From 39ef0906b7024d624e9f2c84df4a9987593e660f Mon Sep 17 00:00:00 2001
From: algin <algin@diakont.com>
Date: Wed, 20 Sep 2023 15:52:57 +0300
Subject: [PATCH] =?UTF-8?q?fix(SF-33):=20=D0=9E=D1=87=D0=B5=D1=80=D0=B5?=
 =?UTF-8?q?=D0=B4=D0=BD=D1=8B=D0=B5=20=D0=BF=D1=80=D0=B0=D0=B2=D0=BA=D0=B8?=
 =?UTF-8?q?=20=D1=81=D0=BE=20=D1=81=D1=82=D0=B5=D0=BD=D0=B4=D0=B0?=
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---
 components/free_rtos/ethernet/eth.cpp            |  6 +++++-
 .../ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp  |  4 ++++
 .../free_rtos/ethernet_industry/eth_ecat.cpp     | 16 ++++++++++++----
 .../free_rtos/ethernet_industry/eth_ecat.hpp     |  2 +-
 .../ethernet_industry/eth_ecat_telegram.hpp      |  2 +-
 5 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/components/free_rtos/ethernet/eth.cpp b/components/free_rtos/ethernet/eth.cpp
index f33bbee..a73b66b 100644
--- a/components/free_rtos/ethernet/eth.cpp
+++ b/components/free_rtos/ethernet/eth.cpp
@@ -168,6 +168,10 @@ void free_rtos::Eth::link_task()
     {
         for (int i = 0; i < macPortNum_; ++i)
         {
+            if(linkUp_[i] == true) {
+                continue;
+            }
+
             macPort = macPort_[i];
             linkUp = false;
 
@@ -248,7 +252,7 @@ void free_rtos::Eth::link_task()
         }
 
 
-        ClockP_usleep(100000); // 100ms /// ������ 10�� ���������� ��������� �����
+        ClockP_usleep(1000000); // 100ms /// ������ 10�� ���������� ��������� �����
     }
 }
 
diff --git a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
index e684dd4..ddda647 100644
--- a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
+++ b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
@@ -28,6 +28,7 @@ void EthEcatPdoFMMU::init(ProcessCallback callback) {
 bool EthEcatPdoFMMU::wait_op() {
     free_rtos::Semaphore& init_sem = ecat_buffer_.get_ecat().get_init_sem();
     free_rtos::Semaphore& process_sem = ecat_buffer_.get_ecat().get_process_sem();
+    free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
 
     process_sem.pend();
 
@@ -55,6 +56,8 @@ bool EthEcatPdoFMMU::wait_op() {
     process_sem.pend();
 
     for(uint32_t i = 0; i < 250; i++) {
+        ecat_timer.Wait();
+
         status = read_write(0, data_tuple_read, 0, data_tuple_write);
 
         if(status != true) {
@@ -63,6 +66,7 @@ bool EthEcatPdoFMMU::wait_op() {
     }
 
     init_sem.post();
+    process_sem.pend();
 
     return status;
 }
diff --git a/components/free_rtos/ethernet_industry/eth_ecat.cpp b/components/free_rtos/ethernet_industry/eth_ecat.cpp
index f500f9c..8d5eccc 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat.cpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat.cpp
@@ -295,8 +295,12 @@ bool EthEcat::safeop_to_op() {
     uint16_t zero{0x00000000};
     bool status;
 
+    ecat_timer_.Start();
+
     process_sem_.post();
     if(init_sem_.pend(process_timeout_ticks_) != SystemP_SUCCESS) {
+        DebugP_log((char*)"Process task timeout !\r\n");
+
         return false;
     }
 
@@ -313,6 +317,8 @@ bool EthEcat::safeop_to_op() {
 
     process_sem_.post();
     if(init_sem_.pend(process_timeout_ticks_) != SystemP_SUCCESS) {
+        DebugP_log((char*)"Process task timeout !\r\n");
+
         return false;
     }
 
@@ -326,16 +332,18 @@ bool EthEcat::safeop_to_op() {
         }
     }
 
-    //DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
-
     status = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);
 
-    if(status == true) {
-        ecat_timer_.Start();
+    if(status != true) {
+        DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
+
+        return status;
     }
 
     //DebugP_log((char*)"success = %d\r\n", success);
 
+    process_sem_.post();
+
     return status;
 }
 
diff --git a/components/free_rtos/ethernet_industry/eth_ecat.hpp b/components/free_rtos/ethernet_industry/eth_ecat.hpp
index 6594039..154bbde 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat.hpp
@@ -248,7 +248,7 @@ private:
         e_pktTotal
     };
 
-    static constexpr uint32_t process_timeout_ticks_ = 100;
+    static constexpr uint32_t process_timeout_ticks_ = 5000;
 
     free_rtos::Timer ecat_timer_;
 
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp b/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
index 71e133c..5d7644b 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
@@ -74,7 +74,7 @@ public:
     bool transfer(queue::Queue<datagram::IEcatDatagram>& next);
 
 private:
-    static constexpr uint32_t connection_timeout_ticks_ = 50;
+    static constexpr uint32_t connection_timeout_ticks_ = 200;
     static constexpr uint32_t max_transfer_attempts_ = 2;
 
     Eth& eth_;