fix(SF-60): Исправлен баг семафора и включено профилирование приема ethercat

components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp

@@ -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;
         }
 
+        {
+            MAKE_PROFILER_AUTO_ITEM(transfer, 32, 0);
+
             do {
-            sts = rx_sem_.pend(connection_timeout_ticks_);
+                sts = rx_sem_.pend(semaphore_timeout_ticks_);
-        } while(sts == SystemP_FAILURE);
 
-        //STOP_PROFILER_STATIC_ITEM(Test_static, 128, 0);
+                tick_counter_diff = diff(tick_counter_start, ecat_timer_.GetTickCounter());
 
-        if(sts == SystemP_TIMEOUT) {
+                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;
 

components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp

@@ -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_;

components/free_rtos/profiler/quick_profiler.hpp

@@ -56,8 +56,9 @@ class QuickProfilerStaticItem;
 template<size_t size>
 class QuickProfiler {
 public:
-    QuickProfiler(const char *name)
+    QuickProfiler(const char *name, bool auto_dump = false)
-    : name_{name} { };
+    : 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) {
@@ -152,10 +153,8 @@ private:
             }
         }
 
-        if(average > 60000) {
         DebugP_log((char *)"Profiler %s average: %lld min: %d max: %d\r\n", name_, average, min, max);
     }
-    }
 };
 
 template<size_t size>
@@ -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:

components/free_rtos/timer/timer.cpp

@@ -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() {

components/free_rtos/timer/timer.hpp

@@ -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};
 };
 
 }