dev(UML-1780): Добавлен тест соединения с помощью NOP пакетов. Относительно стабильный.

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -50,18 +50,18 @@ bool EthEcat::set_slaves_to_default() {
 
 /* reset CRC counters */
     std::array<uint8_t, 8> c_data_out;
-    c_data_out.fill(0x00);
     datagram::EcatDatagram<command::BWR, std::array<uint8_t, 8>> c{ {{broadcast, ECT_REG_RXERR}}, expected_wkc, c_data_out };
+    c_data_out.fill(0x00);
 
 /* reset FMMU's */
     std::array<uint8_t, 16*3> d_data_out;
-    d_data_out.fill(0x00);
     datagram::EcatDatagram<command::BWR, std::array<uint8_t, 16*3>> d{ {{broadcast, ECT_REG_FMMU0}}, expected_wkc, d_data_out };
+    d_data_out.fill(0x00);
 
 /* reset SyncM */
     std::array<uint8_t, 8*4> e_data_out;
-    e_data_out.fill(0x00);
     datagram::EcatDatagram<command::BWR, std::array<uint8_t, 8*4>> e{ {{broadcast, ECT_REG_SM0}}, expected_wkc, e_data_out };
+    e_data_out.fill(0x00);
 
 /* reset activation register */
     uint8_t f_data_out{0x00};
@@ -69,8 +69,8 @@ bool EthEcat::set_slaves_to_default() {
 
 /* reset system time+ofs */
     std::array<uint8_t, 4> g_data_out;
-    g_data_out.fill(0x00);
     datagram::EcatDatagram<command::BWR, std::array<uint8_t, 4>> g{ {{broadcast, ECT_REG_DCSYSTIME}}, expected_wkc, g_data_out };
+    g_data_out.fill(0x00);
 
 /* DC speedstart */
     uint16_t h_data_out{0x1000};
@@ -214,6 +214,25 @@ bool EthEcat::get_addresses_of_slaves() {
     return status;
 }
 
+bool EthEcat::connection_test() {
+    const datagram::TEcatWkc expected_wkc = 0;
+    bool status;
+
+    std::array<uint8_t, 110> test_data_out;
+    datagram::EcatDatagram<command::NOP, std::array<uint8_t, 110>> datagram{ {{0x0000, 0x0000}}, expected_wkc, test_data_out };
+    test_data_out.fill(0x00);
+
+    while(1) {
+        status = telegram_.transfer(datagram);
+
+        if(status != true) {
+            break;
+        }
+    }
+
+    return status;
+}
+
 bool EthEcat::config_init(uint16_t address_base) {
     uint16_t number_of_slaves;
     bool status;
@@ -247,7 +266,15 @@ bool EthEcat::config_init(uint16_t address_base) {
     if(status != true) {
         return status;
     }
+/*
+    DebugP_log((char*)"Starting connection test...\r\n");
 
+    status = connection_test();
+
+    if(status != true) {
+        return status;
+    }
+*/
     return status;
 }
 
@@ -295,8 +322,6 @@ bool EthEcat::safeop_to_op() {
     uint16_t zero{0x00000000};
     bool status;
 
-    ecat_timer_.Start();
-
     process_sem_.post();
     if(init_sem_.pend(process_timeout_ticks_) != SystemP_SUCCESS) {
         DebugP_log((char*)"Process task timeout !\r\n");

components/free_rtos/ethernet_industry/eth_ecat.hpp

@@ -188,6 +188,7 @@ public:
     uint16_t slaves_detecting();
     bool set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t address_base);
     bool get_addresses_of_slaves();
+    bool connection_test();
 
     bool config_init(uint16_t address_base);
 

components/free_rtos/ethernet_industry/eth_ecat_command.hpp

@@ -104,14 +104,15 @@ class EcatCommand : public EcatCommandBase {
     static_assert(std::is_base_of<DirBase, DirT>::value == true, "DirT should be derived from command::DirBase");
 
 public:
-    EcatCommand(typename TypeT::TAddress&& address)
+    using TType = TypeT;
+    using TDir = DirT;
+    using TAddress = typename TypeT::TAddress;
+
+    EcatCommand(TAddress&& address)
     : address_{address} { }
 
     EcatCommand() { }
 
-    using TType = TypeT;
-    using TDir = DirT;
-
     static constexpr uint8_t get_cmd() {
         std::array<std::array<uint8_t, 4>, 4> commands = {{
             {{EC_CMD_APRD,   EC_CMD_APWR,    EC_CMD_APRW,    EC_CMD_ARMW}},
@@ -137,7 +138,7 @@ public:
     static constexpr bool get_skip_unpack() {
         std::array<std::array<bool, 4>, 4> commands = {{
             {{false,    true,   false,  false}},
-            {{false,    false,   false,  true}},
+            {{false,    false,  false,  true}},
             {{false,    true,   false,  false}},
             {{false,    true,   false,  true}}
         }};
@@ -155,7 +156,7 @@ public:
     }
 
 private:
-    typename TypeT::TAddress address_;
+    TAddress address_;
 };
 
 /*

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -128,7 +128,7 @@ public:
     ~EcatDatagram() { }
 
     virtual uint8_t* pack(uint8_t *raw, uint8_t idx) override {
-        if(as_expected() == true) {
+        if((as_expected() == true) && (command_.get_cmd() != EC_CMD_NOP)) {
             return raw;
         }
 
@@ -136,7 +136,7 @@ public:
     }
 
     virtual uint8_t* unpack(uint8_t *raw, uint8_t idx) override {
-        if(as_expected() == true) {
+        if((as_expected() == true) && (command_.get_cmd() != EC_CMD_NOP)) {
             return raw;
         }
 

components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp

@@ -77,7 +77,7 @@ public:
 
 private:
     static constexpr uint32_t connection_timeout_ticks_ = 70;
-    static constexpr uint32_t max_transfer_attempts_ = 8;
+    static constexpr uint32_t max_transfer_attempts_ = 6;
 
     Eth& eth_;
     Timer& ecat_timer_;