feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断
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:
@@ -0,0 +1,390 @@
|
||||
/** \file
|
||||
* \brief EEprom tool for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : eepromtool ifname slave OPTION fname
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* slave = slave number in EtherCAT order 1..n
|
||||
* -r read EEPROM, output binary format
|
||||
* -ri read EEPROM, output Intel Hex format
|
||||
* -w write EEPROM, input binary format
|
||||
* -wi write EEPROM, input Intel Hex format
|
||||
*
|
||||
* (c)Arthur Ketels 2010
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define MAXBUF 32768
|
||||
#define STDBUF 2048
|
||||
#define MINBUF 128
|
||||
|
||||
#define MODE_NONE 0
|
||||
#define MODE_READBIN 1
|
||||
#define MODE_READINTEL 2
|
||||
#define MODE_WRITEBIN 3
|
||||
#define MODE_WRITEINTEL 4
|
||||
|
||||
#define MAXSLENGTH 256
|
||||
|
||||
uint8 ebuf[MAXBUF];
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
int os;
|
||||
int slave;
|
||||
ec_timet tstart,tend, tdif;
|
||||
int wkc;
|
||||
int mode;
|
||||
char sline[MAXSLENGTH];
|
||||
|
||||
#define IHEXLENGTH 0x20
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
|
||||
ebuf[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int input_intelhex(char *fname, int *start, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int c, sc, retval = 1;
|
||||
int ll, ladr, lt, sn, i, lval;
|
||||
int hstart, hlength, sum;
|
||||
|
||||
fp = fopen(fname, "r");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
hstart = MAXBUF;
|
||||
hlength = 0;
|
||||
sum = 0;
|
||||
do
|
||||
{
|
||||
memset(sline, 0x00, MAXSLENGTH);
|
||||
sc = 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (c != 0x0A) && (sc < (MAXSLENGTH -1)))
|
||||
sline[sc++] = (uint8)c;
|
||||
if ((c != EOF) && ((sc < 11) || (sline[0] != ':')))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid Intel Hex format.\n");
|
||||
}
|
||||
if (c != EOF)
|
||||
{
|
||||
sn = sscanf(sline , ":%2x%4x%2x", &ll, &ladr, <);
|
||||
if ((sn == 3) && ((ladr + ll) <= MAXBUF) && (lt == 0))
|
||||
{
|
||||
sum = ll + (ladr >> 8) + (ladr & 0xff) + lt;
|
||||
if(ladr < hstart) hstart = ladr;
|
||||
for(i = 0; i < ll ; i++)
|
||||
{
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
ebuf[ladr + i] = (uint8)lval;
|
||||
sum += (uint8)lval;
|
||||
}
|
||||
if(((ladr + ll) - hstart) > hlength)
|
||||
hlength = (ladr + ll) - hstart;
|
||||
sum = (0x100 - sum) & 0xff;
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
if (!sn || ((sum - lval) != 0))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid checksum.\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
while (c != EOF);
|
||||
if (retval)
|
||||
{
|
||||
*length = hlength;
|
||||
*start = hstart;
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
int output_bin(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc;
|
||||
|
||||
fp = fopen(fname, "wb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (cc = 0 ; cc < length ; cc++)
|
||||
fputc( ebuf[cc], fp);
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int output_intelhex(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, ll, sum, i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (cc < length)
|
||||
{
|
||||
ll = length - cc;
|
||||
if (ll > IHEXLENGTH) ll = IHEXLENGTH;
|
||||
sum = ll + (cc >> 8) + (cc & 0xff);
|
||||
fprintf(fp, ":%2.2X%4.4X00", ll, cc);
|
||||
for (i = 0; i < ll; i++)
|
||||
{
|
||||
fprintf(fp, "%2.2X", ebuf[cc + i]);
|
||||
sum += ebuf[cc + i];
|
||||
}
|
||||
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
|
||||
cc += ll;
|
||||
}
|
||||
fprintf(fp, ":00000001FF\n");
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int eeprom_read(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, ainc = 4;
|
||||
uint16 estat, aiadr;
|
||||
uint32 b4;
|
||||
uint64 b8;
|
||||
uint8 eepctl;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* set Eeprom to master */
|
||||
|
||||
estat = 0x0000;
|
||||
aiadr = 1 - slave;
|
||||
wkc=ec_APRD(aiadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3); /* read eeprom status */
|
||||
estat = etohs(estat);
|
||||
if (estat & EC_ESTAT_R64)
|
||||
{
|
||||
ainc = 8;
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b8 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = (uint8) b8;
|
||||
ebuf[i+1] = (uint8) (b8 >> 8);
|
||||
ebuf[i+2] = (uint8) (b8 >> 16);
|
||||
ebuf[i+3] = (uint8) (b8 >> 24);
|
||||
ebuf[i+4] = (uint8) (b8 >> 32);
|
||||
ebuf[i+5] = (uint8) (b8 >> 40);
|
||||
ebuf[i+6] = (uint8) (b8 >> 48);
|
||||
ebuf[i+7] = (uint8) (b8 >> 56);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b4 = (uint32)ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = (uint8) b4;
|
||||
ebuf[i+1] = (uint8) (b4 >> 8);
|
||||
ebuf[i+2] = (uint8) (b4 >> 16);
|
||||
ebuf[i+3] = (uint8) (b4 >> 24);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_write(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, dc = 0;
|
||||
uint16 aiadr, *wbuf;
|
||||
uint8 eepctl;
|
||||
int ret;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* set Eeprom to master */
|
||||
|
||||
aiadr = 1 - slave;
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
for (i = start ; i < (start + length) ; i+=2)
|
||||
{
|
||||
ret = ec_writeeepromAP(aiadr, i >> 1 , *(wbuf + (i >> 1)), EC_TIMEOUTEEP);
|
||||
if (++dc >= 100)
|
||||
{
|
||||
dc = 0;
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void eepromtool(char *ifname, int slave, int mode, char *fname)
|
||||
{
|
||||
int w, rc = 0, estart, esize;
|
||||
uint16 *wbuf;
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
|
||||
w = 0x0000;
|
||||
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
|
||||
if (wkc > 0)
|
||||
{
|
||||
ec_slavecount = wkc;
|
||||
|
||||
printf("%d slaves found.\n",ec_slavecount);
|
||||
if((ec_slavecount >= slave) && (slave > 0))
|
||||
{
|
||||
if ((mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
tstart = osal_current_time();
|
||||
eeprom_read(slave, 0x0000, MINBUF); // read first 128 bytes
|
||||
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d data\n", slave);
|
||||
printf(" PDI Control : %4.4X\n",*(wbuf + 0x00));
|
||||
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
|
||||
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
|
||||
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
printf(" Mailbox Protocol : %4.4X\n",*(wbuf + 0x1C));
|
||||
esize = (*(wbuf + 0x3E) + 1) * 128;
|
||||
if (esize > MAXBUF) esize = MAXBUF;
|
||||
printf(" Size : %4.4X = %d bytes\n",*(wbuf + 0x3E), esize);
|
||||
printf(" Version : %4.4X\n",*(wbuf + 0x3F));
|
||||
|
||||
if (esize > MINBUF)
|
||||
eeprom_read(slave, MINBUF, esize - MINBUF); // read reminder
|
||||
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
if (mode == MODE_READINTEL) output_intelhex(fname, esize);
|
||||
if (mode == MODE_READBIN) output_bin(fname, esize);
|
||||
|
||||
printf("\nTotal EEPROM read time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
if ((mode == MODE_WRITEBIN) || (mode == MODE_WRITEINTEL))
|
||||
{
|
||||
estart = 0;
|
||||
if (mode == MODE_WRITEINTEL) rc = input_intelhex(fname, &estart, &esize);
|
||||
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
|
||||
|
||||
if (rc > 0)
|
||||
{
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d\n", slave);
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
|
||||
printf("Busy");
|
||||
fflush(stdout);
|
||||
tstart = osal_current_time();
|
||||
eeprom_write(slave, estart, esize);
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
|
||||
printf("\nTotal EEPROM write time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
else
|
||||
printf("Error reading file, abort.\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
printf("Slave number outside range.\n");
|
||||
}
|
||||
else
|
||||
printf("No slaves found!\n");
|
||||
printf("End, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
|
||||
|
||||
if (argc > 4)
|
||||
{
|
||||
slave = atoi(argv[2]);
|
||||
mode = MODE_NONE;
|
||||
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
|
||||
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
|
||||
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
|
||||
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
|
||||
|
||||
/* start tool */
|
||||
eepromtool(argv[1],slave,mode,argv[4]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: eepromtool ifname slave OPTION fname\n");
|
||||
printf("ifname = adapter name\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf(" -r read EEPROM, output binary format\n");
|
||||
printf(" -ri read EEPROM, output Intel Hex format\n");
|
||||
printf(" -w write EEPROM, input binary format\n");
|
||||
printf(" -wi write EEPROM, input Intel Hex format\n");
|
||||
/* Print the list */
|
||||
printf ("Available adapters\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(adapter);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
Reference in New Issue
Block a user