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fix(SF-33): Исправлены ошибки передачи

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This commit is contained in:
algin 2023-09-08 17:37:15 +03:00
parent a1af37dfb5
commit 09fbc270bd
3 changed files with 26 additions and 4 deletions
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2
components/free_rtos/ethernet_industry/eth_ecat.cpp
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@ -36,7 +36,7 @@ void EthEcat::Init(TEthMacPorts port_id, uint32_t period_microsec = 250) {
}
bool EthEcat::set_slaves_to_default() {
const datagram::TEcatWkc expected_wkc = 0;
const datagram::TEcatWkc expected_wkc = 1;
address::Broadcast broadcast{0x0000};
bool status;

23
components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
View File

@ -14,6 +14,7 @@ namespace telegram {
const char EcatTelegramStatus::SuccessString[] = "Success !";
const char EcatTelegramStatus::BusyString[] = "Busy. Transfer in progress...";
const char EcatTelegramStatus::WarningTransferErrorString[] = "Warning ! Transfer error. Check error counters";
const char EcatTelegramStatus::WarningTimeoutErrorString[] = "Warning ! Connection timeout error. Check error counters";
const char EcatTelegramStatus::WarningWkcErrorString[] = "Warning ! WKC error. Check error counters";
const char EcatTelegramStatus::FatalErrorString[] = "Fatal error ! Transfer attempts exceeded";
@ -21,6 +22,7 @@ const EcatDescription EcatTelegramStatus::descriptions[] = {
{EcatTelegramStatus::SuccessString, sizeof(EcatTelegramStatus::SuccessString)},
{EcatTelegramStatus::BusyString, sizeof(EcatTelegramStatus::BusyString)},
{EcatTelegramStatus::WarningTransferErrorString, sizeof(EcatTelegramStatus::WarningTransferErrorString)},
{EcatTelegramStatus::WarningTimeoutErrorString, sizeof(EcatTelegramStatus::WarningTimeoutErrorString)},
{EcatTelegramStatus::WarningWkcErrorString, sizeof(EcatTelegramStatus::WarningWkcErrorString)},
{EcatTelegramStatus::FatalErrorString, sizeof(EcatTelegramStatus::FatalErrorString)}
};
@ -65,6 +67,10 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
(void)p_eth_hdr;
(void)p_hdr;
if(first == nullptr) {
return p_datagram_last;
}
p_datagram_last = first->pack_all(p_datagram_first);
p_hdr->bits.length = p_datagram_last - p_datagram_first;
@ -79,6 +85,10 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
uint8_t *p_datagram_last = p_datagram_first;
auto first = datagram_queue_.get_first();
if(first == nullptr) {
return p_datagram_last;
}
p_datagram_last = first->unpack_all(p_datagram_first);
return p_datagram_last;
@ -89,6 +99,7 @@ bool EcatTelegram::transfer() {
uint32_t transfer_attempts = 0;
bool stat;
bool as_expected;
int status;
if(first == nullptr) {
status_.result = EcatTelegramResult::SUCCESS;
@ -96,7 +107,6 @@ bool EcatTelegram::transfer() {
return true;
}
datagram_queue_.clear();
status_.result = EcatTelegramResult::BUSY;
first->reset_all_wkc();
@ -125,7 +135,14 @@ bool EcatTelegram::transfer() {
continue;
}
rx_sem_.pend();
status = rx_sem_.pend(connection_timeout_ticks_);
if(status != SystemP_SUCCESS) {
status_.transfer_errors++;
status_.result = EcatTelegramResult::WARNING_TIMEOUT_ERROR;
continue;
}
as_expected = first->all_as_expected();
@ -143,6 +160,8 @@ bool EcatTelegram::transfer() {
break;
}
datagram_queue_.clear();
return (status_.result != EcatTelegramResult::FATAL_ERROR);
}

5
components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
View File

@ -20,6 +20,7 @@ enum class EcatTelegramResult : uint16_t {
SUCCESS = 0,
BUSY,
WARNING_TRANSFER_ERROR,
WARNING_TIMEOUT_ERROR,
WARNING_WKC_ERROR,
FATAL_ERROR
};
@ -33,7 +34,7 @@ struct EcatTelegramStatus {
uint16_t transfer_errors;
uint16_t expected_wkc_errors;
uint16_t attempts_exceeded_errors;
EcatTelegramResult result = EcatTelegramResult::SUCCESS;
EcatTelegramResult result = EcatTelegramResult::BUSY;
const EcatDescription& get_description() {
return descriptions[static_cast<size_t>(result)];
@ -43,6 +44,7 @@ private:
static const char SuccessString[];
static const char BusyString[];
static const char WarningTransferErrorString[];
static const char WarningTimeoutErrorString[];
static const char WarningWkcErrorString[];
static const char FatalErrorString[];
@ -72,6 +74,7 @@ public:
bool transfer(queue::Queue<datagram::IEcatDatagram>& next);
private:
static constexpr uint32_t connection_timeout_ticks_ = 2;
static constexpr uint32_t max_transfer_attempts_ = 3;
Eth& eth_;