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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2026-01-20 17:40:50 +03:00
parent 73e2454186
commit 736db72a97
5 changed files with 116 additions and 83 deletions
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92
LinActuatorWork.c Normal file
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@ -0,0 +1,92 @@
//
// Created by cfif on 20.01.2026.
//
#include "LinActuatorWork.h"
void LinActuatorWork(tMma *env) {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
// Если актуатор не занят
if (env->linTaskActuator0.busy == false) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++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].MODE = env->rtY_local.Out1.MODE[i];
// Если команда выполнена
if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
#endif
// Установка входной команды в LIN_ACT_CFR_NONE
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].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].Autos_SET = env->rtY_local.Out1.Autos_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->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t) env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
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] = (int8_t) env->linTaskActuator0.linStateActuator[i].Mode_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] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error2_Communication_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] = (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_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
}
env->isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
}
osMutexRelease(env->linTaskActuator0.access);
}
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
// Если принята команда
if (env->ModelTask.triggerCommand == true) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
#endif
//
env->rtU_local.in_Busy_Ch0 = 1;
}
// Если прията команда и актуатор не занят
if ((env->ModelTask.triggerCommand == true) && (env->isActuatorWorkBusy == false)) {
env->ModelTask.triggerCommand = false;
env->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) {
rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
}
// ВЫХОД МОДЕЛИ (АКТУАТОР)
memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
}
// ВХОДЫ МОДЕЛИ
memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
osMutexRelease(env->ModelTask.access);
}
}

12
LinActuatorWork.h Normal file
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@ -0,0 +1,12 @@
//
// Created by cfif on 20.01.2026.
//
#ifndef HVAC_M7_LINACTUATORWORK_H
#define HVAC_M7_LINACTUATORWORK_H
#include "MainModesArbiter_Private.h"
void LinActuatorWork(tMma *env);
#endif //HVAC_M7_LINACTUATORWORK_H

83
MainModesArbiter.c
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@ -61,7 +61,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
ModelTask_StartThread(&env->ModelTask);
bool isActuatorWorkBusy = false;
/*
for (;;) {
@ -88,88 +87,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
// Если актуатор не занят
if (env->linTaskActuator0.busy == false) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++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].MODE = env->rtY_local.Out1.MODE[i];
// Если команда выполнена
if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
#endif
// Установка входной команды в LIN_ACT_CFR_NONE
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].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].Autos_SET = env->rtY_local.Out1.Autos_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->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t) env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
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] = (int8_t) env->linTaskActuator0.linStateActuator[i].Mode_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] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error2_Communication_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] = (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_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
}
isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
}
osMutexRelease(env->linTaskActuator0.access);
}
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
// Если принята команда
if (env->ModelTask.triggerCommand == true) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
#endif
//
env->rtU_local.in_Busy_Ch0 = 1;
}
// Если прията команда и актуатор не занят
if ((env->ModelTask.triggerCommand == true) && (isActuatorWorkBusy == false)) {
env->ModelTask.triggerCommand = false;
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) {
rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
}
// ВЫХОД МОДЕЛИ (АКТУАТОР)
memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
}
// ВХОДЫ МОДЕЛИ
memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
osMutexRelease(env->ModelTask.access);
}

6
MainModesArbiter.h
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@ -27,6 +27,7 @@
#include "standby.h"
#include "Model_Task.h"
#include "Model_actuator.h"
#include "CanUds.h"
typedef struct {
@ -39,6 +40,8 @@ typedef struct {
tStorageOnFlash *flash;
tPwms *pwms;
tCanUds canUds;
tRtcs *rtcs;
tAdcs *adcs;
@ -73,6 +76,9 @@ typedef struct {
ExtU rtU_local;
ExtY rtY_local;
bool isActuatorWorkBusy;
} tMma;
void Mma_Init(

6
MainModesArbiter_InitStage.c
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@ -66,6 +66,12 @@ static void Mma_InitSubSystems(tMma *env) {
CanXcpProcessing_Listener_Start(&env->CanSerialPortFrameXCP);
CanUds_Init(
&env->canUds,
&env->canPorts->Can0_IO,
&env->slog.logger);
CanSerialPortCanUds_Start(&env->canUds);
CanSpamReceiver_Init(&env->canSpamReceiver, &env->canPorts->Can0_IO);
CanSpamReceiver_StartThread(&env->canSpamReceiver);