小龙虾
069ce8e6a5
添加ESP32-C3 GPIO驱动组件以支持SPI Ready握手机制，新增 SPI_READY_GPIO(10)引脚配置用于监测GD32 PB6就绪状态，避免SPI 通信时从机未准备好的丢帧问题。
288 lines
10 KiB
C++
288 lines
10 KiB
C++
/*
|
|
* canfd_bridge.cpp - CANFD 3通道通信桥接实现（M4: 从 SpiMaster 提取）
|
|
*/
|
|
#include <string.h>
|
|
#include "canfd_bridge.h"
|
|
#include "spi_master.h"
|
|
#include "monitor/debug_log.h"
|
|
|
|
namespace {
|
|
|
|
constexpr uint8_t kSpiCanFrameType = 0xC0U;
|
|
|
|
static int sendCanFrameOverSpi(can_channel_t channel, uint32_t ext_id,
|
|
const uint8_t *data, uint8_t dlc,
|
|
uint8_t *recv_buf, uint8_t recv_max,
|
|
uint32_t timeout_ms)
|
|
{
|
|
uint8_t tx_buf[72];
|
|
size_t tx_len = 0;
|
|
|
|
tx_buf[tx_len++] = static_cast<uint8_t>(channel & CAN_CHANNEL_MASK);
|
|
tx_buf[tx_len++] = static_cast<uint8_t>((ext_id >> 24) & 0xFFU);
|
|
tx_buf[tx_len++] = static_cast<uint8_t>((ext_id >> 16) & 0xFFU);
|
|
tx_buf[tx_len++] = static_cast<uint8_t>((ext_id >> 8) & 0xFFU);
|
|
tx_buf[tx_len++] = static_cast<uint8_t>(ext_id & 0xFFU);
|
|
if (dlc > 0U) {
|
|
memcpy(&tx_buf[tx_len], data, dlc);
|
|
tx_len += dlc;
|
|
}
|
|
|
|
uint8_t resp_type = 0U;
|
|
size_t resp_len = 0U;
|
|
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
|
kSpiCanFrameType,
|
|
tx_buf,
|
|
tx_len,
|
|
&resp_type,
|
|
recv_buf,
|
|
recv_max,
|
|
&resp_len,
|
|
timeout_ms);
|
|
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK) {
|
|
if (ret != ESP_OK) {
|
|
DEBUG_WARN("CAN", "CAN_SEND SPI失败: ch=%u id=0x%08lX err=%s",
|
|
(unsigned)channel, (unsigned long)ext_id, esp_err_to_name(ret));
|
|
return -2; /* SPI 通信失败 */
|
|
}
|
|
/* resp_type != ACK: 读取 GD32 返回的错误码 */
|
|
uint8_t gd32_err = (resp_len > 0 && recv_buf) ? recv_buf[0] : 0xFF;
|
|
DEBUG_WARN("CAN", "CAN_SEND GD32拒绝: ch=%u id=0x%08lX resp=0x%02X err=0x%02X",
|
|
(unsigned)channel, (unsigned long)ext_id, resp_type, gd32_err);
|
|
return -3; /* GD32 返回 ERROR */
|
|
}
|
|
|
|
if (recv_buf == nullptr || recv_max == 0U) {
|
|
return static_cast<int>(resp_len);
|
|
}
|
|
|
|
const size_t copied_len = (resp_len < recv_max) ? resp_len : recv_max;
|
|
return static_cast<int>(copied_len);
|
|
}
|
|
|
|
constexpr uint8_t kSpiCanFeedbackType = 0xC1U;
|
|
constexpr uint8_t kSpiCanSetModeType = 0xC2U;
|
|
constexpr uint8_t kSpiIdSnapshotType = 0xC3U;
|
|
constexpr size_t kFeedbackPayloadLen = 123U; // 与 GD32 协议表对齐 (kTxBufSize=128 - overhead=5)
|
|
|
|
static inline uint32_t readU32Le(const uint8_t *p) {
|
|
return static_cast<uint32_t>(p[0])
|
|
| (static_cast<uint32_t>(p[1]) << 8)
|
|
| (static_cast<uint32_t>(p[2]) << 16)
|
|
| (static_cast<uint32_t>(p[3]) << 24);
|
|
}
|
|
|
|
} // namespace
|
|
|
|
/**
|
|
* @brief 发送一帧 CANFD 数据，可选等待并读取响应。
|
|
* 通过 SPI 协议帧发送给 GD32 APP，并读取 ACK/ERROR 响应。
|
|
* 返回值: >=0 成功(接收数据长度), -1 参数错误, -2 SPI通信失败, -3 GD32拒绝。
|
|
*/
|
|
int canFdSend(can_channel_t channel, uint32_t ext_id,
|
|
const uint8_t *data, uint8_t dlc,
|
|
uint8_t *recv_buf, uint8_t recv_max,
|
|
uint32_t timeout_ms)
|
|
{
|
|
if (channel >= CAN_CHANNEL_MAX || dlc > CAN_MAX_DLC || !data) {
|
|
return -1;
|
|
}
|
|
return sendCanFrameOverSpi(channel, ext_id, data, dlc, recv_buf, recv_max, timeout_ms);
|
|
}
|
|
|
|
/**
|
|
* @brief 发送一帧无需上层消费响应的 CANFD 数据。
|
|
* GD32 APP 仍会返回 ACK/ERROR，这里主动读走响应，避免残留到下一笔 SPI 事务。
|
|
*/
|
|
int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
|
|
const uint8_t *data, uint8_t dlc)
|
|
{
|
|
if (channel >= CAN_CHANNEL_MAX || dlc > CAN_MAX_DLC || !data) {
|
|
return -1;
|
|
}
|
|
|
|
return (sendCanFrameOverSpi(channel, ext_id, data, dlc, nullptr, 0U, 1000U) >= 0) ? 0 : -1;
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief 拉取一路 CAN 通道的 1Hz 反馈 + ID 快照表（GD32 SPI 帧类型 0xC1，分页）。
|
|
* 连续拉取 page=0 和 page=1，合并为完整结果。
|
|
*/
|
|
int canFdPollFeedback(can_channel_t channel,
|
|
can_feedback_result_t *out,
|
|
uint32_t timeout_ms)
|
|
{
|
|
if (channel >= CAN_CHANNEL_MAX || out == nullptr) {
|
|
return -1;
|
|
}
|
|
|
|
out->valid = 0;
|
|
uint8_t entryIdx = 0U;
|
|
|
|
constexpr uint8_t kFixedHeader = 28U; /* ch+page+total+cnt+mode+seq+rx+tx+drop+err+tec+rec+bus_state */
|
|
|
|
for (uint8_t page = 0U; page < 2U; ++page) {
|
|
uint8_t req[2] = { static_cast<uint8_t>(channel & CAN_CHANNEL_MASK), page };
|
|
uint8_t resp_buf[kFeedbackPayloadLen] = {};
|
|
uint8_t resp_type = 0U;
|
|
size_t resp_len = 0U;
|
|
|
|
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
|
kSpiCanFeedbackType,
|
|
req, 2U,
|
|
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
|
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < kFixedHeader) {
|
|
return -1;
|
|
}
|
|
|
|
/* 第一页时解析固定头 */
|
|
if (page == 0U) {
|
|
out->stats.channel = resp_buf[0];
|
|
out->stats.mode = resp_buf[4];
|
|
out->stats.snapshot_seq = readU32Le(&resp_buf[5]);
|
|
out->stats.rx_count = readU32Le(&resp_buf[9]);
|
|
out->stats.tx_count = readU32Le(&resp_buf[13]);
|
|
out->stats.rx_drop_count = readU32Le(&resp_buf[17]);
|
|
out->stats.error_count = readU32Le(&resp_buf[21]);
|
|
out->stats.tec = resp_buf[25];
|
|
out->stats.rec = resp_buf[26];
|
|
out->stats.bus_state = resp_buf[27];
|
|
out->total_count = resp_buf[2];
|
|
}
|
|
|
|
const uint8_t entryCount = resp_buf[3];
|
|
if (entryCount == 0U) break;
|
|
|
|
uint16_t offset = kFixedHeader;
|
|
for (uint8_t i = 0U; i < entryCount && entryIdx < CANFD_ID_SNAPSHOT_MAX; ++i) {
|
|
if (offset + 8U > resp_len) break;
|
|
|
|
id_snapshot_entry_t &e = out->entries[entryIdx];
|
|
e.id = readU32Le(&resp_buf[offset]);
|
|
e.dlc = resp_buf[offset + 4U];
|
|
const uint8_t flags = resp_buf[offset + 5U];
|
|
e.fd_flag = (flags & 0x01U) ? 1U : 0U;
|
|
e.brs = (flags & 0x02U) ? 1U : 0U;
|
|
e.esi = (flags & 0x04U) ? 1U : 0U;
|
|
|
|
const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
|
|
? e.dlc : static_cast<uint8_t>(CANFD_ID_SNAPSHOT_DATA_MAX);
|
|
const uint16_t entrySize = static_cast<uint16_t>(8U + dataLen);
|
|
if (offset + entrySize > resp_len) break;
|
|
|
|
memcpy(e.data, &resp_buf[offset + 8U], dataLen);
|
|
for (uint8_t d = dataLen; d < CANFD_ID_SNAPSHOT_DATA_MAX; ++d) {
|
|
e.data[d] = 0U;
|
|
}
|
|
|
|
offset += entrySize;
|
|
entryIdx++;
|
|
}
|
|
|
|
if (entryIdx >= out->total_count) break;
|
|
}
|
|
out->valid = 1;
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief 切换 GD32 三路 CAN 接收过滤模式（GD32 SPI 帧类型 0xC2）。
|
|
*/
|
|
|
|
/**
|
|
* @brief 拉取指定通道的不重复 ID 快照表（GD32 SPI 帧类型 0xC3）。
|
|
* 分页拉取，每页 8 条，最多拉 2 页（16 条）。
|
|
*/
|
|
int canFdPullIdSnapshot(can_channel_t channel,
|
|
id_snapshot_entry_t *out,
|
|
uint8_t *out_count,
|
|
uint32_t timeout_ms)
|
|
{
|
|
if (channel >= CAN_CHANNEL_MAX || out == nullptr || out_count == nullptr) {
|
|
return -1;
|
|
}
|
|
|
|
*out_count = 0U;
|
|
uint8_t total = 0U;
|
|
|
|
for (uint8_t page = 0U; page < 2U; ++page) {
|
|
uint8_t req[2] = { static_cast<uint8_t>(channel), page };
|
|
uint8_t resp_buf[kFeedbackPayloadLen] = {};
|
|
uint8_t resp_type = 0U;
|
|
size_t resp_len = 0U;
|
|
|
|
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
|
kSpiIdSnapshotType,
|
|
req, 2U,
|
|
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
|
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < 4U) {
|
|
return -1;
|
|
}
|
|
|
|
/* resp: [ch][page][total_count][entry_count][entries...] */
|
|
if (page == 0U) {
|
|
total = resp_buf[2];
|
|
}
|
|
const uint8_t entryCount = resp_buf[3];
|
|
if (entryCount == 0U) break;
|
|
|
|
uint16_t offset = 4U;
|
|
for (uint8_t i = 0U; i < entryCount && *out_count < CANFD_ID_SNAPSHOT_MAX; ++i) {
|
|
if (offset + 16U > resp_len) break;
|
|
|
|
id_snapshot_entry_t &e = out[*out_count];
|
|
e.id = readU32Le(&resp_buf[offset]);
|
|
e.seq = readU32Le(&resp_buf[offset + 4U]);
|
|
e.rx_count = readU32Le(&resp_buf[offset + 8U]);
|
|
e.dlc = resp_buf[offset + 12U];
|
|
const uint8_t flags = resp_buf[offset + 13U];
|
|
e.fd_flag = (flags & 0x01U) ? 1U : 0U;
|
|
e.brs = (flags & 0x02U) ? 1U : 0U;
|
|
e.esi = (flags & 0x04U) ? 1U : 0U;
|
|
|
|
const uint8_t dataLen = (e.dlc < CANFD_ID_SNAPSHOT_DATA_MAX)
|
|
? e.dlc : static_cast<uint8_t>(CANFD_ID_SNAPSHOT_DATA_MAX);
|
|
const uint16_t entrySize = 16U + dataLen;
|
|
if (offset + entrySize > resp_len) break;
|
|
|
|
memcpy(e.data, &resp_buf[offset + 16U], dataLen);
|
|
/* 清零剩余字节 */
|
|
for (uint8_t d = dataLen; d < CANFD_ID_SNAPSHOT_DATA_MAX; ++d) {
|
|
e.data[d] = 0U;
|
|
}
|
|
|
|
offset += entrySize;
|
|
(*out_count)++;
|
|
}
|
|
|
|
if (*out_count >= total) break; /* 已拉完 */
|
|
}
|
|
return 0;
|
|
}
|
|
int canFdSetRxMode(can_rx_mode_t mode,
|
|
can_rx_mode_t *actual,
|
|
uint32_t timeout_ms)
|
|
{
|
|
if (mode != CAN_RX_MODE_ALL_PASS && mode != CAN_RX_MODE_FILTER_ID && mode != CAN_RX_MODE_BRIDGE_0_TO_12) {
|
|
return -1;
|
|
}
|
|
|
|
uint8_t req = static_cast<uint8_t>(mode);
|
|
uint8_t resp_buf[1] = {0};
|
|
uint8_t resp_type = 0U;
|
|
size_t resp_len = 0U;
|
|
|
|
esp_err_t ret = SpiMaster::instance().otaTransfer(
|
|
kSpiCanSetModeType,
|
|
&req, 1U,
|
|
&resp_type, resp_buf, sizeof(resp_buf), &resp_len, timeout_ms);
|
|
if (ret != ESP_OK || resp_type != SPI_OTA_RSP_ACK || resp_len < 1U) {
|
|
return -1;
|
|
}
|
|
if (actual != nullptr) {
|
|
*actual = static_cast<can_rx_mode_t>(resp_buf[0]);
|
|
}
|
|
return 0;
|
|
}
|