cbb
0cd3d9bed2
回退1.6.0引入的LAN9252 PRAM批量读写优化，因其AVAIL_CNT计数器对短读存在语义问题， 导致邮箱短读和探针传输时出现FIFO陈旧数据损坏问题。 同时修复EtherCAT-CAN桥中的多个竞态条件： - 修复消费者在fillRxBatch中直接访问共享ring buffer导致的数据混淆问题 - 修复生产者-消费者间tail指针发布时机不当造成的槽位覆盖竞态 - 修复WIN窗口基址更新位置错误导致电机状态窗口被锁定的问题 - 修复buildInput中断上下文与主循环间的数据竞争和内存撕裂问题 - 添加STATUS帧过滤机制减少批量区压力并解决队列饱和问题 此外还增加了多个诊断计数器用于监控撕裂、溢出和拼接错误，并调整了 输入PDO段布局和大小参数以支持新的48字节STATUS格式。 这些修改解决了上位机观察到的帧标签错误、电机状态丢失和数据拼接问题。
204 lines
8.2 KiB
C++
204 lines
8.2 KiB
C++
/**
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* @file ethercat_sync.cpp
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* @brief EtherCAT SYNC0/IRQ/SYNC1 中断入口 — 转发到 SSC 协议栈。
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*
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* SYNC0 (EXTI0, preempt=0) → Sync0_Isr() : DC 周期同步, PDO 交换
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* ESC IRQ (EXTI1, preempt=1) → PDI_Isr() : AL Event (邮箱/SM 事件)
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* SYNC1 (EXTI2, preempt=1) → Sync1_Isr() : 预留
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*/
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#include "comm/ethercat_sync.h"
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#include "sys/config.h"
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#include "main.h" /* g_app_uptime_sec */
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#include "sys/cpu_load.h"
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#include <cstdio>
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extern "C" {
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#include "gd32e50x_rcu.h"
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#include "gd32e50x_gpio.h"
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#include "gd32e50x_exti.h"
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#include "gd32e50x_misc.h"
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#if (CONFIG_ETHERCAT_SYNC_MODE == 1)
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#include "gd32e50x_timer.h"
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#endif
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/* SSC 协议栈 ISR 入口 (ecatappl.c) */
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void PDI_Isr(void);
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void Sync0_Isr(void);
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void Sync1_Isr(void);
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}
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bool EthercatSync::s_active = false;
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volatile uint32_t EthercatSync::s_sync0Count = 0U;
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volatile uint32_t EthercatSync::s_sync1Count = 0U;
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volatile uint32_t EthercatSync::s_escIrqCount = 0U;
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void EthercatSync::init()
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{
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#if (CONFIG_ETHERCAT_SYNC_MODE == 0)
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printf("[ECAT][SYNC] init: mode=EXTI (hardware SYNC0, CONFIG_ETHERCAT_SYNC_MODE=0)\r\n");
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#else
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printf("[ECAT][SYNC] init: mode=TIMER0 (degraded, CONFIG_ETHERCAT_SYNC_MODE=1)\r\n");
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#endif
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/* 使能 GPIOB 时钟(SYNC0=PB0 / IRQ=PB1 / SYNC1=PB2) */
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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/* 配置三个引脚为上拉输入(EXTI 下降沿触发:LAN9252 输出低有效脉冲) */
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gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ,
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CONFIG_ESC_SYNC0_PIN | CONFIG_ESC_IRQ_PIN | CONFIG_ESC_SYNC1_PIN);
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printf("[ECAT][SYNC] init: GPIOB pins configured (SYNC0=PB%u IRQ=PB%u SYNC1=PB%u)\r\n",
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(unsigned)CONFIG_ESC_SYNC0_EXTI_SOURCE_PIN,
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(unsigned)CONFIG_ESC_IRQ_EXTI_SOURCE_PIN,
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(unsigned)CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
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#if (CONFIG_ETHERCAT_SYNC_MODE == 0)
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/* ---- 默认:EXTI 外部触发模式 ---- */
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/* SYNC0:PB0 -> EXTI0,下降沿,preempt=0 */
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gpio_exti_source_select(CONFIG_ESC_SYNC0_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC0_EXTI_SOURCE_PIN);
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exti_init(CONFIG_ESC_SYNC0_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
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exti_interrupt_enable(CONFIG_ESC_SYNC0_EXTI);
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exti_interrupt_flag_clear(CONFIG_ESC_SYNC0_EXTI);
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nvic_irq_enable(CONFIG_ESC_SYNC0_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);
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printf("[ECAT][SYNC] init: SYNC0 EXTI%u enabled (falling, preempt=%u)\r\n",
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(unsigned)CONFIG_ESC_SYNC0_EXTI_SOURCE_PIN,
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(unsigned)CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC);
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#else
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/* ---- 降级模式:TIMER0 内部定时 ---- */
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rcu_periph_clock_enable(RCU_TIMER0);
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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/* 100us 周期:180MHz / (179+1) / (99+1) = 10kHz = 100us */
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timer_initpara.prescaler = 179U;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 99U;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(TIMER0, &timer_initpara);
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timer_interrupt_flag_clear(TIMER0, TIMER_INT_FLAG_UP);
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timer_interrupt_enable(TIMER0, TIMER_INT_UP);
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nvic_irq_enable(TIMER0_UP_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);
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timer_enable(TIMER0);
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printf("[ECAT][SYNC] init: TIMER0 enabled (100us, preempt=%u)\r\n",
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(unsigned)CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC);
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#endif
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/* 公共:ESC IRQ (PB1->EXTI1) + SYNC1 (PB2->EXTI2) */
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gpio_exti_source_select(CONFIG_ESC_IRQ_EXTI_SOURCE_PORT, CONFIG_ESC_IRQ_EXTI_SOURCE_PIN);
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exti_init(CONFIG_ESC_IRQ_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
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exti_interrupt_enable(CONFIG_ESC_IRQ_EXTI);
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exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
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nvic_irq_enable(CONFIG_ESC_IRQ_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_ESC, 0U);
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printf("[ECAT][SYNC] init: ESC IRQ EXTI%u enabled (falling, preempt=%u)\r\n",
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(unsigned)CONFIG_ESC_IRQ_EXTI_SOURCE_PIN,
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(unsigned)CONFIG_IRQ_PREEMPT_ETHERCAT_ESC);
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gpio_exti_source_select(CONFIG_ESC_SYNC1_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
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exti_init(CONFIG_ESC_SYNC1_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
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exti_interrupt_enable(CONFIG_ESC_SYNC1_EXTI);
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exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
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nvic_irq_enable(CONFIG_ESC_SYNC1_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1, 0U);
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printf("[ECAT][SYNC] init: SYNC1 EXTI%u enabled (falling, preempt=%u)\r\n",
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(unsigned)CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN,
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(unsigned)CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1);
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printf("[ECAT][SYNC] init: OK\r\n");
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/* 全部 EXTI/NVIC 使能完成,HBI 出现并发用户(主循环 vs SYNC0/IRQ ISR),
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* 之后 EXMC 诊断必须让位(diagDump 内部据此跳过)。 */
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s_active = true;
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}
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__attribute__((section(".ramfunc"), noinline))
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void EthercatSync::onSync0Exti()
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{
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/* 直接寄存器访问,绕过 GD32 库函数以消除可变抖动 */
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if ((EXTI_PD & (uint32_t)CONFIG_ESC_SYNC0_EXTI) != RESET) {
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EXTI_PD = (uint32_t)CONFIG_ESC_SYNC0_EXTI;
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++s_sync0Count;
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Sync0_Isr();
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}
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}
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void EthercatSync::onEscIrqExti()
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{
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if (exti_interrupt_flag_get(CONFIG_ESC_IRQ_EXTI) != RESET) {
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exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
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++s_escIrqCount;
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/* PDI_Isr(preempt=1) 可被 Sync0_Isr(preempt=0) 抢占;HBI Indexed 是两步
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* 事务(IDX 写 + DATA 读),被抢占即错址。此处屏蔽 EXTI0 实现互斥:
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* SYNC0 边沿在屏蔽期到来会锁存在 pending,退出后立即补偿执行,
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* 代价是 PDI_Isr 剩余时长(µs 级)计入 SYNC0 抖动。 */
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const uint32_t prevSync0 = NVIC_GetEnableIRQ(CONFIG_ESC_SYNC0_IRQn);
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NVIC_DisableIRQ(CONFIG_ESC_SYNC0_IRQn);
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/* 1.6.12 曾在此预抽 CAN FIFO（pumpAllChannels），实测溢出大降但拼接照旧
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* —— 病理在 357µs 阻塞窗口本身，1.6.13 直接把 CAN RX 提到 preempt=0
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* 根治（见 sys/config.h），预抽失去意义且引入 PDI/ISR 双消费者风险，撤除。 */
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PDI_Isr();
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if (prevSync0 != 0U) {
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NVIC_EnableIRQ(CONFIG_ESC_SYNC0_IRQn);
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}
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}
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}
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void EthercatSync::onSync1Exti()
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{
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if (exti_interrupt_flag_get(CONFIG_ESC_SYNC1_EXTI) != RESET) {
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exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
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++s_sync1Count;
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/* 同 onEscIrqExti:Sync1_Isr(preempt=1) 内的 HBI 访问需与 SYNC0 互斥 */
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const uint32_t prevSync0 = NVIC_GetEnableIRQ(CONFIG_ESC_SYNC0_IRQn);
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NVIC_DisableIRQ(CONFIG_ESC_SYNC0_IRQn);
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Sync1_Isr();
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if (prevSync0 != 0U) {
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NVIC_EnableIRQ(CONFIG_ESC_SYNC0_IRQn);
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}
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}
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}
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void EthercatSync::onTimerIrq()
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{
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#if (CONFIG_ETHERCAT_SYNC_MODE == 1)
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if (timer_interrupt_flag_get(TIMER0, TIMER_INT_FLAG_UP) != RESET) {
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timer_interrupt_flag_clear(TIMER0, TIMER_INT_FLAG_UP);
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Sync0_Isr();
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}
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#else
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/* EXTI 模式下 TIMER0 不使用,本函数为占位;CONFIG_ETHERCAT_SYNC_MODE=1 时激活。 */
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#endif
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}
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/* ---- 中断入口 C 包装 ---- */
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extern "C" {
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#if (CONFIG_ETHERCAT_SYNC_MODE == 0)
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__attribute__((section(".ramfunc"), noinline))
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void EXTI0_IRQHandler(void)
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{
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CpuLoad::isrEnter();
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EthercatSync::onSync0Exti();
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CpuLoad::isrExit();
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}
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void EXTI1_IRQHandler(void) { CpuLoad::isrEnter(); EthercatSync::onEscIrqExti(); CpuLoad::isrExit(); }
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void EXTI2_IRQHandler(void) { CpuLoad::isrEnter(); EthercatSync::onSync1Exti(); CpuLoad::isrExit(); }
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#else
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void TIMER0_UP_TIMER9_IRQHandler(void)
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{
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CpuLoad::isrEnter();
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EthercatSync::onTimerIrq();
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CpuLoad::isrExit();
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}
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void EXTI1_IRQHandler(void) { CpuLoad::isrEnter(); EthercatSync::onEscIrqExti(); CpuLoad::isrExit(); }
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void EXTI2_IRQHandler(void) { CpuLoad::isrEnter(); EthercatSync::onSync1Exti(); CpuLoad::isrExit(); }
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#endif
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/* ---- SSC 诊断对象 0x2000 的 C 侧访问 (dc_app.c APPL_InputMapping 每周期拉取) ---- */
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uint32_t EcatDbg_GetSync0(void) { return EthercatSync::getSync0Count(); }
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uint32_t EcatDbg_GetSync1(void) { return EthercatSync::getSync1Count(); }
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uint32_t EcatDbg_GetEscIrq(void) { return EthercatSync::getEscIrqCount(); }
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uint32_t EcatDbg_GetUptimeSec(void){ return g_app_uptime_sec; }
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/* 1.6.0 剖分埋点:供 ecatappl.c (C) 读取 DWT 周期计数 */
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uint32_t EcatDbg_Dwt(void) { return DWT->CYCCNT; }
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} /* extern "C" */
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