feat(comm): 1.6.22 稀疏写 ESC + 1.6.23~24 pmDrive 电源管理; LAN9252 性能审计报告

GD32E508_DCU_APP/comm/ssc/src/ecatappl.c

@@ -165,6 +165,8 @@ extern UINT32 EcatDbg_Dwt(void);
 #define ecatdbg_dwt() EcatDbg_Dwt()
 /* 1.6.0:输出探针(实现见 comm/ethercat_pdo.cpp,C 链接) */
 extern UINT8 EcatPdo_OutputProbe(UINT8 const *head);
+/* 1.6.22:稀疏写 ESC 计划(密排 count 只写有效段; 实现见 ethercat_pdo.cpp) */
+extern UINT8 EcatPdo_SparseEscPlan(UINT16 *off0, UINT16 *len0, UINT16 *off1, UINT16 *len1);
 volatile UINT32 g_dbg_pdiCyc     = 0;  /* sub5: PDI_Isr 全函数累计周期 */
 volatile UINT32 g_dbg_outCyc     = 0;  /* sub6: PDO_OutputMapping(输出探针/全量读) */
 volatile UINT32 g_dbg_freerunCyc = 0;  /* sub7: MainLoop free-run 分支(SM 同步下恒 0) */
@@ -197,10 +199,22 @@ BOOL bInitFinished = FALSE; /** < \brief indicates if the initialization is fini
 void PDO_InputMapping(void)
 {
     /*ECAT_DBG(1.6.0 剖分:输入映射全程 + 640B 写细分)*/
+    /* 1.6.22 稀疏写：APPL 仍整填 aPdInputData(对齐 SDO 0x6000)，但 HW_EscWriteIsr
+     * 只写密排有效段+段3/5，跳过空槽区 —— 省的是 PRAM 字节时间，不是 RAM 拷贝。 */
     const UINT32 dbgT0 = ecatdbg_dwt();
     APPL_InputMapping((UINT16*)aPdInputData);
     const UINT32 dbgT1 = ecatdbg_dwt();
-    HW_EscWriteIsr(((MEM_ADDR *) aPdInputData), nEscAddrInputData, nPdInputSize );
+    {
+        UINT16 o0, l0, o1, l1;
+        if (EcatPdo_SparseEscPlan(&o0, &l0, &o1, &l1)) {
+            HW_EscWriteIsr(((MEM_ADDR *)((UINT8 *)aPdInputData + o0)),
+                           (UINT16)(nEscAddrInputData + o0), l0);
+            HW_EscWriteIsr(((MEM_ADDR *)((UINT8 *)aPdInputData + o1)),
+                           (UINT16)(nEscAddrInputData + o1), l1);
+        } else {
+            HW_EscWriteIsr(((MEM_ADDR *) aPdInputData), nEscAddrInputData, nPdInputSize );
+        }
+    }
     g_dbg_inWriteCyc += ecatdbg_dwt() - dbgT1;
     g_dbg_inCyc += ecatdbg_dwt() - dbgT0;
 }