DCU_APP/GD32E508_DCU_APP/comm/ethercat_slave.cpp

/**
 * @file ethercat_slave.cpp
 * @brief EtherCAT 从站 init 探针实现。
 *
 * 运行期 PDO 交换由 SSC 协议栈完成(Sync0_Isr → ECAT_Application →
 * dc_app.c 的 APPL_InputMapping/APPL_OutputMapping),本文件只负责
 * init 阶段的 HBI 探活、芯片 ID 与 AL 状态诊断。
 */
#include "comm/ethercat_slave.h"
#include "comm/esc_lan9252.h"
#include "sys/config.h"
#include <cstdio>

bool EthercatSlave::s_escReady = false;
uint32_t EthercatSlave::s_chipId = 0U;
uint8_t EthercatSlave::s_alState = 0U;

void EthercatSlave::init()
{
    ECAT_LOGI("[ECAT][SLAVE] init: begin\r\n");

    if (!EscLan9252::init()) {
        /* EXMC 总线未就绪:无法继续读芯片 ID 与 AL 状态,统一上报 FAIL。 */
        s_chipId   = 0U;
        s_alState  = 0U;
        s_escReady = false;
        LOG_ERR("[ECAT][SLAVE] init: FAIL, ESC bus not ready\r\n");
        return;
    }

    /* 第 1 层调试可观测性:读取 BYTE_TEST 寄存器(0x064,默认 0x87654321)并打印 selfTest 结果 */
    s_chipId = EscLan9252::readChipId();
    const bool chipIdOk = (s_chipId == 0x87654321U);
    ECAT_LOGI("[ECAT][SLAVE] byte_test=0x%08lX expected=0x%08lX selfTest=%s\r\n",
           (unsigned long)s_chipId, (unsigned long)0x87654321UL,
           chipIdOk ? "PASS" : "FAIL");

    /* AL 状态守卫:仅在芯片 ID 匹配时读取 AL 状态(ID 不匹配时 EXMC 可能读回 0/0xFFFF,无意义)。
     * AL ≥ SAFEOP(0x04) 才认为 SYNC0 可触发;完整 ESC 配置(SM/FMMU/AL Control/SYNC0)需 SSC 集成。 */
    s_alState = 0U;
    uint16_t alStatusReg = 0U;   /* 0x0130:AL Status(bit0-3=state,bit8-15=AL Status Code) */
    if (chipIdOk) {
        alStatusReg   = EscLan9252::initOnlyReadReg(0x0130U);
        s_alState     = (uint8_t)(alStatusReg & 0x000FU);
    }
    const uint8_t alCode = (uint8_t)((alStatusReg >> 8U) & 0xFFU);
    s_escReady = chipIdOk && (s_alState >= AL_STATE_SAFEOP);

    /* AL 状态码 → 可读字符串(EtherCAT 状态机定义,见 ETG.1000.6)。
     * 0x01=INIT, 0x02=PREOP, 0x03=BOOT, 0x04=SAFEOP, 0x08=OP。
     * 本工程 AL_STATE_SAFEOP=0x04 与官方定义一致;守卫 s_alState>=0x04,
     * 因此 OP(0x08) 也会通过,SAFEOP(0x04) 刚好通过,BOOT/PREOP/INIT 不通过。 */
    const char *alStateName = "UNKNOWN";
    switch (s_alState) {
        case 0x00U: alStateName = "NONE";    break;
        case 0x01U: alStateName = "INIT";    break;
        case 0x02U: alStateName = "PREOP";   break;
        case 0x03U: alStateName = "BOOT";    break;
        case 0x04U: alStateName = "SAFEOP";  break;
        case 0x08U: alStateName = "OP";      break;
        default: break;
    }
    /* AL Status Code(寄存器 0x0130 高 8 位):非 0 表示从站进入错误状态
     * (如 SM Watchdog=0x1B、FMMU 配置错、邮箱协议错),需主站介入。 */

    if (!chipIdOk) {
        LOG_ERR("[ECAT][SLAVE] ESC NOT ready, sync ISR disabled (check EXMC wiring/timing)\r\n");
    } else if (s_alState < AL_STATE_SAFEOP) {
        LOG_ERR("[ECAT][SLAVE] chip id PASS, but AL state=0x%02X(%s) < SAFEOP(0x%02X), code=0x%02X\r\n",
               (unsigned)s_alState, alStateName, (unsigned)AL_STATE_SAFEOP, (unsigned)alCode);
        LOG_ERR("[ECAT][SLAVE] SYNC0 will not fire, full ESC config requires SSC integration\r\n");
    } else {
        ECAT_LOGI("[ECAT][SLAVE] ESC ready, chip id=0x%08lX, AL state=0x%02X(%s), code=0x%02X\r\n",
               (unsigned long)s_chipId, (unsigned)s_alState, alStateName, (unsigned)alCode);
    }

    LOG_ERR("[ECAT][SLAVE] init: %s\r\n", s_escReady ? "OK" : "FAIL(partial)");
}