[参考译文] AM2434：EtherCAT 子器件缓冲区处理 API 在回调中接收到错误的位大小

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https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1352446/am2434-ethercat-subdevice-buffer-handling-api-receives-wrong-bit-sizes-in-callbacks

器件型号：AM2434

你(们)好！

我在 EtherCAT 子器件堆栈和缓冲区处理 API 方面遇到了另一个问题。
我正在使用：

-来自 TI/Kunbus 的 EtherCAT 子器件堆栈
-工业通信 SDK 09.01. 版本

我正在使用以下堆栈函数来重新设置调用者的回调
   EC_API_SLV_cbRegisterPreSeqInputPDBuffer (...)；
   EC_API_SLV_cbRegisterPostSeqInputPDBuffer (...)；
   EC_API_SLV_cbRegisterPreSeqOutputPDBuffer (...)；
   EC_API_SLV_cbRegisterPostSeqOutputPDBuffer (...)；

不过、这些回调不会获取正确的位长度。位长度似乎是互换的。我在 InputPDBuffer 回调中获取 OutputPDBuffer 的位长度、反之亦然。

我使用09_01_00_00_ethercat_slave_simple_demo_am243x-evm_r5fss0-0_freertos_ti-arm-clang 示例复制了该行为。我添加了另一个32位大小的 RX-PDO。此后、我确定了 RX-PDO 大小(96位)和 TX-PDO 大小(64位)。

我还修改由 EC_API_SLV_cbRegisterPreSeqInputPDBuffer (...)注册的函数中的数据因此、我可以确保 InputPDBuffer-callback 应请求我们发送到 SPS 的数据、因为我成功地以 SPS 的形式接收了该数据。不过、给定的大小是错误的。在 InputPDBuffer-callback 中、我获取了96位的位大小。

另请参阅以下补丁、它清楚地显示了我在示例中更改的内容：

diff --git a/ecSlvSimple.c b/ecSlvSimple.c
index 7670305..319c19b 100644
--- a/ecSlvSimple.c
+++ b/ecSlvSimple.c
@@ -2146,6 +2146,36 @@ static EC_API_EError_t EC_SLV_APP_SS_populateRxPDO(EC_SLV_APP_SS_Application_t*
         goto Exit;
     }
 
+    EC_API_SLV_Pdo_t* ptRxPdo1602 = NULL;
+
+    error = (EC_API_EError_t)EC_API_SLV_PDO_create(ptSlave, "RxPDO3", 0x1602, &ptRxPdo1602);
+    if (error != EC_API_eERR_NONE)
+    {
+        OSAL_printf("Create PDO 0x1601 Error code: 0x%08x\r\n", error);
+        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
+        /* cppcheck-suppress misra-c2012-15.1 */
+        goto Exit;
+    }
+    OSAL_printf("RxPDO created 0x1602: 0x%lx\r\n", (uint32_t)ptRxPdo1602);
+
+    error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, 0x2000, 1, &ptObjEntry);
+    if (error != EC_API_eERR_NONE)
+    {
+        OSAL_printf("%s:%d Variable Error code: 0x%08x\r\n", __func__, __LINE__, error);
+        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
+        /* cppcheck-suppress misra-c2012-15.1 */
+        goto Exit;
+    }
+
+    error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, ptRxPdo1602, "SubIndex 001", ptObjEntry);
+    if (error != EC_API_eERR_NONE)
+    {
+        OSAL_printf("%s:%d Variable Error code: 0x%08x\r\n", __func__, __LINE__, error);
+        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
+        /* cppcheck-suppress misra-c2012-15.1 */
+        goto Exit;
+    }
+
     error = EC_API_eERR_NONE;
 Exit:
     return error;
@@ -2930,6 +2960,48 @@ static bool EC_SLV_APP_EoE_SS_receiveHandler(void* pContext_p, uint16_t* pData_p
     return true;
 }
 
+static uint8_t data_tx[1024]={0};
+
+static void*acquireTxBuffer(void* pContext_p, uint32_t length_p)
+{
+    static int counter = 0;
+    if(counter >> 8)
+    {
+        OSAL_printf("tx length: %d\r\n", length_p);
+        counter = 0;
+    }
+    counter++;
+
+    data_tx[0]++;
+    data_tx[1]++;
+    data_tx[2]++;
+    data_tx[3]++;
+    return &data_tx[0];
+}
+
+static void releaseTxBuffer(void* pContext_p, void* pData_p, uint32_t length_p)
+{
+    // nothing to do here just a test
+}
+
+static uint8_t data_rx[1024]={0};
+
+static void*acquireRxBuffer(void* pContext_p, uint32_t length_p)
+{
+    static int counter = 0;
+    if(counter >> 7)
+    {
+        OSAL_printf("rx length: %d\r\n", length_p);
+        counter = 0;
+    }
+    return &data_rx[0];
+}
+
+static void releaseRxBuffer(void* pContext_p, void* pData_p, uint32_t length_p)
+{
+    // nothing to do here just a test
+}
+
 /*!
  *  <!-- Description: -->
  *
@@ -3067,6 +3139,7 @@ void EC_SLV_APP_SS_applicationInit(EC_SLV_APP_SS_Application_t *pAppInstance_p)
     }
 
     /*PDO Mapping Changes*/
+    EC_API_SLV_PDO_setAssignment(pAppInstance_p->ptEcSlvApi, true);
     EC_API_SLV_PDO_registerAssignmentChanges(pAppInstance_p->ptEcSlvApi, EC_SLAVE_APP_assignmentChangedHandler, pAppInstance_p);
     EC_API_SLV_PDO_registerMappingChanges(pAppInstance_p->ptEcSlvApi, EC_SLAVE_APP_mappingChangedHandler, pAppInstance_p);
 
@@ -3088,7 +3161,9 @@ void EC_SLV_APP_SS_applicationInit(EC_SLV_APP_SS_Application_t *pAppInstance_p)
     EC_API_SLV_DIAG_enable(pAppInstance_p->ptEcSlvApi);
 
 #if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE) && !(defined OSAL_FREERTOS_JACINTO) /* first omit flash */
-    EC_API_SLV_cbRegisterFlashInit              (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_EEP_initFlash, pAppInstance_p->ptEcSlvApi);
+    // currently not supported for our custom board
+
+    // EC_API_SLV_cbRegisterFlashInit              (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_EEP_initFlash, pAppInstance_p->ptEcSlvApi);
     /* @cppcheck_justify{misra-c2012-11.6} void cast required for signature */
     /* cppcheck-suppress misra-c2012-11.6 */
     EC_API_SLV_EEPROM_cbRegisterWrite           (pAppInstance_p->ptEcSlvApi,   EC_SLV_APP_EEP_writeEeprom, OSPIFLASH_APP_STARTMAGIC);
@@ -3098,6 +3173,12 @@ void EC_SLV_APP_SS_applicationInit(EC_SLV_APP_SS_Application_t *pAppInstance_p)
 #endif
     EC_API_SLV_cbRegisterUserApplicationRun     (pAppInstance_p->ptEcSlvApi, EC_SLV_APP_SS_applicationRun, pAppInstance_p);
 
+    /* buffer callbacks */
+    EC_API_SLV_cbRegisterPreSeqInputPDBuffer(pAppInstance_p->ptEcSlvApi, acquireTxBuffer, pAppInstance_p->ptEcSlvApi);
+    EC_API_SLV_cbRegisterPostSeqInputPDBuffer(pAppInstance_p->ptEcSlvApi, releaseTxBuffer, pAppInstance_p->ptEcSlvApi);
+    EC_API_SLV_cbRegisterPreSeqOutputPDBuffer(pAppInstance_p->ptEcSlvApi, acquireRxBuffer, pAppInstance_p->ptEcSlvApi);
+    EC_API_SLV_cbRegisterPostSeqOutputPDBuffer(pAppInstance_p->ptEcSlvApi, releaseRxBuffer, pAppInstance_p->ptEcSlvApi);
+
     error = (EC_API_EError_t)EC_API_SLV_init(pAppInstance_p->ptEcSlvApi);
     if (error != EC_API_eERR_NONE)
     {
@@ -3350,6 +3431,9 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
             }
 
 #if !(defined FBTL_REMOTE) || (0 == FBTL_REMOTE)
+#if 0
+            // I don't use this code, as processdata is updated via callbacks only
+
             err = (EC_API_EError_t)EC_API_SLV_PDO_setEntryData(pApplicationInstace->ptEcSlvApi
                     ,pApplicationInstace->ptTxPdo1A00
                     ,1
@@ -3359,6 +3443,7 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
             {
                 OSAL_printf("Fill Description Object Error code: 0x%08x\r\n", err);
             }
+#endif
 #endif
         }
         else
@@ -3394,6 +3479,9 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
                     lastLed = (lastLed << 1u);
                 }
 
+#if 0
+                // I don't use this code, as processdata is updated via callbacks only
+
                 //Write Led data to the process data. It can be seen in OBD in Object 0x2002:2 as well.
                 error = EC_API_SLV_PDO_setEntryData(
                         pApplicationInstace->ptEcSlvApi,
@@ -3406,6 +3494,7 @@ static void EC_SLV_APP_SS_applicationRun(void* pAppCtxt_p)
                 {
                     OSAL_printf("%s:%d:E=0x%x\r\n", __func__, __LINE__, error);
                 }
+#endif
             }
         }

PS:我认为以下是正确的:

-输入数据=>从子设备发送数据-> SPS
-输出数据=>从 SPS 发送数据->子设备
-输入数据== TX 数据
-输出数据== RX 数据

1 年多前