fix(SF-60): Исправлен баг семафора и включено профилирование приема ethercat
This commit is contained in:
parent
7822f5e3d7
commit
f0cbde9013
@ -96,8 +96,12 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
|
||||
}
|
||||
|
||||
bool EcatTelegram::transfer() {
|
||||
MAKE_AUTO_PROFILER(transfer, 32);
|
||||
|
||||
auto first = datagram_queue_.get_first();
|
||||
uint32_t transfer_attempts = 0;
|
||||
uint32_t tick_counter_start;
|
||||
uint32_t tick_counter_diff;
|
||||
bool status = (first == nullptr);
|
||||
int32_t sts;
|
||||
|
||||
@ -112,7 +116,7 @@ bool EcatTelegram::transfer() {
|
||||
first->reset_all_wkc();
|
||||
|
||||
while(1) {
|
||||
ecat_timer_.Wait();
|
||||
tick_counter_start = ecat_timer_.Wait();
|
||||
|
||||
transfer_attempts++;
|
||||
status = (transfer_attempts <= max_transfer_attempts_);
|
||||
@ -124,12 +128,13 @@ bool EcatTelegram::transfer() {
|
||||
status_.result = EcatTelegramResult::FATAL_ERROR;
|
||||
|
||||
DebugP_log((char*)"%s: %d\r\n", status_.get_description().string, max_transfer_attempts_);
|
||||
DebugP_log((char*)"Tick counter diff: %d/%d\r\n", tick_counter_diff, counter_timeout_ticks_);
|
||||
DebugP_log((char*)"Last profiler item %lld cycles\r\n", GET_LAST_PROFILER_ITEM(transfer));
|
||||
FORCE_DUMP_PROFILER(transfer);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
//START_PROFILER_STATIC_ITEM(Test_static, 128, 0);
|
||||
|
||||
// status = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
|
||||
status = tx_flow_.send(port_id_, this, 1);
|
||||
|
||||
@ -142,13 +147,25 @@ bool EcatTelegram::transfer() {
|
||||
continue;
|
||||
}
|
||||
|
||||
do {
|
||||
sts = rx_sem_.pend(connection_timeout_ticks_);
|
||||
} while(sts == SystemP_FAILURE);
|
||||
{
|
||||
MAKE_PROFILER_AUTO_ITEM(transfer, 32, 0);
|
||||
|
||||
//STOP_PROFILER_STATIC_ITEM(Test_static, 128, 0);
|
||||
do {
|
||||
sts = rx_sem_.pend(semaphore_timeout_ticks_);
|
||||
|
||||
if(sts == SystemP_TIMEOUT) {
|
||||
tick_counter_diff = diff(tick_counter_start, ecat_timer_.GetTickCounter());
|
||||
|
||||
if((sts != SystemP_SUCCESS) && (tick_counter_diff < counter_timeout_ticks_)) {
|
||||
//DebugP_log((char*)"rx_sem_ fake timeout detected !\r\n", );
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
break;
|
||||
} while(1);
|
||||
}
|
||||
|
||||
if(sts != SystemP_SUCCESS) {
|
||||
status_.transfer_errors++;
|
||||
status_.result = EcatTelegramResult::WARNING_TIMEOUT_ERROR;
|
||||
|
||||
|
||||
@ -73,11 +73,24 @@ public:
|
||||
eth_.getEthStackPtr()->Register(ETH_PROT_ECAT_LE, this);
|
||||
}
|
||||
|
||||
static uint32_t diff(uint32_t tick_counter_start, uint32_t tick_counter_current) {
|
||||
uint32_t tick_counter_diff;
|
||||
|
||||
if(tick_counter_current >= tick_counter_start) {
|
||||
tick_counter_diff = tick_counter_current - tick_counter_start;
|
||||
}else{
|
||||
tick_counter_diff = tick_counter_current + (0xFFFFFFFF - tick_counter_start);
|
||||
}
|
||||
|
||||
return tick_counter_diff;
|
||||
}
|
||||
|
||||
bool transfer(datagram::IEcatDatagram& next);
|
||||
bool transfer(queue::Queue<datagram::IEcatDatagram>& next);
|
||||
|
||||
private:
|
||||
static constexpr uint32_t connection_timeout_ticks_ = 70;
|
||||
static constexpr uint32_t semaphore_timeout_ticks_ = 2;
|
||||
static constexpr uint32_t counter_timeout_ticks_ = 8;
|
||||
static constexpr uint32_t max_transfer_attempts_ = 6;
|
||||
|
||||
Eth& eth_;
|
||||
|
||||
@ -56,8 +56,9 @@ class QuickProfilerStaticItem;
|
||||
template<size_t size>
|
||||
class QuickProfiler {
|
||||
public:
|
||||
QuickProfiler(const char *name)
|
||||
: name_{name} { };
|
||||
QuickProfiler(const char *name, bool auto_dump = false)
|
||||
: name_{name}
|
||||
, auto_dump_{auto_dump} { };
|
||||
|
||||
QuickProfilerAutoItem<size> makeProfilerAutoItem() {
|
||||
return QuickProfilerAutoItem<size>{*this};
|
||||
@ -67,7 +68,7 @@ public:
|
||||
return QuickProfilerStaticItem<size>{*this};
|
||||
}
|
||||
|
||||
void collect(uint64_t diff, bool toDump) {
|
||||
void collect(uint64_t diff) {
|
||||
uint32_t counter = counter_;
|
||||
buffer_[counter] = diff;
|
||||
|
||||
@ -76,7 +77,7 @@ public:
|
||||
if(counter >= size) {
|
||||
counter = 0;
|
||||
|
||||
if(toDump == true) {
|
||||
if(auto_dump_ == true) {
|
||||
dump();
|
||||
}
|
||||
}
|
||||
@ -111,7 +112,7 @@ public:
|
||||
uint32_t min{0xFFFFFFFF};
|
||||
uint32_t max{0x00000000};
|
||||
|
||||
for(uint32_t value : buffer_) {
|
||||
for(uint64_t value : buffer_) {
|
||||
average += value/size;
|
||||
|
||||
if(value < min) {
|
||||
@ -126,12 +127,12 @@ public:
|
||||
}
|
||||
|
||||
DebugP_log((char *)"\r\n");
|
||||
|
||||
DebugP_log((char *)"Profiler %s average: %lld min: %d max: %d\r\n", name_, average, min, max);
|
||||
}
|
||||
|
||||
private:
|
||||
const char *name_;
|
||||
const bool auto_dump_{false};
|
||||
size_t counter_{0};
|
||||
std::array<uint64_t, size> buffer_;
|
||||
|
||||
@ -140,7 +141,7 @@ private:
|
||||
uint32_t min{0xFFFFFFFF};
|
||||
uint32_t max{0x00000000};
|
||||
|
||||
for(uint32_t value : buffer_) {
|
||||
for(uint64_t value : buffer_) {
|
||||
average += value/size;
|
||||
|
||||
if(value < min) {
|
||||
@ -152,9 +153,7 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
if(average > 60000) {
|
||||
DebugP_log((char *)"Profiler %s average: %lld min: %d max: %d\r\n", name_, average, min, max);
|
||||
}
|
||||
DebugP_log((char *)"Profiler %s average: %lld min: %d max: %d\r\n", name_, average, min, max);
|
||||
}
|
||||
};
|
||||
|
||||
@ -177,7 +176,7 @@ public:
|
||||
diff = (0xFFFFFFFFU - start_cycle) + end_cycle;
|
||||
}
|
||||
|
||||
profiler_.collect(diff, true);
|
||||
profiler_.collect(diff);
|
||||
}
|
||||
|
||||
private:
|
||||
@ -206,7 +205,7 @@ public:
|
||||
diff = (0xFFFFFFFFU - start_cycle) + end_cycle;
|
||||
}
|
||||
|
||||
profiler_.collect(diff, true);
|
||||
profiler_.collect(diff);
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
@ -17,6 +17,7 @@ void free_rtos::timer_isr_callback(void * arg)
|
||||
Timer * const p_timer = (Timer * const)arg;
|
||||
|
||||
p_timer->sem_.post();
|
||||
++p_timer->tick_counter_;
|
||||
|
||||
TimerP_clearOverflowInt(p_timer->base_addr_);
|
||||
HwiP_clearInt(p_timer->int_num_);
|
||||
@ -60,8 +61,10 @@ bool free_rtos::Timer::Init(Settings& sett)
|
||||
return (status == SystemP_SUCCESS);
|
||||
}
|
||||
|
||||
void free_rtos::Timer::Wait() {
|
||||
uint32_t free_rtos::Timer::Wait() {
|
||||
sem_.pend();
|
||||
|
||||
return tick_counter_;
|
||||
}
|
||||
|
||||
void free_rtos::Timer::Start() {
|
||||
|
||||
@ -35,11 +35,15 @@ public:
|
||||
/**
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
||||
*/
|
||||
void Wait();
|
||||
uint32_t Wait();
|
||||
|
||||
void Start();
|
||||
|
||||
void Stop();
|
||||
|
||||
uint32_t GetTickCounter() {
|
||||
return tick_counter_;
|
||||
}
|
||||
private:
|
||||
friend void timer_isr_callback(void * arg);
|
||||
|
||||
@ -49,6 +53,7 @@ private:
|
||||
HwiP_Object hwi_obj_; /// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
|
||||
Semaphore sem_;
|
||||
uint32_t tick_counter_{0x00000000};
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user