dev(UML-1462): Доработал проверку working counter

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -91,7 +91,7 @@ private:
 
         do {
             telegram.transfer(first);
-        } while(first.get_wkc() < 0x0001);
+        } while(first.get_all_wkc() < slave_index);
     }
 
 
@@ -111,7 +111,7 @@ private:
 
         do {
             telegram.transfer(first);
-        } while(first.get_wkc() < 0x0001);
+        } while(first.get_all_wkc() < slave_index);
     }
 
     void wait_op();

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -13,9 +13,7 @@
 namespace free_rtos {
 
 EthEcat::EthEcat(Eth& eth)
-    : p_pkt_{&pkt_[e_pktFirst]}
+    : eth_{eth}
-    , p_pkt_next_{&pkt_[e_pktSecond]}
-    , eth_{eth}
     , tx_flow_{*eth.getTxFlowPtr()}
     , telegram_{eth}
     , eeprom_{telegram_} { }
@@ -134,8 +132,8 @@ void EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t addres
 
     for(uint16_t i = 0; i < number_of_slaves; i++) {
         address::Position position{static_cast<int16_t>(-i)};
-        address::Station node{static_cast<uint16_t>(address_base + i)};
+        address::Station station{static_cast<uint16_t>(address_base + i)};
-        address::SlaveAddresses slave_addresses{position, 0x0000, node, 0x00000000};
+        address::SlaveAddresses slave_addresses{position, 0x0000, station, 0x00000000};
 
         slaves_.push_back(EcatSlave{std::move(slave_addresses)});
 
@@ -146,23 +144,28 @@ void EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t addres
         datagrams[i - 1] + datagrams[i];
     }
 
-    telegram_.transfer(datagrams[0]);
+    do {
+        telegram_.transfer(datagrams[0]);
+    } while(datagrams[0].get_all_wkc() < number_of_slaves);
 }
 
 void EthEcat::get_addresses_of_slaves() {
-    std::vector<datagram::EcatDatagram<command::APWR, address::Station>> datagrams;
+    std::vector<datagram::EcatDatagram<command::APRD, address::Station>> datagrams;
+    uint16_t number_of_slaves = slaves_.size();
 
-    datagrams.reserve(slaves_.size());
+    datagrams.reserve(number_of_slaves);
 
     for(EcatSlave& slave : slaves_) {
         datagrams.push_back({ {{slave.get_slave_address<command::AP>(), ECT_REG_STADR}}, slave.get_slave_address<command::FP>() });
     }
 
-    for(uint16_t i = 1; i < slaves_.size(); i++) {
+    for(uint16_t i = 1; i < number_of_slaves; i++) {
         datagrams[i - 1] + datagrams[i];
     }
 
-    telegram_.transfer(datagrams[0]);
+    do {
+        telegram_.transfer(datagrams[0]);
+    } while(datagrams[0].get_all_wkc() < number_of_slaves);
 
     for(EcatSlave& slave : slaves_) {
         DebugP_log("Slave %d address = %d\r\n", -slave.get_slave_address<command::AP>(), slave.get_slave_address<command::FP>());
@@ -213,6 +216,7 @@ bool EthEcat::preop_to_safeop() {
 }
 
 bool EthEcat::safeop_to_op() {
+    uint16_t number_of_slaves = slaves_.size();
     bool success;
 
     address::Broadcast broadcast{0x0000};
@@ -226,9 +230,9 @@ bool EthEcat::safeop_to_op() {
         uint16_t data{EC_STATE_OPERATIONAL};
         datagram::EcatDatagram<command::BWR, uint16_t> datagram{ {{broadcast, ECT_REG_ALCTL}}, data };
 
-        telegram_.transfer(datagram);
+        do {
-
+            telegram_.transfer(datagram);
-        DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+        } while(datagram.get_wkc() < number_of_slaves);
     }
 
     process_sem_.post();
@@ -237,9 +241,9 @@ bool EthEcat::safeop_to_op() {
     {
         datagram::EcatDatagram<command::BRD, ALSTAT, uint16_t> datagram{ {{broadcast, ECT_REG_ALSTAT}}, stat, zero };
 
-        telegram_.transfer(datagram);
+        do {
-
+            telegram_.transfer(datagram);
-        DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+        } while(datagram.get_wkc() < number_of_slaves);
     }
 
     success = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);

components/free_rtos/ethernet_industry/eth_ecat.hpp

@@ -37,9 +37,7 @@ public:
 
     }
 
-    EcatSlave() {
+    EcatSlave() { }
-
-    }
 
     template<typename TypeT>
     void set_slave_address(typename TypeT::TSlaveAddress&& slave_address) {
@@ -58,9 +56,9 @@ public:
         uint8_t data{0x01};
         datagram::EcatDatagram<TCommand, uint8_t> datagram{ {{slave_address, ECT_REG_EEPCFG}}, data };
 
-        telegram.transfer(datagram);
+        do {
-
+            telegram.transfer(datagram);
-        DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+        } while(datagram.get_wkc() < 0x0001);
     }
 
     template<typename TypeT>
@@ -73,9 +71,9 @@ public:
             uint16_t data{EC_STATE_PRE_OP|EC_STATE_ACK};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALCTL}}, data };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         ClockP_usleep(5000000ul);
@@ -84,9 +82,9 @@ public:
             using TCommand = command::EcatCommand<TypeT, command::RD>;
             datagram::EcatDatagram<TCommand, ALSTAT> datagram{ {{slave_address, ECT_REG_ALSTAT}}, stat };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
@@ -97,9 +95,9 @@ public:
             uint16_t stat_code{0x0000};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTATCODE}}, stat_code};
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("stat_code = 0x%02x\r\n", stat_code);
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         return (stat.state == EC_STATE_PRE_OP) && (stat.fault == 0);
@@ -116,9 +114,9 @@ public:
             uint16_t data{EC_STATE_SAFE_OP};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALCTL}}, data };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         ClockP_usleep(1000000ul);
@@ -127,9 +125,9 @@ public:
             using TCommand = command::EcatCommand<TypeT, command::RD>;
             datagram::EcatDatagram<TCommand, ALSTAT, uint32_t> datagram{ {{slave_address, ECT_REG_ALSTAT}}, stat, zero };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
@@ -140,7 +138,9 @@ public:
             uint16_t stat_code{0x0000};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTATCODE}}, stat_code};
 
-            telegram.transfer(datagram);
+            do {
+                telegram.transfer(datagram);
+            } while(datagram.get_wkc() < 0x0001);
 
             DebugP_log("stat_code = 0x%02x\r\n", stat_code);
         }
@@ -159,9 +159,9 @@ public:
             uint16_t data{EC_STATE_OPERATIONAL};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALCTL}}, data };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         //ClockP_usleep(3000000ul);
@@ -170,9 +170,9 @@ public:
             using TCommand = command::EcatCommand<TypeT, command::RD>;
             datagram::EcatDatagram<TCommand, ALSTAT, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTAT}}, stat, zero };
 
-            telegram.transfer(datagram);
+            do {
-
+                telegram.transfer(datagram);
-            DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
+            } while(datagram.get_wkc() < 0x0001);
         }
 
         DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
@@ -183,7 +183,9 @@ public:
             uint16_t stat_code{0x0000};
             datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTATCODE}}, stat_code};
 
-            telegram.transfer(datagram);
+            do {
+                telegram.transfer(datagram);
+            } while(datagram.get_wkc() < 0x0001);
 
             DebugP_log("stat_code = 0x%02x\r\n", stat_code);
         }
@@ -262,11 +264,6 @@ private:
         e_pktTotal
     };
 
-    TEthPkt * p_pkt_;
-    TEthPkt * p_pkt_next_;
-
-    TEthPkt pkt_[e_pktTotal];
-
     //Mutex mut_;
 
     free_rtos::Semaphore rx_sem_;

components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp

@@ -173,10 +173,6 @@ public:
 
     template<typename TypeT>
     void init_sync_manager(datagram::EcatTelegram& telegram, sync_manager sm_write, sync_manager sm_read) {
-        using TCommand = command::EcatCommand<TypeT, command::WR>;
-
-        auto slave_address = slave_.get_slave_address<TypeT>();
-
         SyncManager sync_manager_write = sync_managers_[static_cast<size_t>(sm_write)];
         auto datagram_write = make_sync_manager_datagram<TypeT>(sync_manager_write, buffer_properties_write_);
 
@@ -187,7 +183,7 @@ public:
 
         do {
             telegram.transfer(datagram_write);
-        } while((datagram_write.get_wkc() < 0x0001) || (datagram_read.get_wkc() < 0x0001));
+        } while(datagram_write.get_all_wkc() < 0x0002);
 /*
         do {
             telegram.transfer(datagram_write);
@@ -259,7 +255,7 @@ public:
 
         do {
             telegram.transfer(datagram_write);
-        } while((datagram_write.get_wkc() < 0x0001) || (datagram_read.get_wkc() < 0x0001));
+        } while(datagram_write.get_all_wkc() < 0x0002);
 /*
         do {
             telegram.transfer(datagram_write);

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -56,10 +56,18 @@ public:
         return header_;
     }
 
-    TEcatWkc& get_wkc() {
+    TEcatWkc get_wkc() {
         return wkc_;
     }
 
+    TEcatWkc get_all_wkc() {
+        if(next_ != nullptr) {
+            return wkc_ + next_->get_all_wkc();
+        } else {
+            return wkc_;
+        }
+    }
+
     // установка размера пробела после поля данных до wkc
     void set_padding(uint16_t padding) {
         padding_ = padding;