691 lines
27 KiB
C
691 lines
27 KiB
C
//
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// Created by cfif on 13.03.2026.
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//
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#include "ArbiterCommand.h"
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#include "CmsisRtosThreadUtils.h"
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#include "SystemDelayInterface.h"
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#include "SerialPort.h"
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#include "AtCmdCommonProtected.h"
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#include "AsciiStringParsingUtils.h"
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#include "memory.h"
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#include <stdlib.h>
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/*
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void sendOk(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "OK");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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void sendError(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "ERROR");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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void sendVers(tAtCmd *AtCmd) {
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AtCmdPrepare(AtCmd);
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AtCmdTxClear(AtCmd);
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AtCmdTxAddStatic(AtCmd, "v001");
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AtCmdTxSendLn(AtCmd);
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AtCmdRxClear(AtCmd);
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}
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*/
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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void TaskSerialToCanCyclic0_Init(tTaskSerialToCanCyclic *env,
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tSerialPortFrameIO *ioCAN
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) {
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// env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->txDataQueue = osMessageQueueNew(20, sizeof(can_rx_message_type), NULL);
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InitThreadAtrStatic(&env->thread.attr, "SerialCyclic", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanCyclic0_Thread(tTaskSerialToCanCyclic *env) {
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for (;;) {
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_type data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.standard_id, 0, 0,
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1000);
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.extended_id, 1, 0,
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1000);
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}
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}
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// osMutexRelease(env->access);
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// }
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}
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}
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uint32_t GetCountQueueCanCyclic0(tTaskSerialToCanCyclic *env) {
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uint32_t count = 0;
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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count = osMessageQueueGetCount(env->txDataQueue);
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// osMutexRelease(env->access);
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// }
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return count;
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}
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osStatus_t PutQueueCanCyclic0(tTaskSerialToCanCyclic *env, can_rx_message_type *dataCan) {
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osStatus_t status = osErrorTimeout;
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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status = osMessageQueuePut(env->txDataQueue, dataCan, 0x0, 0U);
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// osMutexRelease(env->access);
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// }
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return status;
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}
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void TaskSerialToCanCyclic0_StartThread(tTaskSerialToCanCyclic *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanCyclic0_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка без подтверждения-------------------------------------------------------
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void TaskSerialToCanCyclic1_Init(tTaskSerialToCanCyclic *env,
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tSerialPortFrameIO *ioCAN
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) {
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// env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->txDataQueue = osMessageQueueNew(20, sizeof(can_rx_message_type), NULL);
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InitThreadAtrStatic(&env->thread.attr, "SerialCyclic", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanCyclic1_Thread(tTaskSerialToCanCyclic *env) {
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for (;;) {
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_type data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.standard_id, 0, 1,
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1000);
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.data, data.dlc, data.extended_id, 1, 1,
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1000);
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}
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}
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// osMutexRelease(env->access);
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// }
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}
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}
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uint32_t GetCountQueueCanCyclic1(tTaskSerialToCanCyclic *env) {
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uint32_t count = 0;
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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count = osMessageQueueGetCount(env->txDataQueue);
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// osMutexRelease(env->access);
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// }
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return count;
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}
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osStatus_t PutQueueCanCyclic1(tTaskSerialToCanCyclic *env, can_rx_message_type *dataCan) {
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osStatus_t status = osErrorTimeout;
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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status = osMessageQueuePut(env->txDataQueue, dataCan, 0x0, 0U);
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// osMutexRelease(env->access);
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// }
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return status;
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}
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void TaskSerialToCanCyclic1_StartThread(tTaskSerialToCanCyclic *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanCyclic1_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//конец ------------------------------Отправка без подтверждения-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Отправка с подтверждением-------------------------------------------------------
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void TaskSerialToCanSpontany_Init(tTaskSerialToCanSpontany *env,
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tSerialPortFrameIO *ioCAN,
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tSerialPortIO *ioUSB1,
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tSerialPortIO *ioUSB2
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) {
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// env->access = osMutexNew(NULL);
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env->ioCAN = ioCAN;
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env->ioUSB1 = ioUSB1;
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env->ioUSB2 = ioUSB2;
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env->txDataQueue = osMessageQueueNew(20, sizeof(can_rx_message_Spontany), NULL);
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InitThreadAtrStatic(&env->thread.attr, "SerialSpontany", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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static _Noreturn void Serial_ToCanSpontany_Thread(tTaskSerialToCanSpontany *env) {
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for (;;) {
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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can_rx_message_Spontany data;
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if (osMessageQueueGet(env->txDataQueue, &data, NULL, 1000) == osOK) {
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if (data.can_rx_message.id_type == CAN_ID_STANDARD) {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.can_rx_message.data,
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data.can_rx_message.dlc, data.can_rx_message.standard_id, 0, 2,
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1000);
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if (sent) {
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if (data.from_usb == FROM_USB1) {
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env->ioUSB1->transmit(env->ioUSB1->env, (uint8_t *) "OK\r\n", sizeof("OK\r\n") - 1, 1000);
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} else {
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env->ioUSB2->transmit(env->ioUSB2->env, (uint8_t *) "OK\r\n", sizeof("OK\r\n") - 1, 1000);
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}
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} else {
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if (data.from_usb == FROM_USB1) {
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env->ioUSB1->transmit(env->ioUSB1->env, (uint8_t *) "ERROR\r\n", sizeof("ERROR\r\n") - 1, 1000);
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} else {
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env->ioUSB2->transmit(env->ioUSB2->env, (uint8_t *) "ERROR\r\n", sizeof("ERROR\r\n") - 1, 1000);
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}
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}
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} else {
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uint16_t sent = env->ioCAN->transmit(env->ioCAN->env, data.can_rx_message.data,
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data.can_rx_message.dlc, data.can_rx_message.extended_id, 1, 2,
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1000);
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if (sent) {
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if (data.from_usb == FROM_USB1) {
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env->ioUSB1->transmit(env->ioUSB1->env, (uint8_t *) "OK\r\n", sizeof("OK\r\n") - 1, 1000);
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} else {
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env->ioUSB2->transmit(env->ioUSB2->env, (uint8_t *) "OK\r\n", sizeof("OK\r\n") - 1, 1000);
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}
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} else {
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if (data.from_usb == FROM_USB1) {
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env->ioUSB1->transmit(env->ioUSB1->env, (uint8_t *) "ERROR\r\n", sizeof("ERROR\r\n") - 1, 1000);
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} else {
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env->ioUSB2->transmit(env->ioUSB2->env, (uint8_t *) "ERROR\r\n", sizeof("ERROR\r\n") - 1, 1000);
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}
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}
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}
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}
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// osMutexRelease(env->access);
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// }
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}
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}
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osStatus_t PutQueueCanSpontany(tTaskSerialToCanSpontany *env, can_rx_message_Spontany *dataCan) {
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osStatus_t status = osErrorTimeout;
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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status = osMessageQueuePut(env->txDataQueue, dataCan, 0x0, 0U);
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// osMutexRelease(env->access);
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// }
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return status;
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}
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void TaskSerialToCanSpontany_StartThread(tTaskSerialToCanSpontany *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_ToCanSpontany_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//конец ------------------------------Отправка с подтверждением-------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Парсер команд--------------------------------------------------------------------
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void SerialCommand_Scheduler(tTaskSerial *env) {
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osStatus_t status;
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while (AtCmdReceiveNextLine(&env->At, SystemWaitForever) == AT_OK) {
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if (AtCmdRxBeginWithStatic(&env->At, "T")) {
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uint8_t data[8];
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uint8_t size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[1], 2);
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uint8_t opt = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[3], 2);
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uint8_t remote = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[5], 4);
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uint32_t adr = (data[0] << 8) | data[1];
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uint8_t len = &env->At.rxBuffer.data[env->At.rxBuffer.len] - &env->At.rxBuffer.data[9] - 2;
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if (len > 16) {
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len = 16;
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}
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[9], len);
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can_rx_message_Spontany dataCan;
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dataCan.from_usb = env->from_usb;
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dataCan.can_rx_message.dlc = size;
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dataCan.can_rx_message.id_type = CAN_ID_STANDARD;
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dataCan.can_rx_message.standard_id = adr;
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dataCan.can_rx_message.frame_type = remote;
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dataCan.can_rx_message.filter_index = 0;
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dataCan.can_rx_message.extended_id = 0;
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memcpy(dataCan.can_rx_message.data, data, size);
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if (opt) {
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status = PutQueueCanSpontany(env->TaskSerialToCanSpontany, &dataCan);
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} else {
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uint32_t count0 = GetCountQueueCanCyclic0(env->TaskSerialToCanCyclic0);
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uint32_t count1 = GetCountQueueCanCyclic1(env->TaskSerialToCanCyclic1);
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if (count0 <= count1) {
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status = PutQueueCanCyclic0(env->TaskSerialToCanCyclic0, &dataCan.can_rx_message);
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} else {
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status = PutQueueCanCyclic1(env->TaskSerialToCanCyclic1, &dataCan.can_rx_message);
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}
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}
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}
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if (AtCmdRxBeginWithStatic(&env->At, "t")) {
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uint8_t data[8];
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//uint32_t adr = iAsciiStringParseUnsignedLongDecimalNumber(&env->At.rxBuffer.data[1],
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// &env->At.rxBuffer.data[9]);
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uint8_t size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[0], 1);
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uint8_t opt = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[1], 1);
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uint8_t remote = data[0];
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[3], 8);
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uint32_t adr = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3] << 0);
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uint8_t len = &env->At.rxBuffer.data[env->At.rxBuffer.len] - &env->At.rxBuffer.data[9] - 2;
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if (len > 16) {
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len = 16;
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}
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size = iAsciiStringParseHexBytes(data, &env->At.rxBuffer.data[9], len);
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can_rx_message_Spontany dataCan;
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dataCan.from_usb = env->from_usb;
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dataCan.can_rx_message.dlc = size;
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dataCan.can_rx_message.id_type = CAN_ID_EXTENDED;
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dataCan.can_rx_message.extended_id = adr;
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dataCan.can_rx_message.frame_type = remote;
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dataCan.can_rx_message.filter_index = 0;
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dataCan.can_rx_message.standard_id = 0;
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memcpy(dataCan.can_rx_message.data, data, size);
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if (opt) {
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status = PutQueueCanSpontany(env->TaskSerialToCanSpontany, &dataCan);
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} else {
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uint32_t count0 = GetCountQueueCanCyclic0(env->TaskSerialToCanCyclic0);
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uint32_t count1 = GetCountQueueCanCyclic1(env->TaskSerialToCanCyclic1);
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if (count0 <= count1) {
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status = PutQueueCanCyclic0(env->TaskSerialToCanCyclic0, &dataCan.can_rx_message);
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} else {
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status = PutQueueCanCyclic1(env->TaskSerialToCanCyclic1, &dataCan.can_rx_message);
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}
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}
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}
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if (AtCmdRxBeginWithStatic(&env->At, "V")) {
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env->ioUSB->transmit(env->ioUSB->env, (uint8_t *) "v001\r\n", sizeof("v001\r\n") - 1, 1000);
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env->ioUSB->transmit(env->ioUSB->env, (uint8_t *) "OK\r\n", sizeof("OK\r\n") - 1, 1000);
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}
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}
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}
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//конец ------------------------------Парсер команд--------------------------------------------------------------------
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//начало ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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//начало ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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//начало ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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void TaskSerialUSB1_Init(tTaskSerial *env,
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tFrom_usb from_usb,
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tSerialPortIO *ioUSB1,
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tTaskSerialToCanCyclic *TaskSerialToCanCyclic0,
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tTaskSerialToCanCyclic *TaskSerialToCanCyclic1,
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tTaskSerialToCanSpontany *TaskSerialToCanSpontany
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) {
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// env->access = osMutexNew(NULL);
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env->from_usb = from_usb;
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env->ioUSB = ioUSB1;
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env->TaskSerialToCanCyclic0 = TaskSerialToCanCyclic0;
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env->TaskSerialToCanCyclic1 = TaskSerialToCanCyclic1;
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env->TaskSerialToCanSpontany = TaskSerialToCanSpontany;
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SerialPortClearRxBuffer(env->ioUSB);
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AtCmdInit(
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&env->At, env->ioUSB,
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env->AtRx, sizeof(env->AtRx),
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env->AtTx, sizeof(env->AtTx),
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2000, 2000
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);
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InitThreadAtrStatic(&env->thread.attr, "SerialUSB1", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
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}
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static _Noreturn void Serial_USB1_Thread(tTaskSerial *env) {
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for (;;) {
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// if (osMutexAcquire(env->access, 1000) == osOK) {
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SerialCommand_Scheduler(env);
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// osMutexRelease(env->access);
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// }
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SystemDelayMs(1);
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}
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}
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void TaskSerialUSB1_StartThread(tTaskSerial *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Serial_USB1_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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//конец ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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//конец ------------------------------Обработчик USB1 команд-----------------------------------------------------------
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//начало ------------------------------Обработчик USB2 команд-------------------------------------------------------
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//начало ------------------------------Обработчик USB2 команд-------------------------------------------------------
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//начало ------------------------------Обработчик USB2 команд-------------------------------------------------------
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||
|
||
void TaskSerialUSB2_Init(tTaskSerial *env,
|
||
tFrom_usb from_usb,
|
||
tSerialPortIO *ioUSB2,
|
||
tTaskSerialToCanCyclic *TaskSerialToCanCyclic0,
|
||
tTaskSerialToCanCyclic *TaskSerialToCanCyclic1,
|
||
tTaskSerialToCanSpontany *TaskSerialToCanSpontany
|
||
) {
|
||
|
||
// env->access = osMutexNew(NULL);
|
||
env->from_usb = from_usb;
|
||
|
||
env->ioUSB = ioUSB2;
|
||
|
||
env->TaskSerialToCanCyclic0 = TaskSerialToCanCyclic0;
|
||
env->TaskSerialToCanCyclic1 = TaskSerialToCanCyclic1;
|
||
env->TaskSerialToCanSpontany = TaskSerialToCanSpontany;
|
||
|
||
SerialPortClearRxBuffer(env->ioUSB);
|
||
|
||
AtCmdInit(
|
||
&env->At, env->ioUSB,
|
||
env->AtRx, sizeof(env->AtRx),
|
||
env->AtTx, sizeof(env->AtTx),
|
||
2000, 2000
|
||
);
|
||
|
||
InitThreadAtrStatic(&env->thread.attr, "SerialUSB2", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
|
||
}
|
||
|
||
|
||
static _Noreturn void Serial_USB2_Thread(tTaskSerial *env) {
|
||
for (;;) {
|
||
|
||
// if (osMutexAcquire(env->access, 1000) == osOK) {
|
||
|
||
SerialCommand_Scheduler(env);
|
||
|
||
// osMutexRelease(env->access);
|
||
// }
|
||
|
||
SystemDelayMs(1);
|
||
}
|
||
}
|
||
|
||
void TaskSerialUSB2_StartThread(tTaskSerial *env) {
|
||
if (!env->thread.id) {
|
||
env->thread.id = osThreadNew((osThreadFunc_t) (Serial_USB2_Thread), (void *) (env), &env->thread.attr);
|
||
}
|
||
}
|
||
|
||
//конец ------------------------------Обработчик USB2 команд-------------------------------------------------------
|
||
//конец ------------------------------Обработчик USB2 команд-------------------------------------------------------
|
||
//конец ------------------------------Обработчик USB2 команд-------------------------------------------------------
|
||
|
||
|
||
|
||
void toAddPrefixStr(char *out, char *in, size_t len) {
|
||
|
||
if (len <= strlen(in)) {
|
||
out[0] = '\0';
|
||
strcat(out, in);
|
||
return;
|
||
}
|
||
|
||
size_t countPrefix = len - strlen(in);
|
||
|
||
for (size_t i = 0; i < countPrefix; ++i)
|
||
out[i] = '0';
|
||
|
||
out[countPrefix] = '\0';
|
||
|
||
strcat(out, in);
|
||
}
|
||
|
||
|
||
void SerialReceivedCommand_Scheduler(tTaskReceivedSerial *env) {
|
||
uint16_t recv;
|
||
|
||
if (env->from_usb == FROM_USB1) {
|
||
recv = env->ioCAN->receive0(env->ioCAN->env, (uint8_t *) &env->canFrame, 1, 1000);
|
||
|
||
} else {
|
||
recv = env->ioCAN->receive1(env->ioCAN->env, (uint8_t *) &env->canFrame, 1, 1000);
|
||
}
|
||
|
||
if (recv > 0) {
|
||
|
||
env->text[0] = '\0';
|
||
|
||
if (env->canFrame.id_type == CAN_ID_STANDARD) {
|
||
strcat(env->text, "T"); // команда
|
||
|
||
strcat(env->text, "00"); // Без ожидания OK
|
||
strcat(env->text, "00"); // признак команда (00)
|
||
utoa(env->canFrame.standard_id, env->buf, 16);
|
||
toAddPrefixStr(env->bufWithPrefix, env->buf, 4);
|
||
strcat(env->text, env->bufWithPrefix); // Адрес
|
||
|
||
for (uint8_t i = 0; i < env->canFrame.dlc; ++i) {
|
||
utoa(env->canFrame.data[i], env->buf, 16);
|
||
toAddPrefixStr(env->bufWithPrefix, env->buf, 2);
|
||
strcat(env->text, env->bufWithPrefix); // Адрес
|
||
}
|
||
|
||
strcat(env->text, "\r\n"); // CR
|
||
} else {
|
||
strcat(env->text, "t"); // команда
|
||
|
||
strcat(env->text, "00"); // Без ожидания OK
|
||
strcat(env->text, "00"); // признак команда (00)
|
||
utoa(env->canFrame.extended_id, env->buf, 16);
|
||
toAddPrefixStr(env->bufWithPrefix, env->buf, 8);
|
||
strcat(env->text, env->bufWithPrefix); // Адрес
|
||
|
||
for (uint8_t i = 0; i < env->canFrame.dlc; ++i) {
|
||
utoa(env->canFrame.data[i], env->buf, 16);
|
||
toAddPrefixStr(env->bufWithPrefix, env->buf, 2);
|
||
strcat(env->text, env->bufWithPrefix); // Адрес
|
||
}
|
||
|
||
strcat(env->text, "\r\n"); // CR
|
||
}
|
||
|
||
env->ioUSB->transmit(env->ioUSB->env, (uint8_t *) env->text, strlen(env->text), 1000);
|
||
}
|
||
}
|
||
|
||
|
||
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
|
||
void Task_RECEIVED_SerialUSB1_Init(tTaskReceivedSerial *env,
|
||
tSerialPortFrameIO *ioCAN,
|
||
tFrom_usb from_usb1,
|
||
tSerialPortIO *ioUSB1) {
|
||
|
||
// env->access = osMutexNew(NULL);
|
||
env->from_usb = from_usb1;
|
||
env->ioUSB = ioUSB1;
|
||
env->ioCAN = ioCAN;
|
||
|
||
SerialPortClearRxBuffer(env->ioUSB);
|
||
|
||
InitThreadAtrStatic(&env->thread.attr, "SerialReceivedCanUSB1", env->thread.controlBlock, env->thread.stack,
|
||
osPriorityNormal);
|
||
}
|
||
|
||
|
||
static _Noreturn void Serial_RECEIVED_USB1_Thread(tTaskReceivedSerial *env) {
|
||
for (;;) {
|
||
|
||
// if (osMutexAcquire(env->access, 1000) == osOK) {
|
||
|
||
SerialReceivedCommand_Scheduler(env);
|
||
|
||
// osMutexRelease(env->access);
|
||
// }
|
||
|
||
SystemDelayMs(1);
|
||
}
|
||
}
|
||
|
||
void Task_RECEIVED_SerialUSB1_StartThread(tTaskReceivedSerial *env) {
|
||
if (!env->thread.id) {
|
||
env->thread.id = osThreadNew((osThreadFunc_t) (Serial_RECEIVED_USB1_Thread), (void *) (env), &env->thread.attr);
|
||
}
|
||
}
|
||
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB1 команд-----------------------------------------------------------
|
||
|
||
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|
||
//начало ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|
||
|
||
void Task_RECEIVED_SerialUSB2_Init(tTaskReceivedSerial *env,
|
||
tSerialPortFrameIO *ioCAN,
|
||
tFrom_usb from_usb2,
|
||
tSerialPortIO *ioUSB2) {
|
||
|
||
// env->access = osMutexNew(NULL);
|
||
env->from_usb = from_usb2;
|
||
env->ioUSB= ioUSB2;
|
||
env->ioCAN = ioCAN;
|
||
|
||
SerialPortClearRxBuffer(env->ioUSB);
|
||
|
||
InitThreadAtrStatic(&env->thread.attr, "SerialReceivedCanUSB2", env->thread.controlBlock, env->thread.stack,
|
||
osPriorityNormal);
|
||
}
|
||
|
||
|
||
static _Noreturn void Serial_RECEIVED_USB2_Thread(tTaskReceivedSerial *env) {
|
||
for (;;) {
|
||
|
||
// if (osMutexAcquire(env->access, 1000) == osOK) {
|
||
|
||
SerialReceivedCommand_Scheduler(env);
|
||
|
||
// osMutexRelease(env->access);
|
||
// }
|
||
|
||
SystemDelayMs(1);
|
||
}
|
||
}
|
||
|
||
void Task_RECEIVED_SerialUSB2_StartThread(tTaskReceivedSerial *env) {
|
||
if (!env->thread.id) {
|
||
env->thread.id = osThreadNew((osThreadFunc_t) (Serial_RECEIVED_USB2_Thread), (void *) (env), &env->thread.attr);
|
||
}
|
||
}
|
||
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|
||
//конец ------------------------------Обработчик очереди ВХОДЯЩИХ USB2 команд-------------------------------------------------------
|