feat(app): 1.6.39 —— 1.6.29 起未上板业务改动入库，启动链与已提交基线对齐

主体为工作区累积的业务改动（CAN/PDO/桥/SSC/task_manager 等，详目见 config.h 版本注释链），新增 CoE 0x100A 真版本上报与 0x2502 APP→BOOT 总线交接。启动链（startup/SystemInit/initial/systick/hardfault）与 HEAD 逐字节一致；1.6.35~38 的跳转诊断实验（3M 化/BKP 面包屑/ haltWithWatchdog）未提交、已整体回退，补丁存 _revert_backup_20260916/。真机实测（配对 BOOT 1.1.0.18）：刷写 warm jump 与 reset cold jump 均可。
2026-09-16 00:48:34 +08:00
parent 6136c2363f
commit 7d9d9c70a1
17 changed files with 399 additions and 95 deletions
@@ -13,6 +13,7 @@

 volatile uint8_t  EthercatCanBridge::s_lastSeq      = 0U;
 volatile bool     EthercatCanBridge::s_seqPrimed    = false;
+volatile bool     EthercatCanBridge::s_coldStartPending = false;
 volatile uint8_t  EthercatCanBridge::s_lastTxResult = 0U;
 volatile uint16_t EthercatCanBridge::s_txCount      = 0U;
 volatile uint16_t EthercatCanBridge::s_dropCount    = 0U;
@@ -223,9 +224,10 @@ bool EthercatCanBridge::peekOutput(const uint8_t *head)
    /* WIN@8 不再使用：1.6.21 电机整轮密排，无滑窗。 */

    if (!s_seqPrimed) {
-        s_seqPrimed = true;
-        s_lastSeq   = seq;
-        return false;
+        s_seqPrimed        = true;
+        s_lastSeq          = seq;
+        s_coldStartPending = true;
+        return true; /* 冷启动首包强制全量读，避免漏掉首帧命令 */
    }

    if (seq != s_lastSeq) {
@@ -234,6 +236,13 @@ bool EthercatCanBridge::peekOutput(const uint8_t *head)
    return (head[ECAT_CAN_TX_OFF_FLAGS] & 0x01U) != 0U;
 }

+void EthercatCanBridge::resetSequenceState()
+{
+    s_seqPrimed        = false;
+    s_lastSeq          = 0U;
+    s_coldStartPending = false;
+}
+
 void EthercatCanBridge::processOutput(const uint8_t *out)
 {
    if (out == nullptr) {
@@ -243,19 +252,33 @@ void EthercatCanBridge::processOutput(const uint8_t *out)
    const uint8_t seq = out[ECAT_CAN_TX_OFF_SEQ];

    if (!s_seqPrimed) {
-        s_seqPrimed = true;
-        s_lastSeq   = seq;
-        return;
+        s_seqPrimed        = true;
+        s_lastSeq          = seq;
+        s_coldStartPending = true;
    }

+    /* 无论 seq 是否变化，优先处理非 seq 驱动的命令（FLAGS bit0 清统计） */
    if ((out[ECAT_CAN_TX_OFF_FLAGS] & 0x01U) != 0U) {
-        s_txCount   = 0U;
-        s_dropCount = 0U;
-        s_rxCount   = 0U;
+        s_txCount     = 0U;
+        s_dropCount   = 0U;
+        s_rxCount     = 0U;
        s_rxPublished = true;
    }

-    if (seq == s_lastSeq) {
+    bool executeCommand = false;
+    if (s_coldStartPending) {
+        s_coldStartPending = false;
+        /* 冷启动首包：若包含有效单帧命令或批量帧，立即执行 */
+        const uint8_t dlc = out[ECAT_CAN_TX_OFF_DLC];
+        const uint8_t batchCount = out[ECAT_TXB_OFF_COUNT];
+        if (dlc > 0U || batchCount > 0U) {
+            executeCommand = true;
+        }
+    } else if (seq != s_lastSeq) {
+        executeCommand = true;
+    }
+
+    if (!executeCommand) {
        return;
    }
    s_lastSeq = seq;
@@ -384,4 +407,9 @@ void EcatCan_BuildInput(uint8_t *in)
    EthercatCanBridge::buildInput(in);
 }

+void EcatCan_ResetSequenceState(void)
+{
+    EthercatCanBridge::resetSequenceState();
+}
+
 }  /* extern "C" */