cbb
cfe7725b26
- 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
153 lines
6.1 KiB
C
153 lines
6.1 KiB
C
/**
|
||
* @file el9800hw.h
|
||
* @brief SSC 硬件抽象层 — GD32E508 + LAN9252 (EXMC 16-bit HBI Indexed Mode)
|
||
*
|
||
* 本文件替换 Beckhoff EL9800 SPI 版本，提供 SSC 所需的 HW_EscRead/Write 宏
|
||
* 和中断/定时器控制宏。实际实现在 hw_gd32exmc.cpp。
|
||
*
|
||
* HBI Indexed 寻址（A2=LAN9252 Pin29←PD12=EXMC_A17, A1=Pin25←PD11=EXMC_A16；
|
||
* EXMC 16-bit 模式地址左移 1 位，EXMC_A16=CPU 偏移 0x20000、A17=0x40000）：
|
||
* IDX_0 = EXMC offset 0x00000 (A2=0, A1=0)
|
||
* DATA_0 = EXMC offset 0x40000 (A2=1, A1=0) 低 16 位
|
||
* = EXMC offset 0x60000 (A2=1, A1=1) 高 16 位
|
||
*/
|
||
#ifndef _EL9800HW_H_
|
||
#define _EL9800HW_H_
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ Includes
|
||
------
|
||
-----------------------------------------------------------------------------------------*/
|
||
#include "esc.h"
|
||
|
||
/* GD32E508 CMSIS (通过 RTE 组件获取) */
|
||
#include "RTE_Components.h"
|
||
#include CMSIS_device_header
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ Hardware Timer Settings
|
||
------
|
||
-----------------------------------------------------------------------------------------*/
|
||
|
||
/** SSC 看门狗定时器分辨率：ticks per ms。
|
||
* 本项目使用 SysTick (180MHz / 1000 = 180000 ticks/ms)。
|
||
* 实际由 hw_gd32exmc.cpp 中 HW_GetTimer() 实现决定。 */
|
||
#define ECAT_TIMER_INC_P_MS 180000
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ Interrupt Control (ESC IRQ = EXTI1, PB1)
|
||
------
|
||
-----------------------------------------------------------------------------------------*/
|
||
|
||
#ifndef DISABLE_ESC_INT
|
||
#define DISABLE_ESC_INT() NVIC_DisableIRQ(EXTI1_IRQn)
|
||
#endif
|
||
|
||
#ifndef ENABLE_ESC_INT
|
||
#define ENABLE_ESC_INT() NVIC_EnableIRQ(EXTI1_IRQn)
|
||
#endif
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ AL Event Interrupt Mask (保留宏)
|
||
------
|
||
------ 1.5.27 起主循环 HBI 访问的互斥已内置到 hw_gd32exmc.cpp 的 HW_* 函数
|
||
------ (EscExmcBus::maskEnter/maskExit)，SSC 源码不再需要显式调用本组宏。
|
||
------ 保留定义仅为兼容 SSC 变体中可能出现的引用。
|
||
-----------------------------------------------------------------------------------------*/
|
||
|
||
#ifndef DISABLE_AL_EVENT_INT
|
||
#define DISABLE_AL_EVENT_INT() do { NVIC_DisableIRQ(EXTI0_IRQn); NVIC_DisableIRQ(EXTI1_IRQn); } while(0)
|
||
#endif
|
||
|
||
#ifndef ENABLE_AL_EVENT_INT
|
||
#define ENABLE_AL_EVENT_INT() do { NVIC_EnableIRQ(EXTI1_IRQn); NVIC_EnableIRQ(EXTI0_IRQn); } while(0)
|
||
#endif
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ Timer Access
|
||
------
|
||
-----------------------------------------------------------------------------------------*/
|
||
|
||
#ifndef HW_GetTimer
|
||
#define HW_GetTimer() HW_GetTimerValue()
|
||
#endif
|
||
|
||
#ifndef HW_ClearTimer
|
||
#define HW_ClearTimer() HW_ClearTimerValue()
|
||
#endif
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ ESC Access Macros (SSC 核心接口)
|
||
------
|
||
------ MEM_ADDR = UINT16 (CONTROLLER_16BIT=1)
|
||
------ 所有宏最终调用 HW_EscRead / HW_EscWrite (hw_gd32exmc.cpp)
|
||
-----------------------------------------------------------------------------------------*/
|
||
|
||
#define HW_EscReadByte(ByteValue, Address) HW_EscRead(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
|
||
#define HW_EscReadWord(WordValue, Address) HW_EscRead(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
|
||
#define HW_EscReadDWord(DWordValue, Address) HW_EscRead(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
|
||
#define HW_EscReadMbxMem(pData, Address, Len) HW_EscRead(((MEM_ADDR *)(pData)), ((UINT16)(Address)), (Len))
|
||
|
||
#define HW_EscReadByteIsr(ByteValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
|
||
#define HW_EscReadWordIsr(WordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
|
||
#define HW_EscReadDWordIsr(DWordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
|
||
|
||
#define HW_EscWriteByte(ByteValue, Address) HW_EscWrite(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
|
||
#define HW_EscWriteWord(WordValue, Address) HW_EscWrite(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
|
||
#define HW_EscWriteDWord(DWordValue, Address) HW_EscWrite(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
|
||
#define HW_EscWriteMbxMem(pData, Address, Len) HW_EscWrite(((MEM_ADDR *)(pData)), ((UINT16)(Address)), (Len))
|
||
|
||
#define HW_EscWriteByteIsr(ByteValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
|
||
#define HW_EscWriteWordIsr(WordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
|
||
#define HW_EscWriteDWordIsr(DWordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
|
||
|
||
#endif /* _EL9800HW_H_ */
|
||
|
||
/*-----------------------------------------------------------------------------------------
|
||
------
|
||
------ Function Prototypes
|
||
------
|
||
-----------------------------------------------------------------------------------------*/
|
||
#if _EL9800HW_
|
||
#define PROTO
|
||
#else
|
||
#define PROTO extern
|
||
#endif
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
PROTO UINT8 HW_Init(void);
|
||
PROTO void HW_Release(void);
|
||
PROTO UINT16 HW_GetALEventRegister(void);
|
||
PROTO UINT16 HW_GetALEventRegister_Isr(void);
|
||
PROTO void HW_ResetALEventMask(UINT16 intMask);
|
||
PROTO void HW_SetALEventMask(UINT16 intMask);
|
||
PROTO void HW_SetLed(UINT8 RunLed, UINT8 ErrLed);
|
||
|
||
PROTO void HW_EscRead(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
|
||
PROTO void HW_EscReadIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
|
||
PROTO void HW_EscWrite(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
|
||
PROTO void HW_EscWriteIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
|
||
|
||
PROTO void HW_DisableSyncManChannel(UINT8 channel);
|
||
PROTO void HW_EnableSyncManChannel(UINT8 channel);
|
||
PROTO TSYNCMAN ESCMEM *HW_GetSyncMan(UINT8 channel);
|
||
|
||
/* Timer helpers (implemented in hw_gd32exmc.cpp) */
|
||
PROTO UINT32 HW_GetTimerValue(void);
|
||
PROTO void HW_ClearTimerValue(void);
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#undef PROTO
|