cbb
46adcb790c
把 BOOT 侧已上板跑通的 SSC/HBI 移植层一次性入库（comm/ecat + gd32e50x_exmc）， 并修掉「刷完首启 APP 报 EXMC 总线未就绪、断电重上即好」这条实测链： - v1.1.0.13：jumpToApplication 前补一发 LAN9252 RST#。BOOT 侧 HBI 全是索引两步事务， bootEcatDeinit 末尾的 writeReg32 把 HBI_IDX_0 留在 0x0054，而 APP 起板探针判 IDX_0==0x1234（DS 9.5.4.2 复位默认值），带着残值跳进去就直接报总线未就绪。 - v1.1.0.14：那一发不能无条件下发。path=jump_latest_now（上电 3ms 直跳、这轮 ESC 从没 起过）也在电源刚稳的窗口里拉了 RST#，释放点距上电仅约 15ms，板上表现为每次上电都停 在 BOOT 里（串口停在 [J5-HEX]；microlib + putChar 逐字符阻塞等 TBE，故日志停在半截 = CPU 真停在那儿，不是尾巴没刷出来）。现由 s_escBusUp 门控（bootEcatBringup 里 exmcInit 成功才置位）；脉宽从 delay_1us（按 4cycle/迭代标定，实测 30ms 只走出 8ms） 换成 DWT CYCCNT 真 30ms + 释放后 2ms；跳转前打 [J6] boot v<ver> handoff。 delay_1ms 在这里不可用：本函数跑在 __disable_irq() 之后，SysTick 中断不递减就是永久 死等，而 BOOT 没开 IWDG —— 那会变成刷完直接静默变砖。 v1.1.0.12 的两条一并入库：10s OTA 窗口的活性判据并上 ecatSessionActive（防半截灌写被 当合法 APP 跳进去、HardFault→复位→留守 10s 形成活锁）；0x100A 上报真版本串 （DEVICE_SW_VERSION_LEN 0x3→0x10，acSoftwareversion 显式给 LEN+1 防越界读）。 板上实测：v1.1.0.14 上电直跳恢复正常，APP v1.6.34 起板，自检 ethercat 不再降级。
126 lines
4.7 KiB
C
126 lines
4.7 KiB
C
/**
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\addtogroup EcatAppl EtherCAT application
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@{
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*/
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/**
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\file applInterface.c
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\author EthercatSSC@beckhoff.com
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\brief Definition of the application interface functions
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\version 5.11
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<br>Changes to version - :<br>
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V5.10.1 : Start file change log
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*/
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/*-----------------------------------------------------------------------------------------
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------
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------ Includes
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------
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-----------------------------------------------------------------------------------------*/
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#ifndef _APPL_INTERFACE_H_
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#define _APPL_INTERFACE_H_
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#include "ecat_def.h"
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#include <stdlib.h>
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#include <string.h>
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#include "esc.h"
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#include "ecatslv.h"
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#include "objdef.h"
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#include "ecatappl.h"
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#endif /*#ifndef _APPL_INTERFACE_H_*/
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#if defined(_APPL_INTERFACE_) && (_APPL_INTERFACE_ == 1)
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#define PROTO
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#else
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#define PROTO extern
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#endif
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/*-----------------------------------------------------------------------------------------
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------
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------ Function pointer which are used to call optional functions from the application
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------
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-----------------------------------------------------------------------------------------*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\return 0 if successful or greater 0 in case of an error
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\param wordaddr Word address of the EEPROM data to be read
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\brief This function shall copy EEPROM data to the ESC EEPROM data register (0x508:0x50F/0x50B).
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\brief The EEPROM data starting at the specified word address and the length specified with "EEPROM_READ_SIZE".
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\brief The data shall be copied to the ESC EEPROM buffer (ESC offset 0x508)
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16 (* pAPPL_EEPROM_Read)(UINT32 wordaddr);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\return 0 if successful or greater 0 in case of an error
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\param wordaddr Word address of the EEPROM data to be written
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\brief This function shall copy data from the ESC EEPROM data register (0x508:0x50F/0x50B) to the EEPROM memory.
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\brief The EEPROM data starting at the specified word address and the length specified with "EEPROM_WRITE_SIZE".
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16(*pAPPL_EEPROM_Write)(UINT32 wordaddr);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\return 0 if successful or greater 0 in case of an error
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\brief This function shall copy the EEPROM reload information to the ESC EEPROM data register (0x508:0x50F/0x50B).
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\brief Read the ESC data sheet for the reload information (e.g. Beckhoff IPCore ESC Datasheet section II, clause 3.45.1)
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16(*pAPPL_EEPROM_Reload)(void);
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/*-----------------------------------------------------------------------------------------
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------
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------ Functions provided by the SSC to be called from the application
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------
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-----------------------------------------------------------------------------------------*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\return 0 if successful or greater 0 in case of an error
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\brief Initialize the generic slave stack.
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\brief This function should be called after the platform including operating system and
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\brief ESC is ready to use.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16 MainInit(void);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\brief This function handles the low priority function like EtherCAT state machine
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\brief handling, mailbox protocols and if no synchronization is enabled also the
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\brief application.
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\brief This function shall be called cyclically from the application.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void MainLoop(void);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param alStatus requested AL Status
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\param alStatusCode requested AL Status Code
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\brief This function shall be called by the application to trigger state transition in case
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\brief of an application error or to complete a pending transition.
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\brief If the function was called due to an error it shall be again if the error is gone.
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\brief NOTE: state requests to a higher state than the current state are not allowed.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void ECAT_StateChange(UINT8 alStatus, UINT16 alStatusCode);
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#undef PROTO
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