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feat(UML-1462): Добавлена настройка периода обмена PDO

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This commit is contained in:
algin 2023-06-19 11:33:11 +03:00
parent 0ffd4fa0fb
commit 9a96d327f6
5 changed files with 12 additions and 8 deletions
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8
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -45,15 +45,19 @@ void EthEcatPdoFMMU::wait_op() {
init_sem.post(); init_sem.post();
process_sem.pend(); process_sem.pend();
read(0, process_data);
for(uint32_t i = 0; i < 250; i++) { for(uint32_t i = 0; i < 250; i++) {
read(0, process_data); read_write(0, 0, process_data);
//read(0, process_data);
/* /*
for(uint8_t& byte : process_data) { for(uint8_t& byte : process_data) {
DebugP_log("0x%01x", byte); DebugP_log("0x%01x", byte);
} }
DebugP_log("\r\n"); DebugP_log("\r\n");
*/ */
write(0, process_data); //write(0, process_data);
} }
init_sem.post(); init_sem.post();

4
components/free_rtos/ethernet_industry/eth_ecat.cpp
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@ -18,7 +18,7 @@ EthEcat::EthEcat(Eth& eth)
, telegram_{eth} , telegram_{eth}
, eeprom_{telegram_} { } , eeprom_{telegram_} { }
void EthEcat::Init(TEthMacPorts port_id) { void EthEcat::Init(TEthMacPorts port_id, uint32_t period_microsec = 250) {
port_id_ = port_id; port_id_ = port_id;
telegram_.init(port_id); telegram_.init(port_id);
@ -28,7 +28,7 @@ void EthEcat::Init(TEthMacPorts port_id) {
.clock_src_mux_addr = 0x430081B0u, // sysconfig .clock_src_mux_addr = 0x430081B0u, // sysconfig
.int_num = 152u, // sysconfig .int_num = 152u, // sysconfig
.int_priority = 4, // sysconfig .int_priority = 4, // sysconfig
.period_us = 125 /// microsec .period_us = period_microsec /// microsec
}; };
ecat_timer_.Init(ecat_tmr_sett); ecat_timer_.Init(ecat_tmr_sett);

2
components/free_rtos/ethernet_industry/eth_ecat.hpp
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@ -209,7 +209,7 @@ public:
EthEcat(Eth& eth); EthEcat(Eth& eth);
void Init(TEthMacPorts port_id); void Init(TEthMacPorts port_id, uint32_t period_microsec);
void set_slaves_to_default(); void set_slaves_to_default();
uint16_t slaves_detecting(); uint16_t slaves_detecting();

4
components/free_rtos/ethernet_industry/eth_ecat_api.cpp
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@ -19,10 +19,10 @@ namespace free_rtos {
* pdo_write(...), pdo_read(...) или pdo_write_async(...), pdo_read_async(...) * pdo_write(...), pdo_read(...) или pdo_write_async(...), pdo_read_async(...)
*/ */
bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base) { bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250) {
bool status = false; bool status = false;
ecat_.Init(port_id); ecat_.Init(port_id, period_microsec);
ecat_.config_init(address_base); ecat_.config_init(address_base);

2
components/free_rtos/ethernet_industry/eth_ecat_api.hpp
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@ -38,7 +38,7 @@ public:
, ecat_sdo_mailbox_{ecat_buffer_sdo_} , ecat_sdo_mailbox_{ecat_buffer_sdo_}
, ecat_pdo_fmmu_{ecat_buffer_pdo_} { } , ecat_pdo_fmmu_{ecat_buffer_pdo_} { }
bool config_init(TEthMacPorts port_id, uint16_t address_base); 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(); // Внутри бесконечный цикл. Запускать в отдельном потоке
std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map(); std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();