (payload && payload_len > 0) {
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memcpy(&out[4], payload, payload_len);
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}
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out[4 + payload_len] = spi_ota_crc8(out, 4 + payload_len);
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*out_len = total;
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return true;
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}
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static bool spi_ota_parse_frame(const uint8_t *frame, size_t frame_len,
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uint8_t *type, const uint8_t **payload, size_t *payload_len)
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{
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if (!frame || frame_len < 5 || frame[0] != SPI_OTA_SOF) return false;
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size_t len = (size_t)frame[2] | ((size_t)frame[3] << 8);
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size_t expected = 5 + len;
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if (expected > frame_len) return false;
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uint8_t crc = spi_ota_crc8(frame, 4 + len);
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if (crc != frame[4 + len]) return false;
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if (type) *type = frame[1];
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if (payload) *payload = &frame[4];
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if (payload_len) *payload_len = len;
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return true;
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}
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static bool spi_ota_find_frame(const uint8_t *buf, size_t buf_len,
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uint8_t *type, const uint8_t **payload, size_t *payload_len,
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size_t *frame_offset)
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{
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if (!buf || buf_len < 5) return false;
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for (size_t i = 0; i + 5 <= buf_len; ++i) {
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if (buf[i] != SPI_OTA_SOF) continue;
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if (spi_ota_parse_frame(&buf[i], buf_len - i, type, payload, payload_len)) {
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if (frame_offset) *frame_offset = i;
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return true;
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}
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}
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return false;
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}
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/** @brief SPI2 从设备句柄。 */
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spi_device_handle_t g_spi_device = NULL;
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/**
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* @brief SPI2 总线初始化
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t spi_master_init(void)
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{
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DEBUG_INFO("SPI", "=== 初始化 SPI2 (VSPI) ===");
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spi_bus_config_t bus_cfg = {};
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bus_cfg.mosi_io_num = 8;
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bus_cfg.miso_io_num = 7;
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bus_cfg.sclk_io_num = 6;
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bus_cfg.quadwp_io_num = -1;
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bus_cfg.quadhd_io_num = -1;
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bus_cfg.max_transfer_sz = 256;
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DEBUG_INFO("SPI", "SPI2 引脚: MOSI=GPIO8, MISO=GPIO7, SCLK=GPIO6");
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DEBUG_INFO("SPI", "SPI2 配置: CLK=%d MHz, CS=GPIO%d, 最大传输=%d 字节",
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SPI_CLOCK_HZ / 1000000, SPI_MASTER_CS_GPIO, bus_cfg.max_transfer_sz);
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esp_err_t ret = spi_bus_initialize(SPI2_HOST, &bus_cfg, SPI_DMA_CH_AUTO);
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if (ret != ESP_OK) {
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DEBUG_ERR("SPI", "SPI 总线初始化失败: %s", esp_err_to_name(ret));
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return ret;
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}
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spi_device_interface_config_t dev_cfg = {};
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dev_cfg.clock_speed_hz = SPI_CLOCK_HZ;
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dev_cfg.mode = SPI_MODE;
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dev_cfg.spics_io_num = SPI_MASTER_CS_GPIO;
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dev_cfg.queue_size = SPI_QUEUE_SIZE;
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dev_cfg.command_bits = 0;
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dev_cfg.address_bits = 0;
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dev_cfg.dummy_bits = 0;
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dev_cfg.cs_ena_posttrans = 0;
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dev_cfg.cs_ena_pretrans = 0;
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ret = spi_bus_add_device(SPI2_HOST, &dev_cfg, &g_spi_device);
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if (ret != ESP_OK) {
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DEBUG_ERR("SPI", "添加 SPI 设备失败: %s", esp_err_to_name(ret));
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return ret;
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}
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DEBUG_INFO("SPI", "SPI2 已初始化: CLK=%dMHz, CS=GPIO%d, 模式=%d",
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SPI_CLOCK_HZ / 1000000, SPI_MASTER_CS_GPIO, SPI_MODE);
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DEBUG_INFO("SPI", "SPI 设备句柄: %p", g_spi_device);
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return ESP_OK;
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}
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// 带超时的同步 SPI 传输
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// ESP-IDF 6.0: spi_device_transmit() 不再接受超时参数
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// 使用 spi_device_queue_trans() + spi_device_get_trans_result() 实现超时
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esp_err_t spi_sync_transfer(uint8_t cmd, const uint8_t *payload,
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size_t payload_len, uint8_t *recv_buf,
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size_t recv_len, uint32_t timeout_ms)
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{
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if (g_spi_device == NULL) {
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DEBUG_ERR("SPI", "SPI 设备未初始化");
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return ESP_ERR_INVALID_STATE;
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}
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DEBUG_DBG("SPI", "SPI 传输: cmd=0x%02X, 发送=%zu 字节, 接收=%zu 字节",
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cmd, payload_len, recv_len);
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spi_transaction_t t = {};
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t.cmd = cmd;
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t.length = payload_len * 8;
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t.rxlength = recv_len * 8;
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t.tx_buffer = payload;
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t.rx_buffer = recv_buf;
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t.user = (void *)(uintptr_t)cmd;
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/* ESP-IDF 6.0: 使用 spi_device_transmit() 无超时参数
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* 如需超时控制，使用 spi_device_queue_trans() + spi_device_get_trans_result()
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*/
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esp_err_t ret = spi_device_transmit(g_spi_device, &t);
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if (ret != ESP_OK) {
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DEBUG_WARN("SPI", "SPI 发送 cmd=0x%02X 失败: %s", cmd, esp_err_to_name(ret));
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} else {
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DEBUG_DBG("SPI", "SPI 传输完成: cmd=0x%02X", cmd);
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}
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return ret;
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}
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// 仅发送
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/**
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* @brief 调用同步传输接口发送数据，不要求接收返回内容。
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* @param cmd SPI 命令码。
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* @param payload 发送数据指针。
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* @param len 发送数据长度。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t spi_send(uint8_t cmd, const uint8_t *payload, size_t len)
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{
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return spi_sync_transfer(cmd, payload, len, NULL, 0, 3000);
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}
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// 仅接收
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/**
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* @brief 发送哑数据产生时钟，从从设备同步读取指定长度数据。
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* @param cmd SPI 命令码。
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* @param recv_buf 接收缓冲区。
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* @param len 接收长度。
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* @param timeout_ms 超时时间（毫秒）。
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* @return ESP_OK 成功，其他失败。
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*/
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esp_err_t spi_recv(uint8_t cmd, uint8_t *recv_buf, size_t len, uint32_t timeout_ms)
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{
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uint8_t dummy[64] = {0};
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memset(dummy, 0xFF, sizeof(dummy));
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return spi_sync_transfer(cmd, dummy, len, recv_buf, len, timeout_ms);
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}
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esp_err_t spi_ota_poll_response(uint8_t *resp_type, uint8_t *resp_payload,
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size_t resp_max, size_t *resp_len, uint32_t timeout_ms)
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{
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if (g_spi_device == NULL) {
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return ESP_ERR_INVALID_STATE;
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}
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if (resp_len) *resp_len = 0;
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if (resp_type) *resp_type = 0;
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uint8_t rx_raw[SPI_OTA_FRAME_MAX] = {0};
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uint8_t dummy[SPI_OTA_FRAME_MAX];
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memset(dummy, 0xFF, sizeof(dummy));
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TickType_t deadline = xTaskGetTickCount() + pdMS_TO_TICKS(timeout_ms);
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uint32_t attempt = 0;
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while (xTaskGetTickCount() <= deadline) {
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++attempt;
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memset(rx_raw, 0xFF, sizeof(rx_raw));
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spi_transaction_t rsp = {};
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rsp.length = SPI_OTA_FRAME_MAX * 8;
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rsp.rxlength = SPI_OTA_FRAME_MAX * 8;
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rsp.tx_buffer = dummy;
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rsp.rx_buffer = rx_raw;
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esp_err_t ret = spi_device_transmit(g_spi_device, &rsp);
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if (ret != ESP_OK) {
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DEBUG_WARN("SPI", "SPI OTA 响应读取失败[%u]: %s", attempt, esp_err_to_name(ret));
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vTaskDelay(pdMS_TO_TICKS(10));
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continue;
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}
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uint8_t parsed_type = 0;
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const uint8_t *parsed_payload = nullptr;
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size_t parsed_len = 0;
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size_t frame_offset = 0;
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if (spi_ota_find_frame(rx_raw, sizeof(rx_raw), &parsed_type, &parsed_payload, &parsed_len, &frame_offset)) {
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DEBUG_INFO("SPI", "OTA响应: type=0x%02X len=%u offset=%u attempt=%u",
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parsed_type, (unsigned)parsed_len, (unsigned)frame_offset, (unsigned)attempt);
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if (resp_type) *resp_type = parsed_type;
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if (resp_payload && resp_max > 0) {
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size_t copy_len = (parsed_len < resp_max) ? parsed_len : resp_max;
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memcpy(resp_payload, parsed_payload, copy_len);
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if (resp_len) *resp_len = copy_len;
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} else if (resp_len) {
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*resp_len = parsed_len;
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}
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return ESP_OK;
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}
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bool all_ff = true;
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for (size_t i = 0; i < sizeof(rx_raw); ++i) {
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if (rx_raw[i] != 0xFF) {
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all_ff = false;
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break;
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}
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}
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DEBUG_DBG("SPI", "OTA响应未就绪[%u]: %s", attempt, all_ff ? "all-FF" : "no-valid-SOF");
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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DEBUG_ERR("SPI", "OTA响应超时: timeout=%ums", (unsigned)timeout_ms);
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return ESP_ERR_TIMEOUT;
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}
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esp_err_t spi_ota_transfer(uint8_t type, const uint8_t *payload, size_t payload_len,
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uint8_t *resp_type, uint8_t *resp_payload,
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size_t resp_max, size_t *resp_len, uint32_t timeout_ms)
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{
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if (g_spi_device == NULL) {
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return ESP_ERR_INVALID_STATE;
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}
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if (resp_len) *resp_len = 0;
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if (resp_type) *resp_type = 0;
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uint8_t tx_frame[SPI_OTA_FRAME_MAX] = {0};
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size_t tx_len = 0;
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if (!spi_ota_build_frame(type, payload, payload_len, tx_frame, &tx_len)) {
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return ESP_ERR_INVALID_ARG;
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}
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DEBUG_INFO("SPI", "OTA事务: req_type=0x%02X req_len=%u", type, (unsigned)payload_len);
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spi_transaction_t req = {};
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req.length = tx_len * 8;
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req.tx_buffer = tx_frame;
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esp_err_t ret = spi_device_transmit(g_spi_device, &req);
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if (ret != ESP_OK) {
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DEBUG_ERR("SPI", "SPI OTA 请求事务失败: %s", esp_err_to_name(ret));
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return ret;
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}
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vTaskDelay(pdMS_TO_TICKS(2));
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return spi_ota_poll_response(resp_type, resp_payload, resp_max, resp_len, timeout_ms);
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}
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// CANFD 帧发送
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// 帧格式: [通道(1B)] [扩展帧ID(4B BE)] [数据(1~64B)]
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static int can_frame_send(can_channel_t channel, uint32_t ext_id,
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const uint8_t *data, uint8_t dlc,
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uint8_t *recv_buf, uint8_t recv_max,
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uint32_t timeout_ms)
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{
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if (g_spi_device == NULL) {
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DEBUG_ERR("SPI", "CAN 发送: SPI 设备未初始化");
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return -1;
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}
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if (dlc == 0 || dlc > CAN_MAX_DLC) {
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DEBUG_ERR("SPI", "CAN[ch%d] DLC 无效: %d (范围 1~%d)", channel, dlc, CAN_MAX_DLC);
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return -2;
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}
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if (channel >= CAN_CHANNEL_MAX) {
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DEBUG_ERR("SPI", "CAN 通道号无效: %d (范围 0~%d)", channel, CAN_CHANNEL_MAX - 1);
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return -3;
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}
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DEBUG_DBG("SPI", "CAN[ch%d] ID=0x%08X 发送: DLC=%d", channel, ext_id, dlc);
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// 构建 CANFD 帧: [通道(1B)] [EXT_ID(4B)] [DATA(dlc B)]
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uint8_t tx_buf[1 + 4 + CAN_MAX_DLC] = {0};
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tx_buf[0] = (uint8_t)channel;
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tx_buf[1] = (uint8_t)((ext_id >> 24) & 0xFF);
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tx_buf[2] = (uint8_t)((ext_id >> 16) & 0xFF);
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tx_buf[3] = (uint8_t)((ext_id >> 8) & 0xFF);
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tx_buf[4] = (uint8_t)(ext_id & 0xFF);
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memcpy(&tx_buf[5], data, dlc);
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size_t tx_len = 5 + dlc;
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uint8_t rx_buf[5 + CAN_MAX_DLC] = {0};
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spi_transaction_t t = {};
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t.tx_buffer = tx_buf;
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t.rx_buffer = rx_buf;
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t.length = tx_len * 8;
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t.rxlength = (recv_max > 0) ? (5 + recv_max) * 8 : 0;
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esp_err_t ret = spi_device_transmit(g_spi_device, &t);
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if (ret != ESP_OK) {
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DEBUG_ERR("SPI", "CAN[ch%d] ID=0x%08X 发送失败: %s",
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channel, ext_id, esp_err_to_name(ret));
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return -4;
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}
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if (recv_buf && recv_max > 0) {
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// 解析 GD32 响应帧
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uint8_t resp_channel = rx_buf[0];
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uint32_t resp_id = (rx_buf[1] << 24) | (rx_buf[2] << 16)
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| (rx_buf[3] << 8) | rx_buf[4];
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uint8_t resp_dlc = resp_id >> 24; // 复用了 ID 字段低字节作为 DLC
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resp_id &= 0x00FFFFFF;
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uint8_t copy_len = (resp_dlc < recv_max) ? resp_dlc : recv_max;
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memcpy(recv_buf, &rx_buf[5], copy_len);
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DEBUG_INFO("SPI", "CAN[ch%d] ID=0x%08X 响应: DLC=%d, 接收=%d 字节",
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resp_channel, resp_id, copy_len, copy_len);
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return copy_len;
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}
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DEBUG_DBG("SPI", "CAN[ch%d] ID=0x%08X 发送完成 (无响应)", channel, ext_id);
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return 0;
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}
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// 对外暴露的 GD32 CAN 发送接口，会在必要时修正默认 DLC。
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int gd32_can_send(can_channel_t channel, uint32_t ext_id,
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const uint8_t *data, uint8_t dlc,
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uint8_t *recv_buf, uint8_t recv_max,
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uint32_t timeout_ms)
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{
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if (dlc == 0) {
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dlc = (data != NULL) ? 64 : 0; // 避免 dlc=0 的情况
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}
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return can_frame_send(channel, ext_id, data, dlc, recv_buf, recv_max, timeout_ms);
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}
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// 对外暴露的无响应 GD32 CAN 发送接口。
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int gd32_can_send_no_reply(can_channel_t channel, uint32_t ext_id,
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const uint8_t *data, uint8_t dlc)
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{
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return can_frame_send(channel, ext_id, data, dlc, NULL, 0, 0);
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}
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// 带重试的 SPI 传输
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esp_err_t spi_transfer_with_retry(uint8_t cmd, const uint8_t *payload,
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size_t payload_len, uint8_t *recv_buf,
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size_t recv_len, int max_retries)
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{
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esp_err_t ret;
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int retry_count = 0;
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DEBUG_INFO("SPI", "SPI 传输 (带重试): cmd=0x%02X, 最大重试=%d", cmd, max_retries);
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while (retry_count < max_retries) {
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ret = spi_sync_transfer(cmd, payload, payload_len,
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recv_buf, recv_len, 3000);
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if (ret == ESP_OK) {
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if (retry_count > 0) {
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DEBUG_INFO("SPI", "SPI 传输成功 (重试 %d 次后成功)", retry_count);
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}
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return ESP_OK;
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}
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retry_count++;
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DEBUG_WARN("SPI", "SPI 重试 %d/%d, cmd=0x%02X, err=%s",
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retry_count, max_retries, cmd, esp_err_to_name(ret));
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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DEBUG_ERR("SPI", "SPI 传输 %d 次重试后失败, cmd=0x%02X", max_retries, cmd);
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|