cbb
44d407390b
- 修正HBI访问模型：将ESC核心CSR(0x0000-0x0FFF)改为通过ECAT_CSR_CMD/DATA 间接端口访问，解决此前直接寻址导致核心寄存器恒读0/写丢弃的问题 - 新增csrRead/csrWrite/pramRead/pramWrite接口，正确实现LAN9252访问端口操作 - 添加PDI就绪检测：等待DL_STATUS bit0置位确认EEPROM加载完成和EtherCAT核心使能 - 实现IRQ引脚输出使能：配置IRQ_CFG和INT_EN寄存器，使EtherCAT事件能到达PB1， 解决PDI_Isr未触发导致SAFEOP->OP无限挂起的问题 - 为ESC_EXMC硬件诊断添加CONFIG_ESC_EXMC_DIAG门控，默认关闭避免影响正常运行 - 修正system_gd32e50x.c中HXTAL故障诊断的寄存器偏移和位设置错
337 lines
12 KiB
C++
337 lines
12 KiB
C++
/**
|
||
* @file initial.cpp
|
||
* @brief 应用启动初始化：模块成功置位，结束统一报告结果。
|
||
*
|
||
* 顺序：
|
||
* 复位源采集 → NVIC → SysTick → ESP32_EN 保持 → USART0 → AppSpi（尽早 HELLO 探活）→
|
||
* ADC → CANFD → OtaBootRequest → TaskManager → Scheduler →
|
||
* EtherCAT(+Sync 可选) → Watchdog → report
|
||
*
|
||
* 1.5.34：各模块 init 从"盲配置"改为带检查（寄存器回读 / 节拍验证 / 校准超时），
|
||
* 失败不置位；复位源/模块位图/critical 失败位图经 getter 导出供 SPI 0xA3 上报。
|
||
*/
|
||
|
||
#include "sys/initial.h"
|
||
|
||
#include "device/canfd.h"
|
||
#include "device/usart0.h"
|
||
#include "device/timer.h"
|
||
#include "device/adc.h"
|
||
#include "device/watchdog.h"
|
||
#include "device/spi/app_spi_command.h"
|
||
#include "sys/systick.h"
|
||
#include "sys/ota_boot_request.h"
|
||
#include "sys/task_manager.h"
|
||
#include "sys/config.h"
|
||
#include "comm/esc_lan9252.h"
|
||
#include "comm/ethercat_slave.h"
|
||
#include "comm/ethercat_sync.h"
|
||
|
||
extern "C" {
|
||
uint16_t MainInit(void);
|
||
void MainLoop(void);
|
||
}
|
||
|
||
uint32_t AppInitializer::s_mask = 0U;
|
||
uint8_t AppInitializer::s_initState = AppInitializer::kInitOk;
|
||
uint8_t AppInitializer::s_resetCause = 0U;
|
||
uint8_t AppInitializer::s_faultCodes[AppInitializer::kModuleCount] = {0U};
|
||
|
||
namespace {
|
||
|
||
struct InitEntry {
|
||
uint32_t bit;
|
||
const char *name;
|
||
bool critical;
|
||
};
|
||
|
||
static const InitEntry kEntries[] = {
|
||
{ AppInitializer::kNvic, "nvic", true },
|
||
{ AppInitializer::kSysTick, "systick", true },
|
||
{ AppInitializer::kEsp32Hold, "esp32_hold", true },
|
||
{ AppInitializer::kUsart0, "usart0", true },
|
||
{ AppInitializer::kAppSpi, "app_spi", true },
|
||
{ AppInitializer::kAdc, "adc", true },
|
||
{ AppInitializer::kCanFd, "canfd", true },
|
||
{ AppInitializer::kOtaBootReq, "ota_boot_req", true },
|
||
{ AppInitializer::kTaskManager, "task_manager", true },
|
||
{ AppInitializer::kScheduler, "scheduler", true },
|
||
{ AppInitializer::kEthercat, "ethercat", false },
|
||
{ AppInitializer::kEthercatSync, "ethercat_sync", false },
|
||
{ AppInitializer::kWatchdog, "watchdog", true },
|
||
};
|
||
|
||
} // namespace
|
||
|
||
void AppInitializer::mark(ModuleBit b)
|
||
{
|
||
s_mask |= static_cast<uint32_t>(b);
|
||
}
|
||
|
||
/** @brief ModuleBit(1<<N) → 数组索引 N。 */
|
||
static uint8_t moduleBitIndex(uint32_t bit)
|
||
{
|
||
uint8_t idx = 0U;
|
||
while (bit > 1U) {
|
||
bit >>= 1U;
|
||
++idx;
|
||
}
|
||
return idx;
|
||
}
|
||
|
||
void AppInitializer::setFault(ModuleBit b, uint8_t code)
|
||
{
|
||
const uint8_t idx = moduleBitIndex(static_cast<uint32_t>(b));
|
||
if (idx < kModuleCount) {
|
||
s_faultCodes[idx] = code;
|
||
}
|
||
}
|
||
|
||
uint8_t AppInitializer::faultCode(uint8_t module_index)
|
||
{
|
||
return (module_index < kModuleCount) ? s_faultCodes[module_index] : 0U;
|
||
}
|
||
|
||
uint8_t AppInitializer::faultCodes(uint8_t *out)
|
||
{
|
||
if (out == nullptr) {
|
||
return 0U;
|
||
}
|
||
for (uint8_t i = 0U; i < kModuleCount; ++i) {
|
||
out[i] = s_faultCodes[i];
|
||
}
|
||
return kModuleCount;
|
||
}
|
||
|
||
uint32_t AppInitializer::criticalFailMask()
|
||
{
|
||
uint32_t fail = 0U;
|
||
for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
|
||
const InitEntry &e = kEntries[i];
|
||
if (e.critical && (s_mask & e.bit) == 0U) {
|
||
fail |= e.bit;
|
||
}
|
||
}
|
||
return fail;
|
||
}
|
||
|
||
/**
|
||
* @brief 采集 RCU_RSTSCK 复位源位图并清硬件标志。
|
||
* @note 必须在 init 最开头调用（早于任何可能读标志的模块）；
|
||
* 清除不影响 BOOT 的 FWDGT 停留 OTA 判定——新的看门狗复位会由硬件重新置位。
|
||
*/
|
||
void AppInitializer::captureResetCause()
|
||
{
|
||
uint8_t cause = 0U;
|
||
if (rcu_flag_get(RCU_FLAG_PORRST) != RESET) cause |= kRstPor;
|
||
if (rcu_flag_get(RCU_FLAG_EPRST) != RESET) cause |= kRstEpr;
|
||
if (rcu_flag_get(RCU_FLAG_FWDGTRST) != RESET) cause |= kRstFwdgt;
|
||
if (rcu_flag_get(RCU_FLAG_WWDGTRST) != RESET) cause |= kRstWwdgt;
|
||
if (rcu_flag_get(RCU_FLAG_SWRST) != RESET) cause |= kRstSw;
|
||
if (rcu_flag_get(RCU_FLAG_LPRST) != RESET) cause |= kRstLp;
|
||
rcu_all_reset_flag_clear();
|
||
s_resetCause = cause;
|
||
}
|
||
|
||
void AppInitializer::report()
|
||
{
|
||
bool critical_ok = true;
|
||
bool all_ok = true;
|
||
char fail_list[160] = {0};
|
||
size_t fail_len = 0U;
|
||
|
||
for (size_t i = 0; i < sizeof(kEntries) / sizeof(kEntries[0]); ++i) {
|
||
const InitEntry &e = kEntries[i];
|
||
const bool ok = (s_mask & e.bit) != 0U;
|
||
if (ok) {
|
||
continue;
|
||
}
|
||
all_ok = false;
|
||
if (e.critical) {
|
||
critical_ok = false;
|
||
}
|
||
if (fail_len + 2U < sizeof(fail_list)) {
|
||
if (fail_len > 0U) {
|
||
fail_list[fail_len++] = ',';
|
||
}
|
||
const char *p = e.name;
|
||
while (*p != '\0' && fail_len + 1U < sizeof(fail_list)) {
|
||
fail_list[fail_len++] = *p++;
|
||
}
|
||
fail_list[fail_len] = '\0';
|
||
}
|
||
/* 故障码后缀 #XX（16 进制；canfd 高 4 位为通道号），0=成功不追加。
|
||
* 码值含义见 initial.h 注释与各模块头文件；网页按同一编码解码中文原因。 */
|
||
const uint8_t fc = s_faultCodes[moduleBitIndex(e.bit)];
|
||
if (fc != 0U && fail_len + 3U < sizeof(fail_list)) {
|
||
const char *hex = "0123456789ABCDEF";
|
||
fail_list[fail_len++] = '#';
|
||
fail_list[fail_len++] = hex[(fc >> 4) & 0xFU];
|
||
fail_list[fail_len++] = hex[fc & 0xFU];
|
||
fail_list[fail_len] = '\0';
|
||
}
|
||
}
|
||
|
||
/* 复位源随 init 报告输出一次（位图多位置位属正常，如 POR 常伴随 EPRST/SWRST） */
|
||
printf("[APP] reset_cause: 0x%02X (por=%d epr=%d fwdgt=%d wwdgt=%d sw=%d lp=%d)\r\n",
|
||
(unsigned)s_resetCause,
|
||
(s_resetCause & kRstPor) ? 1 : 0,
|
||
(s_resetCause & kRstEpr) ? 1 : 0,
|
||
(s_resetCause & kRstFwdgt) ? 1 : 0,
|
||
(s_resetCause & kRstWwdgt) ? 1 : 0,
|
||
(s_resetCause & kRstSw) ? 1 : 0,
|
||
(s_resetCause & kRstLp) ? 1 : 0);
|
||
|
||
if (critical_ok && all_ok) {
|
||
s_initState = kInitOk;
|
||
printf("[APP] init: OK (all modules)\r\n");
|
||
} else if (critical_ok) {
|
||
s_initState = kInitDegraded;
|
||
printf("[APP] init: OK (critical), skipped/failed: %s\r\n",
|
||
fail_list[0] != '\0' ? fail_list : "?");
|
||
} else {
|
||
s_initState = kInitCriticalFail;
|
||
printf("[APP] init: FAIL, modules: %s\r\n",
|
||
fail_list[0] != '\0' ? fail_list : "?");
|
||
}
|
||
|
||
/* 日志完整性自证：串口 TX 缓冲溢出会静默吞字节，1.5.40 及之前实测使 [ECAT] 诊断
|
||
* 出现 "bus eaabled"/"pdi_type=0x8Dexect" 等掉字，并两次导致 LAN9252 故障误定性。
|
||
* 1.5.41 起缓冲满时自旋腾位，仅 USART 外设异常才丢弃；非 0 即代表上面的日志不可全信。 */
|
||
const uint32_t dropped = Usart0::droppedBytes();
|
||
if (dropped != 0U) {
|
||
printf("[APP] WARN: uart dropped %u bytes, 以上日志可能不完整\r\n",
|
||
(unsigned)dropped);
|
||
}
|
||
}
|
||
|
||
void AppInitializer::init()
|
||
{
|
||
s_mask = 0U;
|
||
s_initState = kInitOk;
|
||
for (uint8_t i = 0U; i < kModuleCount; ++i) {
|
||
s_faultCodes[i] = 0U;
|
||
}
|
||
|
||
captureResetCause();
|
||
|
||
/* NVIC 优先级分组：写入后回读 AIRCR.PRIGROUP 验证（纯寄存器写，回读确认分组生效） */
|
||
nvic_priority_group_set(CONFIG_NVIC_PRIORITY_GROUP);
|
||
if ((SCB->AIRCR & (0x7UL << 8U)) == (CONFIG_NVIC_PRIORITY_GROUP & (0x7UL << 8U))) {
|
||
mark(kNvic);
|
||
} else {
|
||
setFault(kNvic, kFaultNvicPrigroupMismatch);
|
||
}
|
||
|
||
/* SysTick：内部验证节拍真实前进；失败不返回（FATAL 停机） */
|
||
if (SysTickTimer::initMs()) {
|
||
mark(kSysTick);
|
||
}
|
||
|
||
rcu_periph_clock_enable(RCU_GPIOC);
|
||
gpio_bit_set(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN);
|
||
gpio_init(CONFIG_ESP32_RESET_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, CONFIG_ESP32_RESET_PIN);
|
||
/* ESP32 EN 自检：回读为 1 才算成功（被外部钳低属硬件异常，标记失败但不阻塞其余模块） */
|
||
const bool esp32_released =
|
||
(gpio_input_bit_get(CONFIG_ESP32_RESET_PORT, CONFIG_ESP32_RESET_PIN) == SET);
|
||
if (esp32_released) {
|
||
mark(kEsp32Hold);
|
||
} else {
|
||
setFault(kEsp32Hold, kFaultEsp32HoldClamped);
|
||
}
|
||
APP_LOGI("[APP] ESP32_EN PC9=%d (1=released)\r\n", esp32_released ? 1 : 0);
|
||
|
||
Usart0::configurePins();
|
||
const uint8_t usartFault = Usart0::init();
|
||
if (usartFault == Usart0::kFaultOk) {
|
||
mark(kUsart0);
|
||
} else {
|
||
setFault(kUsart0, usartFault);
|
||
}
|
||
|
||
/* SPI 尽早就绪：OTA FINISH 跳转后 ESP32 用 HELLO 探活，不能等 CAN 上电延时。
|
||
* 从机无硬件自证手段（配置即生效），探活依赖 ESP32 侧 HELLO/PING（运行期）。 */
|
||
AppSpiCommandBus.init();
|
||
mark(kAppSpi);
|
||
|
||
/* ADC：带超时校准 + VREFINT→VDDA 采样链验证 */
|
||
const uint8_t adcFault = Adc::init();
|
||
if (adcFault == Adc::kFaultOk) {
|
||
mark(kAdc);
|
||
} else {
|
||
setFault(kAdc, adcFault);
|
||
LOG_ERR("[APP] ADC init FAIL fault=%u (1=RSTCLB timeout 2=CLB timeout 3=VDDA invalid)\r\n",
|
||
(unsigned)adcFault);
|
||
}
|
||
|
||
CanFd::init();
|
||
/* L0 通过才置 canfd 位；故障码 = 原因 | (首个失败通道 << 4)。
|
||
* 无使能通道（canFault==Ok）属合法配置而非故障，照样置位。 */
|
||
uint8_t canFault = CanFd::kSelfTestOk;
|
||
uint8_t canFaultCh = 0U;
|
||
(void)CanFd::selfTestL0(&canFault, &canFaultCh);
|
||
if (canFault != CanFd::kSelfTestOk) {
|
||
setFault(kCanFd, (uint8_t)(canFault | (uint8_t)(canFaultCh << 4U)));
|
||
} else {
|
||
mark(kCanFd);
|
||
}
|
||
|
||
OtaBootRequest::init();
|
||
mark(kOtaBootReq);
|
||
|
||
TaskManager::init();
|
||
mark(kTaskManager);
|
||
|
||
/* 调度定时器：回读 + 100us 中断节拍前进验证 */
|
||
const uint8_t schedFault = SchedulerTimer::init();
|
||
if (schedFault == SchedulerTimer::kFaultOk) {
|
||
mark(kScheduler);
|
||
} else {
|
||
setFault(kScheduler, schedFault);
|
||
LOG_ERR("[APP] SchedulerTimer init FAIL fault=%u (1=CEN 2=PSC 3=CAR 4=no tick)\r\n",
|
||
(unsigned)schedFault);
|
||
}
|
||
|
||
/* ---- EtherCAT: EXMC 总线探活 → SSC 协议栈初始化 → SYNC0/IRQ 中断使能 ----
|
||
* 1.5.27:改经 EthercatSlave::init()（内部调用 EscLan9252::init 并记录
|
||
* chipId/AL 状态诊断，此前该函数无调用点、s_escReady 恒为 false）。
|
||
* 门控用 EscLan9252::isBusReady()（BYTE_TEST 通过）而非 isEscReady()：
|
||
* 冷启动时 AL=INIT，SSC 必须照常启动并等待主站配置。
|
||
* 1.5.39:追加 isCoreReady() 门控——EscLan9252::init() 已等待 EEPROM(SII)
|
||
* 加载完成（DL_STATUS bit0）；未加载时 EtherCAT 核心寄存器写静默丢弃，
|
||
* SSC 的 AL Event Mask/邮箱 SM 配置会全部落空（主站恒读 AL=INIT 的根因），
|
||
* 此时跳过 SSC 并以独立故障码上报。
|
||
* EEPROM 校验/烧录延迟到主循环执行，避免阻塞 init（烧录需 ~20s）。 */
|
||
EthercatSlave::init();
|
||
if (EscLan9252::isBusReady() && EscLan9252::isCoreReady()) {
|
||
const uint16_t sscResult = MainInit();
|
||
if (sscResult == 0U) {
|
||
mark(kEthercat);
|
||
EthercatSync::init();
|
||
mark(kEthercatSync);
|
||
printf("[ECAT] SSC MainInit OK, sync ISR enabled\r\n");
|
||
} else {
|
||
setFault(kEthercat, kFaultEthercatSscFail);
|
||
printf("[ECAT] SSC MainInit FAIL (code=0x%04X)\r\n", (unsigned)sscResult);
|
||
}
|
||
} else if (EscLan9252::isBusReady()) {
|
||
setFault(kEthercat, kFaultEthercatCoreNotReady);
|
||
printf("[ECAT] EtherCAT core not ready (EEPROM not loaded), SSC skipped\r\n");
|
||
} else {
|
||
setFault(kEthercat, kFaultEthercatBusNotReady);
|
||
printf("[ECAT] EXMC bus not ready, SSC skipped\r\n");
|
||
}
|
||
|
||
/* 看门狗放最后：PSC/RLD 写入经硬件确认才置位 */
|
||
const uint8_t wdgFault = Watchdog::init();
|
||
if (wdgFault == Watchdog::kFaultOk) {
|
||
mark(kWatchdog);
|
||
} else {
|
||
setFault(kWatchdog, wdgFault);
|
||
LOG_ERR("[APP] Watchdog init FAIL fault=%u (1=PSC 2=RLD 3=pending 4=LSI not ready)\r\n",
|
||
(unsigned)wdgFault);
|
||
}
|
||
|
||
report();
|
||
}
|