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DCU_APP/GD32E508_DCU_APP/GD32E508_DCU_APP.cproject.yml
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cbb 959e2aef6e feat(comm): 1.6.14~1.6.20 —— CAN-FD 数据段 5M、批量区改定长覆盖窗口(输入 PDO 496→600)、drop 口径修复、差分写仪表 
1.6.14 CAN-FD 数据段 2Mbps→5Mbps：CONFIG_CAN_DATA_PRESCALER 9→3、BS1 3→4TQ
  (90MHz/(3×6TQ)，采样点 80%→83.3%)，仲裁段仍 1M。TDC filter/offset 维持 4 不做
  等比缩放（TDCMOD=CALC_AND_OFFSET 下硬件已自动测回路延时；放到 12 会让本节点回采
  错开约 6 个数据位，自发热帧被判错误帧）。配套电机 APP/BOOT data_prescaler=2。

1.6.15 段4 批量接收由"环形队列 + 变长紧排排空"改为 5×44B 定长覆盖窗口，输入 PDO
  496→600(75×64bit)，段5 诊断区 484→584。动机两条：现场 4000 帧/s 超旧容量 3 帧/拍
  恒丢 1 帧；更关键是排空赤字把队列长期压在饱和态，而 1.6.9~1.6.13 追的错标/拼接竞态
  正是饱和态喂出来的（判满用的 tail 滞后→生产者写进消费者刚读过的槽）。定长消灭
  tail/判满/pending，边界越界写在结构上不可能再犯。每槽带 u32 seqlock：buildInput 在
  PDI_Isr(preempt=0) 抢占主循环写侧，无它则主站会拿到"新 ID + 旧数据"拼出的假帧。
  out+in=984 ≤ 1024 硬上限，DPRAM 留 120B。语义变更：批量区从"不丢的事件流"变"最近
  N 帧窗口"，去重与丢帧判据移交主站按 seq 归一。三端同步 size.h/bridge/dc_app/
  gen_eeprom/DCU_ESI.xml，必须重烧固件 + 烧 EEPROM + 断电冷启动，只烧一边 SAFEOP 报
  AL 0x001A/0x0011。

1.6.16 段1/段3 快照 drop 计数口径修复（纯判据，PDO 布局逐字节不动）：旧判据
  s_rxValid 置位后永不清零 ⇒ 开机首帧后每帧都算丢弃，drop ≡ rx−1，是零灵敏度假仪表
  且把网页状态栏刷成 ERR。新增 s_rxPublished，判据改 s_rxValid && !s_rxPublished。

1.6.17~19 [DIFF-STATS] 差分写取证仪表，零行为变更，只加 0x2000 sub13..23(11 个只读
  UINT32) ⇒ 不动 PDO 长度/映射，无需重生成 SII。实测：每拍 27.4% 字节真变化(164B)、
  run 峰值 12~13、段2 占变化量 ~53%、段4 ~25%。
  1.6.19 推翻 1.6.18 的自我诊断：比对开销虚报不是 -Oz 把 memcpy 编成调用（手拼移位
  反而 21.3µs→41µs），真根因是 alignas(4) 到 const uint8_t* 形参处丢失，优化器无法
  证明 4 字节对齐。__builtin_assume_aligned + memcpy 后循环体缩成 ldr/ldr/cmp/bne、
  bl 归零。教训：测量工具自身的开销会直接变成结论。

1.6.20 基线对照版（当前提交状态 CONFIG_ECAT_DIFF_STATS=0）：同工况(电机在线无指令)
  实测 load 49.1% vs 仪表开的 51.6% ⇒ 仪表自身成本 2.4 个点，差分改造收益 = 0。
  按实测变化量推算 A1(段粒度条件写) 只值约 1 点(段2/段4 每拍都变，必然整块重写)，
  仅 A2(8B 块粒度 + run 上限退化为整写) 有空间 —— 推算值，未做 A/B 实测不作为结论。
2026-09-09 03:04:53 +08:00

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This file contains ambiguous Unicode characters
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# A project translates into one executable or library.
project:
groups:
- group: Source Files
files:
- file: ./main.h
- file: ./main.cpp
- group: sys
files:
- file: ./sys/initial.h
- file: ./sys/initial.cpp
- file: ./sys/systick.h
- file: ./sys/systick.cpp
- file: ./sys/task_manager.h
- file: ./sys/task_manager.cpp
- file: ./sys/task_runner.h
- file: ./sys/task_runner.cpp
- file: ./sys/cpu_load.h
- file: ./sys/cpu_load.cpp
- file: ./sys/ota_boot_request.h
- file: ./sys/ota_boot_request.cpp
- file: ./sys/aes128.h
- file: ./sys/aes128.cpp
- file: ./sys/motor_ota_relay.h
- file: ./sys/motor_ota_relay.cpp
- file: ./sys/hardfault.cpp
- file: ./sys/cpp_stubs.cpp
- file: ./sys/config.h
- group: device
files:
- file: ./device/adc.h
- file: ./device/adc.cpp
- file: ./device/canfd.h
- file: ./device/canfd.cpp
- file: ./device/timer.h
- file: ./device/timer.cpp
- file: ./device/usart0.h
- file: ./device/usart0.cpp
- file: ./device/watchdog.h
- file: ./device/watchdog.cpp
- file: ./device/motor_state.h
- file: ./device/motor_state.cpp
- file: ./device/motor_version.h
- file: ./device/motor_version.cpp
# GigaDevice DFP 未把 EXMC 注册为 CMSIS 组件（仅有 FMC=片内 Flash），
# 但外设源文件存在于 Pack；LAN9252 并行总线需要 EXMC，故本地编入。
- group: device_exmc
files:
- file: ./RTE/Device/GD32E508VE/gd32e50x_exmc.c
- file: ./RTE/Device/GD32E508VE/gd32e50x_exmc.h
- group: device/spi
files:
- file: ./device/spi/app_spi_command.h
- file: ./device/spi/app_spi_command.cpp
- file: ./device/spi/spi_command_handler.h
- file: ./device/spi/app_spi_command_defs.h
- file: ./device/spi/app_spi_cmd_boot_request.cpp
- file: ./device/spi/app_spi_cmd_ota_wait.cpp
- file: ./device/spi/app_spi_cmd_ping.cpp
- file: ./device/spi/app_spi_cmd_init_status.cpp
- file: ./device/spi/app_spi_cmd_can_bridge.cpp
- file: ./device/spi/app_spi_cmd_can_burst.cpp
- file: ./device/spi/app_spi_cmd_can_feedback.cpp
- file: ./device/spi/app_spi_cmd_id_snapshot.cpp
- file: ./device/spi/app_spi_cmd_adc_feedback.cpp
- file: ./device/spi/app_spi_cmd_motor_state.cpp
- file: ./device/spi/app_spi_cmd_motor_version.cpp
- file: ./device/spi/app_spi_cmd_motor_ota.cpp
- file: ./device/spi/app_spi_cmd_exmc_diag.cpp
- group: spi_link
files:
- file: ../../spi_link/spi_link_v2.cpp
- group: comm
files:
- file: ./comm/esc_exmc_bus.h
- file: ./comm/esc_exmc_bus.cpp
- file: ./comm/esc_lan9252.h
- file: ./comm/esc_lan9252.cpp
- file: ./comm/ethercat_slave.h
- file: ./comm/ethercat_slave.cpp
- file: ./comm/ethercat_sync.h
- file: ./comm/ethercat_sync.cpp
- file: ./comm/ethercat_can_bridge.h
- file: ./comm/ethercat_can_bridge.cpp
- file: ./comm/ethercat_pdo.h
- file: ./comm/ethercat_pdo.cpp
# [DIFF-STATS] 临时仪表：差分写取证，删除时连同本两行与 comm/ethercat_diff_stats.* 一并移除
- file: ./comm/ethercat_diff_stats.h
- file: ./comm/ethercat_diff_stats.cpp
- group: comm/ssc
files:
- file: ./comm/ssc/inc/ecatslv.h
- file: ./comm/ssc/inc/ecatappl.h
- file: ./comm/ssc/inc/mailbox.h
- file: ./comm/ssc/inc/ecatcoe.h
- file: ./comm/ssc/inc/sdoserv.h
- file: ./comm/ssc/inc/objdef.h
- file: ./comm/ssc/inc/coeappl.h
- file: ./comm/ssc/inc/esc.h
- file: ./comm/ssc/inc/applInterface.h
- file: ./comm/ssc/inc/el9800hw.h
- file: ./comm/ssc/src/ecatslv.c
- file: ./comm/ssc/src/ecatappl.c
- file: ./comm/ssc/src/mailbox.c
- file: ./comm/ssc/src/ecatcoe.c
- file: ./comm/ssc/src/sdoserv.c
- file: ./comm/ssc/src/objdef.c
- file: ./comm/ssc/src/coeappl.c
- file: ./comm/ssc/port/hw_gd32exmc.cpp
- file: ./comm/ssc/port/dc_app.c
- file: ./comm/ssc/port/dc_app.h
- file: ./comm/ssc/port/ecat_def.h
# List components to use for your application.
# A software component is a re-usable unit that may be configurable.
components:
- component: ARM::CMSIS:CORE
- component: Device:Startup
- component: Device:GD32E50x_StdPeripherals:ADC
- component: Device:GD32E50x_StdPeripherals:CAN
- component: Device:GD32E50x_StdPeripherals:CRC
- component: Device:GD32E50x_StdPeripherals:DBG
- component: Device:GD32E50x_StdPeripherals:DMA
- component: Device:GD32E50x_StdPeripherals:EXTI
- component: Device:GD32E50x_StdPeripherals:FMC
- component: Device:GD32E50x_StdPeripherals:GPIO
- component: Device:GD32E50x_StdPeripherals:MISC
- component: Device:GD32E50x_StdPeripherals:PMU
- component: Device:GD32E50x_StdPeripherals:RCU
- component: Device:GD32E50x_StdPeripherals:SPI_I2S
- component: Device:GD32E50x_StdPeripherals:TIMER
- component: Device:GD32E50x_StdPeripherals:USART
- component: Device:GD32E50x_libopt
- component: Device:GD32E50x_StdPeripherals:FWDGT
# List executable file formats to be generated.
output:
type:
- elf
- hex
- map
misc:
- for-compiler: AC6
C-CPP:
- -DGD32E508
- -DGD32E50X
- -DHXTAL_VALUE=8000000U
- -gdwarf-5
- -D__MICROLIB
- -fshort-enums
- -fshort-wchar
# EXMC 未作为 CMSIS 组件分发；头文件在 RTE 本地目录
- -IRTE/Device/GD32E508VE
- -Wno-register
- -IG:/Robot_v2/DCU/spi_link
C:
- -std=gnu11
CPP:
- -std=gnu++17
# 全工程零使用 RTTI/异常（grep 验证），关闭以剥离 libcppabi 运行时（约 2.5 KB Flash）
- -fno-rtti
- -fno-exceptions
ASM:
- -DGD32E508
- -DGD32E50X
- -DHXTAL_VALUE=8000000U
- -gdwarf-5
- -D__MICROLIB
# 启动文件经 legacy armasm 汇编：消 armclang 驱动"参数未使用"告警 + armasm 弃用告警(A1950W)
- -Wno-unused-command-line-argument
- -Wa,armasm,--diag_suppress=A1950W
Link:
- --library_type=microlib
- --entry=Reset_Handler
# 输出未引用段与总量报告，用于 Flash 尺寸归因
- --info=unused,totals
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