dev(UML-1547): Исправил переход в состояние OP и PDO process

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -21,6 +21,59 @@ void EthEcatPdoFMMU::init() {
     }
 }
 
+void EthEcatPdoFMMU::process() {
+    free_rtos::Semaphore& init_sem = ecat_buffer_.get_ecat().get_init_sem();
+    free_rtos::Semaphore& process_sem = ecat_buffer_.get_ecat().get_process_sem();
+    std::array<std::array<uint8_t, 55>, 2> process_data;
+
+    process_sem.pend();
+
+    process_data[0].fill(0x00);
+    process_data[1].fill(0x00);
+
+    read(0, process_data[0], process_data[1]);
+
+    for(uint8_t& byte : process_data[0]) {
+        DebugP_log("0x%01x", byte);
+    }
+    DebugP_log("\r\n");
+
+    write(0, process_data[0], process_data[1]);
+
+    init_sem.post();
+    process_sem.pend();
+
+    for(uint32_t i = 0; i < 250; i++) {
+        read(0, process_data[0], process_data[1]);
+
+        for(uint8_t& byte : process_data[0]) {
+            DebugP_log("0x%01x", byte);
+        }
+        DebugP_log("\r\n");
+
+        write(0, process_data[0], process_data[1]);
+
+        //ClockP_usleep(125ul);
+    }
+
+    init_sem.post();
+    process_sem.pend();
+
+    while(1)
+    {
+        read(0, process_data[0], process_data[1]);
+
+        for(uint8_t& byte : process_data[0]) {
+            DebugP_log("0x%01x", byte);
+        }
+        DebugP_log("\r\n");
+
+        write(0, process_data[0], process_data[1]);
+
+        //ClockP_usleep(125ul);
+    }
+}
+
 }
 
 }

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -29,8 +29,6 @@ public:
         do {
             telegram.transfer(datagram);
         } while(datagram.get_wkc() < 0x0001);
-
-        DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
     }
 
     template<typename... DataTypes>
@@ -56,19 +54,45 @@ public:
     void init();
 
     template<typename... DataTypes>
-    void write(DataTypes&... data) {
+    void write(size_t slave_index, DataTypes&... data);
+
+    template<typename DataType, typename... DataTypes>
+    void write(size_t slave_index, DataType& head, DataTypes&... tail) {
         datagram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
 
-        pdo_fmmu_slaves_[0].write(telegram, data...);
+        pdo_fmmu_slaves_[slave_index].write(telegram, head);
+
+        slave_index++;
+
+        if(slave_index < pdo_fmmu_slaves_.size()) {
+            write(slave_index, tail...);
+        }
     }
 
+    template<>
+    void write(size_t slave_index) { }
+
     template<typename... DataTypes>
-    void read(DataTypes&... data) {
+    void read(size_t slave_index, DataTypes&... data);
+
+    template<typename DataType, typename... DataTypes>
+    void read(size_t slave_index, DataType& head, DataTypes&... tail) {
         datagram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
 
-        pdo_fmmu_slaves_[0].read(telegram, data...);
+        pdo_fmmu_slaves_[slave_index].read(telegram, head);
+
+        slave_index++;
+
+        if(slave_index < pdo_fmmu_slaves_.size()) {
+            read(slave_index, tail...);
+        }
     }
 
+    template<>
+    void read(size_t slave_index) { }
+
+    void process();
+
 private:
     ecat_buffer::EthEcatBuffer& ecat_buffer_;
 

components/free_rtos/ethernet_industry/CoE/eth_ecat_sdo_mailbox.hpp

@@ -187,8 +187,8 @@ public:
 
         auto slave_address = buffer_slave_.get_slave().get_slave_address<TypeT>();
         std::array<address::Offset, 4>& buffer_regs = buffer_slave_.get_buffer_regs();
-        uint16_t sm_status{0x0000};
+        uint8_t sm_status{0x00};
-        datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, buffer_regs[MailboxesRegs::AVAILABLE]}}, sm_status };
+        datagram::EcatDatagram<TCommand, uint8_t> datagram{ {{slave_address, buffer_regs[MailboxesRegs::AVAILABLE]}}, sm_status };
 
         do {
             telegram.transfer(datagram);
@@ -215,8 +215,8 @@ public:
 
         auto slave_address = buffer_slave_.get_slave().get_slave_address<TypeT>();
         std::array<address::Offset, 4>& buffer_regs = buffer_slave_.get_buffer_regs();
-        uint16_t sm_status{0x0000};
+        uint8_t sm_status{0x00};
-        datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, buffer_regs[MailboxesRegs::AVAILABLE]}}, sm_status };
+        datagram::EcatDatagram<TCommand, uint8_t> datagram{ {{slave_address, buffer_regs[MailboxesRegs::AVAILABLE]}}, sm_status };
 
         do {
             telegram.transfer(datagram);
@@ -358,7 +358,7 @@ public:
 
                 pdo_data_size += descriptor.size;
 
-                DebugP_log("descriptor.size = 0x%01x\r\n", descriptor.size);
+                //DebugP_log("descriptor.size = 0x%01x\r\n", descriptor.size);
                 //DebugP_log("descriptor.subindex = 0x%01x\r\n", descriptor.subindex);
                 //DebugP_log("descriptor.index = 0x%02x\r\n", descriptor.index);
             }

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -260,6 +260,9 @@ bool EthEcat::safeop_to_op() {
     ALSTAT stat{0x0000, 0x0000};
     uint16_t zero{0x00000000};
 
+    process_sem_.post();
+    init_sem_.pend();
+
     {
         uint16_t data{EC_STATE_OPERATIONAL};
         datagram::EcatDatagram<command::BWR, uint16_t> datagram{ {{broadcast, ECT_REG_ALCTL}}, data };
@@ -269,7 +272,8 @@ bool EthEcat::safeop_to_op() {
         DebugP_log("datagram.get_wkc() = %d\r\n", datagram.get_wkc());
     }
 
-    //ClockP_usleep(3000000ul);
+    process_sem_.post();
+    init_sem_.pend();
 
     {
         datagram::EcatDatagram<command::BRD, ALSTAT, uint16_t> datagram{ {{broadcast, ECT_REG_ALSTAT}}, stat, zero };
@@ -280,6 +284,11 @@ bool EthEcat::safeop_to_op() {
     }
 
     success = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);
+    //ClockP_usleep(3000000ul);
+
+    if(success == true) {
+        process_sem_.post();
+    }
 
     DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
     DebugP_log("success = %d\r\n", success);

components/free_rtos/ethernet_industry/eth_ecat.hpp

@@ -246,6 +246,14 @@ public:
         return slaves_;
     }
 
+    free_rtos::Semaphore& get_init_sem() {
+        return init_sem_;
+    }
+
+    free_rtos::Semaphore& get_process_sem() {
+        return process_sem_;
+    }
+
     bool is_ready() { return ready_; }
 
     Statistic getStat() { return stat_;}
@@ -265,10 +273,13 @@ private:
 
     TEthPkt pkt_[e_pktTotal];
 
-    Mutex mut_;
+    //Mutex mut_;
 
     free_rtos::Semaphore rx_sem_;
 
+    free_rtos::Semaphore init_sem_;
+    free_rtos::Semaphore process_sem_;
+
     Eth& eth_;
     EthTxFlowIface& tx_flow_;
 

components/free_rtos/ethernet_industry/eth_ecat_buffer.cpp

@@ -45,7 +45,6 @@ void EthEcatBuffer::init_fmmu(fmmu fmmu_write, fmmu fmmu_read) {
 
     for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
         buffer_slave.init_fmmu<command::FP>(telegram, fmmu_write, fmmu_read);
-        //buffer_slave.get_slave().preop_to_safeop<command::FP>(telegram);
     }
 }
 

components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp

@@ -31,8 +31,6 @@ struct FMMUSettings {
     uint8_t phys_start_bit;
     uint8_t direction;
     uint8_t activate;
-    //uint8_t param1;
-    //uint16_t param2;
 } __attribute__ ((packed));
 
 struct FMMUProperties {
@@ -148,36 +146,23 @@ public:
         auto slave_address = slave_.get_slave_address<TypeT>();
 
         SyncManager sync_manager_write = sync_managers_[static_cast<size_t>(sm_write)];
-        /*
-        BufferSettings buffer_settings_write{ .control = 0x26,
-                                .status = 0x00,
-                                .activate = 0x01,
-                                .pdi_control = 0x00 };
-                                */
         datagram::EcatDatagram<TCommand, BufferProperties, uint32_t> datagram_write{    {{slave_address, sync_manager_write.offset}},
                                                                                         buffer_properties_write_,
                                                                                         sync_manager_write.default_setting };
         //register_sync_manager<TypeT>(telegram, sm_write, buffer_properties_write_, buffer_regs_[MailboxesRegs::EMPTY]);
 
         SyncManager sync_manager_read = sync_managers_[static_cast<size_t>(sm_read)];
-        /*
-        BufferSettings buffer_settings_read{ .control = 0x22,
-                                .status = 0x00,
-                                .activate = 0x01,
-                                .pdi_control = 0x00 };
-                                */
         datagram::EcatDatagram<TCommand, BufferProperties, uint32_t> datagram_read{ {{slave_address, sync_manager_read.offset}},
                                                                                     buffer_properties_read_,
                                                                                     sync_manager_read.default_setting };
         //register_sync_manager<TypeT>(telegram, sm_read, buffer_properties_read_, buffer_regs_[MailboxesRegs::AVAILABLE]);
-/*
+
         datagram_write + datagram_read;
 
         do {
             telegram.transfer(datagram_write);
         } while((datagram_write.get_wkc() < 0x0001) || (datagram_read.get_wkc() < 0x0001));
-        */
+/*
-
         do {
             telegram.transfer(datagram_write);
         } while(datagram_write.get_wkc() < 0x0001);
@@ -185,7 +170,7 @@ public:
         do {
             telegram.transfer(datagram_read);
         } while(datagram_read.get_wkc() < 0x0001);
-
+*/
         buffer_regs_[MailboxesRegs::EMPTY] = sync_manager_write.offset + 0x05;
         buffer_regs_[MailboxesRegs::AVAILABLE] = sync_manager_read.offset + 0x05;
 
@@ -222,9 +207,7 @@ public:
             .phys_start_address = buffer_properties_write_.offset,
             .phys_start_bit = 0,
             .direction = static_cast<uint8_t>(DataDirection::WRITE),
-            .activate = 0x01,
+            .activate = 0x01
-            //.param1 = 0x00,
-            //.param2 = 0x00
         };
 
         datagram::EcatDatagram<TCommand, FMMUSettings> datagram_write{ {{slave_address, fmmu_regs_[static_cast<size_t>(fmmu_write)]}}, settings_write};
@@ -243,9 +226,7 @@ public:
             .phys_start_address = buffer_properties_read_.offset,
             .phys_start_bit = 0,
             .direction = static_cast<uint8_t>(DataDirection::READ),
-            .activate = 0x01,
+            .activate = 0x01
-            //.param1 = 0x00,
-            //.param2 = 0x00
         };
 
         datagram::EcatDatagram<TCommand, FMMUSettings> datagram_read{ {{slave_address, fmmu_regs_[static_cast<size_t>(fmmu_read)]}}, settings_read};

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -106,7 +106,7 @@ private:
     }
 
     uint8_t* pack_padding(uint8_t *raw) {
-        std::memset(raw, 0x00, padding_);
+        //std::memset(raw, 0x00, padding_);
 
         return raw + padding_;
     }

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/algin/workspace_v11/sitara_depot/utils/ddr_init/ccs_files";
+var script_path = "/home/sofdev/workspace_v11/sitara_depot/utils/ddr_init/ccs_files";
 
 print("script_path = " + script_path);