motion/ecmc_plugin_socketcan
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PMU905 in normal operation (with ecmcplc), need to write in separate thread..

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This commit is contained in:
Anders Sandstrom
2021-03-02 15:53:42 +01:00
parent 07ba8322cd
commit cf54e585e0
2 changed files with 5 additions and 4 deletions
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1
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c
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@@ -280,7 +280,6 @@ struct ecmcPluginData pluginDataDef = {
.funcArg10 = can_write,
.funcGenericObj = NULL,
},
.funcs[3] = {0}, // last element set all to zero..
// PLC consts
.consts[0] = {0}, // last element set all to zero..

8
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -207,11 +207,12 @@ void ecmcSocketCAN::doReadWorker() {
if(cfgDbgMode_) {
// Simulate candump printout
printf("\nread 0x%02X", rxmsg_.can_id);
printf("r 0x%03X", rxmsg_.can_id);
printf(" [%d]", rxmsg_.can_dlc);
for(int i=0; i<rxmsg_.can_dlc; i++ ) {
printf(" 0x%02X", rxmsg_.data[i]);
}
printf("\n");
}
}
}
@@ -253,17 +254,18 @@ void ecmcSocketCAN::writeCAN( uint32_t canId,
// Maybe need to add the size to write here.. if struct is not full, hmm?!
int nbytes = write(socketId_, &txmsg_, sizeof(struct can_frame));
if (nbytes!=len) {
if (nbytes!= sizeof(struct can_frame)) {
throw std::runtime_error( "Error in write.");
}
if(cfgDbgMode_) {
// Simulate candump printout
printf("\nwrite 0x%02X", txmsg_.can_id);
printf("w 0x%03X", txmsg_.can_id);
printf(" [%d]", txmsg_.can_dlc);
for(int i=0; i<txmsg_.can_dlc; i++ ) {
printf(" 0x%02X", txmsg_.data[i]);
}
printf("\n");
}
}