feat(DCU_APP): 添加CPU负载监控和EtherCAT诊断功能

- 在DCU_APP项目中添加cpu_load.h和cpu_load.cpp模块用于CPU负载率监测 - 修改csolution配置将构建目标从Debug切换为Release - 在EtherCAT PDO协议栈中新增段5诊断区（632-639字节），包含负载率和序列号 - 在所有关键中断服务程序中添加CpuLoad::isrEnter()/isrExit()钩子用于准确统计中断占用 - 增强EtherCAT同步中断处理，改进AL事件掩码守护机制，修复OP状态下PDI中断门控问题 - 解决SSC源码中指针地址对齐警告和打包成员访问警告问题 - 在主循环中集成CPU负载率采样tick()调用，实现1秒滚动窗口统计 BREAKING CHANGE: 构建配置从Debug改为Release，EtherCAT协议栈增加新的诊断数据区
2026-09-05 20:07:22 +08:00
parent 2ebd4ff1d2
commit 70daa4b0c6
19 changed files with 398 additions and 27 deletions
@@ -0,0 +1,117 @@
+/**
+ * @file cpu_load.cpp
+ * @brief CPU 负载率测量实现（1.5.61，度量定义与并发协议见 cpu_load.h）。
+ *
+ * 热路径(beginWork/endWork/isrEnter/isrExit/tick)放进 .ramfunc——它们会被包进
+ * EXTI0(Sync0, preempt=0) 等延迟敏感的 ISR 包装，与 EthercatSync::onSync0Exti
+ * 同款 section 属性，避免 flash 等待态给 Sync0 入口添抖动。1s 一次的窗口
+ * 结算(含 64 位除法)留在普通 flash 函数里。
+ */
+#include "sys/cpu_load.h"
+
+#include "RTE_Components.h"
+#include CMSIS_device_header
+
+volatile uint32_t CpuLoad::s_depth    = 0U;
+volatile uint32_t CpuLoad::s_stamp    = 0U;
+volatile uint32_t CpuLoad::s_busy     = 0U;
+volatile uint32_t CpuLoad::s_winStart = 0U;
+volatile uint16_t CpuLoad::s_loadPerm = 0U;
+volatile uint32_t CpuLoad::s_seq      = 0U;
+
+/** @brief 区间并集的共享进入点。0→1 者负责盖时间戳；STREX 失败方重试时深度
+ *         已被抢占者修正，不会再重复盖戳。 */
+__attribute__((always_inline)) static inline void cpuLoadEnter()
+{
+    uint32_t d;
+    do {
+        d = __LDREXW(&CpuLoad::s_depth);
+        if (d == 0U) {
+            CpuLoad::s_stamp = DWT->CYCCNT;
+            __DMB();
+        }
+    } while (__STREXW(d + 1U, &CpuLoad::s_depth) != 0U);
+    __DMB();
+}
+
+/** @brief 区间并集的共享退出点。1→0 者把区间累进 s_busy（同样走独占访问，
+ *         防"ISR 恰好插在主循环退出的读-改-写之间"丢累加）。 */
+__attribute__((always_inline)) static inline void cpuLoadLeave()
+{
+    const uint32_t end   = DWT->CYCCNT;
+    const uint32_t start = CpuLoad::s_stamp;
+    uint32_t d;
+    do {
+        d = __LDREXW(&CpuLoad::s_depth);
+    } while (__STREXW(d - 1U, &CpuLoad::s_depth) != 0U);
+    if (d == 1U) {
+        const uint32_t delta = end - start;
+        uint32_t b;
+        do {
+            b = __LDREXW(&CpuLoad::s_busy);
+        } while (__STREXW(b + delta, &CpuLoad::s_busy) != 0U);
+    }
+}
+
+void CpuLoad::init()
+{
+    /* DWT 已由 EscLan9252::init 使能；这里幂等兜底（万一 EtherCAT 初始化被裁剪）。 */
+    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+
+    s_depth    = 0U;
+    s_busy     = 0U;
+    s_winStart = DWT->CYCCNT;
+    s_loadPerm = 0U;
+    s_seq      = 0U;
+}
+
+__attribute__((section(".ramfunc"), noinline)) void CpuLoad::beginWork()
+{
+    cpuLoadEnter();
+}
+
+__attribute__((section(".ramfunc"), noinline)) void CpuLoad::isrEnter()
+{
+    cpuLoadEnter();
+}
+
+__attribute__((section(".ramfunc"), noinline)) void CpuLoad::isrExit()
+{
+    cpuLoadLeave();
+}
+
+/**
+ * @brief 窗口结算（普通 flash 函数，1s 才进一次）。
+ * @note  s_busy 用独占访问换出：窗口边界上 ISR 的在途累加要么算进本窗口、
+ *        要么算进下窗口，不丢。
+ */
+static void cpuLoadRollWindow(uint32_t now)
+{
+    const uint32_t elapsed = now - CpuLoad::s_winStart; /* 调用方已保证 >= 1s */
+    uint32_t busy;
+    do {
+        busy = __LDREXW(&CpuLoad::s_busy);
+    } while (__STREXW(0U, &CpuLoad::s_busy) != 0U);
+    CpuLoad::s_winStart = now;
+
+    uint32_t perm = (uint32_t)(((uint64_t)busy * 1000ULL) / (uint64_t)elapsed);
+    if (perm > 1000U) {
+        perm = 1000U;
+    }
+    CpuLoad::s_loadPerm = (uint16_t)perm;
+    CpuLoad::s_seq++;
+}
+
+__attribute__((section(".ramfunc"), noinline)) void CpuLoad::endWork()
+{
+    cpuLoadLeave();
+}
+
+__attribute__((section(".ramfunc"), noinline)) void CpuLoad::tick()
+{
+    const uint32_t now = DWT->CYCCNT;
+    if ((uint32_t)(now - s_winStart) >= SystemCoreClock) {
+        cpuLoadRollWindow(now);
+    }
+}