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

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -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();
 

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -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();

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -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;
+
+    do {
         telegram_.transfer(a);
+    } while(a.get_all_wkc() < 0x0001);
+
     //telegram_.transfer(b);
     //telegram_.transfer(c);
     //telegram_.transfer(d);

components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp

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

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -56,10 +56,12 @@ public:
         return next;
     }
 
-    void detach() {
+    IEcatDatagram& operator>>(IEcatDatagram &next) {
-        more_ = ec_moredatagrams::EC_MOREDATAGRAMS_LAST;
+        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) {

components/free_rtos/ethernet_industry/eth_ecat_packer.hpp

@@ -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()() { }

components/free_rtos/ethernet_industry/eth_ecat_queue.hpp

@@ -32,17 +32,15 @@ public:
         return size_;
     }
 
-    void detach() {
+    QueueEntity& operator+(QueueEntity& next) {
-        next_ = nullptr;
+        append(next);
-        first_ = this;
+        //set_next(next);
-        last_ = this;
 
-        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_;

components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp

@@ -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();
+    //uint8_t *raw = pack(buffer_out_.data);
-    //bool stat = tx_flow_.send(port_id_, buffer_out_.data, buffer_out_.length);
+    //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;
     }
 

components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp

@@ -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);
 };

components/free_rtos/ethernet_ip/eth_stack.cpp

@@ -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;
     }
 

utils/ddr_init/ccs_files/load_ddr_init.js

@@ -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);