cbb
1742d9a759
- 段2(32..543): count=实际电机数(0..9), 空节点不占位, 槽序按 node_id 升序 - 同号多通道取 seq 最新; magic@35=0xA5 区分密排与旧滑窗 - 差分填充: 节点集合+seq/online 未变时整段复用影子 - 删段4 fillRxWindow; 非STATUS仍走段1/3最近一帧 - 输入PDO总长仍600B, SII无需重刷; 主站需按count密排解码 - 动机: 接3电机却看到5状态帧(空槽占位); win_base滑窗对已识别电机无意义
388 lines
12 KiB
C++
388 lines
12 KiB
C++
/**
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* @file ethercat_can_bridge.cpp
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* @brief EtherCAT PDO ↔ CAN 转发桥实现（1.6.21：段 2 电机整轮密排）。
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*/
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#include "comm/ethercat_can_bridge.h"
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#include "device/canfd.h"
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#include "device/motor_state.h"
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#include "RTE_Components.h"
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#include CMSIS_device_header /* __DMB()：seqlock 的编译器/总线屏障 */
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#include <cstring>
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volatile uint8_t EthercatCanBridge::s_lastSeq = 0U;
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volatile bool EthercatCanBridge::s_seqPrimed = false;
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volatile uint8_t EthercatCanBridge::s_lastTxResult = 0U;
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volatile uint16_t EthercatCanBridge::s_txCount = 0U;
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volatile uint16_t EthercatCanBridge::s_dropCount = 0U;
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volatile bool EthercatCanBridge::s_rxValid = false;
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volatile bool EthercatCanBridge::s_rxPublished = false;
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volatile uint32_t EthercatCanBridge::s_xrxSeq = 0U;
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volatile uint8_t EthercatCanBridge::s_rxCh = 0U;
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volatile uint8_t EthercatCanBridge::s_rxDlc = 0U;
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volatile bool EthercatCanBridge::s_rxTruncated = false;
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volatile uint32_t EthercatCanBridge::s_rxId = 0U;
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volatile uint32_t EthercatCanBridge::s_rxCount = 0U;
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uint8_t EthercatCanBridge::s_rxData[kEcatCanXRxDataMax] = {0};
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uint8_t EthercatCanBridge::s_motShadow[kEcatMotRegionBytes] = {0};
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uint32_t EthercatCanBridge::s_motPubSeq[kMotorMaxNodes + 1U] = {0};
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uint8_t EthercatCanBridge::s_motPubOnline[kMotorMaxNodes + 1U] = {0};
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uint16_t EthercatCanBridge::s_motPubMask = 0U;
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uint8_t EthercatCanBridge::s_motPubCount = 0U;
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bool EthercatCanBridge::s_motShadowValid = false;
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namespace {
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/** 小端读写：PDO 字节序按 EtherCAT 惯例固定小端。 */
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inline uint32_t rd32le(const uint8_t *p)
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{
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return (uint32_t)p[0] | ((uint32_t)p[1] << 8) |
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((uint32_t)p[2] << 16) | ((uint32_t)p[3] << 24);
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}
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inline void wr32le(uint8_t *p, uint32_t v)
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{
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p[0] = (uint8_t)(v); p[1] = (uint8_t)(v >> 8);
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p[2] = (uint8_t)(v >> 16); p[3] = (uint8_t)(v >> 24);
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}
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inline void wr16le(uint8_t *p, uint16_t v)
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{
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p[0] = (uint8_t)(v); p[1] = (uint8_t)(v >> 8);
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}
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/** 段 2 头 + count 槽在影子区中的总长度。 */
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inline uint16_t motRegionLen(uint8_t count)
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{
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return (uint16_t)(kEcatMotHdrSize + (uint16_t)count * kEcatMotSlotSize);
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}
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} // namespace
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uint8_t EthercatCanBridge::sendBatch(const uint8_t *out)
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{
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uint8_t want = out[ECAT_TXB_OFF_COUNT];
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if (want == 0U) {
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return 0U;
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}
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if (want > kEcatTxBatchMax) {
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want = kEcatTxBatchMax;
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}
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const bool stopOnError = (out[ECAT_TXB_OFF_FLAGS] & 0x01U) != 0U;
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uint8_t sent = 0U;
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uint16_t off = ECAT_TXB_OFF_ITEMS;
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for (uint8_t i = 0U; i < want; ++i) {
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if ((uint16_t)(off + ECAT_FRM_HDR_SIZE) > kEcatPdoOutBytes) {
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break;
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}
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const uint8_t *f = &out[off];
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uint8_t dlc = f[ECAT_FRM_OFF_DLC];
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if (dlc > kEcatCanFdDataMax) {
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dlc = kEcatCanFdDataMax;
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}
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if ((uint16_t)(off + ECAT_FRM_HDR_SIZE + dlc) > kEcatPdoOutBytes) {
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break;
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}
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const uint8_t ch = f[ECAT_FRM_OFF_CH];
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CanFd::CanTxResult r;
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if (!CanFd::isChannelEnabled(ch)) {
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r = CanFd::CanTxResult::kErrInvalid;
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} else {
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r = CanFd::enqueueTx(ch, rd32le(&f[ECAT_FRM_OFF_ID]),
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&f[ECAT_FRM_HDR_SIZE], dlc);
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}
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if (r == CanFd::CanTxResult::kOk) {
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++s_txCount;
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++sent;
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} else {
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s_lastTxResult = (uint8_t)r;
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if (stopOnError) {
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break;
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}
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}
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off = (uint16_t)(off + ECAT_FRM_HDR_SIZE + dlc);
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}
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return sent;
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}
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/**
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* 段 2：电机整轮密排。
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*
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* 1. 扫 MotorState，每个节点号 1..9 在 3 个通道里取 seq 最新的一条；
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* 2. 若节点集合与各节点 seq 均与上一拍发布相同 → 整段复用影子区（跳过重读）；
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* 3. 否则按 node_id 升序密排写入，空节点不占位；seqlock 奇数（写入中）的槽
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* 本拍省略，下拍自愈 —— 不发半新半旧的 48B。
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*/
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uint8_t EthercatCanBridge::fillMotorRound(uint8_t *in)
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{
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const MotorStateTable &mt = MotorState::table();
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/* ── 1. 每节点选一条最新槽 ── */
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const MotorSlot *picks[kMotorMaxNodes];
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uint8_t nodes[kMotorMaxNodes];
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uint8_t n = 0U;
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for (uint8_t node = 1U; node <= kMotorMaxNodes; ++node) {
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const MotorSlot *best = nullptr;
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for (uint8_t ch = 0U; ch < kMotorChannels; ++ch) {
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const MotorSlot &s =
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mt.slots[(uint8_t)((node - 1U) * kMotorChannels + ch)];
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if (s.node_id == 0U) {
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continue;
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}
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if (best == nullptr || s.seq >= best->seq) {
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best = &s;
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}
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}
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if (best != nullptr) {
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picks[n] = best;
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nodes[n] = node;
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++n;
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}
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}
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/* ── 2. 判「上一轮已填充且未变」──
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* 节点集合一致 + 每节点 seq/online 一致 + 头字段（active/boot）一致 + 写侧
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* seqlock 偶数 → 复用影子。online 必须比：checkOffline 超时置 0 时不 bump
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* seq，只比 seq 会把「已离线」永远报成在线。 */
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bool unchanged = s_motShadowValid && (n == s_motPubCount)
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&& mt.active_count == s_motShadow[ECAT_MOTW_OFF_ACTIVE - ECAT_MOTW_OFF_COUNT]
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&& mt.boot_active == s_motShadow[ECAT_MOTW_OFF_BOOT - ECAT_MOTW_OFF_COUNT]
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&& s_motShadow[ECAT_MOTW_OFF_MAGIC - ECAT_MOTW_OFF_COUNT]
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== kEcatMotLayoutMagic;
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if (unchanged) {
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for (uint8_t i = 0U; i < n; ++i) {
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const uint8_t node = nodes[i];
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const MotorSlot &s = *picks[i];
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if ((s.wr_seq & 1U) != 0U
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|| s.seq != s_motPubSeq[node]
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|| s.online != s_motPubOnline[node]
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|| (s_motPubMask & (uint16_t)(1U << node)) == 0U) {
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unchanged = false;
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break;
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}
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}
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}
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const uint16_t region = motRegionLen(unchanged ? s_motPubCount : n);
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if (unchanged) {
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memcpy(&in[ECAT_MOTW_OFF_COUNT], s_motShadow, region);
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return s_motPubCount;
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}
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/* ── 3. 重建密排区 ── */
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in[ECAT_MOTW_OFF_ACTIVE] = mt.active_count;
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in[ECAT_MOTW_OFF_BOOT] = mt.boot_active;
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in[ECAT_MOTW_OFF_MAGIC] = kEcatMotLayoutMagic;
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wr32le(&in[ECAT_MOTW_OFF_GLOBAL_SEQ], mt.global_seq);
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uint8_t w = 0U;
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uint16_t newMask = 0U;
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for (uint8_t i = 0U; i < n; ++i) {
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const MotorSlot &s = *picks[i];
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if ((s.wr_seq & 1U) != 0U) {
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continue; /* 写入中：本拍省略，下拍自愈 */
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}
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__DMB();
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uint8_t *p = &in[ECAT_MOTW_OFF_SLOTS + (uint16_t)w * kEcatMotSlotSize];
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p[ECAT_MOT_OFF_NODE] = nodes[i];
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p[ECAT_MOT_OFF_CH] = s.channel;
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p[ECAT_MOT_OFF_ONLINE] = s.online;
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p[ECAT_MOT_OFF_DLC] = s.dlc;
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wr32le(&p[ECAT_MOT_OFF_SEQ], s.seq);
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memcpy(&p[ECAT_MOT_OFF_STATUS], s.data, kMotorStatusDlc);
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s_motPubSeq[nodes[i]] = s.seq;
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s_motPubOnline[nodes[i]] = s.online;
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newMask |= (uint16_t)(1U << nodes[i]);
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++w;
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}
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in[ECAT_MOTW_OFF_COUNT] = w;
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/* 更新影子：下次集合+seq 未变时整段复用 */
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memcpy(s_motShadow, &in[ECAT_MOTW_OFF_COUNT], motRegionLen(w));
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s_motPubMask = newMask;
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s_motPubCount = w;
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s_motShadowValid = true;
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return w;
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}
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bool EthercatCanBridge::peekOutput(const uint8_t *head)
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{
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if (head == nullptr) {
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return false;
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}
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const uint8_t seq = head[ECAT_CAN_TX_OFF_SEQ];
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/* WIN@8 不再使用：1.6.21 电机整轮密排，无滑窗。 */
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if (!s_seqPrimed) {
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s_seqPrimed = true;
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s_lastSeq = seq;
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return false;
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}
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if (seq != s_lastSeq) {
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return true;
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}
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return (head[ECAT_CAN_TX_OFF_FLAGS] & 0x01U) != 0U;
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}
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void EthercatCanBridge::processOutput(const uint8_t *out)
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{
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if (out == nullptr) {
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return;
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}
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const uint8_t seq = out[ECAT_CAN_TX_OFF_SEQ];
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if (!s_seqPrimed) {
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s_seqPrimed = true;
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s_lastSeq = seq;
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return;
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}
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if ((out[ECAT_CAN_TX_OFF_FLAGS] & 0x01U) != 0U) {
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s_txCount = 0U;
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s_dropCount = 0U;
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s_rxCount = 0U;
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s_rxPublished = true;
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}
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if (seq == s_lastSeq) {
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return;
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}
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s_lastSeq = seq;
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const uint8_t ch = out[ECAT_CAN_TX_OFF_CH];
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uint8_t dlc = out[ECAT_CAN_TX_OFF_DLC];
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if (dlc > kEcatCanTxDataMax) {
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dlc = kEcatCanTxDataMax;
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}
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if (dlc > 0U) {
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if (!CanFd::isChannelEnabled(ch)) {
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s_lastTxResult = (uint8_t)CanFd::CanTxResult::kErrInvalid;
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} else {
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const CanFd::CanTxResult r =
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CanFd::enqueueTx(ch, rd32le(&out[ECAT_CAN_TX_OFF_ID]),
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&out[ECAT_CAN_TX_OFF_DATA], dlc);
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s_lastTxResult = (uint8_t)r;
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if (r == CanFd::CanTxResult::kOk) {
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++s_txCount;
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}
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}
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}
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(void)sendBatch(out);
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}
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void EthercatCanBridge::buildInput(uint8_t *in)
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{
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if (in == nullptr) {
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return;
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}
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memset(in, 0, kEcatPdoInBytes);
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/* ── 段 1（0..31）：桥状态 + 短快照 ── */
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in[ECAT_CAN_RX_OFF_ACK] = s_lastSeq;
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in[ECAT_CAN_RX_OFF_TXRES] = s_lastTxResult;
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wr16le(&in[ECAT_CAN_RX_OFF_TXCNT], s_txCount);
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wr16le(&in[ECAT_CAN_RX_OFF_DROP], s_dropCount);
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wr32le(&in[ECAT_CAN_RX_OFF_RXCNT], s_rxCount);
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const bool xrxStable = ((s_xrxSeq & 1U) == 0U);
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if (xrxStable && s_rxValid) {
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uint8_t flags = 0x01U;
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if (s_rxTruncated) {
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flags |= 0x02U;
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}
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in[ECAT_CAN_RX_OFF_CH] = s_rxCh;
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in[ECAT_CAN_RX_OFF_DLC] = s_rxDlc;
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in[ECAT_CAN_RX_OFF_FLAGS] = flags;
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wr32le(&in[ECAT_CAN_RX_OFF_ID], s_rxId);
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memcpy(&in[ECAT_CAN_RX_OFF_DATA], s_rxData, kEcatCanRxDataMax);
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s_rxPublished = true;
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}
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const uint8_t ch = s_rxValid ? s_rxCh : 0U;
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const uint32_t backlog = CanFd::isChannelEnabled(ch) ? CanFd::txQueueBacklog(ch) : 0U;
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in[ECAT_CAN_RX_OFF_BACKLOG] = (backlog > 255U) ? 255U : (uint8_t)backlog;
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/* ── 段 2（32..543）：电机整轮密排（空槽不发，count=实际电机数）── */
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(void)fillMotorRound(in);
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/* ── 段 3（544..583）：最近一帧完整快照 ──
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* 与段 1 共用 xrxStable 门控，两段必须来自同一帧。 */
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if (xrxStable && s_rxValid) {
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in[ECAT_XRX_OFF_CH] = s_rxCh;
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in[ECAT_XRX_OFF_DLC] = s_rxDlc;
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in[ECAT_XRX_OFF_FLAGS] = 0x01U;
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wr32le(&in[ECAT_XRX_OFF_ID], s_rxId);
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memcpy(&in[ECAT_XRX_OFF_DATA], s_rxData, kEcatCanXRxDataMax);
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}
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/* 段 4（历史覆盖窗口）已删除；段 5 由 EthercatPdo::fillDiagTail 写。 */
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}
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void EthercatCanBridge::onCanFrame(uint8_t channel, uint32_t id,
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const uint8_t *data, uint8_t length)
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{
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if (data == nullptr) {
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return;
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}
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uint8_t copyLen = length;
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if (copyLen > kEcatCanXRxDataMax) {
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copyLen = kEcatCanXRxDataMax;
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}
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/* ── 快照 seqlock：奇数=正在写，消费者本拍跳过段 1/段 3 ── */
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++s_xrxSeq;
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__DMB();
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if (s_rxValid && !s_rxPublished) {
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++s_dropCount;
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}
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memcpy(s_rxData, data, copyLen);
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if (copyLen < kEcatCanXRxDataMax) {
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memset(&s_rxData[copyLen], 0, (size_t)(kEcatCanXRxDataMax - copyLen));
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}
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s_rxCh = channel;
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s_rxId = id;
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s_rxDlc = length;
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s_rxTruncated = (length > kEcatCanRxDataMax);
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++s_rxCount;
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s_rxValid = true;
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s_rxPublished = false;
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__DMB();
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++s_xrxSeq;
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/* STATUS 走 MotorState → 段 2 整轮；非 STATUS 只更新段 1/3 最近一帧快照。
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* 1.6.21 起不再写入历史覆盖窗口。 */
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}
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extern "C" {
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void EcatCan_ProcessOutput(const uint8_t *out)
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{
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EthercatCanBridge::processOutput(out);
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}
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void EcatCan_BuildInput(uint8_t *in)
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{
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EthercatCanBridge::buildInput(in);
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}
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} /* extern "C" */
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