refactor(motor): P1 拆分 main.js + 收敛连接/总线状态机

R4 外提 scope/ota/seq/conn-poll；R5 waitVersion/queryNodeIdParam 下沉
transport；R6 ecat-bus 单点 bootstrap；R7 toast-stack + utils 去重。
main.js 4647→~1894 行。?v= 已 bump 20260924a。

js/common/device-link.js

@@ -18,6 +18,10 @@
 import {
   getDeviceIp, saveDeviceIp, getBaseUrl as baseUrlFromIp
 } from "./base-url.js";
+import {
+  runEcatBootstrap, repairEcatDc, getEcatAdapterOrDefault,
+  ECAT_DEFAULT_ADAPTER,
+} from "./ecat-bus.js";
 
 var CH_NAME = "dcu-device-link";
 var ESP32_FAIL_ONLINE = 3;      /* 连续失败 ≥3 判离线 */
@@ -28,7 +32,8 @@ var ecatDcGuardBusy = false;    /* DC/周期自愈 in-flight */
 var LS_ECAT_PERIOD = "dcu_ecat_period_ms";
 var LS_ECAT_SPIN = "dcu_ecat_spin";
 var LS_ECAT_ADAPTER = "dcu_ecat_adapter";
-var DEFAULT_ECAT_ADAPTER = "I210";
+/* R6：网卡默认常量只在 ecat-bus.js 定义；此处 re-export 保持旧 import 路径可用 */
+var DEFAULT_ECAT_ADAPTER = ECAT_DEFAULT_ADAPTER;
 
 function nowMs() { return Date.now(); }
 
@@ -45,7 +50,7 @@ function readAdapter() {
     var s = localStorage.getItem(LS_ECAT_ADAPTER);
     if (s && s.trim()) return s.trim();
   } catch (_) {}
-  return DEFAULT_ECAT_ADAPTER;
+  return getEcatAdapterOrDefault();
 }
 
 function writeAdapter(substr) {
@@ -165,13 +170,8 @@ function createOwner() {
   }
 
   /**
-   * 开总线：health →（未就绪则）status →（未开则）open 网卡 → motor/start 进 OP + 起 PDO 循环。
-   * 与 motor/transport-ecat ensureOpen/ensureStarted 同源，由外壳 Owner 在
-   * 控制台启动时强制执行，用户不必先去电机页把链路切到 EtherCAT。
-   *
-   * 已健康（bus_open + loop）时**直接复用**，不打 motor/start：
-   * 那条路由会先 loop_stop 再重进 OP，和电机页探测撞车时会假超时
-   * （横幅 signal timed out）并平白增加 SSC 楔死风险。
+   * 开总线：R6 —— 策略只在 js/common/ecat-bus.js（health→open→motor/start，
+   * DC 250µs，已健康则复用）。外壳 Owner 启动时强制执行，用户不必先去电机页。
    */
   function bootstrapEcatBus() {
     if (stopped || ecatBusBusy) return;
@@ -182,47 +182,22 @@ function createOwner() {
     ecatBusNextTryAt = now + ECAT_BUS_RETRY_MS;
 
     var adapter = readAdapter();
-    var body = {};
+    var period = null;
+    var spin = null;
     try {
-      var v = parseFloat(localStorage.getItem(LS_ECAT_PERIOD));
-      /* 无显式值 / 值过慢 → 固定 0.25ms。1ms+DC 会让发送出口回到 ~1s。 */
-      if (v > 0 && v <= 0.5) body.period_ms = v;
-      else body.period_ms = 0.25;
+      period = parseFloat(localStorage.getItem(LS_ECAT_PERIOD));
       var sp = localStorage.getItem(LS_ECAT_SPIN);
-      if (sp === "0") body.spin = false;
-      else if (sp === "1") body.spin = true;
-    } catch (_) { body.period_ms = 0.25; }
-    /* EtherCAT 控制必须 DC SYNC0≈PDO 周期，且周期应保持 250µs 档 */
-    {
-      var per = Number(body.period_ms) || 0.25;
-      if (per > 0.5) per = 0.25;
-      body.period_ms = per;
-      var us = Math.round(per * 1000);
-      if (us < 250) us = 250;
-      body.dc_cycle_us = us;
-      body.dc_shift_us = 0;
-    }
+      if (sp === "0") spin = false;
+      else if (sp === "1") spin = true;
+    } catch (_) {}
 
-    ecatPost("native/health", {}, 3000).then(function (h) {
-      if (h && h.ok && h.bus_open && h.loop) {
-        ecatBusReady = true;
-        return null;   /* 已在跑：跳过 open + motor/start */
-      }
-      return ecatPost("status", {}, 6000).then(function (st) {
-        var open = !!(st && st.ok);
-        return open ? Promise.resolve(st)
-          : ecatPost("open", { substr: adapter }, 20000);
-      }).then(function (r) {
-        if (r && r.ok === false) {
-          throw new Error((r.log && r.log.join(" / ")) || "open 失败");
-        }
-        return ecatPost("motor/start", body, 30000);
-      });
+    runEcatBootstrap({
+      ecatPost: ecatPost,
+      adapter: adapter,
+      period_ms: period,
+      spin: spin,
     }).then(function (r) {
-      if (r && r.ok === false) {
-        throw new Error((r.log && r.log.join(" / ")) || "motor/start 失败");
-      }
-      if (r) ecatBusReady = true;
+      if (r && r.ok) ecatBusReady = true;
     }).catch(function () {
       /* 网线没插/从站未上电：退避后由 pollEcat 再触发 */
     }).then(function () {
@@ -250,18 +225,10 @@ function createOwner() {
       if (e.busOpen && e.loop) ecatBusReady = true;
       else if (ecatBusReady && !e.busOpen) ecatBusReady = false;  /* 总线掉了 → 允许重开 */
       publish();
-      /* 自愈：DC/周期被配错时发送出口秒级 —— 2s 轮询里拉回 250µs */
+      /* 自愈：DC/周期被配错时发送出口秒级 —— R6 单点 repairEcatDc */
       if (e.busOpen && e.loop && !ecatDcGuardBusy) {
         ecatDcGuardBusy = true;
-        ecatPost("native/health", {}, 2000).then(function (h) {
-          if (!h || !h.ok) return null;
-          var dcs = Number(h.dc_cycle_us);
-          var per = Number(h.period_ms);
-          if (h.dc === 1 && dcs === 250 && (h.period_ms == null || Math.abs(per - 0.25) < 0.001)) return null;
-          return ecatPost("motor/start", {
-            period_ms: 0.25, dc_cycle_us: 250, dc_shift_us: 0
-          }, 30000);
-        }).catch(function () {}).then(function () {
+        repairEcatDc(ecatPost).catch(function () {}).then(function () {
           ecatDcGuardBusy = false;
         });
       }
@@ -410,4 +377,5 @@ try {
 
 deviceLink = createClient();
 export { deviceLink, ecatPost, readAdapter as getEcatAdapter, writeAdapter as setEcatAdapter };
+export { ECAT_DEFAULT_ADAPTER };
 export default deviceLink;