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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/ethercatmain.h
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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 ethercatmain.c
*/
#ifndef _ethercatmain_
#define _ethercatmain_
#ifdef __cplusplus
extern "C"
{
#endif
/** max. entries in EtherCAT error list */
#define EC_MAXELIST 64
/** max. length of readable name in slavelist and Object Description List */
#define EC_MAXNAME 40
/** max. number of slaves in array */
#define EC_MAXSLAVE 200
/** max. number of groups */
#define EC_MAXGROUP 2
/** max. number of IO segments per group */
#define EC_MAXIOSEGMENTS 64
/** max. mailbox size */
#define EC_MAXMBX 1486
/** max. eeprom PDO entries */
#define EC_MAXEEPDO 0x200
/** max. SM used */
#define EC_MAXSM 8
/** max. FMMU used */
#define EC_MAXFMMU 4
/** max. Adapter */
#define EC_MAXLEN_ADAPTERNAME 128
/** define maximum number of concurrent threads in mapping */
#define EC_MAX_MAPT 1
typedef struct ec_adapter ec_adaptert;
struct ec_adapter
{
char name[EC_MAXLEN_ADAPTERNAME];
char desc[EC_MAXLEN_ADAPTERNAME];
ec_adaptert *next;
};
/** record for FMMU */
PACKED_BEGIN
typedef struct PACKED ec_fmmu
{
uint32 LogStart;
uint16 LogLength;
uint8 LogStartbit;
uint8 LogEndbit;
uint16 PhysStart;
uint8 PhysStartBit;
uint8 FMMUtype;
uint8 FMMUactive;
uint8 unused1;
uint16 unused2;
} ec_fmmut;
PACKED_END
/** record for sync manager */
PACKED_BEGIN
typedef struct PACKED ec_sm
{
uint16 StartAddr;
uint16 SMlength;
uint32 SMflags;
} ec_smt;
PACKED_END
PACKED_BEGIN
typedef struct PACKED ec_state_status
{
uint16 State;
uint16 Unused;
uint16 ALstatuscode;
} ec_state_status;
PACKED_END
#define ECT_MBXPROT_AOE 0x0001
#define ECT_MBXPROT_EOE 0x0002
#define ECT_MBXPROT_COE 0x0004
#define ECT_MBXPROT_FOE 0x0008
#define ECT_MBXPROT_SOE 0x0010
#define ECT_MBXPROT_VOE 0x0020
#define ECT_COEDET_SDO 0x01
#define ECT_COEDET_SDOINFO 0x02
#define ECT_COEDET_PDOASSIGN 0x04
#define ECT_COEDET_PDOCONFIG 0x08
#define ECT_COEDET_UPLOAD 0x10
#define ECT_COEDET_SDOCA 0x20
#define EC_SMENABLEMASK 0xfffeffff
typedef struct ecx_context ecx_contextt;
/** for list of ethercat slaves detected */
typedef struct ec_slave
{
/** state of slave */
uint16 state;
/** AL status code */
uint16 ALstatuscode;
/** Configured address */
uint16 configadr;
/** Alias address */
uint16 aliasadr;
/** Manufacturer from EEprom */
uint32 eep_man;
/** ID from EEprom */
uint32 eep_id;
/** revision from EEprom */
uint32 eep_rev;
/** serial number from EEprom */
uint32 eep_sn;
/** Interface type */
uint16 Itype;
/** Device type */
uint16 Dtype;
/** output bits */
uint16 Obits;
/** output bytes, if Obits < 8 then Obytes = 0 */
uint32 Obytes;
/** output pointer in IOmap buffer */
uint8 *outputs;
/** startbit in first output byte */
uint8 Ostartbit;
/** input bits */
uint16 Ibits;
/** input bytes, if Ibits < 8 then Ibytes = 0 */
uint32 Ibytes;
/** input pointer in IOmap buffer */
uint8 *inputs;
/** startbit in first input byte */
uint8 Istartbit;
/** SM structure */
ec_smt SM[EC_MAXSM];
/** SM type 0=unused 1=MbxWr 2=MbxRd 3=Outputs 4=Inputs */
uint8 SMtype[EC_MAXSM];
/** FMMU structure */
ec_fmmut FMMU[EC_MAXFMMU];
/** FMMU0 function */
uint8 FMMU0func;
/** FMMU1 function */
uint8 FMMU1func;
/** FMMU2 function */
uint8 FMMU2func;
/** FMMU3 function */
uint8 FMMU3func;
/** length of write mailbox in bytes, if no mailbox then 0 */
uint16 mbx_l;
/** mailbox write offset */
uint16 mbx_wo;
/** length of read mailbox in bytes */
uint16 mbx_rl;
/** mailbox read offset */
uint16 mbx_ro;
/** mailbox supported protocols */
uint16 mbx_proto;
/** Counter value of mailbox link layer protocol 1..7 */
uint8 mbx_cnt;
/** has DC capability */
boolean hasdc;
/** Physical type; Ebus, EtherNet combinations */
uint8 ptype;
/** topology: 1 to 3 links */
uint8 topology;
/** active ports bitmap : ....3210 , set if respective port is active **/
uint8 activeports;
/** consumed ports bitmap : ....3210, used for internal delay measurement **/
uint8 consumedports;
/** slave number for parent, 0=master */
uint16 parent;
/** port number on parent this slave is connected to **/
uint8 parentport;
/** port number on this slave the parent is connected to **/
uint8 entryport;
/** DC receivetimes on port A */
int32 DCrtA;
/** DC receivetimes on port B */
int32 DCrtB;
/** DC receivetimes on port C */
int32 DCrtC;
/** DC receivetimes on port D */
int32 DCrtD;
/** propagation delay */
int32 pdelay;
/** next DC slave */
uint16 DCnext;
/** previous DC slave */
uint16 DCprevious;
/** DC cycle time in ns */
int32 DCcycle;
/** DC shift from clock modulus boundary */
int32 DCshift;
/** DC sync activation, 0=off, 1=on */
uint8 DCactive;
/** link to config table */
uint16 configindex;
/** link to SII config */
uint16 SIIindex;
/** 1 = 8 bytes per read, 0 = 4 bytes per read */
uint8 eep_8byte;
/** 0 = eeprom to master , 1 = eeprom to PDI */
uint8 eep_pdi;
/** CoE details */
uint8 CoEdetails;
/** FoE details */
uint8 FoEdetails;
/** EoE details */
uint8 EoEdetails;
/** SoE details */
uint8 SoEdetails;
/** E-bus current */
int16 Ebuscurrent;
/** if >0 block use of LRW in processdata */
uint8 blockLRW;
/** group */
uint8 group;
/** first unused FMMU */
uint8 FMMUunused;
/** Boolean for tracking whether the slave is (not) responding, not used/set by the SOEM library */
boolean islost;
/** registered configuration function PO->SO, (DEPRECATED)*/
int (*PO2SOconfig)(uint16 slave, void *user);
/** registered configuration function PO->SO */
int (*PO2SOconfigx)(ecx_contextt * context, uint16 slave);
/** user data for PO2SOconfig */
void* user;
/** readable name */
char name[EC_MAXNAME + 1];
} ec_slavet;
/** for list of ethercat slave groups */
typedef struct ec_group
{
/** logical start address for this group */
uint32 logstartaddr;
/** output bytes, if Obits < 8 then Obytes = 0 */
uint32 Obytes;
/** output pointer in IOmap buffer */
uint8 *outputs;
/** input bytes, if Ibits < 8 then Ibytes = 0 */
uint32 Ibytes;
/** input pointer in IOmap buffer */
uint8 *inputs;
/** has DC capabillity */
boolean hasdc;
/** next DC slave */
uint16 DCnext;
/** E-bus current */
int16 Ebuscurrent;
/** if >0 block use of LRW in processdata */
uint8 blockLRW;
/** IO segments used */
uint16 nsegments;
/** 1st input segment */
uint16 Isegment;
/** Offset in input segment */
uint16 Ioffset;
/** Expected workcounter outputs */
uint16 outputsWKC;
/** Expected workcounter inputs */
uint16 inputsWKC;
/** check slave states */
boolean docheckstate;
/** IO segmentation list. Datagrams must not break SM in two. */
uint32 IOsegment[EC_MAXIOSEGMENTS];
} ec_groupt;
/** SII FMMU structure */
typedef struct ec_eepromFMMU
{
uint16 Startpos;
uint8 nFMMU;
uint8 FMMU0;
uint8 FMMU1;
uint8 FMMU2;
uint8 FMMU3;
} ec_eepromFMMUt;
/** SII SM structure */
typedef struct ec_eepromSM
{
uint16 Startpos;
uint8 nSM;
uint16 PhStart;
uint16 Plength;
uint8 Creg;
uint8 Sreg; /* don't care */
uint8 Activate;
uint8 PDIctrl; /* don't care */
} ec_eepromSMt;
/** record to store rxPDO and txPDO table from eeprom */
typedef struct ec_eepromPDO
{
uint16 Startpos;
uint16 Length;
uint16 nPDO;
uint16 Index[EC_MAXEEPDO];
uint16 SyncM[EC_MAXEEPDO];
uint16 BitSize[EC_MAXEEPDO];
uint16 SMbitsize[EC_MAXSM];
} ec_eepromPDOt;
/** mailbox buffer array */
typedef uint8 ec_mbxbuft[EC_MAXMBX + 1];
/** standard ethercat mailbox header */
PACKED_BEGIN
typedef struct PACKED ec_mbxheader
{
uint16 length;
uint16 address;
uint8 priority;
uint8 mbxtype;
} ec_mbxheadert;
PACKED_END
/** ALstatus and ALstatus code */
PACKED_BEGIN
typedef struct PACKED ec_alstatus
{
uint16 alstatus;
uint16 unused;
uint16 alstatuscode;
} ec_alstatust;
PACKED_END
/** stack structure to store segmented LRD/LWR/LRW constructs */
typedef struct ec_idxstack
{
uint8 pushed;
uint8 pulled;
uint8 idx[EC_MAXBUF];
void *data[EC_MAXBUF];
uint16 length[EC_MAXBUF];
uint16 dcoffset[EC_MAXBUF];
} ec_idxstackT;
/** ringbuf for error storage */
typedef struct ec_ering
{
int16 head;
int16 tail;
ec_errort Error[EC_MAXELIST + 1];
} ec_eringt;
/** SyncManager Communication Type structure for CA */
PACKED_BEGIN
typedef struct PACKED ec_SMcommtype
{
uint8 n;
uint8 nu1;
uint8 SMtype[EC_MAXSM];
} ec_SMcommtypet;
PACKED_END
/** SDO assign structure for CA */
PACKED_BEGIN
typedef struct PACKED ec_PDOassign
{
uint8 n;
uint8 nu1;
uint16 index[256];
} ec_PDOassignt;
PACKED_END
/** SDO description structure for CA */
PACKED_BEGIN
typedef struct PACKED ec_PDOdesc
{
uint8 n;
uint8 nu1;
uint32 PDO[256];
} ec_PDOdesct;
PACKED_END
/** Context structure , referenced by all ecx functions*/
struct ecx_context
{
/** port reference, may include red_port */
ecx_portt *port;
/** slavelist reference */
ec_slavet *slavelist;
/** number of slaves found in configuration */
int *slavecount;
/** maximum number of slaves allowed in slavelist */
int maxslave;
/** grouplist reference */
ec_groupt *grouplist;
/** maximum number of groups allowed in grouplist */
int maxgroup;
/** internal, reference to eeprom cache buffer */
uint8 *esibuf;
/** internal, reference to eeprom cache map */
uint32 *esimap;
/** internal, current slave for eeprom cache */
uint16 esislave;
/** internal, reference to error list */
ec_eringt *elist;
/** internal, reference to processdata stack buffer info */
ec_idxstackT *idxstack;
/** reference to ecaterror state */
boolean *ecaterror;
/** internal, position of DC datagram in process data packet */
uint16 DCtO;
/** internal, length of DC datagram */
uint16 DCl;
/** reference to last DC time from slaves */
int64 *DCtime;
/** internal, SM buffer */
ec_SMcommtypet *SMcommtype;
/** internal, PDO assign list */
ec_PDOassignt *PDOassign;
/** internal, PDO description list */
ec_PDOdesct *PDOdesc;
/** internal, SM list from eeprom */
ec_eepromSMt *eepSM;
/** internal, FMMU list from eeprom */
ec_eepromFMMUt *eepFMMU;
/** registered FoE hook */
int (*FOEhook)(uint16 slave, int packetnumber, int datasize);
/** registered EoE hook */
int (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
/** flag to control legacy automatic state change or manual state change */
int manualstatechange;
/** userdata, promotes application configuration esp. in EC_VER2 with multiple
* ec_context instances. Note: userdata memory is managed by application, not SOEM */
void *userdata;
};
#ifdef EC_VER1
/** global struct to hold default master context */
extern ecx_contextt ecx_context;
/** main slave data structure array */
extern ec_slavet ec_slave[EC_MAXSLAVE];
/** number of slaves found by configuration function */
extern int ec_slavecount;
/** slave group structure */
extern ec_groupt ec_group[EC_MAXGROUP];
extern boolean EcatError;
extern int64 ec_DCtime;
void ec_pusherror(const ec_errort *Ec);
boolean ec_poperror(ec_errort *Ec);
boolean ec_iserror(void);
void ec_packeterror(uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode);
int ec_init(const char * ifname);
int ec_init_redundant(const char *ifname, char *if2name);
void ec_close(void);
uint8 ec_siigetbyte(uint16 slave, uint16 address);
int16 ec_siifind(uint16 slave, uint16 cat);
void ec_siistring(char *str, uint16 slave, uint16 Sn);
uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ec_readstate(void);
int ec_writestate(uint16 slave);
uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
int ec_mbxempty(uint16 slave, int timeout);
int ec_mbxsend(uint16 slave,ec_mbxbuft *mbx, int timeout);
int ec_mbxreceive(uint16 slave, ec_mbxbuft *mbx, int timeout);
void ec_esidump(uint16 slave, uint8 *esibuf);
uint32 ec_readeeprom(uint16 slave, uint16 eeproma, int timeout);
int ec_writeeeprom(uint16 slave, uint16 eeproma, uint16 data, int timeout);
int ec_eeprom2master(uint16 slave);
int ec_eeprom2pdi(uint16 slave);
uint64 ec_readeepromAP(uint16 aiadr, uint16 eeproma, int timeout);
int ec_writeeepromAP(uint16 aiadr, uint16 eeproma, uint16 data, int timeout);
uint64 ec_readeepromFP(uint16 configadr, uint16 eeproma, int timeout);
int ec_writeeepromFP(uint16 configadr, uint16 eeproma, uint16 data, int timeout);
void ec_readeeprom1(uint16 slave, uint16 eeproma);
uint32 ec_readeeprom2(uint16 slave, int timeout);
int ec_send_processdata_group(uint8 group);
int ec_send_overlap_processdata_group(uint8 group);
int ec_receive_processdata_group(uint8 group, int timeout);
int ec_send_processdata(void);
int ec_send_overlap_processdata(void);
int ec_receive_processdata(int timeout);
#endif
ec_adaptert * ec_find_adapters(void);
void ec_free_adapters(ec_adaptert * adapter);
uint8 ec_nextmbxcnt(uint8 cnt);
void ec_clearmbx(ec_mbxbuft *Mbx);
void ecx_pusherror(ecx_contextt *context, const ec_errort *Ec);
boolean ecx_poperror(ecx_contextt *context, ec_errort *Ec);
boolean ecx_iserror(ecx_contextt *context);
void ecx_packeterror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode);
int ecx_init(ecx_contextt *context, const char * ifname);
int ecx_init_redundant(ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name);
void ecx_close(ecx_contextt *context);
uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address);
int16 ecx_siifind(ecx_contextt *context, uint16 slave, uint16 cat);
void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn);
uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU);
uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n);
uint32 ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ecx_readstate(ecx_contextt *context);
int ecx_writestate(ecx_contextt *context, uint16 slave);
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);
int ecx_mbxempty(ecx_contextt *context, uint16 slave, int timeout);
int ecx_mbxsend(ecx_contextt *context, uint16 slave,ec_mbxbuft *mbx, int timeout);
int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout);
void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf);
uint32 ecx_readeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout);
int ecx_writeeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout);
int ecx_eeprom2master(ecx_contextt *context, uint16 slave);
int ecx_eeprom2pdi(ecx_contextt *context, uint16 slave);
uint64 ecx_readeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout);
int ecx_writeeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout);
uint64 ecx_readeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout);
int ecx_writeeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout);
void ecx_readeeprom1(ecx_contextt *context, uint16 slave, uint16 eeproma);
uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout);
int ecx_send_overlap_processdata_group(ecx_contextt *context, uint8 group);
int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout);
int ecx_send_processdata(ecx_contextt *context);
int ecx_send_overlap_processdata(ecx_contextt *context);
int ecx_receive_processdata(ecx_contextt *context, int timeout);
int ecx_send_processdata_group(ecx_contextt *context, uint8 group);
#ifdef __cplusplus
}
#endif
#endif