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big-bang 迁移(硬约束: Npcap 网卡独占, 无法双主站并存), 四阶段真机验收的 完整契约与对拍记录见 MIGRATION.md —— Python 已删, 该文件是唯一行为基准。 - 新增 ecat_native.c: 与 Python 同构的全路由 native 守护 —— 总线生命周期 open/close/status/op.start/op.stop, 电机 motor.start/stop/spin/state/ send/rx/period/dbg, can/send|state, 配置维护 sdo/eeprom.read|write| verify/flash/sync_diag, 静态托管 src/web, shutdown/focus/--parent-pid 看门狗/独立启动清场/端口漂移; 独占 8090 即生产链路。PDO 热循环天花板 ~5kHz → ~7kHz。 - 删除 src/ecat_server.py(2826 行)、src/test_motor_backend.py(684 行)、 ecat_app.vbs(桌面窗口随 pywebview 依赖一并移除): Python 后端不留副本。 - 编码回归改金标准: native_enc_diff.py 对照 native_enc_golden.json (阶段 2 与 Python _fill_can_out 逐字节对拍通过后固化, 不碰网卡), 当场抓掉 json_tok 不跳闭合引号会静默丢 motor/send 参数的真 bug。 - build_native.bat: 编译前跑 gen_eeprom.py 生成 eeprom_image.h 供 native #include —— 同一生成器同一套断言, 断言失败构建中止; 改 SII 重跑即可。 - 修 flash 探针字历史隐患(本文件与 ecat_native.c 同步改): SCRATCH_WORD 0x0200 实际落在 TxPDO 类别区内部(类别区已长到 0x0281), 单独跑 eeprom 探针不烧录会把真数据擦成空洞; 移到 SII END 之后的 0x0400。 - 启动器 ecat_web.vbs/bat 改拉 build_native\ecat_native.exe (--substr I226 --web src\web)。 - 收录 soem-src wpcap 链接库(vendored, 构建必需)。 两轮回归修复(细节见 MIGRATION.md): 1) op/start 卡 AL 0x001B(SM 看门狗): 固件"自己写 1s 看门狗"的假设破产, do_op_start 第 5 步改为 ~5ms 节奏喂帧 ≥1s 再请求 OP, 24s 两次失败 变 1.2s 进 OP。 2) OP 态数据冻结(从站 PDI_Isr SM2 分支被旗标挡住, 固件侧根因): 主站加 楔死看门狗(输出窗口轮转 + 回显冻结 128 周期判死)与 /api/motor/state 自动恢复(10s 冷却, 快照新增 wr 字段)。 已知差异: SDO 失败文本无 pysoem abort code 粒度; 250µs 亚毫秒周期从站 吃不下, 修复前勿用。build_native/ 构建产物入 .gitignore, 由脚本重建。
15 lines
3.3 KiB
JSON
15 lines
3.3 KiB
JSON
{
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"note": "阶段2 与 Python _fill_can_out 逐字节对拍通过后固化(byte0=seq 状态相关不参与比对)。改 fill_can_out/pack_tx_batch 后跑 native_enc_diff.py 对照。",
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"cases": [
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"01012000000203000000000000000000000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1F000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000",
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"02000800230100000500000000000000AABBCCDDEEFF00110000000000000000000000000000000000000000000000001400000001080000000300000102030405060708010800000103000001020304050607080108000002030000010203040506070801080000030300000102030405060708010800000403000001020304050607080108000005030000010203040506070801080000060300000102030405060708010800000703000001020304050607080108000008030000010203040506070801080000090300000102030405060708010800000A0300000102030405060708010800000B0300000102030405060708010800000C0300000102030405060708010800000D0300000102030405060708010800000E0300000102030405060708010800000F030000010203040506070801080000100300000102030405060708010800001103000001020304050607080108000012030000010203040506070801080000130300000102030405060708000000000000000000000000",
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"0302000000000000140000000000000000000000000000000000000000000000000000000000000000000000000000000400000002400000FFFF0F00EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE02400000FFFF0F00EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE02400000FFFF0F00EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE02400000FFFF0F00EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000",
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"0401200007000000FF0000000000000011111111111111111111111111111111111111111111111111111111111111110300000000200000090000002222222222222222222222222222222222222222222222222222222222222222010400000A00000033445566020C00000B0000005555555555555555555555550000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
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],
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"seqs": [
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9,
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10,
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11,
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12
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]
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} |