Обновление
This commit is contained in:
cfif
parent
02b6446537
commit
ab33312c2b
|
|
@ -48,22 +48,25 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
|
|||
linTaskActuator->linCommandActuator[i].Coils_Stop_SET = actuator_Command_Model_local->Coils_Stop_SET[i];
|
||||
|
||||
// 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;
|
||||
actuator_Output_Model_local->in_CPOS_ALL[i] = (int16_t) linTaskActuator->linStateActuator[i].CPOS_ALL;
|
||||
actuator_Output_Model_local->in_Act_Emrf_Slave[i] = (int8_t) linTaskActuator->linStateActuator[i].Emrf_Slave;
|
||||
actuator_Output_Model_local->in_Mode_Slave[i] = (int8_t) linTaskActuator->linStateActuator[i].Mode_Slave;
|
||||
actuator_Output_Model_local->in_Act_Err1_Supply[i] = (int8_t) linTaskActuator->linStateActuator[i].Error1_Supply_Slave;
|
||||
actuator_Output_Model_local->in_Act_Err2_Communication[i] = (int8_t) linTaskActuator->linStateActuator[i].Error2_Communication_Slave;
|
||||
actuator_Output_Model_local->in_Act_Err3_Temperature[i] = (int8_t) linTaskActuator->linStateActuator[i].Error3_Temperature_Slave;
|
||||
actuator_Output_Model_local->in_Act_Err4_Permanent_Electrical[i] = (int8_t) linTaskActuator->linStateActuator[i].Error4_Permanent_Electrical_Slave;
|
||||
actuator_Output_Model_local->in_Act_Stall_Slave[i] = linTaskActuator->linStateActuator[i].Stall_Slave;
|
||||
actuator_Output_Model_local->in_Act_Reset[i] = linTaskActuator->linStateActuator[i].Reset_Slave;
|
||||
}
|
||||
|
||||
env->isActuatorWorkBusy = setBusy(linTaskActuator);
|
||||
|
||||
// Заполнение данных ВХОДЫ МОДЕЛИ
|
||||
actuator_Output_Model_local->Error_Connect_Ch0 = linTaskActuator->error_connect;
|
||||
actuator_Output_Model_local->Busy_Ch0 = linTaskActuator->busy;
|
||||
actuator_Output_Model_local->Error_Connect = linTaskActuator->error_connect;
|
||||
actuator_Output_Model_local->Busy = linTaskActuator->busy;
|
||||
|
||||
LoggerFormatInfo(LOGGER, LOG_SIGN, "Busy = %d Error_Connect = %d", actuator_Output_Model_local->Busy, actuator_Output_Model_local->Error_Connect)
|
||||
|
||||
}
|
||||
|
||||
osMutexRelease(linTaskActuator->access);
|
||||
|
|
@ -78,7 +81,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
|
|||
LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND")
|
||||
#endif
|
||||
//
|
||||
actuator_Output_Model_local->Busy_Ch0 = 1;
|
||||
actuator_Output_Model_local->Busy = 1;
|
||||
}
|
||||
|
||||
// Если прията команда и актуатор не занят
|
||||
|
|
@ -93,7 +96,7 @@ void LinActuatorWork(tMma *env, tLinTaskActuator *linTaskActuator,
|
|||
memcpy(actuator_Command_Model_local, actuator_Command_Model_trigger_local, sizeof(ActuatorCmdBus));
|
||||
|
||||
// Сброс STALL в состоянии актуатор и локальном состоянии
|
||||
resetStall(linTaskActuator, (uint8_t *) actuator_Output_Model_local->in_Act_Stall_Slave_Ch0, LOG_SIGN);
|
||||
resetStall(linTaskActuator, (uint8_t *) actuator_Output_Model_local->in_Act_Stall_Slave, LOG_SIGN);
|
||||
|
||||
// конец --- ВЫХОД МОДЕЛИ ----------
|
||||
|
||||
|
|
|
|||
|
|
@ -222,11 +222,26 @@ void LoadDataInFromModel(tMma *env) {
|
|||
|
||||
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
|
||||
|
||||
GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);
|
||||
GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.ST_BATTChiller);
|
||||
GpioPinGet(&env->gpios->EmergencyAirCleanSwitch);
|
||||
GpioPinGet(&env->gpios->FireExtinguishSwitch);
|
||||
GpioPinGet(&env->gpios->Ign_Wakeup);
|
||||
rtDW.ADC_Key_Data_Model.ST_ReservePower = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);
|
||||
rtDW.ADC_Key_Data_Model.ST_BATTChiller = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.ST_BATTChiller);
|
||||
rtDW.ADC_Key_Data_Model.EmergencyAirCleanSwitch = GpioPinGet(&env->gpios->EmergencyAirCleanSwitch);
|
||||
rtDW.ADC_Key_Data_Model.FireExtinguishSwitch = GpioPinGet(&env->gpios->FireExtinguishSwitch);
|
||||
rtDW.ADC_Key_Data_Model.Ign_Wakeup = GpioPinGet(&env->gpios->Ign_Wakeup);
|
||||
|
||||
PWM_Get.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
|
||||
PWM_Get.pwmPercentRear = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
|
||||
PWM_Get.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env);
|
||||
PWM_Get.pwmPercentRearReserved = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env);
|
||||
|
||||
// LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front) = %d", PWM_Get.pwmPercentFront )
|
||||
// LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear) = %d", PWM_Get.pwmPercentRear)
|
||||
// LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front Reserve) = %d", PWM_Get.pwmPercentFrontReserved)
|
||||
// LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", PWM_Get.pwmPercentRearReserved)
|
||||
|
||||
env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, rtDW.PWM_Set_Model.pwmPercentFront);
|
||||
env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, rtDW.PWM_Set_Model.pwmPercentRear);
|
||||
env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, rtDW.PWM_Set_Model.pwmPercentFrontReserved);
|
||||
env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, rtDW.PWM_Set_Model.pwmPercentRearReserved);
|
||||
|
||||
rtDW.t_now = GetSystemTick();
|
||||
memcpy(&rtDW.ADC_Data_Model, &env->ADC_Data_Model_local, sizeof(rtDW.ADC_Data_Model));
|
||||
|
|
@ -259,11 +274,13 @@ static _Noreturn void Mma_Thread(tMma *env) {
|
|||
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
|
||||
}
|
||||
|
||||
|
||||
env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
|
||||
SystemDelayMs(1000);
|
||||
|
||||
LoadDataInFromModel(env);
|
||||
|
||||
// ModelTask_StartThread(&env->ModelTask);
|
||||
ModelTask_StartThread(&env->ModelTask);
|
||||
|
||||
|
||||
/*
|
||||
|
|
@ -277,10 +294,6 @@ static _Noreturn void Mma_Thread(tMma *env) {
|
|||
*/
|
||||
|
||||
|
||||
env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
|
||||
// env->pwms->pwmRearIo.run(env->pwms->pwmRearIo.env);
|
||||
|
||||
|
||||
for (;;) {
|
||||
|
||||
/*
|
||||
|
|
@ -307,12 +320,25 @@ static _Noreturn void Mma_Thread(tMma *env) {
|
|||
*/
|
||||
|
||||
LoadDataInFromModel(env);
|
||||
|
||||
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, &env->ModelTask.triggerCommand1, "Ln1 ");
|
||||
|
||||
LinActuatorWork(env, &env->linTaskActuator2,
|
||||
&env->actuator_Ch1_Command_Model_local_2,
|
||||
&env->ModelTask.triggerActuatorCmdBus_2,
|
||||
&env->actuator_Ch1_Input_Model_local_2,
|
||||
&rtDW.Actuator_Ch1_Status_Model, &env->ModelTask.triggerCommand2, "Ln2 ");
|
||||
|
||||
LinActuatorWork(env, &env->linTaskActuator3,
|
||||
&env->actuator_Ch2_Command_Model_local_3,
|
||||
&env->ModelTask.triggerActuatorCmdBus_3,
|
||||
&env->actuator_Ch2_Input_Model_local_3,
|
||||
&rtDW.Actuator_Ch2_Status_Model, &env->ModelTask.triggerCommand3, "Ln3 ");
|
||||
|
||||
SystemDelayMs(50);
|
||||
|
||||
GpioPinToggle(&env->gpios->led.LED_G);
|
||||
|
|
|
|||
|
|
@ -142,7 +142,7 @@ static void Mma_InitSubSystems(tMma *env) {
|
|||
Lin2_StartThread(&env->linTaskActuator2);
|
||||
|
||||
tLinData *linData3 = Lin3_Init(GetLin123CallbackHandler);
|
||||
Lin_3_Init(&env->linTaskActuator3, linData3, &env->linPorts->lin3_Io, 9, &env->slog.logger);
|
||||
Lin_3_Init(&env->linTaskActuator3, linData3, &env->linPorts->lin3_Io, 8, &env->slog.logger);
|
||||
Lin3_StartThread(&env->linTaskActuator3);
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue