HVAC_M7
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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2025-12-12 16:40:09 +03:00
parent 8ec7db34b5
commit 47c5a24c7a
1 changed files with 41 additions and 1 deletions
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42
MainModesArbiter.c
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@ -44,18 +44,21 @@ static _Noreturn void Mma_Thread(tMma *env) {
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;
break;
}
case 1: {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
++step;
break;
}
case 2: {
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;
break;
}
case 3: {
@ -67,13 +70,50 @@ static _Noreturn void Mma_Thread(tMma *env) {
env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
++step;
break;
}
case 4: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
++step;
}
break;
}
case 5: {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
++step;
break;
}
case 6: {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 32000;
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 = 0;
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
++step;
break;
}
case 7: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 32000) {
++step;
}
break;
}
default: {
}
}
++step;
}
osMutexRelease(env->linTaskActuator0.access);