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fix(UML-1462): Исправил баги при получении и распаковке данных

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This commit is contained in:
algin 2023-06-09 13:57:20 +03:00
parent 7f65963fc3
commit 64e4f695f8
11 changed files with 73 additions and 33 deletions
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4
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -65,7 +65,7 @@ void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
mutex_write_.lock();
next = queue_write_.get_next();
queue_write_.detach();
last_write_ = &queue_write_;
mutex_write_.unlock();
@ -81,7 +81,7 @@ void EthEcatPdoFMMU::process_read_queue(uint8_t* process_data, uint32_t len) {
mutex_read_.lock();
next = queue_read_.get_next();
queue_read_.detach();
last_read_ = &queue_read_;
mutex_read_.unlock();

16
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
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@ -91,7 +91,8 @@ public:
mutex_write_.lock();
queue_write_ + promise;
custom_promise::IPromise& last_write = (*last_write_) >> promise;
last_write_ = &last_write;
mutex_write_.unlock();
@ -107,7 +108,8 @@ public:
mutex_read_.lock();
queue_read_ + promise;
custom_promise::IPromise& last_read = (*last_read_) >> promise;
last_read_ = &last_read;
mutex_read_.unlock();
@ -120,16 +122,17 @@ public:
void pdo_write_async(custom_promise::IPromise& promise) {
mutex_write_.lock();
queue_write_ + promise;
custom_promise::IPromise& last_write = (*last_write_) >> promise;
last_write_ = &last_write;
mutex_write_.unlock();
}
void pdo_read_async(custom_promise::IPromise& promise) {
mutex_read_.lock();
queue_read_ + promise;
custom_promise::IPromise& last_read = (*last_read_) >> promise;
last_read_ = &last_read;
mutex_read_.unlock();
}
@ -145,6 +148,9 @@ private:
custom_promise::WritePromise<> queue_write_{0};
custom_promise::ReadPromise<> queue_read_{0};
custom_promise::IPromise *last_write_{&queue_write_};
custom_promise::IPromise *last_read_{&queue_read_};
uint32_t pdo_counter_{0};
void wait_op();

6
components/free_rtos/ethernet_industry/eth_ecat.cpp
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@ -95,7 +95,11 @@ void EthEcat::set_slaves_to_default() {
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;
telegram_.transfer(a);
do {
telegram_.transfer(a);
} while(a.get_all_wkc() < 0x0001);
//telegram_.transfer(b);
//telegram_.transfer(c);
//telegram_.transfer(d);

6
components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
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@ -136,8 +136,10 @@ public:
return next;
}
void detach() {
queue_entity_.detach();
IPromise& operator>>(IPromise &next) {
queue_entity_ >> next.get_queue_entity();
return next;
}
virtual void set_value(uint8_t* process_data, uint32_t len) = 0;

10
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
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@ -56,10 +56,12 @@ public:
return next;
}
void detach() {
more_ = ec_moredatagrams::EC_MOREDATAGRAMS_LAST;
IEcatDatagram& operator>>(IEcatDatagram &next) {
more_ = ec_moredatagrams::EC_MOREDATAGRAMS_MORE;
queue_entity_.detach();
queue_entity_ >> next.get_queue_entity();
return next;
}
virtual uint8_t* pack(uint8_t *raw) = 0;
@ -166,7 +168,7 @@ private:
for_each(data_tuple_, functor);
return functor.raw;
return unpack_wkc(functor.raw);
}
uint8_t* unpack_header(uint8_t *raw) {

4
components/free_rtos/ethernet_industry/eth_ecat_packer.hpp
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@ -26,6 +26,8 @@ struct PackFunctorBase {
(void)data_p;
raw += sizeof(DataT);
//DebugP_log((char*)"Data packed: %d\r\n", sizeof(DataT));
}
void operator()() { }
@ -62,6 +64,8 @@ struct UnpackFunctorBase {
data = *p_data;
raw += sizeof(DataT);
//DebugP_log((char*)"Data unpacked: %d\r\n", sizeof(DataT));
}
void operator()() { }

32
components/free_rtos/ethernet_industry/eth_ecat_queue.hpp
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@ -32,17 +32,15 @@ public:
return size_;
}
void detach() {
next_ = nullptr;
first_ = this;
last_ = this;
QueueEntity& operator+(QueueEntity& next) {
append(next);
//set_next(next);
size_ = 1;
return next;
}
QueueEntity& operator+(QueueEntity& next) {
QueueEntity& operator>>(QueueEntity& next) {
attach(next);
//set_next(next);
return next;
}
@ -68,16 +66,26 @@ private:
first_ = first;
}
QueueEntity* append(QueueEntity& next) {
if(this != first_) {
first_ = first_->append(next);
}else{
last_->set_next(next);
last_ = next.get_last();
next.set_first(first_);
size_++;
}
return first_;
}
QueueEntity* attach(QueueEntity& next) {
if(this != first_) {
first_ = first_->attach(next);
}else{
next.set_first(first_);
last_->set_next(next);
//last_ = next.get_last();
last_ = &next;
size_++;
}
return first_;

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

@ -12,7 +12,18 @@ namespace free_rtos {
namespace telegram {
int32_t EcatTelegram::Process(uint8_t *p_data, uint32_t len) {
unpack(p_data);
// TODO: Не забывать вычитать из указателя sizeof(TEthFrameHeader) !
unpack(p_data - sizeof(TEthFrameHeader));
/*
DebugP_log((char*)"Process started\r\n");
for(uint8_t *data = p_data; data < p_data + len; data++) {
DebugP_log((char*)"0x%01x ", *data);
}
DebugP_log((char*)"\r\n");
*/
rx_sem_.post();
@ -22,6 +33,8 @@ int32_t EcatTelegram::Process(uint8_t *p_data, uint32_t len) {
uint32_t EcatTelegram::Sender(uint8_t *p_data, size_t scatter_segment) {
uint8_t *raw = pack(p_data);
//DebugP_log((char*)"Sender started\r\n");
return raw - p_data;
}
@ -44,7 +57,6 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
}
p_hdr->bits.length = p_datagram_last - p_datagram_first;
//buffer_out_.length = sizeof(TEthFrameHeader) + sizeof(TEcatFrameHeader) + p_hdr->bits.length;
return p_datagram_last;
}
@ -70,12 +82,14 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
void EcatTelegram::transfer(datagram::IEcatDatagram& first) {
datagram_queue_ = &first;
//pack();
//bool stat = tx_flow_.send(port_id_, buffer_out_.data, buffer_out_.length);
//uint8_t *raw = pack(buffer_out_.data);
//bool stat = tx_flow_.send(port_id_, buffer_out_.data, raw - buffer_out_.data);
bool stat = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
if(stat == false) {
DebugP_log((char*)"telegram transfer error !\r\n");
return;
}

2
components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
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@ -43,8 +43,6 @@ private:
datagram::IEcatDatagram *datagram_queue_{nullptr};
//TEthPkt buffer_out_;
uint8_t* pack(uint8_t *raw);
uint8_t* unpack(uint8_t *raw);
};

2
components/free_rtos/ethernet_ip/eth_stack.cpp
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@ -66,6 +66,8 @@ bool free_rtos::EthStack::send_pkt(TEthMacPorts port_id, uint16_t prot_id, uint3
Handler* handler = rx_pkt_handler_.GetHandler(prot_id);
if(handler == nullptr) {
DebugP_log((char*)"Error: can't find requested protocol !");
return false;
}

2
utils/ddr_init/ccs_files/load_ddr_init.js
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@ -70,7 +70,7 @@ Usage:
runAfterLoad = true;
// Указать путь к текущей папке
var script_path = "/home/sofdev/workspace_v11/sitara_depot/utils/ddr_init/ccs_files";
var script_path = "/home/algin/workspace_v11/sitara_depot/utils/ddr_init/ccs_files";
print("script_path = " + script_path);