HVAC_M7
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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2025-12-12 17:24:15 +03:00
parent 47c5a24c7a
commit 41c45b818e
1 changed files with 26 additions and 6 deletions
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32
MainModesArbiter.c
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@ -68,8 +68,8 @@ static _Noreturn void Mma_Thread(tMma *env) {
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1; env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0; env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1; env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0; env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1; env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
++step; ++step;
break; break;
} }
@ -92,18 +92,38 @@ static _Noreturn void Mma_Thread(tMma *env) {
case 6: { case 6: {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET; env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20; env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 32000; env->linTaskActuator0.linCommandActuator[0].POS = 6000;
env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1; env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0; env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1; env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0; env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1; env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
++step; ++step;
break; break;
} }
case 7: { case 7: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 32000) { if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
++step;
}
break;
}
case 8: {
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;
++step;
break;
}
case 9: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
++step; ++step;
} }
break; break;