motion/ecmc_plugin_socketcan
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SDO payload only 7 byte. Now status array from pmu905 seems correct.

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This commit is contained in:
Anders Sandstrom
2021-03-03 16:26:21 +01:00
parent ddc3d3dd84
commit 963aba576e
3 changed files with 66 additions and 9 deletions
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39
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
View File

@@ -98,7 +98,7 @@ ecmcCANOpenSDO::ecmcCANOpenSDO(ecmcSocketCANWriteBuffer* writeBuffer,
recConfRead_.data[4] = ODLengthBytes_.byte0;
recConfRead_.data[5] = ODLengthBytes_.byte1;
recConfRead_.data[6] = ODLengthBytes_.byte2;
recConfRead_.data[7] = ODLengthBytes_.byte3 ;
recConfRead_.data[7] = ODLengthBytes_.byte3;
}
ecmcCANOpenSDO::~ecmcCANOpenSDO() {
@@ -155,9 +155,9 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
return; // not correct frame
}
//Add data to buffer
if(frame->can_dlc + recivedBytes_ <= ODSize_) {
memcpy(dataBuffer_ + recivedBytes_, &(frame->data[0]),frame->can_dlc);
recivedBytes_ += frame->can_dlc;
if(frame->can_dlc-1 + recivedBytes_ <= ODSize_) {
memcpy(dataBuffer_ + recivedBytes_, &(frame->data[1]),frame->can_dlc-1);
recivedBytes_ += frame->can_dlc-1;
}
if(recivedBytes_ < ODSize_) { // Ask for more data but must toggle so alternat the prepared frames
if(useTg1Frame_) {
@@ -174,7 +174,8 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
if (recivedBytes_ == ODSize_) {
readStates_ =IDLE;
busy_ = 0;
printf("All data transfered");
printf("All data transfered\n");
printBuffer();
}
break;
@@ -186,7 +187,33 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
}
int ecmcCANOpenSDO::frameEqual(can_frame *frame1,can_frame *frame2) {
return memcmp(frame1,frame2, sizeof(can_frame)) == 0;
if(frame1->can_id == frame2->can_id &&
frame1->can_dlc == frame2->can_dlc &&
frame1->data[0] == frame2->data[0] &&
frame1->data[1] == frame2->data[1] &&
frame1->data[2] == frame2->data[2] &&
frame1->data[3] == frame2->data[3] &&
frame1->data[4] == frame2->data[4] &&
frame1->data[5] == frame2->data[5] &&
frame1->data[6] == frame2->data[6] &&
frame1->data[7] == frame2->data[7]) {
return 1;
}
return 0;
//return memcmp(frame1,frame2, sizeof(can_frame)) == 0;
}
void ecmcCANOpenSDO::printBuffer() {
if(!dataBuffer_) {
return;
}
for(uint32_t i = 0; i < ODSize_; i = i + 2) {
uint16_t test;
memcpy(&test,&dataBuffer_[i],2);
printf("data[%d]: %u\n",i/2,test);
}
printf("\n");
}
//# w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00

2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
View File

@@ -64,7 +64,7 @@ class ecmcCANOpenSDO {
uint32_t recivedBytes_;
int useTg1Frame_;
ecmc_read_states readStates_;
void printBuffer();
};
#endif /* ECMC_CANOPEN_SDO_H_ */