From 31016aa2af482367bc12b4f0587cce6c95d9a26e Mon Sep 17 00:00:00 2001
From: algin <algin@diakont.com>
Date: Mon, 18 Sep 2023 10:25:47 +0300
Subject: [PATCH] =?UTF-8?q?fix(SF-33):=20=D0=98=D1=81=D0=BF=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B2=D0=BB=D0=B5=D0=BD=D0=B8=D1=8F=20=D0=BD=D0=B0=20=D1=81?=
 =?UTF-8?q?=D1=82=D0=B5=D0=BD=D0=B4=D0=B5?=
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---
 .../ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp      |  4 ++--
 .../ethernet_industry/eth_ecat_telegram.cpp          |  8 +++++++-
 .../ethernet_industry/eth_ecat_telegram.hpp          | 12 ++++++------
 3 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
index 416e919..bfc00e8 100644
--- a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
+++ b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
@@ -153,7 +153,7 @@ private:
         telegram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
         ecat_buffer::FMMUGlobalProperties& fmmu_global_properties = ecat_buffer_.get_fmmu_global_properties();
         address::Logical logical = fmmu_global_properties.logical_start_address + offset;
-        const datagram::TEcatWkc expected_wkc = 1;
+        const datagram::TEcatWkc expected_wkc = pdo_fmmu_slaves_.size();
         TDatagram datagram{ {{logical}}, expected_wkc, data... };
 
         return telegram.transfer(datagram);
@@ -166,7 +166,7 @@ private:
         telegram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
         ecat_buffer::FMMUGlobalProperties& fmmu_global_properties = ecat_buffer_.get_fmmu_global_properties();
         address::Logical logical = fmmu_global_properties.logical_start_address + fmmu_global_properties.logical_full_length_write + offset;
-        const datagram::TEcatWkc expected_wkc = 1;
+        const datagram::TEcatWkc expected_wkc = pdo_fmmu_slaves_.size();
         TDatagram datagram{ {{logical}}, expected_wkc, data... };
 
         return telegram.transfer(datagram);
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp b/components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
index 6725673..f18c9a0 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
@@ -119,7 +119,7 @@ bool EcatTelegram::transfer() {
             status_.attempts_exceeded_errors++;
             status_.result = EcatTelegramResult::FATAL_ERROR;
 
-            DebugP_log((char*)"%s\r\n", status_.get_description().string);
+            DebugP_log((char*)"%s: %d\r\n", status_.get_description().string, status_.attempts_exceeded_errors);
 
             break;
         }
@@ -131,6 +131,8 @@ bool EcatTelegram::transfer() {
             status_.transfer_errors++;
             status_.result = EcatTelegramResult::WARNING_TRANSFER_ERROR;
 
+            //DebugP_log((char*)"%s: %d\r\n", status_.get_description().string, status_.transfer_errors);
+
             continue;
         }
 
@@ -138,6 +140,8 @@ bool EcatTelegram::transfer() {
             status_.transfer_errors++;
             status_.result = EcatTelegramResult::WARNING_TIMEOUT_ERROR;
 
+            //DebugP_log((char*)"%s: %d\r\n", status_.get_description().string, status_.transfer_errors);
+
             continue;
         }
 
@@ -147,6 +151,8 @@ bool EcatTelegram::transfer() {
             status_.expected_wkc_errors++;
             status_.result = EcatTelegramResult::WARNING_WKC_ERROR;
 
+            //DebugP_log((char*)"%s: %d\r\n", status_.get_description().string, status_.expected_wkc_errors);
+
             continue;
         }
 
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp b/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
index 534ed8e..7f40951 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
@@ -31,9 +31,9 @@ struct EcatDescription {
 };
 
 struct EcatTelegramStatus {
-    uint16_t transfer_errors;
-    uint16_t expected_wkc_errors;
-    uint16_t attempts_exceeded_errors;
+    uint16_t transfer_errors{0x0000};
+    uint16_t expected_wkc_errors{0x0000};
+    uint16_t attempts_exceeded_errors{0x0000};
     EcatTelegramResult result = EcatTelegramResult::BUSY;
 
     const EcatDescription& get_description() {
@@ -74,8 +74,8 @@ 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;
+    static constexpr uint32_t connection_timeout_ticks_ = 100;
+    static constexpr uint32_t max_transfer_attempts_ = 2;
 
     Eth& eth_;
     EthTxFlowIface& tx_flow_;
@@ -87,7 +87,7 @@ private:
     queue::Queue<datagram::IEcatDatagram> datagram_queue_;
     //datagram::IEcatDatagram *datagram_queue_{nullptr};
 
-    EcatTelegramStatus status_;
+    EcatTelegramStatus status_{0x0000, 0x0000, 0x0000, EcatTelegramResult::BUSY};
 
     bool transfer();