fix(UML-1462): Исправлен баг в очереди чтения pdo. Поправил комментарии к коду

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -57,7 +57,6 @@ void EthEcatPdoFMMU::wait_op() {
     }
 
     init_sem.post();
-    process_sem.pend();
 }
 
 void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
@@ -82,7 +81,7 @@ void EthEcatPdoFMMU::process_read_queue(uint8_t* process_data, uint32_t len) {
     mutex_read_.lock();
 
     next = queue_read_.get_next();
-    queue_write_.detach();
+    queue_read_.detach();
 
     mutex_read_.unlock();
 
@@ -100,8 +99,6 @@ void EthEcatPdoFMMU::process() {
     std::vector<uint8_t> process_data(std::min(logical_full_length_write, logical_full_length_read));
     free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
 
-    ecat_timer.Start();
-
     while(1) {
         ecat_timer.Wait();
 

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -266,7 +266,7 @@ bool EthEcat::safeop_to_op() {
     //ClockP_usleep(3000000ul);
 
     if(success == true) {
-        process_sem_.post();
+        ecat_timer_.Start();
     }
 
     DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -23,7 +23,7 @@ public:
     static bool init(Eth& eth, TEthMacPorts port_id, uint16_t address_base);
     static void process(); // Внутри бесконечный цикл. Запускать в отдельном потоке
 
-    std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
+    static std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
 
     template<typename... DataTypes>
     static ecat_sdo_mailbox::CompleteSize sdo_write(size_t slave_index, uint16_t index, uint8_t subindex, DataTypes&... data) {

components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp

@@ -17,26 +17,26 @@
 namespace free_rtos {
 
 enum {
-    ECT_PDOOUTPUTOFFSET    = 0x1100,
-    ECT_PDOINPUTOFFSET     = 0x1400
+    ECT_PDOOUTPUTOFFSET    = 0x1100, // write, output, rx buffer offset
+    ECT_PDOINPUTOFFSET     = 0x1400 // read, input, tx buffer offset
 };
 
 enum {
-    ECT_RXPDOMAPINDEX    = 0x1C12,
-    ECT_TXPDOMAPINDEX    = 0x1C13
+    ECT_RXPDOMAPINDEX    = 0x1C12, // write, output, rx pdo map index
+    ECT_TXPDOMAPINDEX    = 0x1C13 // read, input, tx pdo map index
 };
 
 namespace ecat_buffer {
 
 /*
-index[0x1C..]
-    subindex[0x00] = block_count (1 byte)
+block_index_map[0x1C..][n]
+    subindex[0x00] = block_count (1 byte из 2 bytes)
     subindex[0x01] = block_0_index (2 bytes)
     ...
     subindex[n] = block_n-1_index (2 bytes)
 
-block_index
-    block_subindex[0x00] = object_count (1 byte / 4 bytes)
+object_descriptor_map[block_n_index][m]
+    block_subindex[0x00] = object_count (1 byte из 4 bytes)
     block_subindex[0x01] = object_0_descriptor (4 bytes)
     ...
     block_subindex[m] = object_m_descriptor (4 bytes)
@@ -45,6 +45,9 @@ object_descriptor
     size (1 byte)
     object_subindex (1 byte)
     object_index (2 bytes)
+
+data_size_map[0x1C..]
+    pdo_data_size
 */
 
 struct PDODescriptor {
@@ -58,8 +61,11 @@ struct PDOMap {
     std::map<uint16_t, std::map<uint8_t, PDODescriptor>> object_descriptor_map;
     std::map<uint16_t, uint16_t> data_size_map; // Размеры в байтах !
 
-    uint16_t pdo_output_offset{ECT_PDOOUTPUTOFFSET};
-    uint16_t pdo_input_offset{ECT_PDOINPUTOFFSET};
+    const uint16_t pdo_output_offset{ECT_PDOOUTPUTOFFSET};
+    const uint16_t pdo_input_offset{ECT_PDOINPUTOFFSET};
+
+    const uint16_t rx_pdo_map_index{ECT_RXPDOMAPINDEX};
+    const uint16_t tx_pdo_map_index{ECT_TXPDOMAPINDEX};
 };
 
 struct FMMUGlobalProperties {

components/free_rtos/ethernet_industry/eth_ecat_queue.hpp

@@ -42,14 +42,6 @@ public:
         return next;
     }
 
-    QueueEntity* operator+(QueueEntity *next) {
-        attach(next);
-
-        //set_next(next);
-
-        return next;
-    }
-
 private:
     DataType *data_{nullptr};