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:
@@ -16,9 +16,8 @@
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#include "sys/task_manager.h"
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#include "sys/task_runner.h"
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#include "comm/ethercat_slave.h"
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#include "comm/esc_eeprom.h"
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#include "comm/ethercat_sync.h"
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#include "comm/esc_exmc_bus.h"
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#include "comm/ssc/port/eeprom_image.h"
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extern "C" {
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void MainLoop(void);
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@@ -272,6 +271,68 @@ bool TaskRunner::copyAdcSample(Adc::Sample *out)
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return true;
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}
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/* SSC 侧 AL 诊断快照(dc_app.c): [19:16]=AL 状态 [31:24]=AL 错误码 [15:0]=AL 事件寄存器 */
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extern "C" uint32_t EcatDbg_ReadAlDiag(void);
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/**
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* @brief 1.5.32 ECAT 心跳：主循环存活证明 + ESC AL 状态/事件寄存器快照。
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* @note 仅在同步 ISR 激活(SSC 在跑)时打印。心跳停 = 主循环卡死；
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* al=0x1 且 evt bit0 长期置位 = SSC 没处理 AL 请求；
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* al 与主站读到的不一致 = ESC 写回路径问题。
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*/
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static void ethercatAlHeartbeat()
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{
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if (!EthercatSync::isActive()) {
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return;
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}
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const uint32_t alDiag = EcatDbg_ReadAlDiag();
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printf("[ECAT][HB] al=0x%lX code=0x%02lX evt=0x%04lX (uptime=%lus)\r\n",
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(unsigned long)((alDiag >> 16) & 0x0FU),
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(unsigned long)((alDiag >> 24) & 0xFFU),
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(unsigned long)(alDiag & 0xFFFFU),
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(unsigned long)g_app_uptime_sec);
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}
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/**
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* @brief 打印 EtherCAT 同步中断计数与速率（DC 通路验证）。
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* @note 主站启用 DC(SYNC0 周期 T)后，sync0 速率应稳定 ≈ 1e6/T_us 次/秒；
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* free-run 模式下 SYNC0 引脚无脉冲，三个计数器恒为 0（本函数不打印）。
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* 仅在有增量时输出，避免未接主站时刷屏。
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*/
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static void ethercatSyncCounterPrint()
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{
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static uint32_t s_prevSync0 = 0U;
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static uint32_t s_prevSync1 = 0U;
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static uint32_t s_prevEscIrq = 0U;
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static uint32_t s_prevSec = 0U;
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const uint32_t sync0 = EthercatSync::getSync0Count();
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const uint32_t sync1 = EthercatSync::getSync1Count();
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const uint32_t escIrq = EthercatSync::getEscIrqCount();
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const uint32_t d0 = sync0 - s_prevSync0; /* 无符号回绕自然成立 */
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const uint32_t d1 = sync1 - s_prevSync1;
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const uint32_t di = escIrq - s_prevEscIrq;
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const uint32_t now = g_app_uptime_sec;
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const uint32_t elapsed = (now > s_prevSec) ? (now - s_prevSec) : 1U;
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s_prevSync0 = sync0;
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s_prevSync1 = sync1;
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s_prevEscIrq = escIrq;
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s_prevSec = now;
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if (d0 == 0U && d1 == 0U && di == 0U) {
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return; /* 未接主站或 free-run：无脉冲，静默 */
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}
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printf("[ECAT][SYNC] sync0=%lu(+%lu, %lu/s) sync1=%lu(+%lu) escirq=%lu(+%lu) dt=%lus\r\n",
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(unsigned long)sync0, (unsigned long)d0, (unsigned long)(d0 / elapsed),
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(unsigned long)sync1, (unsigned long)d1,
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(unsigned long)escIrq, (unsigned long)di,
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(unsigned long)elapsed);
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}
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/**
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* @brief 5s 诊断任务：默认仅状态变化/错误增量；可选全量 UART 摘要。
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* @note CONFIG_UART_TEMP_PERIODIC_PRINT=1 时打印 ADC/CAN/ECAT 全量行（调试用）。
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@@ -326,19 +387,16 @@ void TaskRunner::taskDiagnosticPrint()
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#endif
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if (EthercatSlave::isEscReady()) {
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uint32_t maxCyc = 0U, avgCyc = 0U, cnt = 0U;
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EthercatSlave::getIsrStats(&maxCyc, &avgCyc, &cnt);
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/* 180MHz: cycles / 180 = µs;用 *1000/180 获得亚微秒精度避免浮点 */
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const uint32_t maxUs_x1000 = maxCyc * 1000U / 180U;
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const uint32_t avgUs_x1000 = avgCyc * 1000U / 180U;
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printf("[ECAT] periodicIsr cnt=%lu max=%lu.%03luus avg=%lu.%03luus\r\n",
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(unsigned long)cnt,
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(unsigned long)(maxUs_x1000 / 1000U), (unsigned long)(maxUs_x1000 % 1000U),
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(unsigned long)(avgUs_x1000 / 1000U), (unsigned long)(avgUs_x1000 % 1000U));
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/* 1.5.27:periodicIsr 已删除(死代码,无调用点),PDO 交换由 SSC
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* Sync0_Isr → ECAT_Application → dc_app.c APPL_* 完成。 */
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printf("[ECAT] ESC ready (chip id=0x%08lX), PDO via SSC Sync0_Isr\r\n",
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(unsigned long)EthercatSlave::getChipId());
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} else {
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printf("[ECAT] ESC not detected (chip id=0x%08lX), EtherCAT disabled\r\n",
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(unsigned long)EthercatSlave::getChipId());
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}
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ethercatSyncCounterPrint();
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ethercatAlHeartbeat();
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}
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#else
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/* ---- 默认静默路径：仅错误增量 / 状态变化，无 uptime 心跳 ---- */
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@@ -351,7 +409,6 @@ void TaskRunner::taskDiagnosticPrint()
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static uint8_t s_prev_adc_valid = 0xFFU; /* 0xFF=尚未采样 */
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static bool s_prev_esc_ready = false;
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static bool s_esc_ready_inited = false;
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static uint32_t s_prev_ecat_max_cyc = 0U;
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const uint32_t rx_drop = diag->rx_drop_count;
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const uint32_t rx_full = diag->rx_fifo_full_count;
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@@ -403,39 +460,14 @@ void TaskRunner::taskDiagnosticPrint()
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(unsigned long)g_app_uptime_sec);
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s_prev_esc_ready = esc_ready;
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}
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if (esc_ready) {
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uint32_t maxCyc = 0U, avgCyc = 0U, cnt = 0U;
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EthercatSlave::getIsrStats(&maxCyc, &avgCyc, &cnt);
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/* 阈值单位 µs → CPU 周期（180 MHz） */
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const uint32_t threshCyc = CONFIG_ETHERCAT_ISR_MAX_US_THRESHOLD * 180U;
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if (maxCyc > threshCyc && maxCyc > s_prev_ecat_max_cyc) {
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const uint32_t maxUs_x1000 = maxCyc * 1000U / 180U;
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printf("[ECAT] ISR max over threshold: max=%lu.%03luus thr=%luus cnt=%lu (uptime=%lus)\r\n",
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(unsigned long)(maxUs_x1000 / 1000U),
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(unsigned long)(maxUs_x1000 % 1000U),
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(unsigned long)CONFIG_ETHERCAT_ISR_MAX_US_THRESHOLD,
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(unsigned long)cnt,
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(unsigned long)g_app_uptime_sec);
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s_prev_ecat_max_cyc = maxCyc;
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}
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}
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/* 1.5.27:periodicIsr ISR 统计随死代码一并删除 */
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/* DC SYNC0 通路验证：仅在有脉冲增量时打印（未接主站时静默）。 */
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ethercatSyncCounterPrint();
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ethercatAlHeartbeat();
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}
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#endif
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}
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/**
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* @brief 执行 EtherCAT 周期/事件处理(非实时应用层 PDO 映射)。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 由周期 ISR(EXTI0 SYNC0)或 ESC 事件 ISR(EXTI1 IRQ)置位 TASK_ETHERCAT_PROCESS。
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*/
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void TaskRunner::taskEthercatProcess()
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{
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EthercatSlave::process();
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}
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/**
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* @brief 初始化任务执行器运行时上下文。
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* @param[in] 无。
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@@ -468,41 +500,21 @@ void TaskRunner::runPending()
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{
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Watchdog::feed();
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/* === HBI 周期诊断:每 20 秒重新跑一次 EXMC/HBI 探活,方便热插拔/焊接后观察 === */
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/* === HBI 周期诊断:每 20 秒重新跑一次 EXMC/HBI 探活,方便热插拔/焊接后观察 ===
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* 1.5.27:EtherCAT 同步 ISR 激活后停止(diagDump 会把 EXMC 引脚切成 GPIO,
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* 拆毁运行中的总线;诊断的 bit-bang 也与 HBI 事务互斥冲突)。 */
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static uint32_t s_lastDiagSec = 0xFFFFFFFFU;
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if (g_app_uptime_sec >= s_lastDiagSec + 20U || s_lastDiagSec == 0xFFFFFFFFU) {
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if (!EthercatSync::isActive()
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&& (g_app_uptime_sec >= s_lastDiagSec + 20U || s_lastDiagSec == 0xFFFFFFFFU)) {
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s_lastDiagSec = g_app_uptime_sec;
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printf("[ECAT][DIAG] === 20s periodic HBI probe (uptime=%lus) ===\r\n",
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(unsigned long)g_app_uptime_sec);
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EscExmcBus::diagDump();
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}
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/* 延迟 EEPROM 烧录：init 不阻塞，主循环第一轮执行一次。
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* 校验编译期镜像与 AT24C32 内容，不匹配则全量烧录（~20s，期间看门狗正常喂）。 */
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static bool s_eepromDone = false;
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if (!s_eepromDone) {
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s_eepromDone = true;
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if (EscEeprom::init()) {
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if (EscEeprom::verifyEsi(ESI_EEPROM_IMAGE, ESI_EEPROM_SIZE)) {
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printf("[ECAT][EEPROM] content OK, skip burn\r\n");
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} else {
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printf("[ECAT][EEPROM] content mismatch, burning ESI (%u bytes)...\r\n",
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(unsigned)ESI_EEPROM_SIZE);
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if (EscEeprom::writeEsi(ESI_EEPROM_IMAGE, ESI_EEPROM_SIZE)) {
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if (EscEeprom::verifyEsi(ESI_EEPROM_IMAGE, ESI_EEPROM_SIZE)) {
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EscEeprom::reload();
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printf("[ECAT][EEPROM] burn+verify OK, reload issued\r\n");
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} else {
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printf("[ECAT][EEPROM] post-burn verify FAIL\r\n");
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}
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} else {
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printf("[ECAT][EEPROM] burn FAIL\r\n");
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}
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}
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} else {
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printf("[ECAT][EEPROM] init FAIL (PDI control not acquired)\r\n");
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}
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}
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/* 延迟 EEPROM 烧录已删除(1.5.29)：ESI 镜像改由 EtherCAT 主站侧刷写
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* (tools/ecat/ecat_flash_eeprom.py 经 ESC 0x0500 EEPROM 接口)，
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* 固件不再承担烧录/校验职责。 */
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/* poll() 含按铃超时看门狗(cancelRing)，必须每轮无条件执行。
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* 主动推送已随 2026-08 请求驱动改造移除，此处仅需消费请求响应的按铃。 */
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