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
123 lines
3.8 KiB
C++
123 lines
3.8 KiB
C++
/**
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* @file cpu_load.cpp
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* @brief CPU 负载率测量实现（1.5.61，度量定义与并发协议见 cpu_load.h）。
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*
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* 热路径(beginWork/endWork/isrEnter/isrExit/tick)放进 .ramfunc——它们会被包进
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* EXTI0(Sync0, preempt=0) 等延迟敏感的 ISR 包装，与 EthercatSync::onSync0Exti
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* 同款 section 属性，避免 flash 等待态给 Sync0 入口添抖动。1s 一次的窗口
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* 结算(含 64 位除法)留在普通 flash 函数里。
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*/
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#include "sys/cpu_load.h"
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#include "RTE_Components.h"
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#include CMSIS_device_header
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volatile uint32_t CpuLoad::s_depth = 0U;
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volatile uint32_t CpuLoad::s_stamp = 0U;
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volatile uint32_t CpuLoad::s_busy = 0U;
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volatile uint32_t CpuLoad::s_winStart = 0U;
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volatile uint16_t CpuLoad::s_loadPerm = 0U;
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volatile uint32_t CpuLoad::s_seq = 0U;
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/** @brief 区间并集的共享进入点。0→1 者负责盖时间戳；STREX 失败方重试时深度
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* 已被抢占者修正，不会再重复盖戳。 */
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__attribute__((always_inline)) static inline void cpuLoadEnter()
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{
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uint32_t d;
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do {
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d = __LDREXW(&CpuLoad::s_depth);
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if (d == 0U) {
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CpuLoad::s_stamp = DWT->CYCCNT;
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__DMB();
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}
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} while (__STREXW(d + 1U, &CpuLoad::s_depth) != 0U);
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__DMB();
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}
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/** @brief 区间并集的共享退出点。1→0 者把区间累进 s_busy（同样走独占访问，
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* 防"ISR 恰好插在主循环退出的读-改-写之间"丢累加）。 */
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__attribute__((always_inline)) static inline void cpuLoadLeave()
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{
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const uint32_t end = DWT->CYCCNT;
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const uint32_t start = CpuLoad::s_stamp;
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uint32_t d;
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do {
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d = __LDREXW(&CpuLoad::s_depth);
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} while (__STREXW(d - 1U, &CpuLoad::s_depth) != 0U);
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if (d == 1U) {
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const uint32_t delta = end - start;
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uint32_t b;
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do {
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b = __LDREXW(&CpuLoad::s_busy);
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} while (__STREXW(b + delta, &CpuLoad::s_busy) != 0U);
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}
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}
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void CpuLoad::init()
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{
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/* DWT 已由 EscLan9252::init 使能；这里幂等兜底（万一 EtherCAT 初始化被裁剪）。 */
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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s_depth = 0U;
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s_busy = 0U;
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s_winStart = DWT->CYCCNT;
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s_loadPerm = 0U;
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s_seq = 0U;
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}
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__attribute__((section(".ramfunc"), noinline)) void CpuLoad::beginWork()
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{
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cpuLoadEnter();
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}
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__attribute__((section(".ramfunc"), noinline)) void CpuLoad::isrEnter()
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{
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cpuLoadEnter();
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}
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__attribute__((section(".ramfunc"), noinline)) void CpuLoad::isrExit()
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{
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cpuLoadLeave();
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}
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/**
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* @brief 窗口结算（普通 flash 函数，1s 才进一次）。
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* @note s_busy 用独占访问换出：窗口边界上 ISR 的在途累加要么算进本窗口、
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* 要么算进下窗口，不丢。
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*/
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static void cpuLoadRollWindow(uint32_t now)
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{
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const uint32_t elapsed = now - CpuLoad::s_winStart; /* 调用方已保证 >= 1s */
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uint32_t busy;
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do {
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busy = __LDREXW(&CpuLoad::s_busy);
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} while (__STREXW(0U, &CpuLoad::s_busy) != 0U);
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CpuLoad::s_winStart = now;
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uint32_t perm = (uint32_t)(((uint64_t)busy * 1000ULL) / (uint64_t)elapsed);
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if (perm > 1000U) {
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perm = 1000U;
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}
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CpuLoad::s_loadPerm = (uint16_t)perm;
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CpuLoad::s_seq++;
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}
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__attribute__((section(".ramfunc"), noinline)) void CpuLoad::endWork()
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{
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cpuLoadLeave();
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}
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__attribute__((section(".ramfunc"), noinline)) void CpuLoad::tick()
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{
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const uint32_t now = DWT->CYCCNT;
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if ((uint32_t)(now - s_winStart) >= SystemCoreClock) {
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cpuLoadRollWindow(now);
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}
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}
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/* C 侧挂钩：供 ecatappl.c / dc_app.c 计入 EtherCAT 过程数据路径。
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* 与 beginWork/endWork 共用深度计数器，嵌套不重不漏。 */
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extern "C" void CpuLoad_Enter(void) { CpuLoad::beginWork(); }
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extern "C" void CpuLoad_Leave(void) { CpuLoad::endWork(); }
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