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fix(UML-1582): Багфиксы

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This commit is contained in:
algin 2023-06-16 10:18:13 +03:00
parent 54db3acc1e
commit 14d7e6b376
7 changed files with 88 additions and 26 deletions
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1
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -101,6 +101,7 @@ void EthEcatPdoFMMU::process() {
while(1) {
ecat_timer.Wait();
//DebugP_log("Tick !\r\n");
read(0, process_data);
/*

18
components/free_rtos/ethernet_industry/eth_ecat.cpp
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@ -94,7 +94,7 @@ void EthEcat::set_slaves_to_default() {
uint8_t m_data_out{0x00};
datagram::EcatDatagram<command::BWR, uint8_t> m{ {{broadcast, ECT_REG_EEPCFG}}, m_data_out };
a + b + c + d + e + f + g + h + i + j + k + l + m;
auto queue = a + b + c + d + e + f + g + h + i + j + k + l + m;
do {
telegram_.transfer(a);
@ -156,15 +156,20 @@ void EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t addres
slaves_.emplace_back(EcatSlave{std::move(slave_addresses)});
datagrams.emplace_back(TDatagram{ {{position, ECT_REG_STADR}}, slaves_.back().get_slave_address<command::FP>() });
datagrams.back().update();
}
for(uint16_t i = 1; i < number_of_slaves; i++) {
datagrams[i - 1] + datagrams[i];
queue::Queue<datagram::IEcatDatagram> queue;
for(uint16_t i = 0; i < number_of_slaves; i++) {
queue + datagrams[i];
}
do {
telegram_.transfer(datagrams[0]);
} while(datagrams[0].get_all_wkc() < number_of_slaves);
DebugP_log((char*)"Slave addresses set\r\n");
}
void EthEcat::get_addresses_of_slaves() {
@ -177,12 +182,13 @@ void EthEcat::get_addresses_of_slaves() {
for(EcatSlave& slave : slaves_) {
datagrams.emplace_back(TDatagram{ {{slave.get_slave_address<command::AP>(), ECT_REG_STADR}}, slave.get_slave_address<command::FP>() });
datagrams.back().update();
}
queue::Queue<TDatagram> queue;
queue::Queue<datagram::IEcatDatagram> queue;
for(uint16_t i = 1; i < number_of_slaves; i++) {
datagrams[i - 1] + datagrams[i];
for(uint16_t i = 0; i < number_of_slaves; i++) {
queue + datagrams[i];
}
do {

2
components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp
View File

@ -18,7 +18,7 @@ namespace free_rtos {
enum {
ECT_PDOOUTPUTOFFSET = 0x1100, // 0x1100 write, output, rx buffer offset
ECT_PDOINPUTOFFSET = 0x1180 // 0x1400, 0x1140 read, input, tx buffer offset
ECT_PDOINPUTOFFSET = 0x1400 // 0x1400, 0x1140 read, input, tx buffer offset
};
enum {

43
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
View File

@ -27,19 +27,22 @@ class IEcatDatagram {
public:
friend class queue::Queue<IEcatDatagram>;
IEcatDatagram(ec_moredatagrams more, TEcatWkc wkc)
: more_{more}
, wkc_{wkc}
IEcatDatagram()
: queue_entity_{this}
{ }
IEcatDatagram() { }
virtual ~IEcatDatagram() { };
void update() {
queue_entity_.set_data(this);
}
IEcatDatagram* get_next() {
queue::QueueEntity<IEcatDatagram>* next = queue_entity_.get_next();
if(next == nullptr) {
//DebugP_log((char*)"No next datagram\r\n");
return nullptr;
}
@ -47,7 +50,7 @@ public:
}
queue::Queue<IEcatDatagram> operator+(IEcatDatagram &next) {
more_ = ec_moredatagrams::EC_MOREDATAGRAMS_MORE;
//DebugP_log((char*)"Coupling first pair\r\n");
return queue::Queue<IEcatDatagram>{queue_entity_, next.queue_entity_};
}
@ -73,13 +76,11 @@ public:
return wkc_ + next->get_data()->get_all_wkc();
}
queue::QueueEntity<IEcatDatagram> queue_entity_{this};
protected:
ec_moredatagrams more_;
TEcatDgHeader header_;
TEcatWkc wkc_;
TEcatWkc wkc_{0x0000};
queue::QueueEntity<IEcatDatagram> queue_entity_;
private:
};
@ -90,7 +91,7 @@ class EcatDatagram : public IEcatDatagram {
public:
EcatDatagram(CommandT&& command, DataTypes&... data)
: IEcatDatagram{ec_moredatagrams::EC_MOREDATAGRAMS_LAST, 0x0000}
: IEcatDatagram{}
, command_{command}
, data_tuple_{data...} { }
@ -127,9 +128,25 @@ private:
}
uint8_t* pack_header(uint8_t *raw) {
uint8_t *data_raw = raw + sizeof(TEcatDgHeader);
uint8_t *data_raw = raw + sizeof(TEcatDgHeader);/*
address::Station station_0{static_cast<uint16_t>(address_base + 0)};
address::Station station_1{static_cast<uint16_t>(address_base + 1)};
TDatagram datagram_0{ {{address::Position{0}, ECT_REG_STADR}}, station_0};
TDatagram datagram_1{ {{address::Position{-1}, ECT_REG_STADR}}, station_1 };
queue = datagram_0 + datagram_1;
*/
uint8_t *wkc_raw = pack_data(data_raw); // сначала упаковываем все данные для вычисления их размера
uint16_t len = wkc_raw - data_raw; // вычисляем размер данных
ec_moredatagrams more;
if(queue_entity_.get_next() != nullptr) {
more = ec_moredatagrams::EC_MOREDATAGRAMS_MORE;
}else{
more = ec_moredatagrams::EC_MOREDATAGRAMS_LAST;
}
TEcatDgHeader *header_ = new(raw) TEcatDgHeader{
command_.get_cmd(),
0x00,
@ -137,7 +154,7 @@ private:
{.bits = {
.len = len,
.c = static_cast<uint16_t>(ec_circframe::EC_CIRCFRAME_NOT),
.m = static_cast<uint16_t>(more_)}},
.m = static_cast<uint16_t>(more)}},
0x0000};
(void)header_;

27
components/free_rtos/ethernet_industry/eth_ecat_queue.hpp
View File

@ -25,6 +25,10 @@ public:
QueueEntity(DataType *data)
: data_{data} { }
void set_data(DataType* data) {
data_ = data;
}
DataType* get_data() {
return data_;
}
@ -38,19 +42,24 @@ private:
QueueEntity *next_{nullptr};
};
template<typename DataType>
class Queue {
public:
Queue() { }
explicit Queue(QueueEntity<DataType>& first)
: first_{&first}
, last_{&first} { }
explicit Queue(QueueEntity<DataType>& first) {
//DebugP_log((char*)"Constructor coupling first data\r\n");
append(&first);
}
Queue(QueueEntity<DataType>& first, QueueEntity<DataType>& next) {
//DebugP_log((char*)"Constructor coupling first and next data\r\n");
Queue(QueueEntity<DataType>& first, QueueEntity<DataType>& next)
: first_{&first}
, last_{&next} {
first.next_ = &next;
append(&first, &next, 2);
}
QueueEntity<DataType>* get_first() {
@ -66,10 +75,14 @@ public:
}
Queue& operator+(DataType& data) {
//DebugP_log((char*)"Coupling next data\r\n");
return append(&data.queue_entity_);
}
Queue& operator+(Queue& other) {
//DebugP_log((char*)"Coupling with other queue\r\n");
return append(other.get_first(), other.get_last(), other.get_size());
}
@ -123,6 +136,8 @@ private:
size_ += other_size;
//DebugP_log((char*)"size_ = %d\r\n", size_);
return *this;
}
};

22
components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
View File

@ -52,10 +52,20 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
queue::Queue<datagram::IEcatDatagram> queue = datagram_queue_;
auto next = queue.dequeue();
/*
if(datagram_queue_ == nullptr) {
DebugP_log((char*)"Warning ! Empty queue !\r\n");
return p_datagram_last;
}
auto next = datagram_queue_;
*/
while(next != nullptr) {
//DebugP_log((char*)"Packet packed\r\n");
p_datagram_last = next->pack(p_datagram_last);
next = queue.dequeue();
//next = next->get_next();
}
p_hdr->bits.length = p_datagram_last - p_datagram_first;
@ -83,10 +93,20 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
queue::Queue<datagram::IEcatDatagram> queue = datagram_queue_;
auto next = queue.dequeue();
/*
if(datagram_queue_ == nullptr) {
DebugP_log((char*)"Warning ! Empty queue !\r\n");
return p_datagram_last;
}
auto next = datagram_queue_;
*/
while(next != nullptr) {
//DebugP_log((char*)"Packet unpacked\r\n");
p_datagram_last = next->unpack(p_datagram_last);
next = queue.dequeue();
//next = next->get_next();
}
return p_datagram_last;
@ -94,6 +114,7 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
datagram_queue_ + next;
//datagram_queue_ = &next;
bool stat = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
@ -106,6 +127,7 @@ void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
rx_sem_.pend();
datagram_queue_.clear();
//datagram_queue_ = nullptr;
}
/*
void EcatTelegram::transfer(queue::Queue<datagram::IEcatDatagram>& next) {

1
components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
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@ -41,6 +41,7 @@ private:
free_rtos::Semaphore rx_sem_;
queue::Queue<datagram::IEcatDatagram> datagram_queue_;
//datagram::IEcatDatagram *datagram_queue_{nullptr};
uint8_t* pack(uint8_t *raw);
uint8_t* unpack(uint8_t *raw);