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dev(UML-1462): Доработал проверку working counter

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This commit is contained in:
algin 2023-05-26 16:21:27 +03:00
parent 1cb82d9744
commit 059aaa7f3d
5 changed files with 64 additions and 59 deletions
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4
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
View File

@ -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();

36
components/free_rtos/ethernet_industry/eth_ecat.cpp
View File

@ -13,9 +13,7 @@
namespace free_rtos {
EthEcat::EthEcat(Eth& eth)
: p_pkt_{&pkt_[e_pktFirst]}
, p_pkt_next_{&pkt_[e_pktSecond]}
, eth_{eth}
: 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::SlaveAddresses slave_addresses{position, 0x0000, node, 0x00000000};
address::Station station{static_cast<uint16_t>(address_base + i)};
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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram_.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram_.transfer(datagram);
} while(datagram.get_wkc() < number_of_slaves);
}
success = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);

65
components/free_rtos/ethernet_industry/eth_ecat.hpp
View File

@ -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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("stat_code = 0x%02x\r\n", stat_code);
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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);
DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
do {
telegram.transfer(datagram);
} 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_;

8
components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp
View File

@ -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);

10
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
View File

@ -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;