cbb
79633a2b0f
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
96 lines
3.7 KiB
C
96 lines
3.7 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for ethercatcoe.c
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*/
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#ifndef _ethercatcoe_
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#define _ethercatcoe_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/** max entries in Object Description list */
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#define EC_MAXODLIST 1024
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/** max entries in Object Entry list */
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#define EC_MAXOELIST 256
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/* Storage for object description list */
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typedef struct
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{
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/** slave number */
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uint16 Slave;
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/** number of entries in list */
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uint16 Entries;
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/** array of indexes */
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uint16 Index[EC_MAXODLIST];
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/** array of datatypes, see EtherCAT specification */
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uint16 DataType[EC_MAXODLIST];
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/** array of object codes, see EtherCAT specification */
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uint8 ObjectCode[EC_MAXODLIST];
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/** number of subindexes for each index */
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uint8 MaxSub[EC_MAXODLIST];
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/** textual description of each index */
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char Name[EC_MAXODLIST][EC_MAXNAME+1];
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} ec_ODlistt;
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/* storage for object list entry information */
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typedef struct
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{
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/** number of entries in list */
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uint16 Entries;
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/** array of value infos, see EtherCAT specification */
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uint8 ValueInfo[EC_MAXOELIST];
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/** array of value infos, see EtherCAT specification */
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uint16 DataType[EC_MAXOELIST];
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/** array of bit lengths, see EtherCAT specification */
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uint16 BitLength[EC_MAXOELIST];
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/** array of object access bits, see EtherCAT specification */
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uint16 ObjAccess[EC_MAXOELIST];
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/** textual description of each index */
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char Name[EC_MAXOELIST][EC_MAXNAME+1];
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} ec_OElistt;
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#ifdef EC_VER1
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void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
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int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
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boolean CA, int *psize, void *p, int timeout);
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int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
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boolean CA, int psize, const void *p, int Timeout);
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int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, const void *p);
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int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
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int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize);
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int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
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int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
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int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
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int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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#endif
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void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode);
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int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
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boolean CA, int *psize, void *p, int timeout);
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int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
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boolean CA, int psize, const void *p, int Timeout);
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int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, const void *p);
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int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
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int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *Isize);
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int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
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int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
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int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
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int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist);
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#ifdef __cplusplus
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}
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#endif
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#endif
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