cbb
934836618a
新增SPI命令类型0xC4用于ADC调试反馈，实现在GD32上采集 温度/VDDA/VIN等模拟量数据的反馈功能，并支持主动推送和被动查询模式。 feat(spi): 扩展PING命令响应格式 修改PING命令响应格式，增加APP身份信息16字节载荷，包含版本号、 启动时间、功能开关位图等信息，用于主机获取从设备详细状态。 refactor(can_feedback): 优化CAN反馈推送逻辑 改进CAN反馈推送机制，跳过编译期关闭的通道，只遍历启用的通道， 确保推送效率并避免无效操作。 feat(comm): 添加EXMC总线初始化和诊断功能 添加了EXMC总线的初始化功能，包括GPIO配置、NOR/SRAM区域参数设置， 以及总线探活机制。实现了总线可见性检测，当检测到全0或全1的挂死状态时 会返回false并输出错误信息。同时添加了printf日志输出用于调试。 refactor(esc_lan9252): 重构ESC初始化返回值 将EscLan9252::init()方法的返回类型从void改为bool， 使其能够返回EXMC总线准备状态，便于上层进行状态检查。 docs(app_spi_cmd_ping): 添加代码注释文档 为SPI命令处理相关类和方法添加详细的Doxygen风格注释文档， 提高代码可读性和维护性。
149 lines
5.8 KiB
C++
149 lines
5.8 KiB
C++
/**
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* @file ethercat_sync.cpp
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* @brief EtherCAT SYNC0 周期同步实现。
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*/
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#include "comm/ethercat_sync.h"
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#include "comm/ethercat_slave.h"
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#include "sys/config.h"
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#include "sys/task_manager.h"
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#include "main.h"
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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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}
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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_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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}
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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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EthercatSlave::periodicIsr();
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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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/* 极简:仅置位任务,事件处理移主循环 */
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TaskManager::set(1UL << TASK_ETHERCAT_PROCESS);
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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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/* 预留:SYNC1 通道当前未承载业务,仅清 EXTI 标志防止中断挂起;
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* 启用 SYNC1 业务时在此处添加处理逻辑。 */
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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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EthercatSlave::periodicIsr();
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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) { EthercatSync::onSync0Exti(); }
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void EXTI1_IRQHandler(void) { EthercatSync::onEscIrqExti(); }
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void EXTI2_IRQHandler(void) { EthercatSync::onSync1Exti(); }
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#else
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void TIMER0_IRQHandler(void) { EthercatSync::onTimerIrq(); }
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void EXTI1_IRQHandler(void) { EthercatSync::onEscIrqExti(); }
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void EXTI2_IRQHandler(void) { EthercatSync::onSync1Exti(); }
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#endif
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} /* extern "C" */
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