cbb
5fd986299c
变更点： 1. CAN-FD（device/CANFD.cpp、sys/config.h） - 发送统一 FD+BRS（DLC≤8 不再回退经典 CAN）；OTA 期仍按通道压制 BRS - 空通道自动识别：连续 5 个 1Hz 窗口无有效帧且有错误 → 静默上报；有帧即恢复 - 三路 CAN 默认全开；RX parse budget 48→64 2. EtherCAT 桥 / PDO - 段1 增 txtxid/rx00ff；版本应答 0x00FF 粘滞发布，避免被 CONFIG 冲掉 - STATUS 禁止写入 xrx 快照；processSeq 新鲜度救援 3. OTA / 配置 - sys/config.h include 仓库内 shared/ota_layout.h（与 BOOT 共用，不再依赖仓外路径） - ota_boot_request 对齐配置页 word 布局 4. docs/audit_ecat_spi_wifi_ota_compatibility.md：ECAT/SPI/WiFi/OTA 兼容性审计 5. .gitignore：忽略 .trae/、docs/traework-import、评审过程稿
350 lines
12 KiB
C++
350 lines
12 KiB
C++
/**
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* @file initial.cpp
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* @brief 应用启动初始化：模块成功置位，结束统一报告结果。
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*
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* 顺序：
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* 复位源采集 → NVIC → SysTick → ESP32_EN 保持 → USART0 → AppSpi（尽早 HELLO 探活）→
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* ADC → CANFD → OtaBootRequest → TaskManager → Scheduler →
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* EtherCAT(+Sync 可选) → Watchdog → report
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*
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* 各模块 init 带检查（寄存器回读 / 节拍验证 / 校准超时），
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* 失败不置位；复位源/模块位图/critical 失败位图经 getter 导出供 SPI 0xA3 上报。
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*/
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#include "sys/initial.h"
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#include "device/canfd.h"
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#include "device/usart0.h"
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#include "device/timer.h"
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#include "device/adc.h"
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#include "device/watchdog.h"
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#include "device/spi/app_spi_command.h"
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#include "sys/systick.h"
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#include "sys/ota_boot_request.h"
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#include "sys/task_manager.h"
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#include "sys/config.h"
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#include "comm/esc_lan9252.h"
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#include "comm/ethercat_slave.h"
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#include "comm/ethercat_sync.h"
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extern "C" {
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uint16_t MainInit(void);
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void MainLoop(void);
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}
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uint32_t AppInitializer::s_mask = 0U;
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uint8_t AppInitializer::s_initState = AppInitializer::kInitOk;
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uint8_t AppInitializer::s_resetCause = 0U;
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uint8_t AppInitializer::s_faultCodes[AppInitializer::kModuleCount] = {0U};
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/* CoE 0x100A「Software version」写入口，实现在 comm/ssc/src/coeappl.c（C 链接）。
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* 主站总线读此对象可自证「新 APP 真起来了」。 */
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extern "C" void AppSetSoftwareVersion(const char *version);
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namespace {
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struct InitEntry {
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uint32_t bit;
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const char *name;
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bool critical;
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};
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static const InitEntry kEntries[] = {
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{ AppInitializer::kNvic, "nvic", true },
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{ AppInitializer::kSysTick, "systick", true },
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{ AppInitializer::kEsp32Hold, "esp32_hold", true },
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{ AppInitializer::kUsart0, "usart0", true },
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{ AppInitializer::kAppSpi, "app_spi", true },
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{ AppInitializer::kAdc, "adc", true },
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{ AppInitializer::kCanFd, "canfd", true },
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{ AppInitializer::kOtaBootReq, "ota_boot_req", true },
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{ AppInitializer::kTaskManager, "task_manager", true },
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{ AppInitializer::kScheduler, "scheduler", true },
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{ AppInitializer::kEthercat, "ethercat", false },
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{ AppInitializer::kEthercatSync, "ethercat_sync", false },
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{ AppInitializer::kWatchdog, "watchdog", true },
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};
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} // namespace
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void AppInitializer::mark(ModuleBit b)
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{
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s_mask |= static_cast<uint32_t>(b);
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}
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/** @brief ModuleBit(1<<N) → 数组索引 N。 */
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static uint8_t moduleBitIndex(uint32_t bit)
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{
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uint8_t idx = 0U;
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while (bit > 1U) {
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bit >>= 1U;
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++idx;
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}
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return idx;
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}
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void AppInitializer::setFault(ModuleBit b, uint8_t code)
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{
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const uint8_t idx = moduleBitIndex(static_cast<uint32_t>(b));
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if (idx < kModuleCount) {
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s_faultCodes[idx] = code;
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}
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}
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uint8_t AppInitializer::faultCode(uint8_t module_index)
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{
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return (module_index < kModuleCount) ? s_faultCodes[module_index] : 0U;
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}
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uint8_t AppInitializer::faultCodes(uint8_t *out)
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{
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if (out == nullptr) {
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return 0U;
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}
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for (uint8_t i = 0U; i < kModuleCount; ++i) {
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out[i] = s_faultCodes[i];
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}
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return kModuleCount;
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}
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uint32_t AppInitializer::criticalFailMask()
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{
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uint32_t fail = 0U;
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for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
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const InitEntry &e = kEntries[i];
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if (e.critical && (s_mask & e.bit) == 0U) {
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fail |= e.bit;
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}
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}
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return fail;
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}
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/**
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* @brief 采集 RCU_RSTSCK 复位源位图并清硬件标志。
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* @note 必须在 init 最开头调用（早于任何可能读标志的模块）；
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* 清除不影响 BOOT 的 FWDGT 停留 OTA 判定——新的看门狗复位会由硬件重新置位。
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*/
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void AppInitializer::captureResetCause()
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{
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uint8_t cause = 0U;
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if (rcu_flag_get(RCU_FLAG_PORRST) != RESET) cause |= kRstPor;
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if (rcu_flag_get(RCU_FLAG_EPRST) != RESET) cause |= kRstEpr;
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if (rcu_flag_get(RCU_FLAG_FWDGTRST) != RESET) cause |= kRstFwdgt;
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if (rcu_flag_get(RCU_FLAG_WWDGTRST) != RESET) cause |= kRstWwdgt;
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if (rcu_flag_get(RCU_FLAG_SWRST) != RESET) cause |= kRstSw;
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if (rcu_flag_get(RCU_FLAG_LPRST) != RESET) cause |= kRstLp;
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rcu_all_reset_flag_clear();
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s_resetCause = cause;
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}
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void AppInitializer::report()
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{
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bool critical_ok = true;
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bool all_ok = true;
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char fail_list[160] = {0};
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size_t fail_len = 0U;
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for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
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const InitEntry &e = kEntries[i];
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const bool ok = (s_mask & e.bit) != 0U;
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if (ok) {
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continue;
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}
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all_ok = false;
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if (e.critical) {
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critical_ok = false;
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}
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if (fail_len + 2U < sizeof(fail_list)) {
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if (fail_len > 0U) {
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fail_list[fail_len++] = ',';
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}
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const char *p = e.name;
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while (*p != '\0' && fail_len + 1U < sizeof(fail_list)) {
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fail_list[fail_len++] = *p++;
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}
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fail_list[fail_len] = '\0';
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}
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/* 故障码后缀 #XX（16 进制；canfd 高 4 位为通道号），0=成功不追加。
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* 码值含义见 initial.h 注释与各模块头文件；网页按同一编码解码中文原因。 */
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const uint8_t fc = s_faultCodes[moduleBitIndex(e.bit)];
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if (fc != 0U && fail_len + 3U < sizeof(fail_list)) {
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const char *hex = "0123456789ABCDEF";
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fail_list[fail_len++] = '#';
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fail_list[fail_len++] = hex[(fc >> 4) & 0xFU];
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fail_list[fail_len++] = hex[fc & 0xFU];
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fail_list[fail_len] = '\0';
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}
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}
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/* 复位源随 init 报告输出一次（位图多位置位属正常，如 POR 常伴随 EPRST/SWRST） */
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printf("[APP] reset_cause: 0x%02X (por=%d epr=%d fwdgt=%d wwdgt=%d sw=%d lp=%d)\r\n",
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(unsigned)s_resetCause,
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(s_resetCause & kRstPor) ? 1 : 0,
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(s_resetCause & kRstEpr) ? 1 : 0,
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(s_resetCause & kRstFwdgt) ? 1 : 0,
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(s_resetCause & kRstWwdgt) ? 1 : 0,
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(s_resetCause & kRstSw) ? 1 : 0,
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(s_resetCause & kRstLp) ? 1 : 0);
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if (critical_ok && all_ok) {
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s_initState = kInitOk;
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printf("[APP] init: OK (all modules)\r\n");
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} else if (critical_ok) {
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s_initState = kInitDegraded;
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printf("[APP] init: OK (critical), skipped/failed: %s\r\n",
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fail_list[0] != '\0' ? fail_list : "?");
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} else {
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s_initState = kInitCriticalFail;
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printf("[APP] init: FAIL, modules: %s\r\n",
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fail_list[0] != '\0' ? fail_list : "?");
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}
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/* 日志完整性自证：串口 TX 缓冲溢出会静默吞字节。
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* 缓冲满时自旋腾位，仅 USART 外设异常才丢弃；非 0 即代表上面的日志不可全信。 */
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const uint32_t dropped = Usart0::droppedBytes();
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if (dropped != 0U) {
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printf("[APP] WARN: uart dropped %u bytes, 以上日志可能不完整\r\n",
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(unsigned)dropped);
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}
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}
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void AppInitializer::init()
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{
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s_mask = 0U;
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s_initState = kInitOk;
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for (uint8_t i = 0U; i < kModuleCount; ++i) {
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s_faultCodes[i] = 0U;
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}
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captureResetCause();
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/* NVIC 优先级分组：写入后回读 AIRCR.PRIGROUP 验证（纯寄存器写，回读确认分组生效） */
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nvic_priority_group_set(CONFIG_NVIC_PRIORITY_GROUP);
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if ((SCB->AIRCR & (0x7UL << 8U)) == (CONFIG_NVIC_PRIORITY_GROUP & (0x7UL << 8U))) {
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mark(kNvic);
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} else {
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setFault(kNvic, kFaultNvicPrigroupMismatch);
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}
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/* SysTick：内部验证节拍真实前进；失败不返回（FATAL 停机） */
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if (SysTickTimer::initMs()) {
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mark(kSysTick);
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}
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rcu_periph_clock_enable(RCU_GPIOC);
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gpio_bit_set(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN);
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gpio_init(CONFIG_ESP32_RESET_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, CONFIG_ESP32_RESET_PIN);
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/* ESP32 EN 自检：回读为 1 才算成功（被外部钳低属硬件异常，标记失败但不阻塞其余模块） */
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const bool esp32_released =
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(gpio_input_bit_get(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN) == SET);
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if (esp32_released) {
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mark(kEsp32Hold);
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} else {
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setFault(kEsp32Hold, kFaultEsp32HoldClamped);
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}
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APP_LOGI("[APP] ESP32_EN PC9=%d (1=released)\r\n", esp32_released ? 1 : 0);
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Usart0::configurePins();
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const uint8_t usartFault = Usart0::init();
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if (usartFault == Usart0::kFaultOk) {
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mark(kUsart0);
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} else {
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setFault(kUsart0, usartFault);
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}
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/* SPI 尽早就绪：OTA FINISH 跳转后 ESP32 用 HELLO 探活，不能等 CAN 上电延时。
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* 从机无硬件自证手段（配置即生效），探活依赖 ESP32 侧 HELLO/PING（运行期）。 */
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AppSpiCommandBus.init();
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mark(kAppSpi);
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/* ADC：带超时校准 + VREFINT→VDDA 采样链验证 */
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const uint8_t adcFault = Adc::init();
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if (adcFault == Adc::kFaultOk) {
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mark(kAdc);
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} else {
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setFault(kAdc, adcFault);
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LOG_ERR("[APP] ADC init FAIL fault=%u (1=RSTCLB timeout 2=CLB timeout 3=VDDA invalid)\r\n",
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(unsigned)adcFault);
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}
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CanFd::init();
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/* L0 通过才置 canfd 位；故障码 = 原因 | (首个失败通道 << 4)。
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* 无使能通道（canFault==Ok）属合法配置而非故障，照样置位。 */
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uint8_t canFault = CanFd::kSelfTestOk;
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uint8_t canFaultCh = 0U;
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(void)CanFd::selfTestL0(&canFault, &canFaultCh);
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if (canFault != CanFd::kSelfTestOk) {
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setFault(kCanFd, (uint8_t)(canFault | (uint8_t)(canFaultCh << 4U)));
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} else {
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mark(kCanFd);
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}
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OtaBootRequest::init();
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mark(kOtaBootReq);
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/* 版本号写进 CoE 0x100A：唯一真源是 sys/config.h 的 APP_FW_VERSION_*，
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* 不在别处再抄一遍字符串。 */
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{
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char ver[20];
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snprintf(ver, sizeof ver, "%u.%u.%u",
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(unsigned)APP_FW_VERSION_MAJOR, (unsigned)APP_FW_VERSION_MINOR,
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(unsigned)APP_FW_VERSION_PATCH);
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AppSetSoftwareVersion(ver);
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}
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TaskManager::init();
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mark(kTaskManager);
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/* 调度定时器：回读 + 100us 中断节拍前进验证 */
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const uint8_t schedFault = SchedulerTimer::init();
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if (schedFault == SchedulerTimer::kFaultOk) {
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mark(kScheduler);
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} else {
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setFault(kScheduler, schedFault);
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LOG_ERR("[APP] SchedulerTimer init FAIL fault=%u (1=CEN 2=PSC 3=CAR 4=no tick)\r\n",
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(unsigned)schedFault);
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}
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/* ---- EtherCAT: EXMC 总线探活 → SSC 协议栈初始化 → SYNC0/IRQ 中断使能 ----
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* 门控用 EscLan9252::isBusReady()（BYTE_TEST 通过）而非 isEscReady()：
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* 冷启动时 AL=INIT，SSC 必须照常启动并等待主站配置。
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* 另需 isCoreReady()——EscLan9252::init() 已等待 EEPROM(SII)
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* 加载完成（DL_STATUS bit0）；未加载时 EtherCAT 核心寄存器写静默丢弃，
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* SSC 的 AL Event Mask/邮箱 SM 配置会全部落空（主站恒读 AL=INIT），
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* 此时跳过 SSC 并以独立故障码上报。
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* EEPROM 校验/烧录延迟到主循环执行，避免阻塞 init（烧录需 ~20s）。 */
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EthercatSlave::init();
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if (EscLan9252::isBusReady() && EscLan9252::isCoreReady()) {
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const uint16_t sscResult = MainInit();
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if (sscResult == 0U) {
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mark(kEthercat);
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EthercatSync::init();
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mark(kEthercatSync);
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printf("[ECAT] SSC MainInit OK, sync ISR enabled\r\n");
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} else {
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setFault(kEthercat, kFaultEthercatSscFail);
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printf("[ECAT] SSC MainInit FAIL (code=0x%04X)\r\n", (unsigned)sscResult);
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}
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} else if (EscLan9252::isBusReady()) {
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setFault(kEthercat, kFaultEthercatCoreNotReady);
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printf("[ECAT] EtherCAT core not ready (EEPROM not loaded), SSC skipped\r\n");
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} else {
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setFault(kEthercat, kFaultEthercatBusNotReady);
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printf("[ECAT] EXMC bus not ready, SSC skipped\r\n");
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}
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/* 看门狗放最后：PSC/RLD 写入经硬件确认才置位。
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* 崩溃计数不在这里清：须喂狗稳定满 CONFIG_CRASH_CLEAR_AFTER_SEC
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* （task_runner 每圈 maybeClearCrashCount），否则主循环崩溃攒不到阈值。 */
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const uint8_t wdgFault = Watchdog::init();
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if (wdgFault == Watchdog::kFaultOk) {
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mark(kWatchdog);
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} else {
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setFault(kWatchdog, wdgFault);
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LOG_ERR("[APP] Watchdog init FAIL fault=%u (1=PSC 2=RLD 3=pending 4=LSI not ready)\r\n",
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(unsigned)wdgFault);
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}
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report();
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}
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