HVAC_M7
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HVAC_M7_DebugTesting
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Обновление

This commit is contained in:
cfif 2026-02-13 15:59:41 +03:00
parent a02c48d203
commit 792c9f5db5
5 changed files with 140 additions and 104 deletions
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82
LinActuatorWork.c
View File

@ -3,11 +3,21 @@
//
#include "LinActuatorWork.h"
#define LOG_SIGN "Lin"
//#define LOG_SIGN "Lin"
#define LOGGER &env->slog.logger
// actuator_Command_Model_local - Выход модели (команды для актуаторов) ЛОКАЛЬНО
// actuator_Command_Model_trigger_local - Выход модели (команды для актуаторов) ЗАХВАТ
// actuator_Output_Model_local - Вход модели (состояния актуаторов) ЛОКАЛЬНЫЙ
// actuator_Output_Model_model - Вход модели (состояния актуаторов) МОДЕЛИ
void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator) {
void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
ActuatorCmdBus *actuator_Command_Model_local,
ActuatorCmdBus *actuator_Command_Model_trigger_local,
ActuatorCmdBusInput *actuator_Output_Model_local,
ActuatorCmdBusInput *actuator_Output_Model_model,
char *LOG_SIGN) {
if (osMutexAcquire(linTaskActuator->access, 5000) == osOK) {
@ -16,41 +26,43 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator) {
for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
linTaskActuator->linCommandActuator[i].POS = env->controllerData_local.POS[i];
linTaskActuator->linCommandActuator[i].BUS_ADR = env->controllerData_local.BUS_ADR[i];
linTaskActuator->linCommandActuator[i].MODE = env->controllerData_local.MODE[i];
linTaskActuator->linCommandActuator[i].POS = actuator_Command_Model_local->POS[i];
linTaskActuator->linCommandActuator[i].BUS_ADR = actuator_Command_Model_local->BUS_ADR[i];
linTaskActuator->linCommandActuator[i].MODE = actuator_Command_Model_local->MODE[i];
// Если команда выполнена
if (linTaskActuator->linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_SIGN, "SUCCESSFUL COMMAND")
// LoggerInfoStatic(LOGGER, LOG_SIGN, "SUCCESSFUL COMMAND")
#endif
// Установка входной команды в LIN_ACT_CFR_NONE
env->controllerData_local.COM[i] = LIN_ACT_CFR_NONE;
actuator_Command_Model_local->COM[i] = LIN_ACT_CFR_NONE;
}
linTaskActuator->linCommandActuator[i].COM = env->controllerData_local.COM[i];
linTaskActuator->linCommandActuator[i].Stall_SET = env->controllerData_local.Stall_SET[i];
linTaskActuator->linCommandActuator[i].Lnoise_SET = env->controllerData_local.Lnoise_SET[i];
linTaskActuator->linCommandActuator[i].Autos_SET = env->controllerData_local.Autos_SET[i];
linTaskActuator->linCommandActuator[i].Speed_SET = env->controllerData_local.Speed_SET[i];
linTaskActuator->linCommandActuator[i].Coils_Stop_SET = env->controllerData_local.Coils_Stop_SET[i];
linTaskActuator->linCommandActuator[i].COM = actuator_Command_Model_local->COM[i];
linTaskActuator->linCommandActuator[i].Stall_SET = actuator_Command_Model_local->Stall_SET[i];
linTaskActuator->linCommandActuator[i].Lnoise_SET = actuator_Command_Model_local->Lnoise_SET[i];
linTaskActuator->linCommandActuator[i].Autos_SET = actuator_Command_Model_local->Autos_SET[i];
linTaskActuator->linCommandActuator[i].Speed_SET = actuator_Command_Model_local->Speed_SET[i];
linTaskActuator->linCommandActuator[i].Coils_Stop_SET = actuator_Command_Model_local->Coils_Stop_SET[i];
env->controllerDataInput_local.in_CPOS_ALL_Ch0[i] = (int16_t) linTaskActuator->linStateActuator[i].CPOS_ALL;
env->controllerDataInput_local.in_Act_Emrf_Slave_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Emrf_Slave;
env->controllerDataInput_local.in_Mode_Slave_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Mode_Slave;
env->controllerDataInput_local.in_Act_Err1_Supply_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error1_Supply_Slave;
env->controllerDataInput_local.in_Act_Err2_Communication_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error2_Communication_Slave;
env->controllerDataInput_local.in_Act_Err3_Temperature_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error3_Temperature_Slave;
env->controllerDataInput_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error4_Permanent_Electrical_Slave;
env->controllerDataInput_local.in_Act_Stall_Slave_Ch0[i] = linTaskActuator->linStateActuator[i].Stall_Slave;
env->controllerDataInput_local.in_Act_Reset_Ch0[i] = linTaskActuator->linStateActuator[i].Reset_Slave;
// Заполнение данных ВХОДЫ МОДЕЛИ
actuator_Output_Model_local->in_CPOS_ALL_Ch0[i] = (int16_t) linTaskActuator->linStateActuator[i].CPOS_ALL;
actuator_Output_Model_local->in_Act_Emrf_Slave_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Emrf_Slave;
actuator_Output_Model_local->in_Mode_Slave_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Mode_Slave;
actuator_Output_Model_local->in_Act_Err1_Supply_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error1_Supply_Slave;
actuator_Output_Model_local->in_Act_Err2_Communication_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error2_Communication_Slave;
actuator_Output_Model_local->in_Act_Err3_Temperature_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error3_Temperature_Slave;
actuator_Output_Model_local->in_Act_Err4_Permanent_Electrical_Ch0[i] = (int8_t) linTaskActuator->linStateActuator[i].Error4_Permanent_Electrical_Slave;
actuator_Output_Model_local->in_Act_Stall_Slave_Ch0[i] = linTaskActuator->linStateActuator[i].Stall_Slave;
actuator_Output_Model_local->in_Act_Reset_Ch0[i] = linTaskActuator->linStateActuator[i].Reset_Slave;
}
env->isActuatorWorkBusy = setBusy(linTaskActuator);
env->in_Error_Connect_Ch0 = linTaskActuator->error_connect;
env->in_Busy_Ch0 = linTaskActuator->busy;
// Заполнение данных ВХОДЫ МОДЕЛИ
actuator_Output_Model_local->Error_Connect_Ch0 = linTaskActuator->error_connect;
actuator_Output_Model_local->Busy_Ch0 = linTaskActuator->busy;
}
osMutexRelease(linTaskActuator->access);
@ -65,7 +77,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator) {
LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND")
#endif
//
env->in_Busy_Ch0 = 1;
actuator_Output_Model_local->Busy_Ch0 = 1;
}
// Если прията команда и актуатор не занят
@ -74,24 +86,20 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator) {
env->ModelTask.triggerCommand = false;
env->isActuatorWorkBusy = true;
// начало --- ВЫХОД МОДЕЛИ ----------
// ВЫХОД МОДЕЛИ
memcpy(actuator_Command_Model_local, actuator_Command_Model_trigger_local, sizeof(ActuatorCmdBus));
// Сброс STALL в состоянии актуатор и локальном состоянии
resetStall(linTaskActuator, (uint8_t *) env->controllerDataInput_local.in_Act_Stall_Slave_Ch0);
resetStall(linTaskActuator, (uint8_t *) actuator_Output_Model_local->in_Act_Stall_Slave_Ch0, LOG_SIGN);
// ВЫХОД МОДЕЛИ (АКТУАТОР)
//memcpy(&env->rtY_local.Out1, &controllerData, sizeof(rtY.Out1));
memcpy(&env->controllerData_local, &controllerData, sizeof(ActuatorCmdBus));
// Копирование команд
for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
env->controllerData_local.COM[i] = env->ModelTask.numCommand[i];
}
// конец --- ВЫХОД МОДЕЛИ ----------
}
// ВХОДЫ МОДЕЛИ
memcpy(&rtDW.controllerDataInput, &env->controllerDataInput_local, sizeof(rtDW.controllerDataInput));
rtDW.Busy_Ch0 = env->in_Busy_Ch0;
rtDW.Error_Connect_Ch0 = env->in_Error_Connect_Ch0;
memcpy(actuator_Output_Model_model, actuator_Output_Model_local, sizeof(ActuatorCmdBusInput));
osMutexRelease(env->ModelTask.access);
}

8
LinActuatorWork.h
View File

@ -6,7 +6,13 @@
#define HVAC_M7_LINACTUATORWORK_H
#include "MainModesArbiter_Private.h"
#include "HVAC_model_types.h"
void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator);
void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
ActuatorCmdBus *actuator_Command_Model_local,
ActuatorCmdBus *actuator_Command_Model_trigger_local,
ActuatorCmdBusInput *actuator_Output_Model_local,
ActuatorCmdBusInput *actuator_Output_Model_model,
char *LOG_SIGN);
#endif //HVAC_M7_LINACTUATORWORK_H

135
MainModesArbiter.c
View File

@ -4,7 +4,7 @@
#include "MainModesArbiter_Private.h"
#include "stdio.h"
#include "fc7xxx_driver_rgm.h"
#include "Model_actuator.h"
#include "HVAC_model.h"
#include "LinActuatorWork.h"
#include "ADC_Temp_Table.h"
@ -187,7 +187,8 @@ void LoadDataInFromModel(tMma *env) {
if (env->adcTask1.ADC_isUpdate) {
env->adcTask1.ADC_isUpdate = false;
memcpy(&env->ADC_Data_Model_local.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB, &env->adcTask1.ADC1_Data, sizeof(env->adcTask1.ADC1_Data));
memcpy(&env->ADC_Data_Model_local.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB, &env->adcTask1.ADC1_Data,
sizeof(env->adcTask1.ADC1_Data));
asm("nop");
// R1 = 91000 R2 = 16000 ((5 * (91000 + 16000)) / 16000 = 33.4375 В)
@ -248,7 +249,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
Mma_InitStage(env);
init_fast_lookup_table(ALG_STEINHART);
// can_rx_message_type frame_data;
can_rx_message_type frame_data;
// uint32_t step = 0;
@ -261,7 +262,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
LoadDataInFromModel(env);
// ModelTask_StartThread(&env->ModelTask);
ModelTask_StartThread(&env->ModelTask);
/*
@ -302,14 +303,16 @@ static _Noreturn void Mma_Thread(tMma *env) {
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", pwm4)
*/
LoadDataInFromModel(env);
// LinActuatorWork(env, &env->linTaskActuator1);
LinActuatorWork(env, &env->linTaskActuator1,
&env->actuator_Ch0_Command_Model_local_1,
&env->ModelTask.triggerActuatorCmdBus_1,
&env->actuator_Ch0_Input_Model_local_1,
&rtDW.Actuator_Ch0_Status_Model, "Ln1 ");
SystemDelayMs(100);
SystemDelayMs(50);
GpioPinToggle(&env->gpios->led.LED_G);
SystemDelayMs(100);
/*
if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
@ -335,7 +338,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
/*
uint8_t local[9];
tLinTaskActuator *linTaskActuator = &env->linTaskActuator2;
tLinTaskActuator *linTaskActuator = &env->linTaskActuator1;
if (osMutexAcquire(linTaskActuator->access, 5000) == osOK) {
@ -365,7 +368,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_INI;
linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
linTaskActuator->linCommandActuator[0].POS = 6000;
linTaskActuator->linCommandActuator[0].POS = 2000;
++step;
break;
@ -402,19 +405,14 @@ static _Noreturn void Mma_Thread(tMma *env) {
//SystemDelayMs(10000);
for (uint32_t i = 0; i < 100; ++i) {
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
if (env->adcTask1.ADC_isUpdate) {
env->adcTask1.ADC_isUpdate = false;
VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
}
osMutexRelease(env->adcTask1.access);
}
// if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
// if (env->adcTask1.ADC_isUpdate) {
// env->adcTask1.ADC_isUpdate = false;
// VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
// env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
// }
// osMutexRelease(env->adcTask1.access);
// }
SystemDelayMs(100);
}
@ -431,6 +429,19 @@ static _Noreturn void Mma_Thread(tMma *env) {
resetStall(linTaskActuator, local);
linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_STOP;
++step;
break;
}
case 6: {
resetStall(linTaskActuator, local);
linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_INI;
linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
linTaskActuator->linCommandActuator[0].POS = 0;
@ -439,13 +450,24 @@ static _Noreturn void Mma_Thread(tMma *env) {
break;
}
case 6: {
case 7: {
resetStall(linTaskActuator, local);
linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
linTaskActuator->linCommandActuator[0].MODE = LIN_MODE_NORMAL;
++step;
break;
}
case 8: {
resetStall(linTaskActuator, local);
linTaskActuator->linCommandActuator[0].COM = LIN_ACT_CFR_SET;
linTaskActuator->linCommandActuator[0].BUS_ADR = 0;
linTaskActuator->linCommandActuator[0].POS = 6000;
linTaskActuator->linCommandActuator[0].POS = 2000;
linTaskActuator->linCommandActuator[0].Stall_SET = 1;
linTaskActuator->linCommandActuator[0].Lnoise_SET = 0;
linTaskActuator->linCommandActuator[0].Autos_SET = 1;
@ -457,23 +479,19 @@ static _Noreturn void Mma_Thread(tMma *env) {
break;
}
case 7: {
case 9: {
//SystemDelayMs(10000);
for (uint32_t i = 0; i < 100; ++i) {
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
if (env->adcTask1.ADC_isUpdate) {
env->adcTask1.ADC_isUpdate = false;
VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
}
osMutexRelease(env->adcTask1.access);
}
// if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
// if (env->adcTask1.ADC_isUpdate) {
// env->adcTask1.ADC_isUpdate = false;
// VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
// env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
// }
// osMutexRelease(env->adcTask1.access);
// }
SystemDelayMs(100);
}
@ -487,29 +505,13 @@ static _Noreturn void Mma_Thread(tMma *env) {
break;
}
case 8: {
if (linTaskActuator->linStateActuator[7].CPOS_ALL >= 8000) {
++step;
}
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
if (env->adcTask1.ADC_isUpdate) {
env->adcTask1.ADC_isUpdate = false;
VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB",
env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
}
osMutexRelease(env->adcTask1.access);
}
case 10: {
step = 0;
break;
}
default: {
}
}
}
@ -517,12 +519,29 @@ static _Noreturn void Mma_Thread(tMma *env) {
}
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Step = %d", step)
*/
/*
frame_data.id_type = FLEXCAN_ID_STD;
frame_data.dlc = 1;
env->canPorts->Can1_IO.transmit(env->canPorts->Can1_IO.env, frame_data.data, frame_data.dlc, 0x123, frame_data.id_type, 1000);
*/
/*
uint16_t len = env->canPorts->Can1_IO.receive(env->canPorts->Can1_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
if (len > 0) {
env->canPorts->Can1_IO.transmit(env->canPorts->Can1_IO.env, frame_data.data, frame_data.dlc, frame_data.standard_id, frame_data.id_type, 1000);
}
*/
/*
uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
if (len > 0) {
env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 0x123, frame_data.id_type, 1000);
}
*/
/*
uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);

15
MainModesArbiter.h
View File

@ -26,7 +26,7 @@
#include "AdcTasks.h"
#include "standby.h"
#include "Model_Task.h"
#include "Model_actuator.h"
#include "HVAC_model.h"
#include "CanUds.h"
#include "DiagnosticTask.h"
@ -80,13 +80,16 @@ typedef struct {
} thread;
// Входные данные (локальные) для модели
ActuatorCmdBus controllerData_local;
ActuatorCmdBus actuator_Ch0_Command_Model_local_1;
ActuatorCmdBus actuator_Ch1_Command_Model_local_2;
ActuatorCmdBus actuator_Ch2_Command_Model_local_3;
CmdBusADCData ADC_Data_Model_local;
// Входные данные (локальные) для модели
ActuatorCmdBusInput controllerDataInput_local;
uint8_t in_Busy_Ch0;
uint8_t in_Error_Connect_Ch0;
// Выходные данные (локальные) для модели
ActuatorCmdBusInput actuator_Ch0_Input_Model_local_1;
ActuatorCmdBusInput actuator_Ch1_Input_Model_local_2;
ActuatorCmdBusInput actuator_Ch2_Input_Model_local_3;
bool isActuatorWorkBusy;

4
MainModesArbiter_InitStage.c
View File

@ -138,11 +138,11 @@ static void Mma_InitSubSystems(tMma *env) {
Lin1_StartThread(&env->linTaskActuator1);
tLinData *linData2 = Lin2_Init(GetLin123CallbackHandler);
Lin_2_Init(&env->linTaskActuator2, linData2, &env->linPorts->lin2_Io, 6, &env->slog.logger);
Lin_2_Init(&env->linTaskActuator2, linData2, &env->linPorts->lin2_Io, 9, &env->slog.logger);
Lin2_StartThread(&env->linTaskActuator2);
tLinData *linData3 = Lin3_Init(GetLin123CallbackHandler);
Lin_3_Init(&env->linTaskActuator3, linData3, &env->linPorts->lin3_Io, 8, &env->slog.logger);
Lin_3_Init(&env->linTaskActuator3, linData3, &env->linPorts->lin3_Io, 9, &env->slog.logger);
Lin3_StartThread(&env->linTaskActuator3);