Обновление

MainModesArbiter.c

@@ -107,7 +107,7 @@ void ANALOG_SENSOR(tMma *env, char *desc, uint16_t adc_value) {
 void LoadDataInFromModel(tMma *env) {
 //    int16_t temp1 = 0;
 //    float temp2 = 0;
-
+/*
     if (osMutexAcquire(env->adcTask0.access, 5000) == osOK) {
 
         if (env->adcTask0.ADC_isUpdate) {
@@ -218,7 +218,7 @@ void LoadDataInFromModel(tMma *env) {
         osMutexRelease(env->adcTask1.access);
         //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
     }
-
+*/
     if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
 /*
         rtDW.ADC_Key_Data_Model.ST_ReservePower = GpioPinGet(
@@ -262,19 +262,8 @@ void LoadDataInFromModel(tMma *env) {
         env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, PWM_Get.pwmPercentRearReserved);
 */
 
-        // Ошибки DTC
+        set_Dtc_state_error(&env->Diagnostic);
-        if (osMutexAcquire(env->Diagnostic.access, 1000) == osOK) {
+        set_CCU_Errors(&env->canSpamTransmitter, (CCU_Errors_t *) &CCU_Errors_Model);
-            memcpy(&dtc_state_error, &rtDW.dtc_state_error_model, sizeof(rtDW.dtc_state_error_model));
-            osMutexRelease(env->Diagnostic.access);
-        }
-
-
-        memcpy(&rtDW.ADC_Data_Model, &env->ADC_Data_Model_local, sizeof(rtDW.ADC_Data_Model));
-
-        if (env->ModelTask.isUpdate) {
-            env->ModelTask.isUpdate = false;
-            set_CCU_Errors(&env->canSpamTransmitter, (CCU_Errors_t *) &CCU_Errors_Model);
-        }
 
         osMutexRelease(env->ModelTask.access);
     }
@@ -308,7 +297,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
     env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
     SystemDelayMs(100);
 
-    LoadDataInFromModel(env);
+//    LoadDataInFromModel(env);
 
     ModelTask_StartThread(&env->ModelTask);
 
@@ -355,10 +344,10 @@ static _Noreturn void Mma_Thread(tMma *env) {
             LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Sensor_Ambient_Temp: ADC = %u, Temp = %.2f °C, Resistance = %.2f Ohm U = %.2f",
                              adc_value, Sensor_Ambient_Temp / 10.0f, resistance, U)
 */
-            //uint16_t adc_value = env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FL;
+        //uint16_t adc_value = env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FL;
-            //int16_t temp_incar = get_temperature_log_fast_for_table(adc_value, TABLE_INCAR);
+        //int16_t temp_incar = get_temperature_log_fast_for_table(adc_value, TABLE_INCAR);
-            //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Sensor_Incar_Temp_FL: ADC = %u, Temp = %.2f °C", adc_value,
+        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Sensor_Incar_Temp_FL: ADC = %u, Temp = %.2f °C", adc_value,
-            //                 temp_incar / 10.0f)
+        //                 temp_incar / 10.0f)
 
 
 
@@ -370,6 +359,16 @@ static _Noreturn void Mma_Thread(tMma *env) {
         env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 95);
         env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 10);
         env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 20);
+
+        if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
+
+            set_Dtc_state_error(&env->Diagnostic);
+            set_CCU_Errors(&env->canSpamTransmitter, (CCU_Errors_t *) &CCU_Errors_Model);
+
+            osMutexRelease(env->ModelTask.access);
+        }
+
+
 /*
         SystemDelayMs(10);
         uint8_t pwm1 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
@@ -388,7 +387,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
         LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", pwm4)
 */
 
-        LoadDataInFromModel(env);
+//        LoadDataInFromModel(env);
 /*
         LinActuatorWork(env, &env->linTaskActuator1, 1,
                         &env->actuator_Ch0_Command_Model_local_1,

MainModesArbiter.h

@@ -83,21 +83,6 @@ typedef struct {
         osThreadAttr_t attr;
     } thread;
 
-    CmdBusADCData ADC_Data_Model_local;
-
-    /*
-    // Входные данные (локальные) для модели
-    ActuatorCmdBus actuator_Ch0_Command_Model_local_1;
-    ActuatorCmdBus actuator_Ch1_Command_Model_local_2;
-    ActuatorCmdBus actuator_Ch2_Command_Model_local_3;
-
-    // Выходные данные (локальные) для модели
-    ActuatorCmdBusInput actuator_Ch0_Input_Model_local_1;
-    ActuatorCmdBusInput actuator_Ch1_Input_Model_local_2;
-    ActuatorCmdBusInput actuator_Ch2_Input_Model_local_3;
-*/
-
-    bool isActuatorNoGetNextCommand[3];
 
 } tMma;
 

MainModesArbiter_InitStage.c

@@ -99,9 +99,11 @@ static void Mma_InitSubSystems(tMma *env) {
 
 //    Indication_Init(&env->Indication, HVAC_DEV_MODE_STARTUP);
 
-    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3, &env->slog.logger);
+    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3,
+                   &env->slog.logger);
 
-    CommandLine_Init(&env->cli, &env->slog, &env->serialPorts->SerialPortLog_IO, &env->serialPorts->cliVirtualPortOut_Io);
+    CommandLine_Init(&env->cli, &env->slog, &env->serialPorts->SerialPortLog_IO,
+                     &env->serialPorts->cliVirtualPortOut_Io);
     CommandLine_StartThread(&env->cli);
 
     Diagnostic_Init(&env->Diagnostic, &env->slog.logger);
@@ -175,10 +177,10 @@ static void Mma_InitSubSystems(tMma *env) {
     Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
 //    Lin5_StartThread(&env->linTaskSensor5);
 
-    Adc_0_Init(&env->adcTask0, &env->adcs->adc_0_IO, env->gpios);
+    Adc_0_Init(&env->adcTask0, env->ModelTask.access, &env->adcs->adc_0_IO, env->gpios);
     Adc_0_StartThread(&env->adcTask0);
 
-    Adc_1_Init(&env->adcTask1, &env->adcs->adc_1_IO, env->gpios);
+    Adc_1_Init(&env->adcTask1, env->ModelTask.access, &env->adcs->adc_1_IO, env->gpios);
     Adc_1_StartThread(&env->adcTask1);
 
     CanUds_Init(