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d8b3c9767c
进料口从「只有 ESP32 SPI 一条」扩成两条，中继引擎不变：主站经 CoE 0x2511 数据窗 把电机固件明文灌进 GD32 的 48KB SRAM 暂存区，再由 comm/ecat_motor_ota 泵进原有 4KB 环缓；AES 握手、CAN 单发停等、重发、0AAC 运行确认全部沿用 MotorOtaRelay。 纯网线（ESP32 WiFi 关断、/motor/ota 打不通）场合因此也能刷电机。 偏移/幂等判据仍只有一份：feedData 拆出 feedAt，两个进料口共用。 同时把审计报告 VULN-12/13/14 落地（此前只存在于文档，一行未实现）：start() 第一条 语句在 PRIMASK 内原子置位 s_channel_lock_mask，EtherCAT 桥接 sendBatch/processOutput 与 SPI 0xC0/0xC7 对锁定通道回新码 0xE7=「被电机 OTA 独占」，不冒充「邮箱满」0xE4。 反向互斥一并补上：电机 OTA 活跃时 requestEnterBoot() 直接拒绝——SPI 0xB0、CoE 0x2502、 CAN 0x320 三条交接入口共用这一个判据，避免复位把刷写腰斩在 erase 之后。 完整性口径按链路分开，不互相冒充：块级 CRC32 + 整镜像 CRC32 都在从站核，且核过才 让电机进 BOOT——失败时电机仍跑旧 APP、擦除没开始，不存在「先擦再验」的变砖路径。 CRC 为 CRC-32/B（poly 0x04C11DB7，初值 0xFFFFFFFF，无反射无末尾异或），与 v2_crc32 同算法（用公开向量 123456789=0x0376E6E7 对过）。 块长取 1024 而不是 BOOT 用的 4096：SSC 的分段下载缓冲是全工程唯一的 malloc 用户， 而 APP 的 __HEAP_SIZE 只有 3KB，4096 会被从站当场回 abort 0x05040005 Out of memory （BOOT 的堆是 16KB 才撑得住 4096——块长能抄，堆抄不了）。这是跨仓常量，须与 tools/ecat 的 MFO_CHUNK_OBJ 同步。 APP 1.7.4（RAM ZI 97156）。已实测：0x2510 参数写与一块 1016B 数据写均被从站接受 （staged=1016、phase bit4）；端到端电机刷写待复测（native 块长修复后未跑完整一轮）。
186 lines
6.9 KiB
YAML
186 lines
6.9 KiB
YAML
# A project translates into one executable or library.
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project:
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groups:
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- group: Source Files
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files:
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- file: ./main.h
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- file: ./main.cpp
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- group: sys
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files:
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- file: ./sys/initial.h
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- file: ./sys/initial.cpp
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- file: ./sys/systick.h
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- file: ./sys/systick.cpp
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- file: ./sys/task_manager.h
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- file: ./sys/task_manager.cpp
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- file: ./sys/task_runner.h
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- file: ./sys/task_runner.cpp
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- file: ./sys/cpu_load.h
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- file: ./sys/cpu_load.cpp
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- file: ./sys/ota_boot_request.h
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- file: ./sys/ota_boot_request.cpp
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- file: ./sys/aes128.h
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- file: ./sys/aes128.cpp
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- file: ./sys/motor_ota_relay.h
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- file: ./sys/motor_ota_relay.cpp
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- file: ./sys/hardfault.cpp
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- file: ./sys/cpp_stubs.cpp
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- file: ./sys/config.h
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- file: ./sys/esp32_en.h
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- file: ./sys/esp32_en.cpp
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- group: device
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files:
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- file: ./device/adc.h
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- file: ./device/adc.cpp
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- file: ./device/canfd.h
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- file: ./device/canfd.cpp
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- file: ./device/timer.h
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- file: ./device/timer.cpp
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- file: ./device/usart0.h
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- file: ./device/usart0.cpp
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- file: ./device/watchdog.h
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- file: ./device/watchdog.cpp
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- file: ./device/motor_state.h
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- file: ./device/motor_state.cpp
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- file: ./device/motor_version.h
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- file: ./device/motor_version.cpp
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# GigaDevice DFP 未把 EXMC 注册为 CMSIS 组件（仅有 FMC=片内 Flash），
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# 但外设源文件存在于 Pack；LAN9252 并行总线需要 EXMC，故本地编入。
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- group: device_exmc
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files:
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- file: ./RTE/Device/GD32E508VE/gd32e50x_exmc.c
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- file: ./RTE/Device/GD32E508VE/gd32e50x_exmc.h
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- group: device/spi
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files:
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- file: ./device/spi/app_spi_command.h
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- file: ./device/spi/app_spi_command.cpp
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- file: ./device/spi/spi_command_handler.h
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- file: ./device/spi/app_spi_command_defs.h
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- file: ./device/spi/app_spi_cmd_boot_request.cpp
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- file: ./device/spi/app_spi_cmd_ota_wait.cpp
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- file: ./device/spi/app_spi_cmd_ping.cpp
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- file: ./device/spi/app_spi_cmd_init_status.cpp
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- file: ./device/spi/app_spi_cmd_can_bridge.cpp
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- file: ./device/spi/app_spi_cmd_can_burst.cpp
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- file: ./device/spi/app_spi_cmd_can_feedback.cpp
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- file: ./device/spi/app_spi_cmd_id_snapshot.cpp
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- file: ./device/spi/app_spi_cmd_adc_feedback.cpp
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- file: ./device/spi/app_spi_cmd_motor_state.cpp
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- file: ./device/spi/app_spi_cmd_motor_version.cpp
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- file: ./device/spi/app_spi_cmd_motor_ota.cpp
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- file: ./device/spi/app_spi_cmd_exmc_diag.cpp
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- file: ./device/spi/app_spi_diag.h
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- file: ./device/spi/app_spi_cmd_spi_diag.cpp
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- group: spi_link
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files:
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- file: ../../spi_link/spi_link_v2.cpp
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- group: comm
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files:
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- file: ./comm/esc_exmc_bus.h
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- file: ./comm/esc_exmc_bus.cpp
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- file: ./comm/esc_lan9252.h
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- file: ./comm/esc_lan9252.cpp
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- file: ./comm/ethercat_slave.h
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- file: ./comm/ethercat_slave.cpp
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- file: ./comm/ethercat_sync.h
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- file: ./comm/ethercat_sync.cpp
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- file: ./comm/ethercat_can_bridge.h
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- file: ./comm/ethercat_can_bridge.cpp
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# 电机 OTA 的 EtherCAT 邮箱进料通路（CoE 0x2510/0x2511 → MotorOtaRelay 环缓）
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- file: ./comm/ecat_motor_ota.h
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- file: ./comm/ecat_motor_ota.cpp
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- file: ./comm/ethercat_pdo.h
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- file: ./comm/ethercat_pdo.cpp
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# [DIFF-STATS] 临时仪表：差分写取证，删除时连同本两行与 comm/ethercat_diff_stats.* 一并移除
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- file: ./comm/ethercat_diff_stats.h
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- file: ./comm/ethercat_diff_stats.cpp
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- group: comm/ssc
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files:
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- file: ./comm/ssc/inc/ecatslv.h
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- file: ./comm/ssc/inc/ecatappl.h
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- file: ./comm/ssc/inc/mailbox.h
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- file: ./comm/ssc/inc/ecatcoe.h
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- file: ./comm/ssc/inc/sdoserv.h
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- file: ./comm/ssc/inc/objdef.h
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- file: ./comm/ssc/inc/coeappl.h
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- file: ./comm/ssc/inc/esc.h
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- file: ./comm/ssc/inc/applInterface.h
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- file: ./comm/ssc/inc/el9800hw.h
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- file: ./comm/ssc/src/ecatslv.c
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- file: ./comm/ssc/src/ecatappl.c
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- file: ./comm/ssc/src/mailbox.c
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- file: ./comm/ssc/src/ecatcoe.c
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- file: ./comm/ssc/src/sdoserv.c
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- file: ./comm/ssc/src/objdef.c
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- file: ./comm/ssc/src/coeappl.c
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- file: ./comm/ssc/port/hw_gd32exmc.cpp
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- file: ./comm/ssc/port/dc_app.c
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- file: ./comm/ssc/port/dc_app.h
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- file: ./comm/ssc/port/ecat_def.h
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# List components to use for your application.
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# A software component is a re-usable unit that may be configurable.
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components:
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- component: ARM::CMSIS:CORE
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- component: Device:Startup
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- component: Device:GD32E50x_StdPeripherals:ADC
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- component: Device:GD32E50x_StdPeripherals:CAN
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- component: Device:GD32E50x_StdPeripherals:CRC
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- component: Device:GD32E50x_StdPeripherals:DBG
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- component: Device:GD32E50x_StdPeripherals:DMA
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- component: Device:GD32E50x_StdPeripherals:EXTI
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- component: Device:GD32E50x_StdPeripherals:FMC
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- component: Device:GD32E50x_StdPeripherals:GPIO
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- component: Device:GD32E50x_StdPeripherals:MISC
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- component: Device:GD32E50x_StdPeripherals:PMU
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- component: Device:GD32E50x_StdPeripherals:RCU
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- component: Device:GD32E50x_StdPeripherals:SPI_I2S
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- component: Device:GD32E50x_StdPeripherals:TIMER
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- component: Device:GD32E50x_StdPeripherals:USART
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- component: Device:GD32E50x_libopt
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- component: Device:GD32E50x_StdPeripherals:FWDGT
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# List executable file formats to be generated.
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output:
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type:
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- elf
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- hex
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- map
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misc:
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- for-compiler: AC6
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C-CPP:
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- -DGD32E508
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- -DGD32E50X
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- -DHXTAL_VALUE=8000000U
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- -gdwarf-5
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- -D__MICROLIB
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- -fshort-enums
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- -fshort-wchar
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# EXMC 未作为 CMSIS 组件分发；头文件在 RTE 本地目录
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- -IRTE/Device/GD32E508VE
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- -Wno-register
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- -IG:/Robot_v2/DCU/spi_link
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C:
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- -std=gnu11
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CPP:
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- -std=gnu++17
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# 全工程零使用 RTTI/异常（grep 验证），关闭以剥离 libcppabi 运行时（约 2.5 KB Flash）
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- -fno-rtti
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- -fno-exceptions
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ASM:
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- -DGD32E508
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- -DGD32E50X
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- -DHXTAL_VALUE=8000000U
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- -gdwarf-5
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- -D__MICROLIB
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# 启动文件经 legacy armasm 汇编：消 armclang 驱动"参数未使用"告警 + armasm 弃用告警(A1950W)
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- -Wno-unused-command-line-argument
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- -Wa,armasm,--diag_suppress=A1950W
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Link:
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- --library_type=microlib
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- --entry=Reset_Handler
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# 输出未引用段与总量报告，用于 Flash 尺寸归因
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- --info=unused,totals
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