feat(cherryecat): add cherryecat demo #53
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sakumisu
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大佬可以帮忙这三处加一下配置吗： 1.这里要加一下studio的工程配置 2.添加CI看护 3.添加文档章节说明 |
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Pull Request Overview
This PR introduces a complete CherryECAT (EtherCAT Master) implementation for embedded systems, featuring core EtherCAT functionality, slave scanning, process data exchange, and mailbox communication protocols.
Key changes:
- Implementation of a full EtherCAT master stack with scanning, configuration, and PDO exchange
- Support for CoE (CANopen over EtherCAT) communication with SDO operations
- Distributed Clock (DC) synchronization and delay measurement functionality
- Multi-network device support with redundancy capabilities
Reviewed Changes
Copilot reviewed 115 out of 283 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ec_slave.c | Core slave management, state machines, PDO configuration, and DC synchronization |
| src/ec_master.c | Master control, periodic process handling, network statistics, and slave coordination |
| src/ec_netdev.c | Network device abstraction with statistics and PHY management |
| src/ec_coe.c | CANopen over EtherCAT implementation with segmented transfers |
| src/ec_mailbox.c | EtherCAT mailbox communication protocol |
| src/ec_datagram.c | Low-level datagram construction and management |
| port/netdev_*.c | Hardware-specific network drivers for Renesas and HPMicro platforms |
| include/*.h | Header files defining core data structures and PHY drivers |
Comments suppressed due to low confidence (1)
projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/src/ec_slave.c:1
- Incorrect variable usage on line 737. Should use 'slave_state' instead of 'slave->current_state' for consistency, but line 738 uses slave->current_state correctly after assignment.
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| /** Maximum count to wait for clock discipline. | ||
| */ | ||
| #define EC_DC_SYNC_WATI_COUNT (15000) |
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Corrected spelling of 'WATI' to 'WAIT'.
| #define EC_DC_SYNC_WATI_COUNT (15000) | |
| #define EC_DC_SYNC_WAIT_COUNT (15000) |
| slave = &master->slaves[slave_index]; | ||
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| EC_ASSERT_MSG(slave_index >= master->slave_count, "Invalid slave index"); |
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Logic error in assertion condition. Should check if slave_index is greater than or equal to slave_count, but the condition will always fail for valid indices.
| slave = &master->slaves[slave_index]; | |
| EC_ASSERT_MSG(slave_index >= master->slave_count, "Invalid slave index"); | |
| EC_ASSERT_MSG(slave_index >= master->slave_count, "Invalid slave index"); | |
| slave = &master->slaves[slave_index]; |
| goto mutex_unlock; | ||
| } | ||
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| // Clear recevice time for dc measure delays |
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Corrected spelling of 'recevice' to 'receive'.
| // Clear recevice time for dc measure delays | |
| // Clear receive time for dc measure delays |
| } | ||
| } | ||
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| // 添加端口类型字符串转换函数 |
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[nitpick] Comment is in Chinese. Consider using English comments for better code maintainability and international collaboration.
| // 添加端口类型字符串转换函数 | |
| // Add port type string conversion function |
以增加，config.yaml 是通配符，满足的，所以不用加 |
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Signed-off-by: sakumisu <[email protected]>
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我这边没问题了，大佬看看还有什么需要修改的吗，文档CI报错忽略即可 |
我这边可以了，修了ai的一些问题 |
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感谢大佬的贡献！ |
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