小龙虾
1b50ce1657
- 新增SPI 0xC8命令用于切换CAN通道收发器Silent模式（只听不发） - 在canFdSetTxSilent函数中实现静默模式控制逻辑 - 在HTTP API中添加POST /can/silent端点 - 更新CAN协议文档，记录新命令和错误码E6 - 修改bus_state位图，添加bit5表示静默状态 fix(can): 优化CAN反馈任务内存使用和链路离线处理 - 将任务栈上的临时缓冲区改为静态分配，防止栈溢出 - 添加链路在线检测，在离线状态下进入休眠退避 - 修复queryMotorStatePages和queryAdcFeedback函数返回值类型 - 优化UDP日志发送的冷却退避机制 chore(config): 更新调试日志配置和版本信息 - 在VSCode设置中添加ESP-IDF串口配置 - 添加SPI调试日志级别编译期开关CONFIG_SPI_DEBUG_LOG_LEVEL - 更新固件版本至0.5.2，记录相关变更内容 - 调整SPI和CAN反馈任务的栈大小配置
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/*
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* task_stack.cpp - 任务栈水位收集 + FreeRTOS 栈溢出钩子
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*
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* 水位表：health_mon 巡检 + /system/status 共用。
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* 溢出钩子：CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY 下内核回调；
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* 被踩栈上下文禁止 mutex/网络/格式化，仅 UART0 硬写 + abort。
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*/
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#include "task_stack.h"
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#include <cstring>
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#include "app_config.h"
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#include "health_monitor.h"
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#include "cpu_stats.h"
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#include "ota_relay.h"
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#include "wifi_ota.h"
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#include "ble_ota.h"
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#include "spi_master.h"
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#include "can_feedback_task.h"
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#include "driver/uart.h"
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#include "esp_system.h"
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// ============================================================
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// 栈溢出钩子
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// ============================================================
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volatile bool g_stackOverflowDetected = false;
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extern "C" void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
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{
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(void)xTask;
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g_stackOverflowDetected = true;
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static const char prefix[] = "\r\n!!! STACK OVERFLOW in task: ";
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uart_write_bytes(UART_NUM_0, prefix, sizeof(prefix) - 1);
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uart_write_bytes(UART_NUM_0, pcTaskName, strnlen(pcTaskName, configMAX_TASK_NAME_LEN));
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static const char suffix[] = " !!!\r\n";
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uart_write_bytes(UART_NUM_0, suffix, sizeof(suffix) - 1);
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/* OTA 末尾若 httpd 栈溢出却不 abort，前端会一直停在 100%。 */
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esp_system_abort("stack overflow");
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}
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// ============================================================
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// 任务栈水位表
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// ============================================================
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size_t collectTaskStackMetrics(TaskStackMetric* out, size_t max)
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{
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if (!out || max == 0) {
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return 0;
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}
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size_t n = 0;
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// httpd 无公开句柄；未 httpd_start 时 xTaskGetHandle 为 NULL
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if (n < max) {
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out[n++] = { "http_server", xTaskGetHandle("httpd"), HTTP_SERVER_STACK_SIZE };
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}
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if (n < max) {
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out[n++] = { "health_mon", HealthMonitor::instance().getTaskHandle(), TASK_STACK_HEALTH_MON };
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}
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if (n < max) {
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out[n++] = { "cpu_stats", CpuStats::instance().getTaskHandle(), TASK_STACK_CPU_STATS };
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}
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if (n < max) {
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out[n++] = { "ota_relay", OtaRelay::getTaskHandle(), TASK_STACK_OTA_RELAY };
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}
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if (n < max) {
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out[n++] = { "spi_worker", SpiMaster::instance().getWorkerTaskHandle(), TASK_STACK_SPI_WORKER };
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}
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if (n < max) {
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out[n++] = { "wifi_ota", WifiOta::instance().getTaskHandle(), TASK_STACK_WIFI_OTA };
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}
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if (n < max) {
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out[n++] = { "wifi_reconnect", WifiOta::instance().m_reconnectTask, TASK_STACK_WIFI_RECONNECT };
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}
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if (n < max) {
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out[n++] = { "ble_ota", BleOta::instance().getTaskHandle(), TASK_STACK_BLE_OTA };
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}
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if (n < max) {
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out[n++] = { "ble_ota_worker", BleOta::instance().getWorkerTaskHandle(), TASK_STACK_BLE_WORKER };
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}
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if (n < max) {
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out[n++] = { "can_fb", getCanFeedbackTaskHandle(), TASK_STACK_CAN_FB };
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}
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return n;
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}
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