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fix(UML-1462): Исправлена передача PDO в одной телеграмме

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This commit is contained in:
algin 2023-06-27 10:43:07 +03:00
parent c1f7cb6df4
commit 7f00744ba1
3 changed files with 28 additions and 21 deletions
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38
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
View File

@ -31,24 +31,26 @@ void EthEcatPdoFMMU::wait_op() {
uint32_t logical_full_length_write = ecat_buffer_.get_fmmu_global_properties().logical_full_length_write;
uint32_t logical_full_length_read = ecat_buffer_.get_fmmu_global_properties().logical_full_length_read;
std::vector<uint8_t> process_data(std::min(logical_full_length_write, logical_full_length_read));
std::vector<uint8_t> pdo_read(logical_full_length_read, 0x00);
std::vector<uint8_t> pdo_write(logical_full_length_write, 0x00);
custom_tuple<std::vector<uint8_t>&> data_tuple_read{pdo_read};
custom_tuple<std::vector<uint8_t>&> data_tuple_write{pdo_write};
read(0, pdo_write); // read to pdo_write !
read(0, process_data);
/*
for(uint8_t& byte : process_data) {
DebugP_log("0x%01x", byte);
}
DebugP_log("\r\n");
*/
write(0, process_data);
write(0, pdo_write);
init_sem.post();
process_sem.pend();
read(0, process_data);
for(uint32_t i = 0; i < 250; i++) {
read_write(0, 0, process_data);
read_write(0, data_tuple_read, 0, data_tuple_write);
//read(0, process_data);
/*
@ -108,23 +110,27 @@ void EthEcatPdoFMMU::process() {
uint32_t logical_full_length_write = ecat_buffer_.get_fmmu_global_properties().logical_full_length_write;
uint32_t logical_full_length_read = ecat_buffer_.get_fmmu_global_properties().logical_full_length_read;
std::vector<uint8_t> process_data(std::min(logical_full_length_write, logical_full_length_read));
std::vector<uint8_t> pdo_read(logical_full_length_read, 0x00);
std::vector<uint8_t> pdo_write(logical_full_length_write, 0x00);
custom_tuple<std::vector<uint8_t>&> data_tuple_read{pdo_read};
custom_tuple<std::vector<uint8_t>&> data_tuple_write{pdo_write};
free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
ecat_timer.Wait();
read(0, process_data);
read(0, pdo_write); // read to pdo_write !
write(0, pdo_write);
while(1) {
ecat_timer.Wait();
//DebugP_log("Tick !\r\n");
read_write(0, 0, process_data);
read_write(0, data_tuple_read, 0, data_tuple_write);
//read(0, process_data);
process_read_queue(process_data.data(), process_data.size());
process_write_queue(process_data.data(), process_data.size());
process_read_queue(pdo_read.data(), pdo_read.size());
process_write_queue(pdo_write.data(), pdo_write.size());
//write(0, process_data);
@ -133,7 +139,8 @@ void EthEcatPdoFMMU::process() {
}
void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
std::vector<uint8_t> process_data(110);
std::vector<uint8_t> pdo_read(110, 0x00);
std::vector<uint8_t> pdo_write(110, 0x00);
free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
Timer::Settings ecat_tmr_sett = {
@ -152,14 +159,11 @@ void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
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());
process_read_queue(pdo_read.data(), pdo_read.size());
process_write_queue(pdo_write.data(), pdo_write.size());
pdo_counter_++;
}
DebugP_log("process_fake terminated\r\n");
vTaskDelete(NULL);
}
}

6
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
View File

@ -156,7 +156,7 @@ private:
}
template<typename... DataTypes>
void read_write(address::Offset offset_read, address::Offset offset_write, DataTypes&... data) {
void read_write(address::Offset offset_read, custom_tuple<DataTypes&...> data_read, address::Offset offset_write, custom_tuple<DataTypes&...> data_write) {
using TDatagramRead = datagram::EcatDatagram<command::LRD, DataTypes...>;
using TDatagramWrite = datagram::EcatDatagram<command::LWR, DataTypes...>;
@ -164,10 +164,10 @@ private:
ecat_buffer::FMMUGlobalProperties& fmmu_global_properties = ecat_buffer_.get_fmmu_global_properties();
address::Logical logical_read = fmmu_global_properties.logical_start_address + fmmu_global_properties.logical_full_length_write + offset_read;
TDatagramRead datagram_read{ {{logical_read}}, data... };
TDatagramRead datagram_read{ {{logical_read}}, data_read };
address::Logical logical_write = fmmu_global_properties.logical_start_address + offset_write;
TDatagramWrite datagram_write{ {{logical_write}}, data... };
TDatagramWrite datagram_write{ {{logical_write}}, data_write };
auto queue = datagram_read + datagram_write;

5
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
View File

@ -77,7 +77,10 @@ public:
, command_{command}
, data_tuple_{data...} { }
EcatDatagram() { }
EcatDatagram(CommandT&& command, custom_tuple<DataTypes&...> data_tuple)
: IEcatDatagram{}
, command_{command}
, data_tuple_{data_tuple} { }
~EcatDatagram() { }