DCU_APP/GD32E508_DCU_APP/comm/ethercat_sync.cpp

/**
 * @file ethercat_sync.cpp
 * @brief EtherCAT SYNC0 周期同步实现。
 */
#include "comm/ethercat_sync.h"
#include "comm/ethercat_slave.h"
#include "sys/config.h"
#include "sys/task_manager.h"
#include "main.h"

extern "C" {
#include "gd32e50x_rcu.h"
#include "gd32e50x_gpio.h"
#include "gd32e50x_exti.h"
#include "gd32e50x_misc.h"
#if (CONFIG_ETHERCAT_SYNC_MODE == 1)
#include "gd32e50x_timer.h"
#endif
}

void EthercatSync::init()
{
    /* 使能 GPIOB 时钟(SYNC0=PB0 / IRQ=PB1 / SYNC1=PB2) */
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);

    /* 配置三个引脚为上拉输入(EXTI 下降沿触发:LAN9252 输出低有效脉冲) */
    gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ,
              CONFIG_ESC_SYNC0_PIN | CONFIG_ESC_IRQ_PIN | CONFIG_ESC_SYNC1_PIN);

#if (CONFIG_ETHERCAT_SYNC_MODE == 0)
    /* ---- 默认:EXTI 外部触发模式 ---- */
    /* SYNC0:PB0 -> EXTI0,下降沿,preempt=0 */
    gpio_exti_source_select(CONFIG_ESC_SYNC0_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC0_EXTI_SOURCE_PIN);
    exti_init(CONFIG_ESC_SYNC0_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_interrupt_enable(CONFIG_ESC_SYNC0_EXTI);
    exti_interrupt_flag_clear(CONFIG_ESC_SYNC0_EXTI);
    nvic_irq_enable(CONFIG_ESC_SYNC0_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);

    /* ESC IRQ:PB1 -> EXTI1,下降沿,preempt=1 */
    gpio_exti_source_select(CONFIG_ESC_IRQ_EXTI_SOURCE_PORT, CONFIG_ESC_IRQ_EXTI_SOURCE_PIN);
    exti_init(CONFIG_ESC_IRQ_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_interrupt_enable(CONFIG_ESC_IRQ_EXTI);
    exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
    nvic_irq_enable(CONFIG_ESC_IRQ_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_ESC, 0U);

    /* SYNC1:PB2 -> EXTI2,下降沿,preempt=1(备用) */
    gpio_exti_source_select(CONFIG_ESC_SYNC1_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
    exti_init(CONFIG_ESC_SYNC1_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_interrupt_enable(CONFIG_ESC_SYNC1_EXTI);
    exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
    nvic_irq_enable(CONFIG_ESC_SYNC1_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1, 0U);
#else
    /* ---- 降级模式:TIMER0 内部定时 ---- */
    rcu_periph_clock_enable(RCU_TIMER0);
    timer_parameter_struct timer_initpara;
    timer_struct_para_init(&timer_initpara);
    /* 100us 周期:180MHz / (179+1) / (99+1) = 10kHz = 100us */
    timer_initpara.prescaler = 179U;
    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection = TIMER_COUNTER_UP;
    timer_initpara.period = 99U;
    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
    timer_init(TIMER0, &timer_initpara);
    timer_interrupt_flag_clear(TIMER0, TIMER_INT_FLAG_UP);
    timer_interrupt_enable(TIMER0, TIMER_INT_UP);
    nvic_irq_enable(TIMER0_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);
    timer_enable(TIMER0);

    /* ESC IRQ:PB1 -> EXTI1,下降沿,preempt=1 */
    gpio_exti_source_select(CONFIG_ESC_IRQ_EXTI_SOURCE_PORT, CONFIG_ESC_IRQ_EXTI_SOURCE_PIN);
    exti_init(CONFIG_ESC_IRQ_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_interrupt_enable(CONFIG_ESC_IRQ_EXTI);
    exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
    nvic_irq_enable(CONFIG_ESC_IRQ_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_ESC, 0U);

    /* SYNC1:PB2 -> EXTI2,下降沿,preempt=1(备用) */
    gpio_exti_source_select(CONFIG_ESC_SYNC1_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
    exti_init(CONFIG_ESC_SYNC1_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_interrupt_enable(CONFIG_ESC_SYNC1_EXTI);
    exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
    nvic_irq_enable(CONFIG_ESC_SYNC1_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1, 0U);
#endif
}

__attribute__((section(".ramfunc"), noinline))
void EthercatSync::onSync0Exti()
{
    /* 直接寄存器访问,绕过 GD32 库函数以消除可变抖动 */
    if ((EXTI_PD & (uint32_t)CONFIG_ESC_SYNC0_EXTI) != RESET) {
        EXTI_PD = (uint32_t)CONFIG_ESC_SYNC0_EXTI;
        EthercatSlave::periodicIsr();
    }
}

void EthercatSync::onEscIrqExti()
{
    if (exti_interrupt_flag_get(CONFIG_ESC_IRQ_EXTI) != RESET) {
        exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
        /* 极简:仅置位任务,事件处理移主循环 */
        TaskManager::set(1UL << TASK_ETHERCAT_PROCESS);
    }
}

void EthercatSync::onSync1Exti()
{
    if (exti_interrupt_flag_get(CONFIG_ESC_SYNC1_EXTI) != RESET) {
        exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
        /* SYNC1 备用,暂不处理 */
    }
}

void EthercatSync::onTimerIrq()
{
#if (CONFIG_ETHERCAT_SYNC_MODE == 1)
    if (timer_interrupt_flag_get(TIMER0, TIMER_INT_FLAG_UP) != RESET) {
        timer_interrupt_flag_clear(TIMER0, TIMER_INT_FLAG_UP);
        EthercatSlave::periodicIsr();
    }
#endif
}

/* ---- 中断入口 C 包装 ---- */
extern "C" {

#if (CONFIG_ETHERCAT_SYNC_MODE == 0)
__attribute__((section(".ramfunc"), noinline))
void EXTI0_IRQHandler(void)  { EthercatSync::onSync0Exti(); }
void EXTI1_IRQHandler(void)  { EthercatSync::onEscIrqExti(); }
void EXTI2_IRQHandler(void)  { EthercatSync::onSync1Exti(); }
#else
void TIMER0_IRQHandler(void) { EthercatSync::onTimerIrq(); }
void EXTI1_IRQHandler(void)  { EthercatSync::onEscIrqExti(); }
void EXTI2_IRQHandler(void)  { EthercatSync::onSync1Exti(); }
#endif

} /* extern "C" */