feat(ethercat): LAN9252 bring-up完成，EEPROM烧录改主站侧并增强DC/AL可观测性
- 新增ESC硬件复位序列(1.5.25)：PB10驱动LAN9252 RST#，拉低30ms+释放后300ms轮询HBI就绪， 满足tpurstd/trstia时序；此前RST#仅靠R44上拉自然释放 - 修正EXMC 16-bit地址左移(1.5.27)：HBI DATA偏移0x20000/0x30000→0x40000/0x60000； ADDSET 2→4 HCLK；片选更名NE1→NE0(LQFP100仅Region0) - 按LAN9252手册/AN1907修正EEPROM镜像(1.5.28)：word1高字节0x00→0xCC(SYNC0/1 Map+Output， 否则SYNC0留LATCH态DC过程数据死)、word2=5000(脉宽50µs)、尾部补真实0xFF； gen_eeprom.py按ETG.1000.6重写；DCU_ESI.xml PDI 0x05→0x8D、RxPdo/TxPdo互换改4×64bit对齐 - 删除GD32侧EEPROM烧录路径(1.5.29)：移除EscEeprom/esc_eeprom、eeprom_image.h及主循环 烧录块，ESI镜像改由主站ecat_flash_eeprom.py经ESC 0x0500刷写(162字全校验通过)； HBI互斥补屏蔽EXTI2(SYNC1)，防Sync1_Isr两步事务打断主循环HBI访问致错址 - DC SYNC0通路可观测(1.5.30/31)：EthercatSync新增sync0/sync1/escirq三个volatile计数器， task_runner 5s按增量打印速率；SSC OD新增只读0x2000 SYNC Diag，主站SDO轮询网页显示 - AL通路诊断(1.5.32)：ECAT_Main/SetALStatus打印主站AL请求与写回状态+错误码， task_runner新增5s [ECAT][HB]心跳(仅同步ISR激活时)；dc_app.c导出EcatDbg_ReadAlDiag - 删除死代码EthercatSlave::periodicIsr三缓冲PDO桥，PDO交换由SSC完成(4×64bit=32B)； EthercatSlave::init()恢复调用并以isBusReady()(BYTE_TEST)门控 - CANFD修复同通道突发只发3帧：transmitFrame新增allow_abort区分突发/软件队列路径， 邮箱满落入软件TX队列(深度13)由TX完成中断drainTxQueueIsr回灌；BRS重新启用(0→1) - motor_state新增CONFIG帧缓存(0x00000101, DLC 24)记录目标值回报，条目44B→76B、每页5→3 - SPI 0xA2诊断扩展action 20~24(ECAT_NRST拉低/拉高/浮空/回读)；新增ESP32 EN自检打印 - 版本号更新至1.5.32
This commit is contained in:
@@ -1,35 +1,20 @@
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/**
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* @file ethercat_slave.cpp
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* @brief EtherCAT 从站周期处理实现。
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* @brief EtherCAT 从站 init 探针实现。
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*
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* 运行期 PDO 交换由 SSC 协议栈完成(Sync0_Isr → ECAT_Application →
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* dc_app.c 的 APPL_InputMapping/APPL_OutputMapping),本文件只负责
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* init 阶段的 HBI 探活、芯片 ID 与 AL 状态诊断。
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*/
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#include "comm/ethercat_slave.h"
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#include "comm/esc_lan9252.h"
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#include "sys/config.h"
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#include "sys/task_manager.h"
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#include "main.h"
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#include <cstdio>
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PdoBuffer EthercatSlave::s_inputs[3] = {};
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PdoBuffer EthercatSlave::s_outputs[3] = {};
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PdoBuffer EthercatSlave::s_appInputs = {};
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PdoBuffer EthercatSlave::s_appOutputs = {};
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volatile uint8_t EthercatSlave::s_inputWriteIdx = 0U;
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volatile uint8_t EthercatSlave::s_outputReadIdx = 0U;
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volatile uint16_t EthercatSlave::s_periodicSeq = 0U;
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uint16_t EthercatSlave::s_processedSeq = 0U;
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volatile uint32_t EthercatSlave::s_isrMaxCycles = 0U;
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volatile uint32_t EthercatSlave::s_isrAvgCycles = 0U;
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volatile uint32_t EthercatSlave::s_isrCount = 0U;
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bool EthercatSlave::s_escReady = false;
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uint32_t EthercatSlave::s_chipId = 0U;
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uint8_t EthercatSlave::s_alState = 0U;
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/* ISR 执行时间评估:
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* - 若 DWT 实测 max > CONFIG_ETHERCAT_ISR_MAX_US_THRESHOLD(5µs),需评估:
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* a) 减小 CONFIG_ETHERCAT_PDO_SIZE(默认 32 字节)
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* b) 优化 EXMC 时序参数(esc_exmc_bus.cpp 中 read_latency/write_latency)
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* - 若 max ≤ 5µs,接受现状;preempt=0 阻塞窗口 ≤ 5µs,CAN/SPI 中断需容忍此窗口。
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* SPI0 从机在此窗口内不会 RX 溢出(假设 SPI 时钟 ≤ 10MHz,5µs ≥ 50 bit,远小于一帧)。 */
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void EthercatSlave::init()
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{
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ECAT_LOGI("[ECAT][SLAVE] init: begin\r\n");
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@@ -40,10 +25,6 @@ void EthercatSlave::init()
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s_alState = 0U;
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s_escReady = false;
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LOG_ERR("[ECAT][SLAVE] init: FAIL, ESC bus not ready\r\n");
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s_inputWriteIdx = 0U;
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s_outputReadIdx = 0U;
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s_periodicSeq = 0U;
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s_processedSeq = 0U;
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return;
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}
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@@ -93,98 +74,5 @@ void EthercatSlave::init()
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(unsigned long)s_chipId, (unsigned)s_alState, alStateName, (unsigned)alCode);
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}
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s_inputWriteIdx = 0U;
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s_outputReadIdx = 0U;
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s_periodicSeq = 0U;
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s_processedSeq = 0U;
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LOG_ERR("[ECAT][SLAVE] init: %s\r\n", s_escReady ? "OK" : "FAIL(partial)");
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}
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__attribute__((section(".ramfunc"), noinline))
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void EthercatSlave::periodicIsr()
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{
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const uint32_t cycStart = DWT->CYCCNT;
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/* 1. 读取输入 PDO 到当前写入缓冲 */
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EscLan9252::readPdi(CONFIG_ESC_PDI_INPUT_OFFSET, s_inputs[s_inputWriteIdx].data, CONFIG_ETHERCAT_PDO_SIZE);
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s_inputs[s_inputWriteIdx].len = CONFIG_ETHERCAT_PDO_SIZE;
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s_inputWriteIdx = (s_inputWriteIdx + 1U) % 3U;
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/* 2. 写入输出 PDO(从当前读取缓冲) */
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EscLan9252::writePdi(CONFIG_ESC_PDI_OUTPUT_OFFSET, s_outputs[s_outputReadIdx].data, s_outputs[s_outputReadIdx].len);
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s_outputReadIdx = (s_outputReadIdx + 1U) % 3U;
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/* 3. 递增周期序列号通知主循环(替代 TaskManager::set,避免 BASEPRI 竞态) */
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s_periodicSeq++;
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const uint32_t elapsed = DWT->CYCCNT - cycStart;
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s_isrCount++;
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if (elapsed > s_isrMaxCycles) {
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s_isrMaxCycles = elapsed;
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}
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/* 滑动平均:avg = avg + (elapsed - avg) / 16 (近似 EMA,避免除法精度问题) */
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s_isrAvgCycles = s_isrAvgCycles + ((int32_t)elapsed - (int32_t)s_isrAvgCycles) / 16;
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}
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const PdoBuffer* EthercatSlave::getLatestInputs()
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{
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/* 返回最新完成的缓冲 = (writeIdx + 2) % 3,与 ISR 当前写入位置隔一个 */
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return &s_inputs[(s_inputWriteIdx + 2U) % 3U];
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}
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void EthercatSlave::setOutputs(const PdoBuffer *outputs)
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{
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if (outputs == nullptr) {
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return;
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}
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/* 写入与 ISR 当前读取位置隔 2 个缓冲,提供 2 周期宽限。
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* 2 周期宽限下拷贝竞态窗口消除,前提是主循环处理时间 < 2 × 周期时间。 */
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const uint8_t write_idx = (s_outputReadIdx + 2U) % 3U;
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s_outputs[write_idx] = *outputs;
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}
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void EthercatSlave::process()
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{
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/* 应用层 PDO 桥接(非实时,由主循环周期序列号或 ESC IRQ 触发)。
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* 运行期 PDO 交换仅通过 getLatestInputs()/setOutputs() 三缓冲进行;ESC 寄存器访问仅限 init 阶段。
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*
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* 框架级桥接:从三缓冲取最新输入到 s_appInputs,把 s_appOutputs 推回三缓冲。
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* TODO(spec): 应用对象字典映射(具体输入字节对应哪个应用变量,如字节 0-3=温度浮点)
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* 待后续应用层 spec 定义;
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* 应用层通过 getApplicationInputs()/setApplicationOutputs() 访问快照。 */
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const PdoBuffer *latest = getLatestInputs();
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if (latest != nullptr) {
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s_appInputs = *latest;
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}
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setOutputs(&s_appOutputs);
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}
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const PdoBuffer* EthercatSlave::getApplicationInputs()
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{
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return &s_appInputs;
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}
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void EthercatSlave::setApplicationOutputs(const PdoBuffer *outputs)
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{
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if (outputs == nullptr) {
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return;
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}
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s_appOutputs = *outputs;
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}
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bool EthercatSlave::hasPendingPeriodic()
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{
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return s_periodicSeq != s_processedSeq;
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}
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void EthercatSlave::markPeriodicProcessed()
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{
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s_processedSeq = s_periodicSeq;
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}
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void EthercatSlave::getIsrStats(uint32_t *maxCycles, uint32_t *avgCycles, uint32_t *count)
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{
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if (maxCycles) *maxCycles = s_isrMaxCycles;
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if (avgCycles) *avgCycles = s_isrAvgCycles;
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if (count) *count = s_isrCount;
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}
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