feat(cproject): 重构项目文件结构并添加EtherCAT通信支持

- 将设备相关文件重新组织为device/spi和comm分组 - 添加EtherCAT从站通信模块(esc_exmc_bus、esc_lan9252、ethercat_slave等) - 添加EXMC外设组件支持 - 统一文件命名规范为小写 refactor(canfd): 优化CANFD模块中断安全性和配置方式 - 替换自定义临界区函数为RT_CRITICAL_SAVE/RESTORE宏 - 使用配置常量CONFIG_IRQ_PREEMPT_CAN替代硬编码值 - 简化邮箱满时的处理逻辑，移除不必要的SysTick等待 - 移除废弃的中断保存头文件引用 refactor(timer): 更新定时器配置以使用配置常量 - 修复头文件包含路径大小写问题 - 使用CONFIG_NVIC_PRIORITY_GROUP配置项替代硬编码值
2026-06-26 00:57:59 +08:00
parent 86c0ec730b
commit 1612e326ee
32 changed files with 1378 additions and 147 deletions
@@ -0,0 +1,122 @@
+/**
+ * @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"
+
+#if CONFIG_ETHERCAT_ENABLE
+
+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);
+#endif
+}
+
+void EthercatSync::onSync0Exti()
+{
+    if (exti_interrupt_flag_get(CONFIG_ESC_SYNC0_EXTI) != RESET) {
+        exti_interrupt_flag_clear(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)
+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(); }
+#endif
+
+} /* extern "C" */
+
+#endif /* CONFIG_ETHERCAT_ENABLE */