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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2025-12-19 17:20:12 +03:00
parent 2291e38e57
commit 30a8036378
1 changed files with 10 additions and 6 deletions
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16
MainModesArbiter.c
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@ -40,11 +40,6 @@ static bool isActuatorCommandSet_in_Model() {
return false; return false;
} }
static void clearActuatorCommand_in_Model() {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
rtY.Out1.COM[i] = 0;
}
}
static _Noreturn void Mma_Thread(tMma *env) { static _Noreturn void Mma_Thread(tMma *env) {
@ -78,6 +73,11 @@ static _Noreturn void Mma_Thread(tMma *env) {
env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i]; env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i]; env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i]; env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];
if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
}
env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i]; env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i]; env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i]; env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
@ -109,10 +109,14 @@ static _Noreturn void Mma_Thread(tMma *env) {
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) { if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
if (env->ModelTask.isActuatorOverrideBusy == true) {
env->rtU_local.in_Busy_Ch0 = 1;
}
memcpy(&rtU, &env->rtU_local, sizeof(ExtU)); memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
if ((isActuatorCommandSet_in_Model() == true) && (isActuatorBusy == false)) { if ((isActuatorCommandSet_in_Model() == true) && (isActuatorBusy == false)) {
clearActuatorCommand_in_Model();
isActuatorBusy = true; isActuatorBusy = true;
memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1)); memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
} }