384 lines
14 KiB
C++
384 lines
14 KiB
C++
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/**
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* @file ecat_motor_ota.cpp
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* @brief EtherCAT 邮箱进料通路实现（职责与时序前提见 ecat_motor_ota.h）。
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*
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* 上下文：三个 SDO 钩子只在 MainLoop（ECAT_Application 调用链）里被调，泵 process()
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* 也在主循环，因此 48KB 暂存区没有并发写者。真正的硬保证仍是通道锁：即便主站循环
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* 被别的路径（页面自愈 / 守护重连）拉回来，运动帧也进不了正在升级的通道。
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*/
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#include "comm/ecat_motor_ota.h"
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#include "sys/config.h"
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#include "sys/motor_ota_relay.h"
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#include "sys/ota_boot_request.h"
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#include "sys/systick.h"
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#include "spi_link_v2.h" /* v2_crc32：CRC32 MPEG-2（poly 0x04C11DB7，初值 0xFFFFFFFF，无反射、无末尾异或） */
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#include <cstring>
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#include <cstdio> /* LOG_ERR 展开为 printf（sys/config.h） */
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namespace {
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/*============================================================================
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* 尺寸常量与守卫
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*==========================================================================*/
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constexpr uint32_t kChunkObjBytes = ECAT_MOTA_CHUNK_OBJ_BYTES;
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constexpr uint32_t kChunkHdrBytes = ECAT_MOTA_CHUNK_HDR_BYTES;
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constexpr uint32_t kImgMaxBytes = ECAT_MOTA_IMG_MAX_BYTES;
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constexpr uint8_t kCtlSubs = ECAT_MOTA_CTL_SUBS;
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static_assert(kImgMaxBytes == MotorOtaRelay::kMaxFwSize,
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"暂存区上限必须与 MotorOtaRelay::kMaxFwSize 一致");
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static_assert(kChunkObjBytes * 8U <= 0xFFFFU,
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"0x2511 块长超出 SDO 单条目 BitSize（UINT16）上限");
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static_assert(kChunkObjBytes > kChunkHdrBytes, "数据窗要留出净载荷");
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/** APP 的堆容量（RTE/Device/GD32E508VE/regions_GD32E508VE.h 的 __HEAP_SIZE）。
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* SSC 每笔分段下载都要 malloc(块长)（sdoserv.c:751），堆不够就从站直接回
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* abort 0x05040005「Out of memory」——2026-10-11 就是拿 4096 撞出来的。
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* 这里留 3 倍余量：谁要把块长往上抬，先抬 __HEAP_SIZE 再来改这一行。 */
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constexpr uint32_t kHeapBytes = 3072U;
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static_assert(kChunkObjBytes * 3U <= kHeapBytes,
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"块长受 APP 堆限制：malloc(块长) 必须留足余量，否则从站 OOM 拒收");
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/** 单次 process() 最多搬运的字节数：把一圈的占用钳住，别在 MainLoop 里长时间拷 48KB。 */
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constexpr uint16_t kPumpSlice = 512U;
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/*============================================================================
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* 会话状态
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*==========================================================================*/
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uint32_t s_cmd = 0U; /**< sub1: 最近一次执行的命令 */
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uint32_t s_total = 0U; /**< sub2: 声明的镜像总字节数 */
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uint32_t s_channel = 0U; /**< sub3: 目标 CAN 通道 */
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uint32_t s_node = 0U; /**< sub4: 目标节点 1..9 */
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uint32_t s_img_crc = 0U; /**< sub5: 整镜像期望 CRC32 */
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uint32_t s_staged = 0U; /**< 已连续暂存字节数（水位，写块时前移） */
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uint8_t s_sess_err = ECAT_MOTA_OK;
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bool s_armed = false; /**< 已声明总长，可收块 */
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bool s_started = false; /**< 已交给 relay（暂存区冻结，只剩泵） */
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bool s_crc_ok = false; /**< 整镜像 CRC 已核对通过 */
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bool s_last_chunk_ok = false;
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bool s_end_logged = false;/**< 终态日志只打一次 */
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/* 终态锁存：relay 会话结束后可能很快回到 kIdle（主站下一拍才来读），
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* 不做锁存就会把「刷成功了」读成 kIdle，主站据此报的结论就成了猜的。 */
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bool s_final_valid = false;
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uint8_t s_final_state = 0U;
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uint8_t s_final_err = 0U;
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uint32_t s_pump_pos = 0U; /**< 泵在暂存区里的读游标 */
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/** 48KB 暂存区（.bss：启动零耗时；APP 当前 RAM 用量 35KB/128KB，放得下）。 */
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uint8_t s_img[kImgMaxBytes];
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inline uint32_t loadU32(const uint8_t *p) {
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return static_cast<uint32_t>(p[0])
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| (static_cast<uint32_t>(p[1]) << 8)
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| (static_cast<uint32_t>(p[2]) << 16)
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| (static_cast<uint32_t>(p[3]) << 24);
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}
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void resetSession()
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{
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s_armed = false;
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s_started = false;
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s_crc_ok = false;
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s_staged = 0U;
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s_pump_pos = 0U;
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s_total = 0U;
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s_last_chunk_ok = false;
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s_end_logged = false;
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s_final_valid = false;
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s_final_state = 0U;
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s_final_err = 0U;
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}
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/** 只认「已连续暂存水位之内」的偏移：留洞会让泵卡住，而且说明主站发料顺序错了。 */
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uint8_t acceptChunk(uint32_t offset, uint32_t crc, const uint8_t *data, uint32_t len)
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{
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if (!s_armed || s_total == 0U) {
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s_sess_err = ECAT_MOTA_E_NOTARMED;
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return s_sess_err;
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}
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if (s_started) {
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s_sess_err = ECAT_MOTA_E_STARTED;
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return s_sess_err;
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}
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if (offset > s_staged || offset + len > s_total) {
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s_sess_err = ECAT_MOTA_E_GAP;
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return s_sess_err;
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}
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if (len > 0U) {
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/* 块级校验：EtherCAT 数据报**头**有 CRC，载荷没有；邮箱分段拼装还是软件路径。
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* 这里挡一次，坏块就地重发，不会等到电机回 0x06 才发现（那时 flash 已擦）。 */
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if (v2_crc32(data, len) != crc) {
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s_sess_err = ECAT_MOTA_E_CHUNKCRC;
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s_last_chunk_ok = false;
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return s_sess_err;
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}
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std::memcpy(&s_img[offset], data, len);
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if (offset + len > s_staged) {
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s_staged = offset + len;
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}
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}
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s_last_chunk_ok = true;
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s_sess_err = ECAT_MOTA_OK;
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return ECAT_MOTA_OK;
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}
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/** 整镜像核对 + 交给 relay。所有失败路径都必须在电机进 BOOT **之前**。 */
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bool beginTransfer()
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{
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if (s_total == 0U || s_total > kImgMaxBytes) {
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s_sess_err = ECAT_MOTA_E_BADLEN;
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return false;
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}
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if (s_staged != s_total) {
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s_sess_err = ECAT_MOTA_E_GAP;
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return false;
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}
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if (s_channel >= 3U || s_node < 1U || s_node > 9U) {
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s_sess_err = ECAT_MOTA_E_PARAM;
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return false;
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}
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/* DCU 自己正在回 BOOT（配置页写 + 复位在路上）时绝不能起电机会话：
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* 复位会把半程的刷写腰斩在 erase 之后。 */
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if (OtaBootRequest::isRebootPending()) {
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s_sess_err = ECAT_MOTA_E_BOOTPEND;
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return false;
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}
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/* 整镜像 CRC 先行：这一刻电机还在 APP 正常跑、擦除没开始，校验不过就是零代价失败。
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* 反过来「先进 BOOT 再验」才是变砖路径。 */
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if (v2_crc32(s_img, s_total) != s_img_crc) {
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s_sess_err = ECAT_MOTA_E_IMGCRC;
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return false;
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}
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s_crc_ok = true;
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if (!MotorOtaRelay::start(static_cast<uint8_t>(s_channel), s_total,
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MotorOtaRelay::FeedSource::kEcat,
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static_cast<uint8_t>(s_node))) {
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s_sess_err = ECAT_MOTA_E_BUSY;
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s_crc_ok = false;
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return false;
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}
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s_started = true;
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s_end_logged = false;
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s_pump_pos = 0U;
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s_final_valid = false;
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s_sess_err = ECAT_MOTA_OK;
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LOG_ERR("[ECAT-MOTA] start ch=%lu node=%lu size=%lu crc=%08lX\r\n",
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(unsigned long)s_channel, (unsigned long)s_node,
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(unsigned long)s_total, (unsigned long)s_img_crc);
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return true;
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}
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} /* namespace */
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/*============================================================================
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* EcatMotorOta（C++ 侧：主循环钩子与查询）
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*==========================================================================*/
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namespace EcatMotorOta {
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void process()
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{
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if (!s_started) {
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return;
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}
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const MotorOtaRelay::Status st = MotorOtaRelay::getStatus();
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/* 电机侧自动重试会清环缓并把 fw_fed 归零：泵必须跟着回退，否则会把
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* 「后半段」当成已喂过，喂出一个前段缺失的镜像。 */
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if (st.fw_fed < s_pump_pos) {
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s_pump_pos = st.fw_fed;
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}
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/* 泵：按环缓空位切片，搬不动就下一圈再来（不阻塞、不忙等、不碰 CAN）。 */
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while (s_pump_pos < s_total) {
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const uint16_t freeSpace = MotorOtaRelay::feedFreeSpace();
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if (freeSpace == 0U) {
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break;
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}
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const uint32_t remain = s_total - s_pump_pos;
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uint16_t n = static_cast<uint16_t>(remain < kPumpSlice ? remain : kPumpSlice);
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if (n > freeSpace) {
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n = freeSpace;
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}
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if (!MotorOtaRelay::feedAt(s_pump_pos, &s_img[s_pump_pos], n)) {
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break;
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}
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s_pump_pos += n;
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}
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if (!MotorOtaRelay::isActive()) {
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if (!s_end_logged) {
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s_end_logged = true;
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s_final_valid = true;
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s_final_state = static_cast<uint8_t>(st.state);
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s_final_err = st.error_code;
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LOG_ERR("[ECAT-MOTA] end state=%u err=0x%02X acked=%u/%u fed=%lu/%lu\r\n",
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static_cast<unsigned>(st.state), static_cast<unsigned>(st.error_code),
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static_cast<unsigned>(st.packets_acked),
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static_cast<unsigned>(st.total_packets),
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(unsigned long)st.fw_fed, (unsigned long)st.fw_size);
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}
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s_started = false;
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s_crc_ok = false;
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/* 会话已结束：不再收块。主站要开下一轮必须重新写 0x2510:02 声明总长，
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* 那一步复位全部会话状态（包括上面的终态锁存）。 */
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s_armed = false;
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s_last_chunk_ok = false;
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}
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}
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bool sessionActive()
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{
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return s_started;
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}
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} /* namespace EcatMotorOta */
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/*============================================================================
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* SDO 钩子（extern "C"：dc_app.c 的对象表直接引用）
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*==========================================================================*/
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extern "C" {
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uint8_t EcatMotorOtaChunkWrite(uint32_t dataSize, const uint8_t *bytes)
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{
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if (bytes == nullptr) {
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return ECAT_MOTA_E_BADLEN;
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}
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if (dataSize < kChunkHdrBytes) {
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s_sess_err = ECAT_MOTA_E_BADLEN;
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return s_sess_err;
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}
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if (dataSize > kChunkObjBytes) {
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s_sess_err = ECAT_MOTA_E_BADLEN;
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return s_sess_err;
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}
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const uint32_t offset = loadU32(&bytes[0]);
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const uint32_t crc = loadU32(&bytes[4]);
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const uint32_t len = dataSize - kChunkHdrBytes;
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const uint8_t rc = acceptChunk(offset, crc, &bytes[kChunkHdrBytes], len);
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if (rc != ECAT_MOTA_OK) {
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/* 一次失败只打一行：主站会重发同一块，串口刷屏会拖慢 MainLoop。 */
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LOG_ERR("[ECAT-MOTA] chunk reject off=%lu len=%lu err=0x%02X\r\n",
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(unsigned long)offset, (unsigned long)len, (unsigned)rc);
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}
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return rc;
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}
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uint8_t EcatMotorOtaCtlWrite(uint8_t subindex, uint32_t dataSize, const uint8_t *bytes)
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{
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if (bytes == nullptr || dataSize < 4U) {
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return ECAT_MOTA_E_BADLEN;
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}
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const uint32_t v = loadU32(bytes);
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switch (subindex) {
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case 1U: {
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/* sub1 cmd：1 = 校验并启动，3 = 中止会话 */
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s_cmd = v;
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if (v == 1U) {
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if (!beginTransfer()) {
|
|||
|
|
return s_sess_err;
|
|||
|
|
}
|
|||
|
|
} else if (v == 3U) {
|
|||
|
|
if (s_started) {
|
|||
|
|
MotorOtaRelay::cancel();
|
|||
|
|
LOG_ERR("[ECAT-MOTA] cancel by master\r\n");
|
|||
|
|
}
|
|||
|
|
resetSession();
|
|||
|
|
s_sess_err = ECAT_MOTA_OK;
|
|||
|
|
} else {
|
|||
|
|
return ECAT_MOTA_E_PARAM;
|
|||
|
|
}
|
|||
|
|
return ECAT_MOTA_OK;
|
|||
|
|
}
|
|||
|
|
case 2U: {
|
|||
|
|
/* sub2 总长：声明即复位会话（主站重开一轮不需要先 abort） */
|
|||
|
|
if (v == 0U || v > kImgMaxBytes) {
|
|||
|
|
s_sess_err = ECAT_MOTA_E_BADLEN;
|
|||
|
|
return s_sess_err;
|
|||
|
|
}
|
|||
|
|
if (s_started) {
|
|||
|
|
s_sess_err = ECAT_MOTA_E_STARTED;
|
|||
|
|
return s_sess_err;
|
|||
|
|
}
|
|||
|
|
resetSession();
|
|||
|
|
s_total = v;
|
|||
|
|
s_armed = true;
|
|||
|
|
s_sess_err = ECAT_MOTA_OK;
|
|||
|
|
return ECAT_MOTA_OK;
|
|||
|
|
}
|
|||
|
|
case 3U:
|
|||
|
|
if (v >= 3U) {
|
|||
|
|
s_sess_err = ECAT_MOTA_E_PARAM;
|
|||
|
|
return s_sess_err;
|
|||
|
|
}
|
|||
|
|
s_channel = v;
|
|||
|
|
return ECAT_MOTA_OK;
|
|||
|
|
case 4U:
|
|||
|
|
if (v < 1U || v > 9U) {
|
|||
|
|
s_sess_err = ECAT_MOTA_E_PARAM;
|
|||
|
|
return s_sess_err;
|
|||
|
|
}
|
|||
|
|
s_node = v;
|
|||
|
|
return ECAT_MOTA_OK;
|
|||
|
|
case 5U:
|
|||
|
|
s_img_crc = v;
|
|||
|
|
return ECAT_MOTA_OK;
|
|||
|
|
default:
|
|||
|
|
/* sub0 是条目数；sub6..sub11 只读 */
|
|||
|
|
return ECAT_MOTA_E_PARAM;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint32_t EcatMotorOtaCtlRead(uint8_t subindex)
|
|||
|
|
{
|
|||
|
|
const MotorOtaRelay::Status st = MotorOtaRelay::getStatus();
|
|||
|
|
/* live = 会话还在跑，或从没跑过（那就照实反映 relay 当前状态）；
|
|||
|
|
* 会话刚结束时返回锁存值，避免主站把「成功」读成 kIdle。 */
|
|||
|
|
const bool live = (s_started || !s_final_valid);
|
|||
|
|
|
|||
|
|
switch (subindex) {
|
|||
|
|
case 0U: return kCtlSubs;
|
|||
|
|
case 1U: return s_cmd;
|
|||
|
|
case 2U: return s_total;
|
|||
|
|
case 3U: return s_channel;
|
|||
|
|
case 4U: return s_node;
|
|||
|
|
case 5U: return s_img_crc;
|
|||
|
|
case 6U: return s_staged;
|
|||
|
|
case 7U: return live ? static_cast<uint32_t>(st.state)
|
|||
|
|
: static_cast<uint32_t>(s_final_state);
|
|||
|
|
case 8U: return st.packets_acked;
|
|||
|
|
case 9U: return st.total_packets;
|
|||
|
|
case 10U: return (static_cast<uint32_t>(s_sess_err) << 8)
|
|||
|
|
| (live ? static_cast<uint32_t>(st.error_code)
|
|||
|
|
: static_cast<uint32_t>(s_final_err));
|
|||
|
|
case 11U: {
|
|||
|
|
/* phase 位图：只报能被板子真实触发的事实，不做任何推测性状态。
|
|||
|
|
* bit0 已声明总长 · bit1 暂存齐 · bit2 整镜像 CRC 过 · bit3 会话在跑
|
|||
|
|
* bit4 上一块被接受 · bit5 本会话目标通道当前持锁 · bit6 relay 活跃 */
|
|||
|
|
uint32_t phase = 0U;
|
|||
|
|
if (s_armed) { phase |= 0x0001U; }
|
|||
|
|
if (s_total != 0U && s_staged == s_total) { phase |= 0x0002U; }
|
|||
|
|
if (s_crc_ok) { phase |= 0x0004U; }
|
|||
|
|
if (s_started) { phase |= 0x0008U; }
|
|||
|
|
if (s_last_chunk_ok) { phase |= 0x0010U; }
|
|||
|
|
if (MotorOtaRelay::isChannelLocked(static_cast<uint8_t>(s_channel))) { phase |= 0x0020U; }
|
|||
|
|
if (MotorOtaRelay::isActive()) { phase |= 0x0040U; }
|
|||
|
|
return phase;
|
|||
|
|
}
|
|||
|
|
default: return 0U;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
} /* extern "C" */
|