motion/ecmc_plugin_socketcan
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Lock seems to work. Add more SDO:s to testscript to test lock

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This commit is contained in:
Anders Sandstrom
2021-03-10 10:33:03 +01:00
parent d90918ac9e
commit 020d7932af
4 changed files with 32 additions and 31 deletions
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30
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
View File

@@ -192,7 +192,7 @@ void ecmcCANOpenSDO::execute() {
if(busyCounter_>ECMC_SDO_REPLY_TIMOUT_MS) {
// cancel read or write
printf("SDO BUSY timeout!!\n");
printf("SDO BUSY timeout!! %s\n",name_);
memset(tempReadBuffer_,0,ODSize_);
readStates_ = READ_IDLE;
writeStates_ = WRITE_IDLE;
@@ -215,7 +215,7 @@ void ecmcCANOpenSDO::execute() {
exeCounter_ =0;
readStates_ = READ_REQ_TRANSFER;
if(dbgMode_) {
printf("STATE = READ_REQ_TRANSFER\n");
printf("STATE = READ_REQ_TRANSFER %s\n",name_);
}
// IMPORTANT!! LOCKLOCK!!!! LOCK all slave trafic while 0x583 and 0x603 for any other trafic while processing
//initiate
@@ -224,7 +224,7 @@ void ecmcCANOpenSDO::execute() {
writeBuffer_->addWriteCAN(&readReqTransferFrame_);
if(dbgMode_) {
printf("STATE = READ_WAIT_FOR_CONF\n");
printf("STATE = READ_WAIT_FOR_CONF %s\n",name_);
}
}
}
@@ -263,7 +263,7 @@ int ecmcCANOpenSDO::readDataStateMachine(can_frame *frame) {
}
readStates_ = READ_WAIT_FOR_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = READ_WAIT_FOR_DATA\n");
printf("STATE = READ_WAIT_FOR_DATA %s\n",name_);
}
writeBuffer_->addWriteCAN(&readConfReqFrameTg0_); // Send tg0 frame and wait for data, also size must match to go ahead
useTg1Frame_ = 1;
@@ -300,7 +300,7 @@ int ecmcCANOpenSDO::readDataStateMachine(can_frame *frame) {
memcpy(dataBuffer_,tempReadBuffer_,ODSize_);
epicsMutexUnlock(dataMutex_);
if(dbgMode_) {
printf("STATE = READ_IDLE\n");
printf("STATE = READ_IDLE %s\n",name_);
printf("All data read from slave SDO.\n");
//copy complete data to dataBuffer_
printBuffer();
@@ -317,7 +317,7 @@ int ecmcCANOpenSDO::readDataStateMachine(can_frame *frame) {
}
int ecmcCANOpenSDO::writeDataStateMachine(can_frame *frame) {
printf("writeDataStateMachine\n");
printf("writeDataStateMachine %s\n",name_);
int bytes = 0;
switch(writeStates_) {
case WRITE_WAIT_FOR_CONF:
@@ -332,7 +332,7 @@ int ecmcCANOpenSDO::writeDataStateMachine(can_frame *frame) {
writeNextDataToSlave(useTg1Frame_);
writeStates_ = WRITE_DATA; //Next frame should be data!
if(dbgMode_) {
printf("STATE = WRITE_DATA\n");
printf("STATE = WRITE_DATA %s\n",name_);
}
break;
@@ -349,7 +349,7 @@ int ecmcCANOpenSDO::writeDataStateMachine(can_frame *frame) {
writeStates_ = WRITE_IDLE;
useTg1Frame_ = 0;
if(dbgMode_) {
printf("STATE = WRITE_IDLE\n");
printf("STATE = WRITE_IDLE %s\n",name_);
printf("All data written to slave SDO.\n");
printBuffer();
}
@@ -457,7 +457,7 @@ void ecmcCANOpenSDO::setValue(uint8_t *data, size_t bytes) {
int ecmcCANOpenSDO::writeValue() {
// Busy right now!
printf("WRITEVALUE!!\n");
printf("WRITEVALUE %s\n",name_);
if(busy_) {
return ECMC_CAN_ERROR_SDO_WRITE_BUSY;
@@ -474,14 +474,14 @@ int ecmcCANOpenSDO::writeValue() {
writeStates_ = WRITE_REQ_TRANSFER;
if(dbgMode_) {
printf("STATE = WRITE_REQ_TRANSFER\n");
printf("STATE = WRITE_REQ_TRANSFER %s\n",name_);
}
writeBuffer_->addWriteCAN(&writeReqTransferFrame_);
writeStates_ = WRITE_WAIT_FOR_CONF;
if(dbgMode_) {
printf("STATE = WRITE_WAIT_FOR_CONF\n");
printf("STATE = WRITE_WAIT_FOR_CONF %s\n",name_);
}
return 0;
// State machine is now in rx frame()
@@ -493,15 +493,15 @@ int ecmcCANOpenSDO::tryLock() {
return 0;
}
bool gotLock = ptrSdo1Lock_->test_and_set();
if(!gotLock) {
bool prevLock = ptrSdo1Lock_->test_and_set();
if(prevLock) {
// wait for busy to go down
return 0;
}
busy_ = gotLock;
busy_ = true;
epicsMutexUnlock(getLockMutex_);
return gotLock;
return 1;
}
int ecmcCANOpenSDO::tryUnlock() {

2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
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@@ -94,8 +94,6 @@ class ecmcCANOpenSDO {
epicsMutexId dataMutex_;
epicsMutexId getLockMutex_;
int busyCounter_;
//std::atomic_flag *ptrSdo1Busy_;
//std::atomic_flag busy_;
std::atomic_flag *ptrSdo1Lock_;
bool busy_;
};

24
iocsh/pvs.log
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@@ -1,12 +1,12 @@
REQMOD:mcag-trgt-muts--16711:MODULES
REQMOD:mcag-trgt-muts--16711:VERSIONS
REQMOD:mcag-trgt-muts--16711:MOD_VER
REQMOD:mcag-trgt-muts--16711:exit
REQMOD:mcag-trgt-muts--16711:BaseVersion
REQMOD:mcag-trgt-muts--16711:require_VER
REQMOD:mcag-trgt-muts--16711:ecmccfg_VER
REQMOD:mcag-trgt-muts--16711:asyn_VER
REQMOD:mcag-trgt-muts--16711:exprtk_VER
REQMOD:mcag-trgt-muts--16711:motor_VER
REQMOD:mcag-trgt-muts--16711:ecmc_VER
REQMOD:mcag-trgt-muts--16711:ecmc_plugin_socketcan_VER
REQMOD:mcag-trgt-muts--18678:MODULES
REQMOD:mcag-trgt-muts--18678:VERSIONS
REQMOD:mcag-trgt-muts--18678:MOD_VER
REQMOD:mcag-trgt-muts--18678:exit
REQMOD:mcag-trgt-muts--18678:BaseVersion
REQMOD:mcag-trgt-muts--18678:require_VER
REQMOD:mcag-trgt-muts--18678:ecmccfg_VER
REQMOD:mcag-trgt-muts--18678:asyn_VER
REQMOD:mcag-trgt-muts--18678:exprtk_VER
REQMOD:mcag-trgt-muts--18678:motor_VER
REQMOD:mcag-trgt-muts--18678:ecmc_VER
REQMOD:mcag-trgt-muts--18678:ecmc_plugin_socketcan_VER

7
iocsh/test.script
View File

@@ -77,7 +77,7 @@ ecmcCANOpenAddDevice("testDevice",3)
# <ODSize> : Size of PDO (max 8 bytes).
# <readTimeoutMs> : Readtimeout in ms.
# <writeCycleMs> : Cycle time for write (if <= 0 then only write on change).
ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ
ecmcCANOpenAddPDO("status1",3,0x183,2,8,10000,0) # READ
# ecmcCANOpenAddSDO -h
# Use ecmcCANOpenAddSDO(<name>, <node id>,.....)
@@ -91,7 +91,10 @@ ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ
# <ODSize> : OS Size.
# <readTimeoutMs> : Readtimeout in ms.
#
ecmcCANOpenAddSDO("analogValues",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
ecmcCANOpenAddSDO("analogValues1",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
ecmcCANOpenAddSDO("analogValues2",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
ecmcCANOpenAddSDO("analogValues3",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
ecmcCANOpenAddSDO("analogValues4",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0) # WRITE
##############################################################################