fixes for multiple pdos of same data direction and for undeclared IO …

…variables in PLC program
r2k-in-the-vortex · Nov 19, 2023 · 4dc18a4 · 4dc18a4
1 parent ed34bef
commit 4dc18a4
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Showing 3 changed files with 44 additions and 8 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -9,11 +9,12 @@
             "type": "cppdbg",
             "request": "launch",
             "program": "${workspaceFolder}/build/bin/ethercat_src_test",
-            "args": ["${workspaceFolder}/conf/ethercatcfg.txt"],
+            "args": ["${workspaceFolder}/build/ethercat.cfg"],
             "stopAtEntry": false,
             "cwd": "${fileDirname}",
             "environment": [],
             "externalConsole": false,
+            "miDebuggerPath": "/home/pi/gdb.sh",
             "MIMode": "gdb",
             "setupCommands": [
                 {

diff --git a/src/ecat_handler/ecat_handler.c b/src/ecat_handler/ecat_handler.c
@@ -171,8 +171,19 @@ int ConfigureSlave(EcatConfig *config, SlaveConfig *slave, ec_slave_config_t *sc
         rxp[i].index = rxpdo.index;
         rxp[i].n_entries = 1;
         ss[rxpdo.sm].dir = EC_DIR_OUTPUT;
+        /*
+        if for example 
+        22:52:44 Sync master 0 EC_DIR_OUTPUT
+        22:52:46 PDO index 1/1  0x1A00 entryindex 0x3101 subindex 1 bitlen 8
+        22:52:56 Sync master 1 EC_DIR_OUTPUT
+        22:53:03 PDO index 1/1  0x1A01 entryindex 0x3101 subindex 2 bitlen 8
+
+        then assuming RxPDO entries are in correct order
+
+        if one entry sm0, another sm1 and then again sm0, then problem
+        */
+        if (ss[rxpdo.sm].n_pdos == 0)ss[rxpdo.sm].pdos = rxp + i;
         ss[rxpdo.sm].n_pdos++;
-        ss[rxpdo.sm].pdos = rxp;
         if(RegisterRxInDomain(slave, &rxe[i], &rxpdo)){
             log_error("Failed to register RxPDO in domain");
             return -1;
@@ -189,8 +200,8 @@ int ConfigureSlave(EcatConfig *config, SlaveConfig *slave, ec_slave_config_t *sc
         txp[i].index = txpdo.index;
         txp[i].n_entries = 1;
         ss[txpdo.sm].dir = EC_DIR_INPUT;
+        if (ss[txpdo.sm].n_pdos == 0)ss[txpdo.sm].pdos = txp + i;
         ss[txpdo.sm].n_pdos++;
-        ss[txpdo.sm].pdos = txp;
         if(RegisterTxInDomain(slave, &txe[i], &txpdo)){
             log_error("Failed to register TxPDO in domain");
             return -1;
@@ -558,10 +569,14 @@ int EtherCATcyclic(int buffersize,
                 }
             } else if(pdo.bitlength == 8){
                 uint8_t *ptr = byte_input(i);
-                *ptr = config->config_only_flag ? 0 : EC_READ_U8(domain1_pd + pdo.offset);
+                if(!config->config_only_flag && ptr){
+                    *ptr = EC_READ_U8(domain1_pd + pdo.offset);
+                }
             } else if(pdo.bitlength == 16){
                 uint16_t *ptr = word_input(i);
-                *ptr = config->config_only_flag ? 0 : EC_READ_U16(domain1_pd + pdo.offset);
+                if(!config->config_only_flag && ptr){
+                    *ptr = EC_READ_U16(domain1_pd + pdo.offset);
+                }
             }
         }
 
@@ -579,10 +594,14 @@ int EtherCATcyclic(int buffersize,
                 }
             } else if(pdo.bitlength == 8){
                 uint8_t *ptrout = byte_output(i);
-                if(!config->config_only_flag) EC_WRITE_U8(domain1_pd + pdo.offset, *ptrout);
+                if(!config->config_only_flag && ptrout){
+                    EC_WRITE_U8(domain1_pd + pdo.offset, *ptrout);
+                }
             } else if(pdo.bitlength == 16){
                 uint16_t *ptrout = word_output(i);
-                if(!config->config_only_flag) EC_WRITE_U16(domain1_pd + pdo.offset, *ptrout);
+                if(!config->config_only_flag && ptrout){
+                    EC_WRITE_U16(domain1_pd + pdo.offset, *ptrout);
+                }
             }
         }
     }

diff --git a/src/main.c b/src/main.c
@@ -21,6 +21,8 @@
 #include "ecat_handler.h"
 #include "log.h"
 #include "ethercat_src.h"
+#include <time.h>
+
 
 #define BUFFER_SIZE 1024
 /****************************************************************************/
@@ -35,6 +37,18 @@ uint16_t *int_input_call_back(int a){ return &longvar; }
 uint16_t *int_output_call_back(int a){ return &longvar; }
 void logger_callbackf(unsigned char *msg){ printf("PLC log: %s", msg); }
 
+//-----------------------------------------------------------------------------
+// Helper function - Makes the running thread sleep for the ammount of time
+// in milliseconds
+//-----------------------------------------------------------------------------
+void sleepms(int milliseconds)
+{
+	struct timespec ts;
+	ts.tv_sec = milliseconds / 1000;
+	ts.tv_nsec = (milliseconds % 1000) * 1000000;
+	nanosleep(&ts, NULL);
+}
+
 int main (int argc, char **argv){
     type_logger_callback logger = logger_callbackf; 
     ethercat_configure(argv[1], logger);
@@ -45,14 +59,16 @@ int main (int argc, char **argv){
     int16var_call_back int_input_callback = int_input_call_back;
     int16var_call_back int_output_callback = int_output_call_back;
 
-    for (int i = 0; i < 10; i++){
+    for (int i = 0; i < 100; i++){
         ethercat_callcyclic(BUFFER_SIZE, 
             bool_input_callback, 
             bool_output_callback, 
             byte_input_callback, 
             byte_output_callback, 
             int_input_callback, 
             int_output_callback);
+
+        sleepms(100);
     }
 
     ethercat_terminate_src();