HVAC_M7
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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2025-12-24 13:08:09 +03:00
parent f87be212d5
commit 342d0a5425
2 changed files with 165 additions and 165 deletions
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328
MainModesArbiter.c
View File

@ -8,7 +8,9 @@
#include "ADC_Temp_Table.h" #include "ADC_Temp_Table.h"
const char LOG_TASK_ARB[] = "Arb"; const char LOG_TASK_ARB[] = "Arb";
#define LOGGER &env->slog.logger
void Mma_Init( void Mma_Init(
tMma *env, tMma *env,
@ -47,27 +49,30 @@ static _Noreturn void Mma_Thread(tMma *env) {
int16_t temp2 = 0; int16_t temp2 = 0;
if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) { if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
LoggerInfoStatic(&env->slog.logger, LOG_TASK_ARB, "Wake up from standby") LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
} }
// SystemDelayMs(1000); SystemDelayMs(1000);
// ModelTask_StartThread(&env->ModelTask); ModelTask_StartThread(&env->ModelTask);
bool isActuatorWorkBusy = false; bool isActuatorWorkBusy = false;
// env->pwms->pwmIo.run(env->pwms->pwmIo.env); // env->pwms->pwmIo.run(env->pwms->pwmIo.env);
bool busy = true;
for (;;) { for (;;) {
/*
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) { if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
if (env->linTaskActuator0.busy == 0) { // Если актуатор не занят
if (env->linTaskActuator0.busy == false) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) { for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
@ -75,7 +80,10 @@ static _Noreturn void Mma_Thread(tMma *env) {
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];
// Если команда выполнена
if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) { if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
// Установка входной команды в LIN_ACT_CFR_NONE
env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE; env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
} }
@ -86,19 +94,18 @@ static _Noreturn void Mma_Thread(tMma *env) {
env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i]; env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i];
env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i]; env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i];
env->rtU_local.in_CPOS_ALL_Ch0[i] = env->linTaskActuator0.linStateActuator[i].CPOS_ALL; env->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t)env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Emrf_Slave; env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Emrf_Slave;
env->rtU_local.in_Mode_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Mode_Slave; env->rtU_local.in_Mode_Slave_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Mode_Slave;
env->rtU_local.in_Act_Err1_Supply_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave; env->rtU_local.in_Act_Err1_Supply_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave;
env->rtU_local.in_Act_Err2_Communication_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave; env->rtU_local.in_Act_Err2_Communication_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave;
env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave; env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave;
env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave; env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t)env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave;
env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave; env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave;
env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave; env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
} }
isActuatorWorkBusy = setBusy(&env->linTaskActuator0); isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
resetStall(&env->linTaskActuator0);
env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect; env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy; env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
@ -110,28 +117,38 @@ static _Noreturn void Mma_Thread(tMma *env) {
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) { if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
// Если принята команда
if (env->ModelTask.triggerCommand == true) { if (env->ModelTask.triggerCommand == true) {
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
//
env->rtU_local.in_Busy_Ch0 = 1; env->rtU_local.in_Busy_Ch0 = 1;
} }
memcpy(&rtU, &env->rtU_local, sizeof(ExtU)); // Если прията команда и актуатор не занят
if ((env->ModelTask.triggerCommand == true) && (isActuatorWorkBusy == false)) { if ((env->ModelTask.triggerCommand == true) && (isActuatorWorkBusy == false)) {
env->ModelTask.triggerCommand = false; env->ModelTask.triggerCommand = false;
isActuatorWorkBusy = true; isActuatorWorkBusy = true;
// Сброс STALL в состоянии актуатор и локальном состоянии
resetStall(&env->linTaskActuator0, (uint8_t *)env->rtU_local.in_Act_Stall_Slave_Ch0);
// Копирование команд
for (uint8_t i = 0; i < 9; ++i) { for (uint8_t i = 0; i < 9; ++i) {
rtY.Out1.COM[i] = env->ModelTask.numCommand[i]; rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
} }
// ВЫХОД МОДЕЛИ (АКТУАТОР)
memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1)); memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
} }
// ВХОДЫ МОДЕЛИ
memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
osMutexRelease(env->ModelTask.access); osMutexRelease(env->ModelTask.access);
} }
*/
@ -146,7 +163,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
/* /*
LoggerInfoStatic(&env->slog.logger, LOG_TASK_ARB, "Zorro...") LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Zorro...")
printf("Test Test Test Test Test Test Test Test Test Test XA XA ...\n"); printf("Test Test Test Test Test Test Test Test Test Test XA XA ...\n");
GpioPinToggle(&env->gpios->led.LED1); GpioPinToggle(&env->gpios->led.LED1);
@ -165,169 +182,152 @@ static _Noreturn void Mma_Thread(tMma *env) {
if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) { if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512); temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
osMutexRelease(env->adcTask0.access); osMutexRelease(env->adcTask0.access);
LoggerFormatInfo(&env->slog.logger, LOG_TASK_ARB, "Temp1 = %d", temp1) LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
} }
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) { if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512); temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
osMutexRelease(env->adcTask1.access); osMutexRelease(env->adcTask1.access);
LoggerFormatInfo(&env->slog.logger, LOG_TASK_ARB, "Temp2 = %d", temp2) LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
} }
*/ */
/* /*
bool isBusy = true;
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) { if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
if (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE) {
isBusy = false; if ((env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_SUCCESSFUL) ||
(env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE)) {
busy = true;
}
if (busy == true) {
busy = false;
switch (step) {
case 0: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
++step;
break;
}
case 1: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
++step;
break;
}
case 2: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
++step;
break;
}
case 3: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
++step;
break;
}
case 4: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
// ++step;
//}
break;
}
case 5: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
++step;
break;
}
case 6: {
resetStall(&env->linTaskActuator0);
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
++step;
break;
}
case 7: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
// ++step;
//}
break;
}
case 8: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
++step;
}
break;
}
default: {
}
}
} }
osMutexRelease(env->linTaskActuator0.access); osMutexRelease(env->linTaskActuator0.access);
} }
if (isBusy == false) { LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Step = %d", step)
switch (step) {
case 0: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 1: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 2: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 3: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 4: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
// ++step;
//}
break;
}
case 5: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 6: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 7: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
// ++step;
//}
break;
}
case 8: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 8000;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 9: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
++step;
}
break;
}
default: {
}
}
}
*/ */
/* /*
uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000); uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
@ -346,7 +346,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
} }
*/ */
SystemDelayMs(100); SystemDelayMs(10);
} }
} }

2
MainModesArbiter_InitStage.c
View File

@ -92,7 +92,7 @@ static void Mma_InitSubSystems(tMma *env) {
StandBy_Init(&env->standBy); StandBy_Init(&env->standBy);
ModelTask_Init(&env->ModelTask); ModelTask_Init(&env->ModelTask, &env->slog.logger);
LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization") LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")