修复协议解析器, 打通与 MPU 的双向通信

- protocol: 修复 edc_cycle_parse_byte 状态机死代码 (switch 恒 return, 收帧逻辑不可达), 并加 LEN 未就绪保护
- protocol: UART 默认引脚改为 GPIO11/12 (UART0)
- sdkconfig.defaults: 控制台切至 USB Serial/JTAG, 避免与协议 UART0 冲突
- web_ctrl: 新增协议状态 API 与 Cycle 快照; on_cycle 回 DONE 并按 cycle_id 去重
- main: 接入协议初始化与接收任务, 更新接线注释
- 实测: MPU 每秒下发 Cycle, I2C/UART 双通道 12/12 收, DONE 12/12 回

.gitignore

@@ -76,3 +76,5 @@ Desktop.ini
 *.workspace # General workspace files, can be from various tools
 *.suo       # Visual Studio Solution User Options
 *.sln.docstates # Visual Studio
+
+.cache/

components/protocol/PROTOCOL.md

@@ -177,8 +177,9 @@ uint16_t edc_crc16(const uint8_t *data, size_t len)
 
 - **RX**: 接收 CYCLE_DATA (冗余备份)
 - **TX**: 发送 CYCLE_DONE / CYCLE_REQUEST
-- 默认引脚: TX=GPIO8, RX=GPIO9
+- 默认引脚: TX=GPIO11, RX=GPIO12 (UART0)
 - 波特率: 115200, 8N1
+- 注: ESP32-C5 日志控制台使用 USB Serial/JTAG, UART0 专用于本协议
 
 ### 6.3 冗余策略
 

components/protocol/protocol.c

@@ -105,13 +105,14 @@ int edc_cycle_pack(const edc_cycle_t *cycle, uint8_t *out)
 edc_parse_result_t edc_cycle_parse_byte(edc_frame_ctx_t *ctx, uint8_t byte,
                                         edc_cycle_t *cycle)
 {
-    switch (ctx->state) {
+    /* 上一帧解析完成后, 复位准备接收下一帧 */
-    case EDC_PARSE_OK:
+    if (ctx->state == EDC_PARSE_OK) {
         ctx->idx   = 0;
         ctx->state = EDC_PARSE_WAITING;
-        /* fall through */
+    }
-    case EDC_PARSE_WAITING:
+
-    default:
+    /* ---- 等待 SOF1 ---- */
+    if (ctx->idx == 0) {
         if (byte == EDC_PROTO_SOF1) {
             ctx->buf[0] = byte;
             ctx->idx    = 1;
@@ -119,8 +120,7 @@ edc_parse_result_t edc_cycle_parse_byte(edc_frame_ctx_t *ctx, uint8_t byte,
         return EDC_PARSE_WAITING;
     }
 
-    /* ---- 收帧中 (idx >= 1) ---- */
+    /* ---- 等待 SOF2 ---- */
-
     if (ctx->idx == 1) {
         if (byte != EDC_PROTO_SOF2) {
             ctx->idx = 0;
@@ -147,8 +147,8 @@ edc_parse_result_t edc_cycle_parse_byte(edc_frame_ctx_t *ctx, uint8_t byte,
         ctx->len = 2 + 1 + 1 + data_len + 2;  /* SOF+CMD+LEN+DATA+CRC */
     }
 
-    /* 收满一帧 */
+    /* 收满一帧 (idx>=4 保证 ctx->len 已按 LEN 字段设置) */
-    if (ctx->idx >= ctx->len) {
+    if (ctx->idx >= 4 && ctx->idx >= ctx->len) {
         ctx->idx = ctx->len;
 
         /* CRC 校验 */
@@ -295,8 +295,9 @@ static bool uart_poll_once(void)
 {
     uint8_t byte;
     bool got = false;
+    int limit = 64;  /* 每次最多处理 64 字节, 防止饿死 IDLE 任务 */
 
-    while (uart_read_bytes(s_uart_port, &byte, 1, pdMS_TO_TICKS(0)) > 0) {
+    while (limit-- > 0 && uart_read_bytes(s_uart_port, &byte, 1, pdMS_TO_TICKS(0)) > 0) {
         s_stat.uart.bytes_total++;
 
         edc_cycle_t cycle;
@@ -365,7 +366,7 @@ void edc_proto_init(const edc_proto_config_t *cfg)
             .sda_io_num        = dft.i2c_sda,
             .scl_io_num        = dft.i2c_scl,
             .clk_source        = I2C_CLK_SRC_DEFAULT,
-            .send_buf_depth    = 0,
+            .send_buf_depth    = 8,    /* 最少需要非零值 */
             .receive_buf_depth = EDC_I2C_BUF_SIZE,
             .slave_addr        = dft.i2c_addr,
             .addr_bit_len      = I2C_ADDR_BIT_LEN_7,
@@ -485,6 +486,6 @@ void edc_proto_task(void *pvParam)
             portEXIT_CRITICAL(&s_lock);
             edc_proto_on_cycle(&cycle, ch);
         }
-        vTaskDelay(pdMS_TO_TICKS(2));
+        vTaskDelay(pdMS_TO_TICKS(10));
     }
 }

components/protocol/protocol.h

@@ -64,8 +64,8 @@ extern "C" {
 /* ---- UART 默认 ---- */
 #define EDC_UART_PORT_DEFAULT     UART_NUM_0
 #define EDC_UART_BAUDRATE         115200
-#define EDC_UART_RX_DEFAULT       GPIO_NUM_9
+#define EDC_UART_RX_DEFAULT       GPIO_NUM_12
-#define EDC_UART_TX_DEFAULT       GPIO_NUM_8
+#define EDC_UART_TX_DEFAULT       GPIO_NUM_11
 #define EDC_UART_BUF_SIZE         512
 
 /* ================================================================

components/web_ctrl/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "web_ctrl.c"
                        INCLUDE_DIRS "."
-                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash)
+                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash protocol)

components/web_ctrl/web_ctrl.c

@@ -7,6 +7,7 @@
 #include "emm_v5.h"
 #include "magnet.h"
 #include "servo.h"
+#include "protocol.h"
 
 #include <string.h>
 #include <stdlib.h>
@@ -175,6 +176,20 @@ button:active{opacity:.7}
 
 </div>
 
+<div class="card" id="proto-card">
+  <h2><i class="tag amber"></i>通讯协议</h2>
+  <div class="row" style="font-size:.82rem">
+    <span>I2C: <b id="pi2c">-</b></span>
+    <span>UART: <b id="puart">-</b></span>
+    <span>通道: <b id="pch">-</b></span>
+  </div>
+  <div id="pcycle" style="font-size:.78rem;color:var(--sub);margin-top:6px">等待 Cycle...</div>
+  <div class="btn-row" style="margin-top:10px">
+    <button class="btn-go" onclick="var c=document.getElementById('pcid');api('proto/done?id='+(c?c.value:0))">Done</button>
+    <button class="btn-stop" onclick="api('proto/request')">Request</button>
+  </div>
+</div>
+
 <div class="card log-card">
   <h2><i class="tag green"></i>运行日志</h2>
   <div class="log" id="log">等待指令...</div>
@@ -197,6 +212,30 @@ fetch('/api/status').then(function(r){return r.json()}).then(function(d){
   document.getElementById('wifi').innerHTML='<i class="dot"></i>WiFi: '+d.ssid;
   document.getElementById('ip').textContent='IP: '+d.ip
 })
+/* 每秒刷新协议状态 */
+function pollProto(){
+  fetch('/api/proto/status').then(function(r){return r.json()}).then(function(d){
+    document.getElementById('pi2c').textContent = d.i2c_ok + '/' + (d.i2c_ok+d.i2c_err);
+    document.getElementById('puart').textContent = d.uart_ok + '/' + (d.uart_ok+d.uart_err);
+    document.getElementById('pch').textContent = d.last_ch;
+    if(d.cycle){
+      document.getElementById('pcid').value = d.cycle.id;
+      var html = 'Cycle #'+d.cycle.id + ' ('+d.cycle.frags+' frags)<br>';
+      for(var i=0;i<d.cycle.data.length;i++){
+        var f=d.cycle.data[i];
+        html += 'F'+i+': ('+f.sx+','+f.sy+' '+f.sa+'°) → ('+f.tx+','+f.ty+' '+f.ta+'°)<br>';
+      }
+      document.getElementById('pcycle').innerHTML = html;
+    }
+  }).catch(function(){});
+}
+/* 隐藏的 cycle_id 存储 */
+(function(){
+  var inp=document.createElement('input');
+  inp.type='hidden';inp.id='pcid';inp.value='0';
+  document.getElementById('proto-card').appendChild(inp);
+})();
+pollProto();setInterval(pollProto,1000);
 </script>
 </body>
 </html>)raw";
@@ -448,6 +487,116 @@ static esp_err_t favicon_handler(httpd_req_t *req)
     return ESP_OK;
 }
 
+/* ============================================================
+ * 协议状态 API
+ * ============================================================ */
+
+/* 最近收到的 Cycle 快照 (由 edc_proto_on_cycle 更新, web 读取) */
+static edc_cycle_t      s_web_cycle;
+static volatile bool    s_web_cycle_valid;
+static portMUX_TYPE     s_web_lock = portMUX_INITIALIZER_UNLOCKED;
+
+void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
+{
+    static uint16_t s_last_done_id = 0xFFFF;
+
+    portENTER_CRITICAL(&s_web_lock);
+    memcpy(&s_web_cycle, cycle, sizeof(edc_cycle_t));
+    s_web_cycle_valid = true;
+    portEXIT_CRITICAL(&s_web_lock);
+
+    ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
+             cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
+             cycle->frag_count);
+
+    /* I2C / UART 冗余下发, 同一 cycle_id 只回一次 DONE */
+    if (cycle->cycle_id == s_last_done_id) {
+        return;
+    }
+    s_last_done_id = cycle->cycle_id;
+
+    /* 回复 MPU: Cycle 已收到 (后续实际执行电机后应移到执行完毕处) */
+    edc_proto_send_done(cycle->cycle_id);
+}
+
+static esp_err_t api_proto_status_handler(httpd_req_t *req)
+{
+    edc_proto_stat_t stat;
+    edc_proto_get_stats(&stat);
+
+    char json[1024];
+    int off = snprintf(json, sizeof(json),
+        "{\"i2c_ok\":%lu,\"i2c_err\":%lu,\"uart_ok\":%lu,\"uart_err\":%lu,"
+        "\"last_ch\":\"%s\",\"done\":%lu,\"req\":%lu",
+        stat.i2c.cycles_ok, stat.i2c.cycles_err,
+        stat.uart.cycles_ok, stat.uart.cycles_err,
+        (stat.last_channel == EDC_CH_I2C) ? "I2C" :
+        (stat.last_channel == EDC_CH_UART) ? "UART" : "none",
+        stat.done_sent, stat.request_sent);
+
+    portENTER_CRITICAL(&s_web_lock);
+    bool valid = s_web_cycle_valid;
+    edc_cycle_t cycle;
+    if (valid) memcpy(&cycle, &s_web_cycle, sizeof(edc_cycle_t));
+    portEXIT_CRITICAL(&s_web_lock);
+
+    if (valid) {
+        off += snprintf(json + off, sizeof(json) - off,
+            ",\"cycle\":{\"id\":%u,\"frags\":%u,\"data\":[",
+            cycle.cycle_id, cycle.frag_count);
+        for (int i = 0; i < cycle.frag_count; i++) {
+            edc_fragment_t *f = &cycle.fragments[i];
+            off += snprintf(json + off, sizeof(json) - off,
+                "%s{\"sx\":%u,\"sy\":%u,\"sa\":%.1f,\"tx\":%u,\"ty\":%u,\"ta\":%.1f}",
+                (i > 0) ? "," : "",
+                f->source.x, f->source.y, f->source.angle_x10 / 10.0f,
+                f->target.x, f->target.y, f->target.angle_x10 / 10.0f);
+        }
+        off += snprintf(json + off, sizeof(json) - off, "]}");
+    }
+    off += snprintf(json + off, sizeof(json) - off, "}");
+
+    httpd_resp_set_type(req, "application/json");
+    httpd_resp_send(req, json, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+static esp_err_t api_proto_request_handler(httpd_req_t *req)
+{
+    edc_proto_send_request();
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, "已发送 CYCLE_REQUEST", HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+static esp_err_t api_proto_done_handler(httpd_req_t *req)
+{
+    edc_cycle_t cycle;
+    edc_proto_stat_t stat;
+    edc_proto_get_stats(&stat);
+    /* 对最近收到的 cycle 发送 DONE */
+    if (stat.last_channel != EDC_CH_NONE) {
+        char buf[128];
+        size_t len = httpd_req_get_url_query_len(req) + 1;
+        if (len > sizeof(buf)) len = sizeof(buf);
+        uint16_t cid = 0;
+        if (httpd_req_get_url_query_str(req, buf, len) == ESP_OK) {
+            char val[16];
+            if (httpd_query_key_value(buf, "id", val, sizeof(val)) == ESP_OK) {
+                cid = (uint16_t)atoi(val);
+            }
+        }
+        edc_proto_send_done(cid);
+        char resp[64];
+        snprintf(resp, sizeof(resp), "已发送 CYCLE_DONE (id=%u)", cid);
+        httpd_resp_set_type(req, "text/plain; charset=utf-8");
+        httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+        return ESP_OK;
+    }
+    httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "尚无收到 Cycle");
+    return ESP_FAIL;
+}
+
 static void http_server_init(void)
 {
     httpd_handle_t server = NULL;
@@ -532,6 +681,31 @@ static void http_server_init(void)
     };
     httpd_register_uri_handler(server, &uri_favicon);
 
+    /* ---- 协议状态 API ---- */
+    httpd_uri_t uri_proto_status = {
+        .uri      = "/api/proto/status",
+        .method   = HTTP_GET,
+        .handler  = api_proto_status_handler,
+        .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_proto_status);
+
+    httpd_uri_t uri_proto_request = {
+        .uri      = "/api/proto/request",
+        .method   = HTTP_GET,
+        .handler  = api_proto_request_handler,
+        .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_proto_request);
+
+    httpd_uri_t uri_proto_done = {
+        .uri      = "/api/proto/done",
+        .method   = HTTP_GET,
+        .handler  = api_proto_done_handler,
+        .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_proto_done);
+
     ESP_LOGI(TAG, "HTTP 服务器已启动 (端口 %d)", cfg.server_port);
 }
 

main/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "main.c"
                     INCLUDE_DIRS "."
-                    PRIV_REQUIRES emm_v5 magnet servo web_ctrl)
+                    PRIV_REQUIRES emm_v5 magnet servo web_ctrl protocol)

main/main.c

@@ -7,7 +7,14 @@
  *   ESP32 RX (GPIO7)  -> 电机 TX
  *   ESP32 GPIO5       -> 电磁铁
  *   ESP32 GPIO4       -> 舵机
- *   ESP32 GND         -> 电机 GND
+ *   ESP32 GPIO11      -> 协议 UART TX (→ MPU)   (UART0)
+ *   ESP32 GPIO12      -> 协议 UART RX (← MPU)   (UART0)
+ *   ESP32 GPIO2       -> I2C SDA (← MPU)
+ *   ESP32 GPIO3       -> I2C SCL
+ *   ESP32 GND         -> 电机 GND / MPU GND
+ *
+ * 注: 日志控制台已切换到 USB Serial/JTAG (COM 口监视),
+ *     UART0 (GPIO11/12) 专用于 MPU 协议通讯。
  *
  * WiFi: 连接 ICE (密码 12345678), 获取 IP 后用浏览器打开控制页面
  */
@@ -16,8 +23,12 @@
 #include "magnet.h"
 #include "servo.h"
 #include "web_ctrl.h"
+#include "protocol.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "esp_log.h"
+
+static const char *TAG = "MAIN";
 
 void app_main(void)
 {
@@ -30,14 +41,20 @@ void app_main(void)
     /* 初始化舵机 (GPIO4, 上限180° 下限0°) */
     servo_init(GPIO_NUM_4);
 
+    /* 初始化通讯协议 (I2C 从机 GPIO2/3 + UART0 GPIO11/12) */
+    edc_proto_init(NULL);
+
+    /* 启动协议接收任务 */
+    xTaskCreate(edc_proto_task, "proto", 4096, NULL, 2, NULL);
+
     /* 上电延时 2 秒, 等待电机闭环初始化完毕 */
-    ESP_LOGI("MAIN", "等待电机初始化...");
+    ESP_LOGI(TAG, "等待电机初始化...");
     vTaskDelay(pdMS_TO_TICKS(2000));
 
     /* 启动 WiFi + HTTP 网页控制服务器 */
     web_ctrl_init();
 
-    ESP_LOGI("MAIN", "系统就绪, 等待网页指令...");
+    ESP_LOGI(TAG, "系统就绪, 等待网页指令...");
     while (1) {
         vTaskDelay(pdMS_TO_TICKS(1000));
     }

sdkconfig.defaults

@@ -0,0 +1,3 @@
+# 日志控制台输出到 USB Serial/JTAG, UART0 (GPIO11/12) 专用于 MPU 协议通讯
+CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
+CONFIG_ESP_CONSOLE_SECONDARY_NONE=y