DCU_APP/GD32E508_DCU_APP/sys/initial.cpp

/**
 * @file initial.cpp
 * @brief 应用启动初始化：模块成功置位，结束统一报告结果。
 *
 * 顺序：
 *   NVIC → SysTick → ESP32_EN 保持 → USART0 → AppSpi（尽早 HELLO 探活）→
 *   ADC → CANFD → OtaBootRequest → TaskManager → Scheduler →
 *   EtherCAT(+Sync 可选) → Watchdog → report
 */

#include "sys/initial.h"

#include "device/canfd.h"
#include "device/usart0.h"
#include "device/timer.h"
#include "device/adc.h"
#include "device/watchdog.h"
#include "device/spi/app_spi_command.h"
#include "sys/systick.h"
#include "sys/ota_boot_request.h"
#include "sys/task_manager.h"
#include "sys/config.h"
#include "comm/esc_lan9252.h"
#include "comm/ethercat_slave.h"
#include "comm/ethercat_sync.h"

extern "C" {
uint16_t MainInit(void);
void     MainLoop(void);
}

uint32_t AppInitializer::s_mask = 0U;

namespace {

struct InitEntry {
    uint32_t    bit;
    const char *name;
    bool        critical;
};

static const InitEntry kEntries[] = {
    { AppInitializer::kNvic,         "nvic",          true  },
    { AppInitializer::kSysTick,      "systick",       true  },
    { AppInitializer::kEsp32Hold,    "esp32_hold",    true  },
    { AppInitializer::kUsart0,       "usart0",        true  },
    { AppInitializer::kAppSpi,       "app_spi",       true  },
    { AppInitializer::kAdc,          "adc",           true  },
    { AppInitializer::kCanFd,        "canfd",         true  },
    { AppInitializer::kOtaBootReq,   "ota_boot_req",  true  },
    { AppInitializer::kTaskManager,  "task_manager",  true  },
    { AppInitializer::kScheduler,    "scheduler",     true  },
    { AppInitializer::kEthercat,     "ethercat",      false },
    { AppInitializer::kEthercatSync, "ethercat_sync", false },
    { AppInitializer::kWatchdog,     "watchdog",      true  },
};

} // namespace

void AppInitializer::mark(ModuleBit b)
{
    s_mask |= static_cast<uint32_t>(b);
}

void AppInitializer::report()
{
    bool critical_ok = true;
    bool all_ok = true;
    char fail_list[160] = {0};
    size_t fail_len = 0U;

    for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
        const InitEntry &e = kEntries[i];
        const bool ok = (s_mask & e.bit) != 0U;
        if (ok) {
            continue;
        }
        all_ok = false;
        if (e.critical) {
            critical_ok = false;
        }
        if (fail_len + 2U < sizeof(fail_list)) {
            if (fail_len > 0U) {
                fail_list[fail_len++] = ',';
            }
            const char *p = e.name;
            while (*p != '\0' && fail_len + 1U < sizeof(fail_list)) {
                fail_list[fail_len++] = *p++;
            }
            fail_list[fail_len] = '\0';
        }
    }

    if (critical_ok && all_ok) {
        printf("[APP] init: OK (all modules)\r\n");
    } else if (critical_ok) {
        printf("[APP] init: OK (critical), skipped/failed: %s\r\n",
               fail_list[0] != '\0' ? fail_list : "?");
    } else {
        printf("[APP] init: FAIL, modules: %s\r\n",
               fail_list[0] != '\0' ? fail_list : "?");
    }
}

void AppInitializer::init()
{
    s_mask = 0U;

    nvic_priority_group_set(CONFIG_NVIC_PRIORITY_GROUP);
    mark(kNvic);

    SysTickTimer::initMs();
    mark(kSysTick);

    rcu_periph_clock_enable(RCU_GPIOC);
    gpio_bit_set(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN);
    gpio_init(CONFIG_ESP32_RESET_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, CONFIG_ESP32_RESET_PIN);
    mark(kEsp32Hold);
    /* ESP32 EN 自检：日志里能直接看出是上电即拉高，还是被外部钳住 */
    APP_LOGI("[APP] ESP32_EN PC9=%d (1=released)\r\n",
             (int)gpio_input_bit_get(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN));

    Usart0::configurePins();
    Usart0::init();
    mark(kUsart0);

    /* SPI 尽早就绪：OTA FINISH 跳转后 ESP32 用 HELLO 探活，不能等 CAN 上电延时 */
    AppSpiCommandBus.init();
    mark(kAppSpi);

    Adc::init();
    mark(kAdc);

    CanFd::init();
    /* L0 通过才置 canfd 位 */
    if (CanFd::selfTestL0()) {
        mark(kCanFd);
    }

    OtaBootRequest::init();
    mark(kOtaBootReq);

    TaskManager::init();
    mark(kTaskManager);

    SchedulerTimer::init();
    mark(kScheduler);

    /* ---- EtherCAT: EXMC 总线探活 → SSC 协议栈初始化 → SYNC0/IRQ 中断使能 ----
     * 1.5.27:改经 EthercatSlave::init()（内部调用 EscLan9252::init 并记录
     * chipId/AL 状态诊断，此前该函数无调用点、s_escReady 恒为 false）。
     * 门控用 EscLan9252::isBusReady()（BYTE_TEST 通过）而非 isEscReady()：
     * 冷启动时 AL=INIT，SSC 必须照常启动并等待主站配置。
     * EEPROM 校验/烧录延迟到主循环执行，避免阻塞 init（烧录需 ~20s）。 */
    EthercatSlave::init();
    if (EscLan9252::isBusReady()) {
        const uint16_t sscResult = MainInit();
        if (sscResult == 0U) {
            mark(kEthercat);
            EthercatSync::init();
            mark(kEthercatSync);
            printf("[ECAT] SSC MainInit OK, sync ISR enabled\r\n");
        } else {
            printf("[ECAT] SSC MainInit FAIL (code=0x%04X)\r\n", (unsigned)sscResult);
        }
    } else {
        printf("[ECAT] EXMC bus not ready, SSC skipped\r\n");
    }

    Watchdog::init();
    mark(kWatchdog);

    report();
}