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
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/** \file
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* \brief Example code for Simple Open EtherCAT master
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*
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* Usage: firm_update ifname1 slave fname
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* ifname is NIC interface, f.e. eth0
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* slave = slave number in EtherCAT order 1..n
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* fname = binary file to store in slave
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* CAUTION! Using the wrong file can result in a bricked slave!
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*
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* This is a slave firmware update test.
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*
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* (c)Arthur Ketels 2011
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include "ethercat.h"
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#define FWBUFSIZE (8 * 1024 * 1024)
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uint8 ob;
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uint16 ow;
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uint32 data;
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char filename[256];
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char filebuffer[FWBUFSIZE]; // 8MB buffer
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int filesize;
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int j;
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uint16 argslave;
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int input_bin(char *fname, int *length)
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{
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FILE *fp;
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int cc = 0, c;
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fp = fopen(fname, "rb");
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if(fp == NULL)
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return 0;
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while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
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filebuffer[cc++] = (uint8)c;
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*length = cc;
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fclose(fp);
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return 1;
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}
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void boottest(char *ifname, uint16 slave, char *filename)
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{
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printf("Starting firmware update example\n");
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/* initialise SOEM, bind socket to ifname */
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if (ec_init(ifname))
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{
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printf("ec_init on %s succeeded.\n",ifname);
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/* find and auto-config slaves */
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if ( ec_config_init(FALSE) > 0 )
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{
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printf("%d slaves found and configured.\n",ec_slavecount);
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printf("Request init state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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/* wait for slave to reach INIT state */
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ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
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printf("Slave %d state to INIT.\n", slave);
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/* read BOOT mailbox data, master -> slave */
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data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
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ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
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ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
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/* store boot write mailbox address */
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ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
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/* store boot write mailbox size */
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ec_slave[slave].mbx_l = (uint16)HI_WORD(data);
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/* read BOOT mailbox data, slave -> master */
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data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
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ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
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ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
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/* store boot read mailbox address */
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ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
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/* store boot read mailbox size */
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ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);
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printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
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(int)ec_slave[slave].SM[0].SMflags);
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printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
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(int)ec_slave[slave].SM[1].SMflags);
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/* program SM0 mailbox in for slave */
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ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
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/* program SM1 mailbox out for slave */
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ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
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printf("Request BOOT state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_BOOT;
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ec_writestate(slave);
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/* wait for slave to reach BOOT state */
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if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
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{
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printf("Slave %d state to BOOT.\n", slave);
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if (input_bin(filename, &filesize))
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{
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printf("File read OK, %d bytes.\n",filesize);
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printf("FoE write....");
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j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
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printf("result %d.\n",j);
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printf("Request init state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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}
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else
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printf("File not read OK.\n");
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}
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}
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else
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{
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printf("No slaves found!\n");
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}
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printf("End firmware update example, close socket\n");
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/* stop SOEM, close socket */
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ec_close();
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}
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else
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{
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printf("No socket connection on %s\nExcecute as root\n",ifname);
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}
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}
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int main(int argc, char *argv[])
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{
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printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
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if (argc > 3)
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{
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argslave = atoi(argv[2]);
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boottest(argv[1], argslave, argv[3]);
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}
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else
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{
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printf("Usage: firm_update ifname1 slave fname\n");
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printf("ifname = eth0 for example\n");
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printf("slave = slave number in EtherCAT order 1..n\n");
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printf("fname = binary file to store in slave\n");
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printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
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}
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printf("End program\n");
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return (0);
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}
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