95 lines
40 KiB
HTML
95 lines
40 KiB
HTML
<!DOCTYPE html><html lang="zh-CN"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>GD32E50X_BOOT 銝枏振霂�恣 2026-10-19</title><style>
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</style></head><body><div class="wrap">
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<h1>GD32E50X_BOOT 銝枏振霂�恣�亙�</h1>
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<div class="meta">隞枏� cbb/GD32E50X_BOOT 繚 ��𣈲 NO_compress 繚 �箇瑪�𣂷漱 644c8fb嚗�2026-10-13嚗舾� 霂�恣�交� 2026-10-19 繚 BOOT ��𧋦 1.1.0.25</div>
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<div class="grid" style="margin-top:18px">
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<div class="kpi"><b style="color:#a40e26">3</b>�游𦶢</div>
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<div class="kpi"><b style="color:#d1242f">13</b>銝仿�</div>
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<div class="kpi"><b style="color:#bf8700">18</b>銝���</div>
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<div class="kpi"><b style="color:#1f6feb">6</b>撱箄悅</div>
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</div>
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<div class="card"><b>蝏栞捏�蠘�嚗�</b>�嗆��肽楝�鞟�嚗㇁/B ��躹 + CRC + 撏拇��� + 銝厰曎頝� OTA + �曹澈撣��憭湛�嚗䔶�<b>摰峕㟲�找��湔��暹辺摮睃銁�舐�餈��蝻箏藁</b>嚗鍃CAT �典銁 APP 撏拇��舘䌊�冽�撘�銝娍��湔���RC �阡膄��朖�曇���RC �芸笆�坔� Flash �𣇉�����亦′蝻𣇉��舫��整��遣霈桀�摰峕�頝舐瑪�� P0 �滩��仿�鈭扼��遞����� <b>4.7 / 10</b>��
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<ol style="margin:8px 0 0"><li><a href="#R01">R01</a> <span class="sev s0">�游𦶢</span> ECAT �瑕��典銁 APP 隞颱�����䭾��嗉䌊�冽�撘�嚗䔶�霂亥楝敺��隞颱��湔�</li><li><a href="#R02">R02</a> <span class="sev s0">�游𦶢</span> SPI/CAN �𡁻��梁鍂蝖祉���蜓撖�𤨎嚗䔶�霂嘥��乩��曹蜓�� nonce �喳�嚗峕𨘥�见虾�湔挾�齿𦆮</li><li><a href="#R03">R03</a> <span class="sev s0">�游𦶢</span> CRC �阡膄��朖�日�朞�嚗龦RC �坔仃韐亥◤�嫰�婙�娍� CRC �𨅯��舐凒�亙鍳��</li><li><a href="#R04">R04</a> <span class="sev s1">銝仿�</span> CRC �胼�𨅯�摰��撖� Flash �啁𠶖�𣇉��嘅�銝滢�銝餅㦤�𣂷���㟲�𨅯��⊿��潭�撖�</li><li><a href="#R06">R06</a> <span class="sev s1">銝仿�</span> �滨蔭憿菔粉-��-�蹱��厩㩞靽脲擪</li></ol></div>
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<h2>1. 憿寧𤌍璁�膩銝擧沲��</h2>
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<p>GD32E508VE �� Bootloader嚗�虜撽颱��∪�蝥折曎頝荔�ESP32 蝏� SPI0 隞擧㦤嚗ǒ2 撣批�霈殷�銝剔誧��AN-FD �渲���誑�� 1.1.0.x 韏瑟鰵憓䂿� LAN9252 �毺� EtherCAT嚗㇃oE SDO嚗匧��踺��lash 撣���� <code>shared/ota_layout.h</code> 蝏煺�摰帋�嚗䔶� BOOT/APP �梁鍂��</p>
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<pre>
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�𢞖������������������������������� GD32E508VE (Cortex-M33 @180MHz, 512KB Flash) ����������������������������������
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ESP32 ����SPI0 隞擧㦤(PA15 CS/EXTI15, DMA)+PB6 DATA_READY������ SpiOta (v2: SEQ/ACK/CREDIT) ����
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CAN-FD �餌瑪 ����CAN0 RX0/TX 銝剜鱏���������������������������������������������� CAN_transmiter ������������������������������������
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EtherCAT 銝餌� ����LAN9252 (EXMC/HBI) ���� SSC 5.11 (CoE SDO 0x25xx) ���� boot_ecat_app ��������������
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��
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OTAHandler嚗𡁏𨘥��(K_master�𧁒_session) �� SIZE/�阡膄
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�� DATA(AES-ECB 48B + 撣阡𤨎 CRC32) �� FINISH(CRC �𣇉�/蝵格�敹�)
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ECAT嚗塄catBegin/Feed/Commit嚗�����隞斤��砽�𨀣��砽�嗪秄嚗�
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��
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Flash嚗�0x08000000 BOOT 72KB �� 0x08012000 憭�遢�� 216KB �� 0x08048000 銝餃��典躹 216KB (VTOR)
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0x0807E000 OTA �滨蔭憿�(10 摮梹�AVAL/EN/CHECK�2��OOT ��𧋦��CAT_ARM��援皞�恣��) �� 0x0807E800 �∠�憿�
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</pre>
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<h3>皞鞟����</h3>
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<table><tr><th>璅∪�</th><th>��辣</th><th>銵峕㺭</th><th>霂湔�</th></tr>
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<tr><td>�臬𢆡/頝唾蓮</td><td>main.cpp, sys/initial.*, sys/systick.*</td><td>~1,100</td><td>�臬𢆡�文���援皞�秄��楛�~��辣��</td></tr>
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<tr><td>OTA �詨�</td><td>sys/OTA.*, sys/aes128.*, sys/config.h, shared/ota_layout.h</td><td>~2,770</td><td>�⊥���圾撖���� Flash��RC���蝵桅△��CAT �瑕��亙藁</td></tr>
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<tr><td>SPI �曇楝</td><td>device/SpiOta.*嚗�+隞枏�憭� spi_link_v2嚗�</td><td>~1,170</td><td>DMA �嗅���S EXTI��EQ/ACK/CREDIT</td></tr>
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<tr><td>CAN �曇楝</td><td>device/Can.*</td><td>~530</td><td>CAN-FD �嗅���蔓隞嗅������</td></tr>
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<tr><td>EtherCAT</td><td>comm/ecat/boot_ecat_*.cpp + Beckhoff SSC 5.11</td><td>~1,140 �芰� + ~10,000 SSC</td><td>EXMC/HBI 撽勗𢆡��oE 撖寡情 0x25xx��歲頧�</td></tr>
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<tr><td>���摨�</td><td>RTE/Device/GD32E508VE</td><td>��</td><td>GD32E50x ���憭𤥁挽摨瓐��鍳�冽�隞嗚��曎�亥��穿��芾�摰∪�摰對�隞�瓲撖孵躹畾菟�蝵殷�</td></tr></table>
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<h3>�臬𢆡瘚��</h3><table><tr><th>�嗆挾</th><th>銵䔶蛹嚗éain.cpp嚗�</th></tr>
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<tr><td>1. �嘥���</td><td>�園�/SysTick/USART 靚���� �� �𧼮� BOOT ��𧋦�瑕��滨蔭憿� �� 瘛梁辺璉��伐�BootSleepManager::check嚗�</td></tr>
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<tr><td>2. 憭滢��笔�</td><td>FWDGT 憭滢� �� 撏拇�霈⊥㺭 +1嚗淾 �� EN 蝵格����霈⊥㺭 �� 3 �� crash_gate嚗𣬚�甇Z䌊�刻歲頧�</td></tr>
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<tr><td>3. 頝唾蓮�文�</td><td>A �� CHECK==AVAL && EN==AVAL && !crash_gate �� verifyAppCrc �� jumpToApplication</td></tr>
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<tr><td>4. �坔�</td><td>�血��臬𢆡 SPI/CAN/ECAT 銝㗇辺 OTA �曇楝嚗淾PP_DELAY_BOOT_TIME 蝑匧�蝒堒藁嚗𥡝��嗅��臬�霂� B �箸�憭㵪��峕甅�� crash_gate 蝥行�嚗�</td></tr>
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<tr><td>5. �瑕�摰峕�</td><td>validateApplication嚗���讛”嚗争� 霈∠�撟嗅� CRC �� 蝵� CHECK/AVAL/EN �� 頝唾蓮</td></tr></table>
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<h2>2. 霂�恣��凒銝擧䲮瘜�</h2>
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<ul>
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<li><b>��凒嚗�</b>NO_compress ��𣈲�券��芰�皞鞟�銝𤾸極蝔钅�蝵殷�cproject/csolution/cbuild-pack/vcpkg��曎�亙躹畾萸��.gitignore嚗㚁�SSC �笔���辣�芣瓲�仿�蝵桀�銝擧𧋦�唳㺿�剁�git �曄內 46adcb7 銋见��芸�靽格㺿嚗㚁�RTE ���摨枏蘨�詨笆�箸挾銝𦒘葉�剖��譌��</li>
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<li><b>銝枏振蝏��</b>�� Bootloader/OTA �舫��找��箔辣摰匧�嚗𥕞鷄 摰墧𧒄�扼��葉��/DMA 銝� SPI/CAN �讛悅嚗𥕞𢅛 EtherCAT嚗𠄎SC/LAN9252/CoE嚗㚁��� 隞��韐券����撱箔�隞枏��怎����蝏�僎銵屸�鞱���粉嚗𣬚�霈箇眏銝餉�摰∪銁隞��銝剝�鞉辺憭齿瓲銵�噡�擧��颯��</li>
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<li><b>�X�霈啣�嚗�</b>�其��𦦵揣 .md/.html嚗䔶��𤑳緵 <code>.trae/specs/prune-boot-dead-code/</code>嚗ìpec/tasks/checklist嚗剹��𡖂�� .gitignore �冽鱏�暹��芸�摨梶� SECURITY_AUDIT_REPORT.*嚗峕�瘜閗繮�硔��</li>
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<li><b>�𣂼�嚗�</b>�祆活銝粹����摰∴��芰�霂㻫��𧊋銝𦠜踎嚗𥕦��其�韏� spi_link_v2 銝滚銁隞枏�嚗峕�瘜閗�摰∴����𨅯�蝖株恕�萘��∠𤌍��銝𦠜踎�𡝗䰻�� APP 靘找誨���霂���</li>
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<li><b>銝仿�摨佗�</b>�游𦶢嚗嘥虾�条�/銝滚虾�W��硋虾鋡怨�蝔𧢲��乩遙�誩𤐄隞塚�銝仿�嚗萘緵�箏虾�賣��𨀣��擧遬摰匧�蝻粹萅嚗𥕢��穿��孵��∩辣銝见枂�蹱�蝏湔擪�鞉�嚗𥕦遣霈殷��寡�憿嫘��</li>
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</ul>
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<h2>3. �桅�皜��嚗�40 �∴�</h2>
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<table><tr><th>蝻硋噡</th><th>銝仿�摨�</th><th>璅∪�</th><th>�桅� / 雿滨蔭嚗��隞�:銵�噡嚗�</th><th>�啗情</th><th>憌𡡞埯</th><th>靽格㺿撱箄悅</th></tr><tr id="R01"><td>R01</td><td><span class="sev s0">�游𦶢</span></td><td>摰匧�/ECAT</td><td><b>ECAT �瑕��典銁 APP 隞颱�����䭾��嗉䌊�冽�撘�嚗䔶�霂亥楝敺��隞颱��湔�</b><br><span class="loc">GD32E50X_BOOT/sys/OTA.cpp:850-865嚗𡻕D32E50X_BOOT/main.cpp:246,266,294,408</span></td><td>ecatArmed() �支誘���嚗�蘨閬� LATEST_CHECK �� LATEST_EN �劐�銝芯��� AVAL 撠梯��� true��WDGT 憭滢�嚗éain.cpp:246嚗剹�����/撏拇�頝臬�嚗�266/294/408嚗厰�隡𡁏� EN/CHECK 蝵桐蛹 NOT_AVAL��CAT SDO 銝见���糓�擧��𨅯�嚗峕� AES���蝑曉����銝餅㦤靘� CRC��</td><td>APP �芾�撏拇�銝�甈∴��𤥁◤霂勗��钅秄�堒�雿㵪�嚗峕�餌瑪銝𠹺遙雿蓥蜓蝡䠷��舐� CoE 0x25xx 撖寡情�瑕�隞餅��箔辣嚗��鈭𤾸虾餈𦦵�璊滚���</td><td>�𤑳��典��嫣蛹�靝�敶� A/B 銝文躹�賣��臬鍳�券��謿�脲�撘�嚗𡻈CAT �𨅯�敹�◆撣衣倌�㵪��刻� Ed25519/ECDSA-P256嚗���亙𤐄�硋銁 BOOT嚗㗇��喳�撣虫蜓�粹�蝵� CRC/HMAC 撟嗅銁 commit �齿�撖嫘��</td></tr><tr id="R02"><td>R02</td><td><span class="sev s0">�游𦶢</span></td><td>摰匧�/OTA</td><td><b>SPI/CAN �𡁻��梁鍂蝖祉���蜓撖�𤨎嚗䔶�霂嘥��乩��曹蜓�� nonce �喳�嚗峕𨘥�见虾�湔挾�齿𦆮</b><br><span class="loc">GD32E50X_BOOT/sys/config.h:120-123嚗𡻕D32E50X_BOOT/sys/OTA.cpp:1250-1265</span></td><td>K_master 隞亙虜�誩�甇餃銁 BOOT嚗峕��㕑挽憭�㮾�䕘�K_session = AES(K_master, nonce_server)嚗諹挽憭�垢銝滩插�桅��箸㺭嚗諹挽憭� UID 銝滚�銝擧晷�麄��</td><td>敶蓥�隞餅�銝�甈∪�瘜訫�蝥扳��誩朖�臬笆隞餅�霈曉���甅�齿𦆮嚗�鉄�滨漣�唳�瞍𤩺���唂���嚗𥕢��虫�隞颱��埈踎 dump �� BOOT �喳虾隡芷�惩��刻挽憭���箔辣��</td><td>�嫣蛹�𦦵倌�� + �舫�匧�撖��嘅��𨅯��函��亦倌�㵪�BOOT 隞���祇𤨎嚗𥕦�撖���交�霈曉� UID 瘣曄�嚗𠃋DF(K_master, UID)嚗匧僎�梯挽憭�插�� nonce嚗𥕦��亙�靚���砍噡�脤�蝥扼��</td></tr><tr id="R03"><td>R03</td><td><span class="sev s0">�游𦶢</span></td><td>OTA �舫���</td><td><b>CRC �阡膄��朖�日�朞�嚗龦RC �坔仃韐亥◤�嫰�婙�娍� CRC �𨅯��舐凒�亙鍳��</b><br><span class="loc">GD32E50X_BOOT/sys/OTA.cpp:1523-1549嚗ǒerifyAppCrc嚗剹��1559-1577嚗òriteAppCrc嚗�</span></td><td>stored_crc==0xFFFFFFFF �� verifyAppCrc �湔𦻖餈𥪜� true嚗𤦺riteAppCrc �坔仃韐亙蘨�枏㫲���餈𥪜��潘�靚�鍂�對�OTA.cpp:385��CAT commit 959嚗厰��𡒊�撣貊蔭 CHECK/AVAL/EN��</td><td>CRC 瑽賢�憭梯揖���鋡急��𦒘���㺭�株��𡝗𧒄嚗峕���/銝滚��湧��譍��扯◤�曇��臬𢆡嚗諹挽憭�虾�賢�憭滚援皞�凒�唾圻�穃援皞�秄����箝��</td><td>靚���批�����齿㺿�冽遬撘𤩺�敹梹�靘见��滨蔭憿萄��砌�銝� DEBUG_NO_CRC 摮梹��譍漣 BOOT 蝻𤥁��毺��剁�嚗𤦺riteAppCrc 餈𥪜��嗆��僎�噼粉�⊿�嚗�仃韐亙�銝滨蔭������ ERROR��</td></tr><tr id="R04"><td>R04</td><td><span class="sev s1">銝仿�</span></td><td>OTA �舫���</td><td><b>CRC �胼�𨅯�摰��撖� Flash �啁𠶖�𣇉��嘅�銝滢�銝餅㦤�𣂷���㟲�𨅯��⊿��潭�撖�</b><br><span class="loc">GD32E50X_BOOT/sys/OTA.cpp:376-389嚗𠄎PI/CAN FINISH嚗剹��D32E50X_BOOT/sys/OTA.cpp:956-960嚗𠄌CAT commit嚗�</span></td><td>FINISH �嗅蘨�𡁜��讛”����扳��伐�validateApplication嚗㚁��誩� calculateAppCrc 撖� Flash 敶枏���捆霈∠�撟嗅��乓��蜓�箔��芯��烐㟲�𨅯� CRC/�䁅���</td><td>銝W���歲�瑯���憭梯揖�嗘���征瘣鮋�隡朞◤霈∠�餈𥕞�𨅯�瘜� CRC�嘅�CRC �芾��脣�蝏凋�蝧餉蓮嚗屸俈銝滢�隡㰘�/�坔��躰秤��</td><td>�讛悅�� SIZE �嗆挾�峕𧒄銝见��𨅯� CRC32嚗�� SHA-256嚗㚁�FINISH �嗆�撖嫣��游��滚� CRC 銝擧�敹𨰜��</td></tr><tr id="R05"><td>R05</td><td><span class="sev s1">銝仿�</span></td><td>OTA �舫���</td><td><b>�嗅�銝滚撩�嗉�蝏剖��瑯��虾�𣂼� IFEND��lash �坔仃韐乩��阡膄憭梯揖鋡恍�暺睃蕭��</b><br><span class="loc">GD32E50X_BOOT/sys/OTA.cpp:1077-1160嚗㇄ATA 憭��嚗剹��818-838嚗òriteApplicationData 憭梯揖隞� return嚗剹��347-349嚗�𣑐�文��䭾辺隞嗉��� RECEIVING嚗�</span></td><td>DATA 銝齿��� seq==next_expected嚗𥕢遙�誩��
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<h2>4. �X�霂�恣蝏栞捏頝蠘葵</h2>
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<p>�交�嚗�<code>.trae/specs/prune-boot-dead-code/</code>嚗���𣂷漱 3377a2e嚗�2026-07-15 �亙�嚗剹�����辣靽萘�銝滚𢆡嚗屸�鞉辺憭齿瓲閫��銵剁�靽株恥��𡖂摮䀝蛹
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<a href="prune-boot-dead-code_憭齿瓲_2026-10-19.html">docs/review/prune-boot-dead-code_憭齿瓲_2026-10-19.html</a>��</p>
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<table><tr><th>��辺��</th><th>蝏栞捏</th><th>2026-10-19 憭齿瓲嚗�抅鈭� 644c8fb嚗�</th><th>�嗆��</th></tr><tr><td>A</td><td>�𣳇膄 OTAHandler::ota_stateota_time</td><td>�其� grep 0 �賭葉</td><td class="ok">隞齿�蝡�</td></tr><tr><td>B</td><td>�𣳇膄 handleOTAMessage �扳𦻖��</td><td>0 �賭葉嚗偦曎頝舐�銝�韏� handleLinkMessage</td><td class="ok">隞齿�蝡�</td></tr><tr><td>C</td><td>�𣳇膄 sendDATA_ACK 銝支葵�滩蝸</td><td>0 �賭葉</td><td class="ok">隞齿�蝡�</td></tr><tr><td>D</td><td>�𣳇膄 can_dma_init �牐�</td><td>0 �賭葉嚗𢲷anfd_config 銝剜�靚�鍂</td><td class="ok">隞齿�蝡�</td></tr><tr><td>E</td><td>�𣳇膄 BootPlatform �𠰴� 4 銝芷��蹱𦻖��</td><td>0 �賭葉</td><td class="ok">隞齿�蝡�</td></tr><tr><td>F</td><td>�𣳇膄 SPI0_IRQHandler 蝛箏ㄢ ISR</td><td>隞�鍳�冽�隞� [WEAK] 憭�枂�堆�SpiOta.cpp:725-727 隞滨��� SPI0 銝剜鱏嚗峕𧊋雿輯� SPI0_IRQn</td><td class="ok">隞齿�蝡�</td></tr><tr><td>G</td><td>�𣳇膄 .bak 憭�遢銝� RTE �脩��舀𧋦</td><td>隞枏�銝剖歇銝滚���</td><td class="ok">隞齿�蝡�</td></tr><tr><td>H</td><td>C ���撅�恣霈∴�靽萘� delay_1ms/1us��ystem_soft_reset��XTI/CAN IRQ嚗�</td><td>靽萘�憿嫣��㕑��冽䲮嚗𧩹pi_ota_* 隞��蝐餃��� spi_ota_frame_type_t</td><td class="ok">隞齿�蝡�</td></tr><tr><td>I</td><td>瘜券�銝��湔�改�撌脣�蝚血噡 0 �賭葉嚗�</td><td>撌脣�蝚血噡隞� 0 �賭葉嚗𥕢��箇緵�啁�瘜券�瞍�宏嚗�� R39嚗�</td><td class="warn">�典�����</td></tr><tr><td>J</td><td>銵䔶蛹�嗅���</td><td>霂交活�𣂷漱嚗�3377a2e嚗劐��𤾸��� 10 銝芸��賣�鈭歹�銵䔶蛹撌脫�餈𨥈�甇日★隞�笆敶𤘪𧒄敹怎��㗇�銋�</td><td class="warn">銝滚���鍂</td></tr><tr><td>K/G2.2</td><td>蝻𤥁�撉諹�嚗���嗆𧊋�扯�嚗�</td><td>隞枏�隞齿� CI 銝擧�撱箔漣�抬��䭾�隞𦒘�摨栞�摰痹�銝娍�撱箔�韏碶�摨枏� spi_link嚗㇌31嚗㚁��钅��擧�瘜閧𡠺蝡讠�霂�</td><td class="no">隞齿𧊋摰峕�</td></tr><tr><td>L</td><td>�靝�瞍譍��仮�肽䌊璉�</td><td>敶𤘪𧒄��凒���蝡页�銋见��啣� branchToApplication嚗�𧊋雿輻鍂嚗剹��W_*SyncManChannel/HW_SetLed 蝑㗇香隞��嚗㇌30��39嚗�</td><td class="warn">��蝏剖�</td></tr></table>
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<h2>5. 隡睃�蝥找耨憭滩楝蝥踹㦛</h2>
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<table><tr><th>隡睃�蝥�</th><th>�園𡢿</th><th>鈭钅★</th><th>�唾��桅�</th></tr>
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<tr><td><span class="sev s0">P0</span></td><td>1 �典�</td><td>�嗥揮 ECAT �𤑳��剁�A/B ����臬鍳�冽�撘�嚗㚁�verifyAppCrc �𡝗��阡膄����溻��riteAppCrc 餈𥪜�撟嗅�霂鳴�FINISH/commit 瘥𥪜笆銝餅㦤銝见���㟲�𨅯� CRC嚗𥟇𣑐��/�坔�憭梯揖頧� ERROR</td><td>R01 R03 R04 R05</td></tr>
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<tr><td><span class="sev s1">P1</span></td><td>2��4 ��</td><td>ISR �芸��麄��TA/Flash �閧瑪蝔见�嚗𢥏PI �笔�皛∩��刻� SEQ��redit �� min嚗𥕢耨甇� isSpiTransport嚗苽X �𣬚��莎�CAN �臬耦�笔� + bus-off �W�嚗𥕦援皞�秄隡睃��墧� B �綽������ 4KB 撟嗆�瘞港�</td><td>R07�𣫮14 R16</td></tr>
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<tr><td><span class="sev s1">P1</span></td><td>2��4 ��</td><td>�滨蔭憿菜㺿�屸△�亙�蝏𤘪�嚗𥡝歲頧砍�摰峕㟲憭𤥁挽/銝剜鱏皜��銝� EXMC 撘閗�憭滢���SC 憭滢�</td><td>R06 R15 R20</td></tr>
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<tr><td><span class="sev s2">P2</span></td><td>1��2 ��</td><td>�箔辣蝑曉�嚗𠄌CDSA-P256/Ed25519嚗�+ �脤�蝥抒��砍噡 + �� UID 瘣曄�撖�𤨎嚗峕𤜯�Y′蝻𣇉� K_master 銝� ECB/CRC �寞�</td><td>R02 R35 R36</td></tr>
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<tr><td><span class="sev s2">P2</span></td><td>1��2 ��</td><td>spi_link 蝥喳�隞枏���elease �喲𡡒 DEBUG_PRINT��HANGELOG��.gitignore 靽格迤��itea Actions CI</td><td>R32�𣫮34 R40</td></tr>
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<tr><td><span class="sev s3">P3</span></td><td>�𡒊賒</td><td>ECAT 餈�宏 BOOT �嗆�� + FoE嚗𢥏SC ��漣 5.13嚗𤤿𤚗霂� Vendor ID嚗𥟇���香隞��銝擧釣�𦠜�蝘�</td><td>R30 R31 R37�𣫮39</td></tr></table>
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<h2>6. �餌�霂��</h2>
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<table><tr><th>蝏游漲</th><th>霂��</th><th>霂湔�</th></tr><tr><td>Bootloader/OTA �舫���</td><td><b>4.5</b> / 10</td><td>A/B ��躹��RC��援皞�秄�肽楝摰峕㟲嚗䔶��⊿��舐�餈����蝵桅△�䭾��萎��扎���皛𡁜仃��</td></tr><tr><td>�箔辣摰匧�</td><td><b>2.5</b> / 10</td><td>蝖祉����鈭怠��乓���蝑曉���虾�齿𦆮嚗𡻈CAT �典銁撏拇��擧�撘�</td></tr><tr><td>摰墧𧒄�找�銝剜鱏/DMA</td><td><b>4.5</b> / 10</td><td>撌脣� DMA 銝� ISR ���嚗䔶� ISR ���頝𤑳𠶖��㦤/Flash嚗𣬚����憭�</td></tr><tr><td>�帋縑�讛悅嚗𠄎PI v2 / CAN-FD嚗�</td><td><b>5.0</b> / 10</td><td>SEQ/ACK/CREDIT 霈曇恣���嚗���啣��其腺����𡁻�銝脫贋</td></tr><tr><td>EtherCAT ���</td><td><b>6.0</b> / 10</td><td>SSC ����舐鍂嚗���蹱�蝔𧢲��堆�頝唾蓮�� ESC/撘閗�憭��銝擧𧒄�箏���</td></tr><tr><td>隞��韐券�銝𤾸虾蝏湔擪��</td><td><b>6.5</b> / 10</td><td>瘜券�霂血偷��虜�誯�銝哨�ota_layout.h �臭����嚗㚁�摮睃銁瘜券�瞍�宏銝擧香隞��</td></tr><tr><td>��遣銝𦒘�摨枏㪗��</td><td><b>4.0</b> / 10</td><td>靘肽�隞枏�憭𡝗����蝏嘥笆頝臬�嚗峕� README/CI嚗�.gitignore �𤤿㦛</td></tr>
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<tr><td><b>蝏澆�</b></td><td><b>4.7</b> / 10</td><td>摰峕� P0+P1 �𡡞�霈∪虾颲� 7 ��誑銝�</td></tr></table>
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<div class="card"><b>鈭桃�嚗�</b>Flash 撣���蓥�������蝵桀�隞交𣑐�斗��蛹�𨀣����萘�霈曇恣��援皞�秄銝� ECAT �𤑳��肽楝��PI v2 �� SEQ/CREDIT 瘚�綉��CAT commit 銝滚銁 SSC �噼��𣬚凒�亥歲頧研��釣�𠹺葉靽萘�鈭�之�讐緵�粹䔮憸䀹䔉�晞��<br>
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<b>銝餉��剜踎嚗�</b>摰峕㟲�扳嵗撉𢞖�𨅯虾蝏閗�/�𡒊�蝡罱�腈�����撩憭晞��SR 銝𦒘蜓敺芰㴓�曹澈�嗆��㦤���憿菟�蝵格��厩㩞靽脲擪���摨㮖��芸��怒��</div>
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<p class="meta">�祆𥁒�𠹺��啣� docs/ 銝𧢲�隞塚��芣㺿�其遙雿閙�����</p>
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</div></body></html>
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