update(cherryecat): remove timer1 and bump cherryecat version to v1.0.0

projects/etherkit_ethercat_cherryecat/board/ec_config.h

@@ -48,7 +48,7 @@
 #endif
 
 #ifndef CONFIG_EC_SCAN_STACKSIZE
-#define CONFIG_EC_SCAN_STACKSIZE 2048
+#define CONFIG_EC_SCAN_STACKSIZE 4096
 #endif
 
 #ifndef CONFIG_EC_SCAN_INTERVAL_MS
@@ -73,13 +73,23 @@
 #endif
 
 #ifndef CONFIG_EC_MAX_ENET_TXBUF_COUNT
-#define CONFIG_EC_MAX_ENET_TXBUF_COUNT 10
+#define CONFIG_EC_MAX_ENET_TXBUF_COUNT 8
 #endif
 
 #ifndef CONFIG_EC_MAX_ENET_RXBUF_COUNT
-#define CONFIG_EC_MAX_ENET_RXBUF_COUNT 10
+#define CONFIG_EC_MAX_ENET_RXBUF_COUNT 8
 #endif
 
 // #define CONFIG_EC_FOE
 
+// #define CONFIG_EC_EOE
+
+#ifndef CONFIG_EC_EOE_PRIO
+#define CONFIG_EC_EOE_PRIO 1
+#endif
+
+#ifndef CONFIG_EC_EOE_STACKSIZE
+#define CONFIG_EC_EOE_STACKSIZE 4096
+#endif
+
 #endif

projects/etherkit_ethercat_cherryecat/configuration.xml

@@ -11,7 +11,7 @@
     <option key="#pinconfiguration#" value="R9A07G084M04GBG.pincfg"/>
     <option key="#FSPVersion#" value="2.2.0"/>
     <option key="#ConfigurationFragments#" value="Renesas##BSP##Board##rzn2l_rsk##xspi0_x1_boot"/>
-    <option key="#SELECTED_TOOLCHAIN#" value="gcc-arm-embedded"/>
+    <option key="#SELECTED_TOOLCHAIN#" value="iar.arm.toolchain"/>
     <option key="#ToolchainVersion#" value=""/>
   </generalSettings>
   <raBspConfiguration>
@@ -1046,86 +1046,6 @@
       <property id="module.driver.timer.elc_trigger_mtu4" value="_disabled"/>
       <property id="module.driver.timer.operation_select_mtu4" value="Disabled"/>
     </module>
-    <module id="module.driver.timer_on_gpt.1352861500">
-      <property id="module.driver.timer.name" value="g_timer1"/>
-      <property id="module.driver.gpt.unit" value="0"/>
-      <property id="module.driver.gpt.channel" value="1"/>
-      <property id="module.driver.timer.mode" value="module.driver.timer.mode.mode_periodic"/>
-      <property id="module.driver.timer.period" value="1"/>
-      <property id="module.driver.timer.unit" value="module.driver.timer.unit.unit_period_usec"/>
-      <property id="module.driver.timer.duty_cycle" value="50"/>
-      <property id="module.driver.timer.gtioca_output_enabled" value="module.driver.timer.gtioca_output_enabled.false"/>
-      <property id="module.driver.timer.gtioca_stop_level" value="module.driver.timer.gtioca_stop_level.pin_level_low"/>
-      <property id="module.driver.timer.gtiocb_output_enabled" value="module.driver.timer.gtiocb_output_enabled.false"/>
-      <property id="module.driver.timer.gtiocb_stop_level" value="module.driver.timer.gtiocb_stop_level.pin_level_low"/>
-      <property id="module.driver.timer.count_up_source" value=""/>
-      <property id="module.driver.timer.count_down_source" value=""/>
-      <property id="module.driver.timer.phase_count_setting_automatically_enable" value="module.driver.timer.phase_count_setting_automatically_enable.disabled"/>
-      <property id="module.driver.timer.counting_mode" value="module.driver.timer.counting_mode.mode1"/>
-      <property id="module.driver.timer.start_source" value=""/>
-      <property id="module.driver.timer.stop_source" value=""/>
-      <property id="module.driver.timer.clear_source" value=""/>
-      <property id="module.driver.timer.capture_a_source" value=""/>
-      <property id="module.driver.timer.capture_b_source" value=""/>
-      <property id="module.driver.timer.gtioca_filter" value="module.driver.timer.gtioc_filter.gtioc_filter_none"/>
-      <property id="module.driver.timer.gtiocb_filter" value="module.driver.timer.gtioc_filter.gtioc_filter_none"/>
-      <property id="module.driver.timer.p_callback" value="g_timer1_callback"/>
-      <property id="module.driver.timer.ipl" value="board.icu.common.irq.priority10"/>
-      <property id="module.driver.timer.capture_a_ipl" value="_disabled"/>
-      <property id="module.driver.timer.capture_b_ipl" value="_disabled"/>
-      <property id="module.driver.timer.trough_ipl" value="_disabled"/>
-      <property id="module.driver.timer.gpt_sel.p_callback" value="NULL"/>
-      <property id="module.driver.timer.gpt_sel.overflow_interrupt_source" value=""/>
-      <property id="module.driver.timer.gpt_sel.capture_a_interrupt_source" value=""/>
-      <property id="module.driver.timer.gpt_sel.capture_b_interrupt_source" value=""/>
-      <property id="module.driver.timer.gpt_sel.trough_interrupt_source" value=""/>
-      <property id="module.driver.timer.gpt_sel.dead_time_error_interrupt_source" value=""/>
-      <property id="module.driver.timer.gpt_sel.int0_ipl" value="_disabled"/>
-      <property id="module.driver.timer.gpt_sel.int1_ipl" value="_disabled"/>
-      <property id="module.driver.timer.gpt_sel.int2_ipl" value="_disabled"/>
-      <property id="module.driver.timer.gpt_sel.int3_ipl" value="_disabled"/>
-      <property id="module.driver.timer.gpt_sel.int4_ipl" value="_disabled"/>
-      <property id="module.driver.timer.extra" value="module.driver.timer.extra.disabled"/>
-      <property id="module.driver.timer.poeg_link" value="module.driver.timer.poeg_link.poeg_link_poeg0"/>
-      <property id="module.driver.timer.output_disable" value=""/>
-      <property id="module.driver.timer.adc_trigger" value=""/>
-      <property id="module.driver.timer.dead_time_count_up" value="0"/>
-      <property id="module.driver.timer.dead_time_count_down" value="0"/>
-      <property id="module.driver.timer.adc_a_compare_match" value="0"/>
-      <property id="module.driver.timer.adc_b_compare_match" value="0"/>
-      <property id="module.driver.timer.interrupt_skip.source" value="module.driver.timer.interrupt_skip.source.none"/>
-      <property id="module.driver.timer.interrupt_skip.count" value="module.driver.timer.interrupt_skip.count.count_0"/>
-      <property id="module.driver.timer.interrupt_skip.adc" value="module.driver.timer.interrupt_skip.skip_sources.interrupt_skip.adc.none"/>
-      <property id="module.driver.timer.gtioca_disable_setting" value="module.driver.timer.gtioca_disable_setting.gtioc_disable_prohibited"/>
-      <property id="module.driver.timer.gtiocb_disable_setting" value="module.driver.timer.gtiocb_disable_setting.gtioc_disable_prohibited"/>
-      <property id="module.driver.timer.interrupt_skip_ext1.source" value="module.driver.timer.interrupt_skip_ext1.source.none"/>
-      <property id="module.driver.timer.interrupt_skip_ext1.count" value="module.driver.timer.interrupt_skip_ext1.count.count_0"/>
-      <property id="module.driver.timer.interrupt_skip_ext2.source" value="module.driver.timer.interrupt_skip_ext2.source.none"/>
-      <property id="module.driver.timer.interrupt_skip_ext2.count" value="module.driver.timer.interrupt_skip_ext2.count.count_0"/>
-      <property id="module.driver.timer.interrupt_skip_func.ovf" value="module.driver.timer.interrupt_skip_func.ovf.none"/>
-      <property id="module.driver.timer.interrupt_skip_func.unf" value="module.driver.timer.interrupt_skip_func.unf.none"/>
-      <property id="module.driver.timer.interrupt_skip_func.adc_a" value="module.driver.timer.interrupt_skip_func.adc_a.none"/>
-      <property id="module.driver.timer.interrupt_skip_func.adc_b" value="module.driver.timer.interrupt_skip_func.adc_b.none"/>
-      <property id="module.driver.timer.dead_time_error_ipl" value="_disabled"/>
-      <property id="module.driver.timer.input_capture" value="module.driver.timer.input_capture.enabled"/>
-      <property id="module.driver.timer.gtioc_isel" value="module.driver.timer.gtioc_isel.not_supported"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_a" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_b" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_c" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_d" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_e" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_f" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_g" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_llpp_event_h" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_a" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_b" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_c" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_d" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_e" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_f" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_g" value="_disabled"/>
-      <property id="module.driver.timer.elc_trigger_nonsafty_event_h" value="_disabled"/>
-    </module>
     <context id="_hal.0">
       <stack module="module.driver.ioport_on_ioport.0"/>
       <stack module="module.bsp.memory_config.0"/>
@@ -1144,7 +1064,6 @@
       </stack>
       <stack module="module.driver.timer_on_gpt.1285445287"/>
       <stack module="module.driver.timer_on_mtu3.1982797798"/>
-      <stack module="module.driver.timer_on_gpt.1352861500"/>
     </context>
     <config id="config.driver.ether_selector">
       <property id="config.driver.ether_selector.param_checking_enable" value="config.driver.ether_selector.param_checking_enable.bsp"/>

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/CMakeLists.txt

@@ -9,6 +9,7 @@ if(CONFIG_CHERRYECAT)
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_coe.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_common.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_datagram.c
+        ${CMAKE_CURRENT_LIST_DIR}/src/ec_eoe.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_foe.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_mailbox.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_master.c

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/README.md

@@ -25,17 +25,20 @@ CherryECAT is a tiny and beautiful, high real-time and low-jitter EtherCAT maste
 - Support Slave SII access
 - Support Slave register access
 - Support multi master
-- Support backup redundancy
-- Minimum PDO cyclic time < 40 us (depends on master and slave hardware)
-- Support multi cyclic time(every slave can use different proportional cyclic time)
+- **Support backup redundancy(TODO)**
+- **Minimum PDO cyclic time < 40 us (depends on master and slave hardware)**
+- **DC jitter < 3us (depends on master and slave hardware)**
+- **Support multi cyclic time(every slave can use different proportional cyclic time)**
 - Support ethercat cmd with shell, ref to IgH
 
+The pic shows dc jitter < 3us (hpm6800evk with flash_xip):
+![ethercat](docs/assets/ethercat_dc.png)
+
 ## Hardware limitations
 
 - **Master**
-	- CPU (cache > 16K, memcpy speed > 100MB/s)
+	- CPU (cache > 16K, **memcpy speed > 100MB/s**)
 	- ENET must support descriptor dma and iperf with lwip > 90 Mbps
-	- Code must run in ram, ignore if no dc
 	- Must support High-Precision Timer (jitter < 1us)
 	- Must support High-Precision timestamp (ARM DWT/RISC-V MCYCLE)
 	- Must support long long print
@@ -56,6 +59,7 @@ CherryECAT is a tiny and beautiful, high real-time and low-jitter EtherCAT maste
 ![ethercat](docs/assets/ethercat6.png)
 ![ethercat](docs/assets/ethercat7.png)
 ![ethercat](docs/assets/ethercat8.png)
+![ethercat](docs/assets/ethercat9.png)
 
 ## Tool
 
@@ -108,4 +112,4 @@ QQ group: 563650597
 
 ## License
 
-FOE,EOE and Backup redundancy features are available for commercial charge; other are free to use
+FOE, EOE and backup redundancy features are available for commercial charge; other are free to use

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/README_zh.md

@@ -25,17 +25,20 @@ CherryECAT 是一个小而美的、高实时性、低抖动的 EtherCAT 主机
 - 支持 Slave SII 读写
 - 支持 Slave 寄存器读写
 - 支持多主站
-- 支持备份冗余
-- 最小 PDO cyclic time < 40 us (实际数值受主站硬件和从站硬件影响)
-- 支持多周期（每个从站可以使用不同的成比例的周期）
+- **支持备份冗余(TODO)**
+- **最小 PDO cyclic time < 40 us (实际数值受主站硬件和从站硬件影响)**
+- **DC 抖动 < 3us (实际数值受主站硬件和从站硬件影响)**
+- **支持多周期（每个从站可以使用不同的成比例的周期）**
 - 支持 ethercat 命令行交互，参考 IgH
 
+下图展示 dc 抖动 < 3us （hpm6800evk + flash_xip）:
+![ethercat](docs/assets/ethercat_dc.png)
+
 ## 硬件限制
 
 - 主站
 	- CPU (cache > 16K, memcpy speed > 100MB/s)
 	- 以太网必须支持 descriptor dma 并且 iperf with lwip > 90 Mbps
-	- 代码必须跑在 ram 上，如果不使用 DC 同步则忽视
 	- 必须支持高精度定时器（抖动小于 1us）
 	- 必须支持高精度时间戳 (ARM DWT/RISC-V MCYCLE)
 	- 必须支持 64 位打印
@@ -56,6 +59,7 @@ CherryECAT 是一个小而美的、高实时性、低抖动的 EtherCAT 主机
 ![ethercat](docs/assets/ethercat6.png)
 ![ethercat](docs/assets/ethercat7.png)
 ![ethercat](docs/assets/ethercat8.png)
+![ethercat](docs/assets/ethercat9.png)
 
 ## 工具
 
@@ -108,4 +112,4 @@ QQ group: 563650597
 
 ## License
 
-FOE，EOE，备份冗余功能为商用收费，其余功能免费商用
+FOE，EOE 以及备份冗余功能为商用收费，其余功能免费商用

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/SConscript

@@ -12,6 +12,7 @@ src += Glob('src/ec_cmd.c')
 src += Glob('src/ec_coe.c')
 src += Glob('src/ec_common.c')
 src += Glob('src/ec_datagram.c')
+src += Glob('src/ec_eoe.c')
 src += Glob('src/ec_foe.c')
 src += Glob('src/ec_mailbox.c')
 src += Glob('src/ec_master.c')

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/VERSION

@@ -1,5 +1,5 @@
-VERSION_MAJOR = 0
-VERSION_MINOR = 1
+VERSION_MAJOR = 1
+VERSION_MINOR = 0
 PATCHLEVEL = 0
 VERSION_TWEAK = 0
 EXTRAVERSION = 0

projects/etherkit_ethercat_cherryecat/packages/CherryECAT-latest/cherryec_config_template.h

@@ -42,11 +42,11 @@
 #endif
 
 #ifndef CONFIG_EC_SCAN_PRIO
-#define CONFIG_EC_SCAN_PRIO 1
+#define CONFIG_EC_SCAN_PRIO 10
 #endif
 
 #ifndef CONFIG_EC_SCAN_STACKSIZE
-#define CONFIG_EC_SCAN_STACKSIZE 2048
+#define CONFIG_EC_SCAN_STACKSIZE 4096
 #endif
 
 #ifndef CONFIG_EC_SCAN_INTERVAL_MS
@@ -80,4 +80,14 @@
 
 // #define CONFIG_EC_FOE
 
+// #define CONFIG_EC_EOE
+
+#ifndef CONFIG_EC_EOE_PRIO
+#define CONFIG_EC_EOE_PRIO 1
+#endif
+
+#ifndef CONFIG_EC_EOE_STACKSIZE
+#define CONFIG_EC_EOE_STACKSIZE 4096
+#endif
+
 #endif