Обновление
This commit is contained in:
cfif
parent
73e2454186
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736db72a97
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//
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// Created by cfif on 20.01.2026.
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//
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#include "LinActuatorWork.h"
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void LinActuatorWork(tMma *env) {
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if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
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// Если актуатор не занят
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if (env->linTaskActuator0.busy == false) {
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for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
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env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
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env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
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env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];
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// Если команда выполнена
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if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
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#endif
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// Установка входной команды в LIN_ACT_CFR_NONE
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env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
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}
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env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
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env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Autos_SET = env->rtY_local.Out1.Autos_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i];
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env->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t) env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
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env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Emrf_Slave;
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env->rtU_local.in_Mode_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Mode_Slave;
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env->rtU_local.in_Act_Err1_Supply_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave;
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env->rtU_local.in_Act_Err2_Communication_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave;
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env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave;
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env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave;
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env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave;
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env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
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}
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env->isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
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env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
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env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
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}
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osMutexRelease(env->linTaskActuator0.access);
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}
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if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
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// Если принята команда
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if (env->ModelTask.triggerCommand == true) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
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#endif
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//
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env->rtU_local.in_Busy_Ch0 = 1;
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}
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// Если прията команда и актуатор не занят
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if ((env->ModelTask.triggerCommand == true) && (env->isActuatorWorkBusy == false)) {
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env->ModelTask.triggerCommand = false;
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env->isActuatorWorkBusy = true;
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// Сброс STALL в состоянии актуатор и локальном состоянии
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resetStall(&env->linTaskActuator0, (uint8_t *) env->rtU_local.in_Act_Stall_Slave_Ch0);
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// Копирование команд
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for (uint8_t i = 0; i < 9; ++i) {
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rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
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}
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// ВЫХОД МОДЕЛИ (АКТУАТОР)
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memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
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}
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// ВХОДЫ МОДЕЛИ
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memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
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osMutexRelease(env->ModelTask.access);
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}
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}
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//
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// Created by cfif on 20.01.2026.
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//
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#ifndef HVAC_M7_LINACTUATORWORK_H
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#define HVAC_M7_LINACTUATORWORK_H
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#include "MainModesArbiter_Private.h"
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void LinActuatorWork(tMma *env);
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#endif //HVAC_M7_LINACTUATORWORK_H
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@ -61,7 +61,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
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ModelTask_StartThread(&env->ModelTask);
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ModelTask_StartThread(&env->ModelTask);
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bool isActuatorWorkBusy = false;
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/*
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/*
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for (;;) {
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for (;;) {
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@ -88,88 +87,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
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pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
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pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
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//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
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//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
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if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
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// Если актуатор не занят
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if (env->linTaskActuator0.busy == false) {
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for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
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env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
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env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
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env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];
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// Если команда выполнена
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if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "SUCCESSFUL COMMAND")
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#endif
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// Установка входной команды в LIN_ACT_CFR_NONE
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env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
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}
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env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
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env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Autos_SET = env->rtY_local.Out1.Autos_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i];
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env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i];
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env->rtU_local.in_CPOS_ALL_Ch0[i] = (int16_t) env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
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env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Emrf_Slave;
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env->rtU_local.in_Mode_Slave_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Mode_Slave;
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env->rtU_local.in_Act_Err1_Supply_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave;
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env->rtU_local.in_Act_Err2_Communication_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave;
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env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave;
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env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t) env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave;
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env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave;
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env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
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}
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isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
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env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
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env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
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}
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osMutexRelease(env->linTaskActuator0.access);
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}
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if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
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// Если принята команда
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if (env->ModelTask.triggerCommand == true) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "DETECT COMMAND")
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#endif
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//
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env->rtU_local.in_Busy_Ch0 = 1;
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}
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// Если прията команда и актуатор не занят
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if ((env->ModelTask.triggerCommand == true) && (isActuatorWorkBusy == false)) {
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env->ModelTask.triggerCommand = false;
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isActuatorWorkBusy = true;
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// Сброс STALL в состоянии актуатор и локальном состоянии
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resetStall(&env->linTaskActuator0, (uint8_t *) env->rtU_local.in_Act_Stall_Slave_Ch0);
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// Копирование команд
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for (uint8_t i = 0; i < 9; ++i) {
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rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
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}
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// ВЫХОД МОДЕЛИ (АКТУАТОР)
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memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
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}
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// ВХОДЫ МОДЕЛИ
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memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
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osMutexRelease(env->ModelTask.access);
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}
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#include "standby.h"
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#include "standby.h"
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#include "Model_Task.h"
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#include "Model_Task.h"
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#include "Model_actuator.h"
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#include "Model_actuator.h"
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#include "CanUds.h"
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typedef struct {
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typedef struct {
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tStorageOnFlash *flash;
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tStorageOnFlash *flash;
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tPwms *pwms;
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tPwms *pwms;
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tCanUds canUds;
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tRtcs *rtcs;
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tRtcs *rtcs;
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tAdcs *adcs;
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tAdcs *adcs;
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@ -73,6 +76,9 @@ typedef struct {
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ExtU rtU_local;
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ExtU rtU_local;
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ExtY rtY_local;
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ExtY rtY_local;
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bool isActuatorWorkBusy;
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} tMma;
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} tMma;
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void Mma_Init(
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void Mma_Init(
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@ -66,6 +66,12 @@ static void Mma_InitSubSystems(tMma *env) {
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CanXcpProcessing_Listener_Start(&env->CanSerialPortFrameXCP);
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CanXcpProcessing_Listener_Start(&env->CanSerialPortFrameXCP);
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CanUds_Init(
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&env->canUds,
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&env->canPorts->Can0_IO,
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&env->slog.logger);
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CanSerialPortCanUds_Start(&env->canUds);
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CanSpamReceiver_Init(&env->canSpamReceiver, &env->canPorts->Can0_IO);
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CanSpamReceiver_Init(&env->canSpamReceiver, &env->canPorts->Can0_IO);
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CanSpamReceiver_StartThread(&env->canSpamReceiver);
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CanSpamReceiver_StartThread(&env->canSpamReceiver);
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