feat(UML-1462): Добавлен фиктивный process для отладки

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -64,33 +64,41 @@ void EthEcatPdoFMMU::wait_op() {
 }
 
 void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
+    //DebugP_log("write lock\r\n");
     mutex_write_.lock();
 
     auto queue = queue_write_; // Копия очереди
     queue_write_.clear();
 
+    //DebugP_log("write unlock\r\n");
     mutex_write_.unlock();
-
+    //DebugP_log("queue write dequeue first\r\n");
     auto next = queue.dequeue();
 
     while(next != nullptr) {
+        //DebugP_log("set value\r\n");
         next->set_value(process_data, len);
+        //DebugP_log("queue write dequeue\r\n");
         next = queue.dequeue();
     }
 }
 
 void EthEcatPdoFMMU::process_read_queue(uint8_t* process_data, uint32_t len) {
+    //DebugP_log("read lock\r\n");
     mutex_read_.lock();
 
     auto queue = queue_read_; // Копия очереди
     queue_read_.clear();
 
+    //DebugP_log("read unlock\r\n");
     mutex_read_.unlock();
-
+    //DebugP_log("queue read dequeue first\r\n");
     auto next = queue.dequeue();
 
     while(next != nullptr) {
+        //DebugP_log("set value\r\n");
         next->set_value(process_data, len);
+        //DebugP_log("queue read dequeue\r\n");
         next = queue.dequeue();
     }
 }
@@ -114,12 +122,7 @@ void EthEcatPdoFMMU::process() {
         read_write(0, 0, process_data);
 
         //read(0, process_data);
-/*
-        for(uint8_t& byte : process_data) {
-            DebugP_log("0x%01x", byte);
-        }
-        DebugP_log("\r\n");
-*/
+
         process_read_queue(process_data.data(), process_data.size());
         process_write_queue(process_data.data(), process_data.size());
 
@@ -129,6 +132,36 @@ void EthEcatPdoFMMU::process() {
     }
 }
 
+void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
+    std::vector<uint8_t> process_data(110);
+    free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
+
+    Timer::Settings ecat_tmr_sett = {
+                 .input_clk_Hz = 25000000, // 25MHz
+                 .base_address = 0x2400000u, // memory mapping,
+                 .clock_src_mux_addr = 0x430081B0u, // sysconfig
+                 .int_num = 152u,                   // sysconfig
+                 .int_priority = 4,                 // sysconfig
+                 .period_us = period_microsec /// microsec
+              };
+
+    ecat_timer.Init(ecat_tmr_sett);
+    ecat_timer.Start();
+
+    while(1) {
+        ecat_timer.Wait();
+        //DebugP_log("Tick !\r\n");
+
+        process_read_queue(process_data.data(), process_data.size());
+        process_write_queue(process_data.data(), process_data.size());
+
+        pdo_counter_++;
+    }
+
+    DebugP_log("process_fake terminated\r\n");
+    vTaskDelete(NULL);
+}
+
 }
 
 }

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -54,6 +54,7 @@ public:
 
     void init();
     void process();
+    void process_fake(uint32_t period_microsec);
 
     uint32_t get_pdo_counter() {
         return pdo_counter_;

components/free_rtos/ethernet_industry/eth_ecat_api.cpp

@@ -72,6 +72,10 @@ void EthEcatApi::process() {
     ecat_pdo_fmmu_.process();
 }
 
+void EthEcatApi::process_fake(uint32_t period_microsec = 250) {
+    ecat_pdo_fmmu_.process_fake(period_microsec);
+}
+
 std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {
     return ecat_sdo_mailbox_.get_pdo_map();
 }

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -9,6 +9,7 @@
 #define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_
 
 #define COMX 1
+#define PROCESS_FAKE 1
 
 #include "ethernet/eth.hpp"
 #include "ethernet_industry/eth_ecat.hpp"
@@ -40,6 +41,7 @@ public:
 
     bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec);
     void process(); // Внутри бесконечный цикл. Запускать в отдельном потоке
+    void process_fake(uint32_t period_microsec);
     std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
 
     uint32_t get_pdo_counter() {