cbb
6136c2363f
添加了s_pmSuspended状态标志来管理LAN9252的电源管理模式，在芯片进入D1-D3 睡眠状态时阻止HBI访问以避免唤醒问题。同步修改了ethercat_sync中断处理程序， 在睡眠挂起期间跳过HBI相关操作确保芯片能够正常维持睡眠状态。 fix(spi): 提升SPI CS EXTI抢占优先级避免帧丢失 将SPI CS EXTI中断优先级从1提升至0，使其能够抢占PDI/SYNC1等关键中断，确 保SPI帧释放处理能够在微秒级完成，避免因延时导致的ESP32 CS间隔超时和帧 丢失问题。 feat(ssc): 实现OP输入新鲜度不变量监控机制 添加了输入映射序列号监控机制，当PDI路径中断时能够检测到输入数据冻结并 自动触发强制刷新，解决结构洞问题导致的输入数据停止更新现象。 chore(pdo): 更新PDO输入字节注释说明布局变更历史
635 lines
26 KiB
C++
635 lines
26 KiB
C++
/**
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* @file task_runner.cpp
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* @brief 任务执行器实现。
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*/
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#include "main.h"
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#include "device/adc.h"
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#include "device/watchdog.h"
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#include "device/spi/app_spi_command.h"
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#include "device/canfd.h"
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#include "device/motor_state.h"
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#include "device/motor_version.h"
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#include "sys/config.h"
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#include "sys/ota_boot_request.h"
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#include "sys/motor_ota_relay.h"
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#include "sys/task_manager.h"
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#include "sys/cpu_load.h"
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#include "sys/task_runner.h"
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#include "comm/ethercat_slave.h"
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#include "comm/ethercat_sync.h"
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#include "comm/ethercat_can_bridge.h"
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#include "comm/esc_exmc_bus.h"
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#include "comm/esc_lan9252.h"
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extern "C" {
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void MainLoop(void);
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}
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namespace {
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constexpr uint32_t kAdcFilterWindow = CONFIG_ADC_FILTER_SIZE + 1U;
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/**
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* @brief Push one sample into a fixed-size sliding window buffer.
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* @param[in,out] buffer Sample buffer with `kAdcFilterWindow` elements.
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* @param[in] value New sample value.
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*/
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static void pushSample(float *buffer, float value)
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{
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for(uint32_t i = 0U; i < CONFIG_ADC_FILTER_SIZE; ++i) {
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buffer[i] = buffer[i + 1U];
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}
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buffer[CONFIG_ADC_FILTER_SIZE] = value;
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}
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/**
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* @brief Apply median filtering to a fixed-size sample window.
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* @param[in] buffer Sample buffer with `kAdcFilterWindow` elements.
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* @return Median value in the current window.
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*/
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static float medianFilter(const float *buffer)
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{
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float sorted[kAdcFilterWindow];
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for(uint32_t i = 0U; i < kAdcFilterWindow; ++i) {
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sorted[i] = buffer[i];
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}
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for(uint32_t i = 1U; i < kAdcFilterWindow; ++i) {
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const float key = sorted[i];
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uint32_t j = i;
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while((j > 0U) && (sorted[j - 1U] > key)) {
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sorted[j] = sorted[j - 1U];
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--j;
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}
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sorted[j] = key;
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}
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return sorted[kAdcFilterWindow / 2U];
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}
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} // namespace
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struct TaskRunner::Runtime {
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Adc::Sample sample{};
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float temperature_samples[kAdcFilterWindow] = {0.0f};
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float vdda_samples[kAdcFilterWindow] = {0.0f};
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float vin_adc_samples[kAdcFilterWindow] = {0.0f};
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uint16_t last_vin_raw = 0U;
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uint16_t last_vref_raw = 0U;
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uint16_t last_temp_raw = 0U;
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uint8_t last_rx_channel = 0U;
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uint32_t last_rx_id = 0U;
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uint8_t last_rx_len = 0U;
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uint8_t last_rx_data[64] = {0};
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};
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TaskRunner::Runtime TaskRunner::s_runtime;
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/**
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* @brief 采样 VIN 与 VREF 原始 ADC 数值。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 从 ADC DMA 缓冲中读取外部 VIN_ADC 与内部 VREFINT 通道最新值。
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*/
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void TaskRunner::taskAdcVrefSample()
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{
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s_runtime.last_vin_raw = Adc::readVinRaw();
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s_runtime.last_vref_raw = Adc::readVrefRaw();
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}
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/**
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* @brief 采样内部温度通道原始 ADC 数值。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 读取 ADC DMA 缓冲中的内部温度通道最新值。
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*/
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void TaskRunner::taskAdcTempSample()
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{
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s_runtime.last_temp_raw = Adc::readTempRaw();
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}
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/**
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* @brief 根据原始采样值计算工程量结果。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 输出 `vin_adc_v`、`vdda` 和 `temperature` 等可直接使用的工程值。
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*/
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void TaskRunner::taskAdcProcess()
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{
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auto &s = s_runtime.sample;
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const float vdda = Adc::calculateVdda(s_runtime.last_vref_raw);
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const float vin_adc_v = Adc::calculateVinAdcVoltage(s_runtime.last_vin_raw, vdda);
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const float temperature = Adc::calculateTemperature(s_runtime.last_temp_raw, vdda);
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const bool sampleValid = (s_runtime.last_vref_raw > 0U) &&
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(s_runtime.last_vref_raw < 4095U) &&
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(s_runtime.last_temp_raw > 0U) &&
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(s_runtime.last_temp_raw < 4095U) &&
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(vdda >= 2.7f) && (vdda <= 3.6f) &&
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(temperature >= -40.0f) && (temperature <= 125.0f);
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if(sampleValid) {
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pushSample(s_runtime.vdda_samples, vdda);
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pushSample(s_runtime.vin_adc_samples, vin_adc_v);
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pushSample(s_runtime.temperature_samples, temperature);
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}
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s.vin_raw = s_runtime.last_vin_raw;
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s.vref_raw = s_runtime.last_vref_raw;
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s.temp_raw = s_runtime.last_temp_raw;
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s.vdda = medianFilter(s_runtime.vdda_samples);
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s.vin_adc_v = medianFilter(s_runtime.vin_adc_samples);
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s.temperature = medianFilter(s_runtime.temperature_samples);
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s.valid = sampleValid ? 1U : 0U;
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}
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/**
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* @brief 执行 CAN 周期发送任务：每 10ms 在每个使能通道上发送一帧 CANFD 测试帧。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 帧格式：扩展帧 29-bit ID，CAN-FD，DLC=64，BRS 受 CONFIG_CAN_FD_BRS_ENABLE 控制。
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* 载荷布局：
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* [0] 固定标识 0xC0
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* [1] 通道号
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* [2..5] 发送序号（小端 uint32）
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* [6..7] 系统运行秒数低 16 位
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* [8..63] 填充 0xA0 + (index & 0x0F)
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* periodic=true：仅允许一个邮箱保持自动重发，不主动 abort 旧帧，
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* 跳过 TEC 保护以匹配诊断行为。
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*/
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void TaskRunner::taskCanTxSend()
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{
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#if (CONFIG_CAN_PERIODIC_TEST_TX_ENABLE != 0)
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static uint32_t seq = 0U;
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for (uint8_t ch = 0U; ch < 3U; ++ch) {
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if (!CanFd::isChannelEnabled(ch)) {
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continue;
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}
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uint8_t data[64];
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data[0] = 0xC0U;
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data[1] = ch;
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const uint32_t s = seq;
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data[2] = static_cast<uint8_t>(s & 0xFFU);
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data[3] = static_cast<uint8_t>((s >> 8) & 0xFFU);
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data[4] = static_cast<uint8_t>((s >> 16) & 0xFFU);
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data[5] = static_cast<uint8_t>((s >> 24) & 0xFFU);
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data[6] = static_cast<uint8_t>(g_app_uptime_sec & 0xFFU);
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data[7] = static_cast<uint8_t>((g_app_uptime_sec >> 8) & 0xFFU);
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for (uint8_t i = 8U; i < 64U; ++i) {
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data[i] = static_cast<uint8_t>(0xA0U + (i & 0x0FU));
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}
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const uint32_t extId = 0x18FF5000U | static_cast<uint32_t>(ch);
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if (CanFd::transmitFrame(ch, extId, data, sizeof(data), true) == CanFd::CanTxResult::kOk) {
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seq++;
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}
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}
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#else
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/* CONFIG_CAN_PERIODIC_TEST_TX_ENABLE=0：测试帧无业务接收节点 ACK，
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* 单发模式下会持续产生 MTEn 错误帧，整任务空跑。 */
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(void)0;
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#endif
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}
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/**
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* @brief 批量解析并消费待处理的 CAN 接收报文。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 一次任务按预算尽量清空软件接收队列；若仍有积压，则重新置位解析任务。
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*/
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void TaskRunner::taskCanRxParse()
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{
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uint32_t consumed = 0U;
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while(consumed < CONFIG_CAN_RX_PARSE_BUDGET) {
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if(!CanFd::consumeRxFrame(&s_runtime.last_rx_id, s_runtime.last_rx_data, &s_runtime.last_rx_len, &s_runtime.last_rx_channel)) {
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break;
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}
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if(OtaBootRequest::handleCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len)) {
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OtaBootRequest::process();
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return;
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}
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if(MotorOtaRelay::onCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len)) {
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consumed++;
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continue;
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}
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#if (CONFIG_MOTOR_STATE_ENABLE != 0)
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MotorState::onCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len);
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#endif
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#if (CONFIG_MOTOR_VERSION_ENABLE != 0)
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MotorVersion::onCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len);
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#endif
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/* 1.5.53:旁路投递给 EtherCAT PDO 桥。放在分发链末尾且**不消费**帧
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* (不 return、不 continue),因此 OTA relay / 电机状态的取帧不受影响——
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* 本队列只有 taskCanRxParse 一个消费者,新增第二个消费者会互相抢帧。 */
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EthercatCanBridge::onCanFrame(s_runtime.last_rx_channel,
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s_runtime.last_rx_id,
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s_runtime.last_rx_data,
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s_runtime.last_rx_len);
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consumed++;
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}
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if(CanFd::hasRxFrame()) {
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TaskManager::set(1UL << TASK_CAN_RX_PARSE);
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}
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}
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/**
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* @brief 执行系统心跳维护任务。
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* @param[in] 无。
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* @param[out] 无。
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* @retval 无返回值。
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* @note 推进 OTA Boot 请求、刷新 CAN 反馈快照、启动 ADC 1Hz 推送轮次。
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*/
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void TaskRunner::taskHeartbeat()
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{
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OtaBootRequest::process();
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CanFd::refreshFeedbackSnapshot();
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#if (CONFIG_MOTOR_STATE_ENABLE != 0)
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MotorState::checkOffline();
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#endif
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}
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/**
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* @brief 拷贝当前 ADC 工程量快照（供 SPI 0xC4 等只读路径）。
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* @param[out] out 非空时写入最新 Sample
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* @return true 已写入（不保证 sample.valid==1）
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*/
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bool TaskRunner::copyAdcSample(Adc::Sample *out)
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{
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if (out == nullptr) {
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return false;
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}
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*out = s_runtime.sample;
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return true;
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}
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/* SSC 侧 AL 诊断快照(dc_app.c): [19:16]=AL 状态 [31:24]=AL 错误码 [15:0]=AL 事件寄存器 */
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extern "C" uint32_t EcatDbg_ReadAlDiag(void);
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/* SSC 侧 AL Event Mask(0x204) 守护(dc_app.c, 1.5.48):缺位自愈+WARN,返回实际值/0xFFFF=不适用 */
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extern "C" uint32_t EcatDbg_GuardAleventMask(void);
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/* 1.6.33:OP 输入新鲜度不变量 — 输入 PDO 停更则主循环强制重写(根治假连接) */
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extern "C" void EcatDbg_OpInputFreshness(void);
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/**
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* @brief 1.5.48/1.5.49 AL Event Mask(0x204) 守护 + SM2 事件楔死自愈 + 1.5.52 邮箱
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* SM 地址/长度失配自愈：250ms 周期。
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* @note 实测"停止回 INIT 后重进 OP"概率性挂起(SAFEOP+0x001B, WKC=3/3 但
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* bEcatFirstOutputsReceived 不置位,0x220 bit10 挂起 10s 无人处理)——
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* PDI_Isr 通路楔死。守护在 SAFEOP 后 1s 内替 PDI_Isr 完成工作(置位
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* 标志+应答事件),主站 12s OP 等待窗口内可自愈;WARN 携带全部内部旗标,
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* 下次复现一行日志定位楔死路径(详见 dc_app.c 注释)。
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* 1.5.52:周期 1s→250ms——新加的邮箱地址自愈(1.5.52 根治 SSC 侧
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* u16EscAddrSendMbx 错位楔死,详见 dc_app.c)必须快过主站 SDO 超时
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* (~700ms),否则自愈永远落在主站放弃之后,形同虚设。
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* 1.5.59:邮箱楔死已根治(mailbox.c 几何常量化,CSR 错值无进入缓存路径),
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* 本守护降级为运行期内存踩踏兜底;且修复了 1.5.52~1.5.58 的 SWAPWORD
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* 字节序 bug——那段时期本守护的失配判定恒短路,实际从未生效过。
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*/
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static void ethercatAleMaskGuard()
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{
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static uint32_t s_lastGuardMs = 0U;
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if (!EthercatSync::isActive() || EscLan9252::pmSuspended()) {
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/* 1.6.27:睡眠挂起期一并静默——守护内部读 SM 起止/长度与 0x204/0x220
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* 全是 HBI 访问,会把睡着的芯片叫醒 */
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return;
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}
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const uint32_t nowMs = g_scheduler.tick_1ms;
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if ((uint32_t)(nowMs - s_lastGuardMs) >= 250U) {
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s_lastGuardMs = nowMs;
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EcatDbg_GuardAleventMask();
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}
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}
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/**
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* @brief 1.5.32 ECAT 心跳：主循环存活证明 + ESC AL 状态/事件寄存器快照。
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* @note 仅在同步 ISR 激活(SSC 在跑)时打印。心跳停 = 主循环卡死；
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* al=0x1 且 evt bit0 长期置位 = SSC 没处理 AL 请求；
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* al 与主站读到的不一致 = ESC 写回路径问题。
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*/
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static void ethercatAlHeartbeat()
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{
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if (!EthercatSync::isActive() || EscLan9252::pmSuspended()) {
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/* 1.6.27:睡眠挂起期静默——读 0x0130/0x0220 即 HBI 访问,读即唤醒 */
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return;
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}
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const uint32_t alDiag = EcatDbg_ReadAlDiag();
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printf("[ECAT][HB] al=0x%lX code=0x%02lX evt=0x%04lX (uptime=%lus)\r\n",
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(unsigned long)((alDiag >> 16) & 0x0FU),
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(unsigned long)((alDiag >> 24) & 0xFFU),
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(unsigned long)(alDiag & 0xFFFFU),
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(unsigned long)g_app_uptime_sec);
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}
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/**
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* @brief 打印 EtherCAT 同步中断计数与速率（DC 通路验证）。
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* @note 主站启用 DC(SYNC0 周期 T)后，sync0 速率应稳定 ≈ 1e6/T_us 次/秒；
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* free-run 模式下 SYNC0 引脚无脉冲，三个计数器恒为 0（本函数不打印）。
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* 仅在有增量时输出，避免未接主站时刷屏。
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*/
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static void ethercatSyncCounterPrint()
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{
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static uint32_t s_prevSync0 = 0U;
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static uint32_t s_prevSync1 = 0U;
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static uint32_t s_prevEscIrq = 0U;
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static uint32_t s_prevSec = 0U;
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const uint32_t sync0 = EthercatSync::getSync0Count();
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const uint32_t sync1 = EthercatSync::getSync1Count();
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const uint32_t escIrq = EthercatSync::getEscIrqCount();
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const uint32_t d0 = sync0 - s_prevSync0; /* 无符号回绕自然成立 */
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const uint32_t d1 = sync1 - s_prevSync1;
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const uint32_t di = escIrq - s_prevEscIrq;
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const uint32_t now = g_app_uptime_sec;
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const uint32_t elapsed = (now > s_prevSec) ? (now - s_prevSec) : 1U;
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s_prevSync0 = sync0;
|
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s_prevSync1 = sync1;
|
||
s_prevEscIrq = escIrq;
|
||
s_prevSec = now;
|
||
|
||
if (d0 == 0U && d1 == 0U && di == 0U) {
|
||
return; /* 未接主站或 free-run：无脉冲，静默 */
|
||
}
|
||
|
||
printf("[ECAT][SYNC] sync0=%lu(+%lu, %lu/s) sync1=%lu(+%lu) escirq=%lu(+%lu) dt=%lus\r\n",
|
||
(unsigned long)sync0, (unsigned long)d0, (unsigned long)(d0 / elapsed),
|
||
(unsigned long)sync1, (unsigned long)d1,
|
||
(unsigned long)escIrq, (unsigned long)di,
|
||
(unsigned long)elapsed);
|
||
}
|
||
|
||
/**
|
||
* @brief 5s 诊断任务：默认仅状态变化/错误增量；可选全量 UART 摘要。
|
||
* @note CONFIG_UART_TEMP_PERIODIC_PRINT=1 时打印 ADC/CAN/ECAT 全量行（调试用）。
|
||
* 默认=0：相对上次快照有 CAN 错误计数增量、ADC valid 跳变、ECAT ready 变化或 ISR 超阈时才打印。
|
||
* 采用定点整数格式，避免依赖浮点 printf。
|
||
*/
|
||
void TaskRunner::taskDiagnosticPrint()
|
||
{
|
||
const auto *diag = CanFd::diag();
|
||
const auto &s = s_runtime.sample;
|
||
|
||
#if (CONFIG_UART_TEMP_PERIODIC_PRINT != 0)
|
||
/* ---- Debug 全量摘要：周期刷 ADC / CAN 吞吐 / ECAT ISR 统计 ---- */
|
||
{
|
||
const int32_t temp_x100 = static_cast<int32_t>(s.temperature * 100.0f);
|
||
const uint32_t vdda_mV = static_cast<uint32_t>(s.vdda * 1000.0f);
|
||
const uint32_t vin_adc_mV = static_cast<uint32_t>(s.vin_adc_v * 1000.0f);
|
||
|
||
#if (CONFIG_UART_DIAG_LEVEL == 0)
|
||
printf("[APP] uptime=%lus valid=%u, temp_raw=%u, vref_raw=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V\r\n",
|
||
(unsigned long)g_app_uptime_sec,
|
||
static_cast<unsigned int>(s.valid),
|
||
static_cast<unsigned int>(s.temp_raw),
|
||
static_cast<unsigned int>(s.vref_raw),
|
||
static_cast<long>(temp_x100 / 100),
|
||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||
static_cast<unsigned long>(vin_adc_mV % 1000U));
|
||
#else
|
||
printf("[APP] uptime=%lus valid=%u, temp=%ld.%02ld C, vdda=%lu.%03lu V, vin_adc=%lu.%03lu V, rx_ch=%u, rx_id=0x%08lX, rx_len=%u, tx_ch=%u, can_tx=%lu, can_rx=%lu, sw_drop=%lu, hw_full=%lu, hw_over=%lu, tx_abort=%lu, can_err=%lu\r\n",
|
||
(unsigned long)g_app_uptime_sec,
|
||
static_cast<unsigned int>(s.valid),
|
||
static_cast<long>(temp_x100 / 100),
|
||
static_cast<long>((temp_x100 >= 0 ? temp_x100 : -temp_x100) % 100),
|
||
static_cast<unsigned long>(vdda_mV / 1000U),
|
||
static_cast<unsigned long>(vdda_mV % 1000U),
|
||
static_cast<unsigned long>(vin_adc_mV / 1000U),
|
||
static_cast<unsigned long>(vin_adc_mV % 1000U),
|
||
static_cast<unsigned int>(s_runtime.last_rx_channel),
|
||
static_cast<unsigned long>(s_runtime.last_rx_id),
|
||
static_cast<unsigned int>(s_runtime.last_rx_len),
|
||
static_cast<unsigned int>(diag->last_tx_channel),
|
||
static_cast<unsigned long>(diag->tx_count),
|
||
static_cast<unsigned long>(diag->rx_count),
|
||
static_cast<unsigned long>(diag->rx_drop_count),
|
||
static_cast<unsigned long>(diag->rx_fifo_full_count),
|
||
static_cast<unsigned long>(diag->rx_fifo_overfull_count),
|
||
static_cast<unsigned long>(diag->tx_abort_count),
|
||
static_cast<unsigned long>(diag->error_count));
|
||
#endif
|
||
|
||
if (EthercatSlave::isEscReady()) {
|
||
/* 1.5.27:periodicIsr 已删除(死代码,无调用点),PDO 交换由 SSC
|
||
* Sync0_Isr → ECAT_Application → dc_app.c APPL_* 完成。 */
|
||
printf("[ECAT] ESC ready (chip id=0x%08lX), PDO via SSC Sync0_Isr\r\n",
|
||
(unsigned long)EthercatSlave::getChipId());
|
||
} else {
|
||
printf("[ECAT] ESC not detected (chip id=0x%08lX), EtherCAT disabled\r\n",
|
||
(unsigned long)EthercatSlave::getChipId());
|
||
}
|
||
ethercatSyncCounterPrint();
|
||
ethercatAlHeartbeat();
|
||
}
|
||
#else
|
||
/* ---- 默认静默路径：仅错误增量 / 状态变化，无 uptime 心跳 ---- */
|
||
{
|
||
static uint32_t s_prev_rx_drop = 0U;
|
||
static uint32_t s_prev_rx_fifo_full = 0U;
|
||
static uint32_t s_prev_rx_fifo_overfull = 0U;
|
||
static uint32_t s_prev_tx_abort = 0U;
|
||
static uint32_t s_prev_error = 0U;
|
||
static uint8_t s_prev_adc_valid = 0xFFU; /* 0xFF=尚未采样 */
|
||
static bool s_prev_esc_ready = false;
|
||
static bool s_esc_ready_inited = false;
|
||
|
||
const uint32_t rx_drop = diag->rx_drop_count;
|
||
const uint32_t rx_full = diag->rx_fifo_full_count;
|
||
const uint32_t rx_over = diag->rx_fifo_overfull_count;
|
||
const uint32_t tx_abort = diag->tx_abort_count;
|
||
const uint32_t can_err = diag->error_count;
|
||
|
||
if (rx_drop > s_prev_rx_drop || rx_full > s_prev_rx_fifo_full
|
||
|| rx_over > s_prev_rx_fifo_overfull || tx_abort > s_prev_tx_abort
|
||
|| can_err > s_prev_error) {
|
||
printf("[CAN-DIAG] uptime=%lus err=%lu(+%lu) drop=%lu(+%lu) full=%lu(+%lu) over=%lu(+%lu) abort=%lu(+%lu)\r\n",
|
||
(unsigned long)g_app_uptime_sec,
|
||
(unsigned long)can_err,
|
||
(unsigned long)(can_err - s_prev_error),
|
||
(unsigned long)rx_drop,
|
||
(unsigned long)(rx_drop - s_prev_rx_drop),
|
||
(unsigned long)rx_full,
|
||
(unsigned long)(rx_full - s_prev_rx_fifo_full),
|
||
(unsigned long)rx_over,
|
||
(unsigned long)(rx_over - s_prev_rx_fifo_overfull),
|
||
(unsigned long)tx_abort,
|
||
(unsigned long)(tx_abort - s_prev_tx_abort));
|
||
s_prev_rx_drop = rx_drop;
|
||
s_prev_rx_fifo_full = rx_full;
|
||
s_prev_rx_fifo_overfull = rx_over;
|
||
s_prev_tx_abort = tx_abort;
|
||
s_prev_error = can_err;
|
||
}
|
||
|
||
if (s_prev_adc_valid == 0xFFU) {
|
||
s_prev_adc_valid = s.valid;
|
||
} else if (s.valid != s_prev_adc_valid) {
|
||
printf("[APP] adc valid %u -> %u (uptime=%lus)\r\n",
|
||
static_cast<unsigned int>(s_prev_adc_valid),
|
||
static_cast<unsigned int>(s.valid),
|
||
(unsigned long)g_app_uptime_sec);
|
||
s_prev_adc_valid = s.valid;
|
||
}
|
||
|
||
const bool esc_ready = EthercatSlave::isEscReady();
|
||
if (!s_esc_ready_inited) {
|
||
s_prev_esc_ready = esc_ready;
|
||
s_esc_ready_inited = true;
|
||
} else if (esc_ready != s_prev_esc_ready) {
|
||
printf("[ECAT] ESC ready %u -> %u chip_id=0x%08lX (uptime=%lus)\r\n",
|
||
static_cast<unsigned int>(s_prev_esc_ready ? 1U : 0U),
|
||
static_cast<unsigned int>(esc_ready ? 1U : 0U),
|
||
(unsigned long)EthercatSlave::getChipId(),
|
||
(unsigned long)g_app_uptime_sec);
|
||
s_prev_esc_ready = esc_ready;
|
||
}
|
||
/* 1.5.27:periodicIsr ISR 统计随死代码一并删除 */
|
||
/* DC SYNC0 通路验证：仅在有脉冲增量时打印（未接主站时静默）。 */
|
||
ethercatSyncCounterPrint();
|
||
ethercatAlHeartbeat();
|
||
}
|
||
#endif
|
||
}
|
||
|
||
/**
|
||
* @brief 初始化任务执行器运行时上下文。
|
||
* @param[in] 无。
|
||
* @param[out] 无。
|
||
* @retval 无返回值。
|
||
* @note 执行一次完整 ADC 采样，并同步填充运行时缓存的原始值起点。
|
||
*/
|
||
void TaskRunner::init()
|
||
{
|
||
Adc::collectSample(&s_runtime.sample);
|
||
s_runtime.last_vin_raw = s_runtime.sample.vin_raw;
|
||
s_runtime.last_vref_raw = s_runtime.sample.vref_raw;
|
||
s_runtime.last_temp_raw = s_runtime.sample.temp_raw;
|
||
|
||
for(uint32_t i = 0U; i < kAdcFilterWindow; ++i) {
|
||
s_runtime.temperature_samples[i] = s_runtime.sample.temperature;
|
||
s_runtime.vdda_samples[i] = s_runtime.sample.vdda;
|
||
s_runtime.vin_adc_samples[i] = s_runtime.sample.vin_adc_v;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 执行当前所有已置位的待处理任务。
|
||
* @param[in] 无。
|
||
* @param[out] 无。
|
||
* @retval 无返回值。
|
||
* @note 先原子取出任务位图；若当前没有待处理任务则直接返回。
|
||
*/
|
||
void TaskRunner::runPending()
|
||
{
|
||
Watchdog::feed();
|
||
|
||
/* === HBI 周期诊断:每 20 秒重新跑一次 EXMC/HBI 探活,方便热插拔/焊接后观察 ===
|
||
* 1.5.27:EtherCAT 同步 ISR 激活后停止(diagDump 会把 EXMC 引脚切成 GPIO,
|
||
* 拆毁运行中的总线;诊断的 bit-bang 也与 HBI 事务互斥冲突)。
|
||
* 1.5.33:整块由 CONFIG_ESC_EXMC_DIAG 门控,默认关闭——硬件已确认全通,
|
||
* 不再每 20s 拆总线做探针;换板/补焊排查浮空时置 1 恢复。 */
|
||
#if CONFIG_ESC_EXMC_DIAG
|
||
static uint32_t s_lastDiagSec = 0xFFFFFFFFU;
|
||
if (!EthercatSync::isActive()
|
||
&& (g_app_uptime_sec >= s_lastDiagSec + 20U || s_lastDiagSec == 0xFFFFFFFFU)) {
|
||
s_lastDiagSec = g_app_uptime_sec;
|
||
printf("[ECAT][DIAG] === 20s periodic HBI probe (uptime=%lus) ===\r\n",
|
||
(unsigned long)g_app_uptime_sec);
|
||
EscExmcBus::diagDump();
|
||
}
|
||
#endif
|
||
|
||
/* 延迟 EEPROM 烧录已删除(1.5.29)：ESI 镜像改由 EtherCAT 主站侧刷写
|
||
* (tools/ecat/ecat_flash_eeprom.py 经 ESC 0x0500 EEPROM 接口)，
|
||
* 固件不再承担烧录/校验职责。 */
|
||
|
||
/* poll() 含按铃超时看门狗(cancelRing)，必须每轮无条件执行。
|
||
* 主动推送已随 2026-08 请求驱动改造移除，此处仅需消费请求响应的按铃。 */
|
||
AppSpiCommandBus.poll();
|
||
|
||
/* 0xB0 进 BOOT：必须每圈检查，不能只靠 1Hz TASK_HEARTBEAT。
|
||
* 否则 Flash 写/复位被拖到下一秒，ESP32 HELLO 一直 role=app 超时。 */
|
||
if (OtaBootRequest::isRebootPending()) {
|
||
CpuLoad::beginWork();
|
||
OtaBootRequest::process();
|
||
CpuLoad::endWork();
|
||
}
|
||
|
||
/* 电机 OTA relay：活跃时每圈推进状态机（等 ACK / 超时 / 发下一包）。
|
||
* 非活跃时立即返回，开销可忽略。 */
|
||
/* 负载率挂钩（1.5.63）：relay 活跃时才计 busy——isActive() 是廉价枚举判断，
|
||
* 空闲路径零挂钩开销；计数段覆盖等 ACK/超时/发包的真实工作。 */
|
||
const bool motorOtaActive = MotorOtaRelay::isActive();
|
||
if (motorOtaActive) {
|
||
CpuLoad::beginWork();
|
||
}
|
||
MotorOtaRelay::process();
|
||
/* 数据发送推进：主循环每圈调用，按 SysTick 钟表控制每包间隔
|
||
* （替代原靠 tick100us 计数 + TASK_MOTOR_OTA_TX 的方式，消除计数器竞争）。 */
|
||
MotorOtaRelay::onTxTick();
|
||
if (motorOtaActive) {
|
||
CpuLoad::endWork();
|
||
}
|
||
|
||
/* 2026-08 请求驱动改造：0xC1 CAN 反馈 / 0xC5 电机状态 / 0xC4 ADC 已改为
|
||
* ESP32 周期查询（主动按铃推送全部移除，避免 OTA 期间悬空按铃刷屏）。
|
||
* 仅保留事件驱动、低频的 0xC6 电机版本推送。 */
|
||
motorVersionPushStep();
|
||
|
||
/* SSC 协议栈主循环：AL 状态机 + 邮箱处理 + FreeRun PDO。
|
||
* 每轮无条件调用，SSC 内部自行判断是否有待处理事件。
|
||
* DC 模式下 PDO 交换由 SYNC0 ISR (Sync0_Isr) 完成，此处仅处理低优先级逻辑。
|
||
* 1.6.27:ESC 睡眠(D1-D3)挂起期整段停调——MainLoop 每圈必读 0x220(AL 事件
|
||
* 寄存器,经 HBI),而睡眠中任何 HBI 访问(含读)都会把芯片打回 D0,
|
||
* 2026-09-12 实测休眠后 ~20s 即被"复活"。 */
|
||
if (!EscLan9252::pmSuspended()) {
|
||
MainLoop();
|
||
/* 1.6.33:OP 输入新鲜度不变量。与 MainLoop 同拍调用——正常时
|
||
* PDI_Isr 已在刷新,这里只做廉价 seq 比对;停更超 5ms 才强制重写。
|
||
* 睡眠期与 MainLoop 一并跳过(读 HBI 会唤醒芯片)。 */
|
||
EcatDbg_OpInputFreshness();
|
||
}
|
||
|
||
/* 1.5.48:AL Event Mask(0x204) 守护——每圈入口执行,内部 250ms 节流。
|
||
* 放 MainLoop 旁而非诊断任务:守护必须独立于诊断打印频率,
|
||
* OP 等待期(12s)内从站进 SAFEOP 后 1s 内即介入自愈。 */
|
||
ethercatAleMaskGuard();
|
||
|
||
const uint32_t pending = TaskManager::takePending();
|
||
if(pending == 0U) return;
|
||
|
||
/* 负载率挂钩（1.5.63）：派发的周期任务属"非延迟工作"，整段计入 busy；
|
||
* 前面的常开轮询(Watchdog/poll/MainLoop/guard)不计入，见 sys/cpu_load.h。 */
|
||
CpuLoad::beginWork();
|
||
if(pending & (1UL << TASK_ADC_VREF_SAMPLE)) taskAdcVrefSample();
|
||
if(pending & (1UL << TASK_ADC_TEMP_SAMPLE)) taskAdcTempSample();
|
||
if(pending & (1UL << TASK_ADC_PROCESS)) taskAdcProcess();
|
||
if(pending & (1UL << TASK_CAN_RX_PARSE)) taskCanRxParse();
|
||
if(pending & (1UL << TASK_CAN_TX_SEND)) taskCanTxSend();
|
||
if(pending & (1UL << TASK_HEARTBEAT)) taskHeartbeat();
|
||
if(pending & (1UL << TASK_DIAGNOSTIC_PRINT)) taskDiagnosticPrint();
|
||
CpuLoad::endWork();
|
||
}
|