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feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断

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后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新，
并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别
与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例，
避免两个进程争用 Npcap 适配器。

记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg
导出用于归因固定频率的超时；配
This commit is contained in:
cbb
2026-09-05 01:20:14 +08:00
parent 979da72181
commit 79633a2b0f
121 changed files with 33088 additions and 75 deletions
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soem-src/soem/ethercatcoe.h
+95
View File
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for ethercatcoe.c
*/
#ifndef _ethercatcoe_
#define _ethercatcoe_
#ifdef __cplusplus
extern "C"
{
#endif
/** max entries in Object Description list */
#define EC_MAXODLIST 1024
/** max entries in Object Entry list */
#define EC_MAXOELIST 256
/* Storage for object description list */
typedef struct
{
/** slave number */
uint16 Slave;
/** number of entries in list */
uint16 Entries;
/** array of indexes */
uint16 Index[EC_MAXODLIST];
/** array of datatypes, see EtherCAT specification */
uint16 DataType[EC_MAXODLIST];
/** array of object codes, see EtherCAT specification */
uint8 ObjectCode[EC_MAXODLIST];
/** number of subindexes for each index */
uint8 MaxSub[EC_MAXODLIST];
/** textual description of each index */
char Name[EC_MAXODLIST][EC_MAXNAME+1];
} ec_ODlistt;
/* storage for object list entry information */
typedef struct
{
/** number of entries in list */
uint16 Entries;
/** array of value infos, see EtherCAT specification */
uint8 ValueInfo[EC_MAXOELIST];
/** array of value infos, see EtherCAT specification */
uint16 DataType[EC_MAXOELIST];
/** array of bit lengths, see EtherCAT specification */
uint16 BitLength[EC_MAXOELIST];
/** array of object access bits, see EtherCAT specification */
uint16 ObjAccess[EC_MAXOELIST];
/** textual description of each index */
char Name[EC_MAXOELIST][EC_MAXNAME+1];
} ec_OElistt;
#ifdef EC_VER1
void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
boolean CA, int *psize, void *p, int timeout);
int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
boolean CA, int psize, const void *p, int Timeout);
int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, const void *p);
int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize);
int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
#endif
void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
boolean CA, int *psize, void *p, int timeout);
int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
boolean CA, int psize, const void *p, int Timeout);
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, const void *p);
int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *Isize);
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
#ifdef __cplusplus
}
#endif
#endif