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
232 lines
7.8 KiB
C++
232 lines
7.8 KiB
C++
/*
|
||
* can_feedback_task.cpp - 被动监听 GD32 主动推送的 CAN 反馈快照
|
||
*
|
||
* 架构（GD32 主动推送，ESP32 被动接收）：
|
||
* GD32 APP 在主循环中调用 canFeedbackPushStep()，循环遍历 3 通道 × 2 页，
|
||
* 通过 requestEsp32Read(0xC1) 下拉 DATA_READY 主动按铃，将每页反馈 payload
|
||
* 推送给 ESP32。ESP32 本任务 SpiMaster::takeEvent() 阻塞等待按铃/事件，
|
||
* 读到一帧后用 canFdParseFeedbackPage() 解析并累积到 s_work[channel]，再
|
||
* publish() 到 s_latest[channel] 供 Web 读取。
|
||
*
|
||
* 替代了原先 ESP32 1Hz 主动发 0xC1 轮询的逻辑，避免占用主线 SPI 带宽。
|
||
*
|
||
* OTA 期间通过 pauseCanFeedbackTask(true) 暂停本任务，避免与 OTA 抢占 SPI。
|
||
*/
|
||
#include "freertos/FreeRTOS.h"
|
||
#include "freertos/task.h"
|
||
#include "freertos/semphr.h"
|
||
|
||
#include "app_config.h"
|
||
#include "transport/canfd_bridge.h"
|
||
#include "transport/spi_master.h"
|
||
#include "monitor/debug_log.h"
|
||
#include "monitor/can_feedback_task.h"
|
||
#include "monitor/gd32_adc_feedback.h"
|
||
#include "monitor/motor_state.h"
|
||
#include "monitor/motor_version.h"
|
||
#include "monitor/motor_ota_relay.h"
|
||
#include "app_config.h"
|
||
#include "esp_system.h"
|
||
|
||
#include <string.h>
|
||
|
||
namespace {
|
||
|
||
constexpr uint32_t kWaitRingMs = 500U; ///< 单次等待 GD32 按铃超时
|
||
constexpr uint32_t kPauseDelayMs = 100U; ///< 暂停时的轮询间隔
|
||
constexpr uint8_t kSpiCanFeedbackType = 0xC1U;
|
||
constexpr uint8_t kSpiAdcFeedbackType = 0xC4U; ///< GD32 ADC 调试反馈
|
||
constexpr uint8_t kSpiMotorStateType = 0xC5U; ///< GD32 多电机状态推送
|
||
constexpr uint8_t kSpiMotorVersionType = 0xC6U; ///< GD32 多电机版本推送（事件驱动）
|
||
constexpr uint8_t kSpiMotorOtaStatusType = 0xD2U; ///< GD32 电机 OTA relay 进度推送
|
||
constexpr size_t kRingPayloadMax = SPI_OTA_FRAME_MAX; ///< 与变长读一致，避免截断
|
||
constexpr const char *kTag = "CAN_FB";
|
||
|
||
static can_feedback_result_t s_latest[CAN_CHANNEL_MAX];
|
||
static bool s_valid [CAN_CHANNEL_MAX];
|
||
static SemaphoreHandle_t s_mutex = nullptr;
|
||
static volatile bool s_paused = false;
|
||
|
||
/* 累积工作缓冲：跨 page 0/1 累积每通道的完整反馈 */
|
||
static can_feedback_result_t s_work [CAN_CHANNEL_MAX];
|
||
static uint8_t s_workIdx[CAN_CHANNEL_MAX];
|
||
static uint32_t s_lastLoggedError[CAN_CHANNEL_MAX];
|
||
|
||
/**
|
||
* @brief 将某通道完整反馈发布到 s_latest（线程安全）。
|
||
* @param ch 通道 0..2
|
||
* @param fb 解析后的快照
|
||
*/
|
||
static void publish(uint8_t ch, const can_feedback_result_t &fb)
|
||
{
|
||
if (s_mutex == nullptr) return;
|
||
if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
|
||
s_latest[ch] = fb;
|
||
s_valid[ch] = true;
|
||
xSemaphoreGive(s_mutex);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief can_fb 任务主循环：takeEvent 分发 0xC1 CAN / 0xC4 ADC。
|
||
*/
|
||
static void taskLoop(void *)
|
||
{
|
||
DEBUG_INFO(kTag, "CAN 反馈被动监听任务启动 (GD32 主动推送, 0xC1)");
|
||
|
||
/* 冷启动延后开始监听，错开上电初始化窗口 */
|
||
{
|
||
esp_reset_reason_t rr = esp_reset_reason();
|
||
if (rr == ESP_RST_POWERON || rr == ESP_RST_BROWNOUT) {
|
||
constexpr uint32_t kCanFbDeferMs = 1500U;
|
||
DEBUG_INFO(kTag, "冷启动: %lu ms 后开始 CAN 反馈监听",
|
||
(unsigned long)kCanFbDeferMs);
|
||
vTaskDelay(pdMS_TO_TICKS(kCanFbDeferMs));
|
||
}
|
||
}
|
||
|
||
uint8_t ring_type = 0U;
|
||
uint8_t ring_payload[kRingPayloadMax] = {};
|
||
size_t ring_len = 0U;
|
||
|
||
for (;;) {
|
||
if (s_paused) {
|
||
vTaskDelay(pdMS_TO_TICKS(kPauseDelayMs));
|
||
continue;
|
||
}
|
||
|
||
/* 阻塞等待 GD32 按铃事件（超时则重试） */
|
||
if (!SpiMaster::instance().takeEvent(&ring_type, ring_payload,
|
||
sizeof(ring_payload), &ring_len,
|
||
kWaitRingMs)) {
|
||
continue;
|
||
}
|
||
|
||
/* 0xC4 ADC 调试反馈：GD32 关开关则不推；ESP32 始终可解析（无本地开关） */
|
||
if (ring_type == kSpiAdcFeedbackType) {
|
||
(void)onGd32AdcFeedbackEvent(ring_payload, ring_len);
|
||
continue;
|
||
}
|
||
|
||
/* 0xC5 多电机状态推送：GD32 250ms 分页推送，ESP32 解析入缓存 */
|
||
if (ring_type == kSpiMotorStateType) {
|
||
(void)onMotorStateEvent(ring_payload, ring_len);
|
||
continue;
|
||
}
|
||
|
||
/* 0xC6 多电机版本推送：GD32 收到电机版本应答(0x00FF)后事件驱动推送 */
|
||
if (ring_type == kSpiMotorVersionType) {
|
||
(void)onMotorVersionEvent(ring_payload, ring_len);
|
||
continue;
|
||
}
|
||
|
||
/* 0xD2 电机 OTA relay 进度推送 */
|
||
if (ring_type == kSpiMotorOtaStatusType) {
|
||
onMotorOtaStatusPush(ring_payload, ring_len);
|
||
continue;
|
||
}
|
||
|
||
if (ring_type != kSpiCanFeedbackType || ring_len < 28U) {
|
||
continue;
|
||
}
|
||
|
||
const uint8_t ch = ring_payload[0];
|
||
if (ch >= CAN_CHANNEL_MAX) {
|
||
continue;
|
||
}
|
||
|
||
/* 解析本页并累积到工作缓冲，page=0 会自动重置 */
|
||
if (canFdParseFeedbackPage(ring_payload, ring_len,
|
||
&s_work[ch], &s_workIdx[ch]) == 0) {
|
||
publish(ch, s_work[ch]);
|
||
|
||
/* 累计错误发生变化时才告警一次；P0/P1 携带相同统计，不能重复打印。 */
|
||
if (s_work[ch].stats.error_count != 0U
|
||
&& s_work[ch].stats.error_count != s_lastLoggedError[ch]) {
|
||
DEBUG_WARN(kTag,
|
||
"CH%u err=%lu TEC=%u REC=%u",
|
||
static_cast<unsigned>(ch),
|
||
static_cast<unsigned long>(s_work[ch].stats.error_count),
|
||
static_cast<unsigned>(s_work[ch].stats.tec),
|
||
static_cast<unsigned>(s_work[ch].stats.rec));
|
||
s_lastLoggedError[ch] = s_work[ch].stats.error_count;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
} // namespace
|
||
|
||
/**
|
||
* @brief 启动 CAN 反馈被动监听任务（幂等）。
|
||
* @return true 表示任务已存在或创建成功。
|
||
*/
|
||
bool startCanFeedbackTask()
|
||
{
|
||
static bool s_started = false;
|
||
if (s_started) return true;
|
||
|
||
if (s_mutex == nullptr) {
|
||
s_mutex = xSemaphoreCreateMutex();
|
||
if (s_mutex == nullptr) {
|
||
DEBUG_ERR(kTag, "互斥量创建失败");
|
||
return false;
|
||
}
|
||
}
|
||
memset(s_latest, 0, sizeof(s_latest));
|
||
memset(s_lastLoggedError, 0, sizeof(s_lastLoggedError));
|
||
memset(s_valid, 0, sizeof(s_valid));
|
||
memset(s_work, 0, sizeof(s_work));
|
||
memset(s_workIdx, 0, sizeof(s_workIdx));
|
||
|
||
BaseType_t xRet = xTaskCreatePinnedToCore(
|
||
taskLoop,
|
||
"can_fb",
|
||
TASK_STACK_CAN_FB,
|
||
nullptr,
|
||
4,
|
||
nullptr,
|
||
0);
|
||
if (xRet != pdPASS) {
|
||
DEBUG_ERR(kTag, "任务创建失败");
|
||
return false;
|
||
}
|
||
s_started = true;
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
* @brief 暂停/恢复 CAN（及同任务分发的 ADC）事件监听。
|
||
* @param pause true=OTA 期间暂停；false=恢复
|
||
*/
|
||
void pauseCanFeedbackTask(bool pause)
|
||
{
|
||
if (s_paused == pause) return; // 幂等：状态未变时不重复日志
|
||
s_paused = pause;
|
||
if (pause) {
|
||
DEBUG_DBG(kTag, "CAN 监听已暂停（OTA 进行中）");
|
||
} else {
|
||
DEBUG_DBG(kTag, "CAN 监听已恢复");
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 拷贝某通道的最新快照（线程安全）。
|
||
* @return true 表示拿到一份有效数据。
|
||
*/
|
||
bool getLatestCanFeedback(uint8_t channel, can_feedback_result_t *out)
|
||
{
|
||
if (channel >= CAN_CHANNEL_MAX || out == nullptr || s_mutex == nullptr) {
|
||
return false;
|
||
}
|
||
bool ok = false;
|
||
if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
|
||
if (s_valid[channel]) {
|
||
*out = s_latest[channel];
|
||
ok = true;
|
||
}
|
||
xSemaphoreGive(s_mutex);
|
||
}
|
||
return ok;
|
||
}
|