467 lines
18 KiB
C
467 lines
18 KiB
C
//
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// Created by cfif on 05.05.23.
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//
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#include "MainModesArbiter_Private.h"
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#include "stdio.h"
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#include "fc7xxx_driver_rgm.h"
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#include "Model_actuator.h"
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#include "ADC_Temp_Table.h"
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const char LOG_TASK_ARB[] = "Arb";
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#define LOGGER &env->slog.logger
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void Mma_Init(
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tMma *env,
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tGpios *gpios,
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tAdcs *adcs,
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tSerialPorts *serialPorts,
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tLinPorts *linPorts,
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tCanPorts *canPorts,
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tStorageOnFlash *flash,
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tPwms *pwms,
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tRtcs *rtcs
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) {
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env->gpios = gpios;
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env->serialPorts = serialPorts;
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env->linPorts = linPorts;
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env->canPorts = canPorts;
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env->rtcs = rtcs;
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env->adcs = adcs;
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env->flash = flash;
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env->pwms = pwms;
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InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
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env->thread.id = 0;
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}
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//uint8_t dataR[1024 * 2];
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void BTS5180_120(tMma *env, char *desc, uint16_t adc_value) {
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float kILIS = 550.0f;
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float ERROR_THRESHOLD_V = 4.9f;
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uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
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if (adc_value >= ERROR_THRESHOLD_CODE) {
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
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} else {
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// Преобразование в напряжение
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float U = (float) adc_value * 5.0f / 4095.0f;
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float I = U / 1200; // Ток диагностики R = 1200
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float Iout = I * kILIS; // Ток устройства
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
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"%s: U = %f I = %f Iout = %f",
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desc, U, I, Iout)
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}
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}
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void VN7008AJ(tMma *env, char *desc, uint16_t adc_value) {
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float RSENSE = 2490.0f; // Сопротивление датчика, Ом (На схеме)
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float K_TYPICAL = 5890.0f; // Типичный коэффициент из даташита на микросхему
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float ERROR_THRESHOLD_V = 4.9f;
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uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
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// 1. Проверка на ошибку
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if (adc_value >= ERROR_THRESHOLD_CODE) {
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
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} else {
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// 2. Преобразование в напряжение
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float vsense = (float) adc_value * 5.0f / 4095.0f;
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// 3. Вычисление тока
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float Isense = vsense / RSENSE;
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float Iout = Isense * K_TYPICAL;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
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"%s: U = %f I = %f Iout = %f",
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desc, vsense, Isense, Iout)
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}
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}
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void ANALOG_SENSOR(tMma *env, char *desc, uint16_t adc_value) {
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float ERROR_THRESHOLD_V = 4.9f;
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uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
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// 1. Проверка на ошибку
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if (adc_value >= ERROR_THRESHOLD_CODE) {
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Error !!!", desc)
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} else {
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// Преобразование в напряжение
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float U = (float) adc_value * 5.0f / 4095.0f;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: U = %f", desc, U)
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}
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}
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void LoadDataInFromModel(tMma *env) {
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int16_t temp1 = 0;
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float temp2 = 0;
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if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
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if (env->adcTask0.ADC_isUpdate) {
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env->adcTask0.ADC_isUpdate = false;
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/*
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temp1 = get_temperature_fast(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
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temp2 = get_temperature_from_adc(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp, ALG_STEINHART);
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env->rtDW.ADC_Data_Model.Sensor_Incar_Temp_FL = env->adcTask0.ADC0_Data.Sensor_Ambient_Temp;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d; Temp2 = %d; ADC = %d", temp1, (int16_t) (temp2 * 10.0f), env->adcTask0.ADC0_Data.Sensor_Ambient_Temp)
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*/
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// R1 = 91000 R2 = 20000 ((5 * (91000 + 20000)) / 20000 = 27.75 В)
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float U_IGN_CHECK = ((float) env->adcTask0.ADC0_Data.IGN_ANS * 27.75f) / 4095.0f;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_IGN_CHECK = %f", U_IGN_CHECK)
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BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV1",
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env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV1);
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BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV2",
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env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV2);
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BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveFront", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveFront);
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BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveRear", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveRear);
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BTS5180_120(env, "BTS5180_2EKA_TwoWayValve", env->adcTask0.ADC0_Data.BTS5180_2EKA_TwoWayValve);
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BTS5180_120(env, "BTS5180_2EKA_ReservePowerSupply",
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env->adcTask0.ADC0_Data.BTS5180_2EKA_ReservePowerSupply);
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BTS5180_120(env, "BTS5180_2EKA_FrontIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_FrontIncarMotor);
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BTS5180_120(env, "BTS5180_2EKA_RearIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_RearIncarMotor);
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BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower1", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower1);
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BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower2", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower2);
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ANALOG_SENSOR(env, "Sensor_Ambient_Temp", env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
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ANALOG_SENSOR(env, "Sensor_AC_Pressure", env->adcTask0.ADC0_Data.Sensor_AC_Pressure);
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ANALOG_SENSOR(env, "Sensor_Incar_Temp_FL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FL);
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ANALOG_SENSOR(env, "Sensor_Incar_Temp_RL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RL);
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ANALOG_SENSOR(env, "Sensor_Rear_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Rear_Evap_Temp);
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ANALOG_SENSOR(env, "Sensor_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Evap_Temp);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct1", env->adcTask0.ADC0_Data.Sensor_Rear_Duct1);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct2", env->adcTask0.ADC0_Data.Sensor_Rear_Duct2);
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ANALOG_SENSOR(env, "Sensor_Front_Duct1", env->adcTask0.ADC0_Data.Sensor_Front_Duct1);
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ANALOG_SENSOR(env, "Sensor_Front_Duct2", env->adcTask0.ADC0_Data.Sensor_Front_Duct2);
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ANALOG_SENSOR(env, "Sensor_Front_Duct3", env->adcTask0.ADC0_Data.Sensor_Front_Duct3);
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ANALOG_SENSOR(env, "Sensor_Front_Duct4", env->adcTask0.ADC0_Data.Sensor_Front_Duct4);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct3", env->adcTask0.ADC0_Data.Sensor_Rear_Duct3);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct4", env->adcTask0.ADC0_Data.Sensor_Rear_Duct4);
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ANALOG_SENSOR(env, "Sensor_Incar_Temp_FR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FR);
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ANALOG_SENSOR(env, "Sensor_Incar_Temp_RR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RR);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct5", env->adcTask0.ADC0_Data.Sensor_Rear_Duct5);
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ANALOG_SENSOR(env, "Sensor_Rear_Duct6", env->adcTask0.ADC0_Data.Sensor_Rear_Duct6);
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ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_1", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_1);
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ANALOG_SENSOR(env, "Sensor_Front_Duct5", env->adcTask0.ADC0_Data.Sensor_Front_Duct5);
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ANALOG_SENSOR(env, "Sensor_Front_Duct6", env->adcTask0.ADC0_Data.Sensor_Front_Duct6);
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ANALOG_SENSOR(env, "Pressure_DIAG", env->adcTask0.ADC0_Data.Pressure_DIAG);
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ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_2", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_2);
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}
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osMutexRelease(env->adcTask0.access);
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}
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if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
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if (env->adcTask1.ADC_isUpdate) {
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env->adcTask1.ADC_isUpdate = false;
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// R1 = 91000 R2 = 16000 ((5 * (91000 + 16000)) / 16000 = 33.4375 В)
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float U_PBATT_CHECK = ((float) env->adcTask1.ADC1_Data.PBATT_CHECK * 33.4375f) / 4095.0f;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_PBATT_CHECK = %f", U_PBATT_CHECK)
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// R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
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float U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB =
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((float) env->adcTask0.ADC0_Data.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB * 17.5f) / 4095.0f;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB = %f",
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U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB)
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// R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
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float U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC =
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((float) env->adcTask0.ADC0_Data.VN7008AJ_DIAG_RearLINActuatorPowerDriverC * 17.5f) / 4095.0f;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC = %f",
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U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC)
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VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB", env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
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VN7008AJ(env, "VN7008AJ_RearLINActuatorPowerDriverC", env->adcTask1.ADC1_Data.VN7008AJ_RearLINActuatorPowerDriverC);
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}
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//temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
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//env->rtDW.controllerDataIncarInput.InIncarFR = env->adcTask1.ADC_Data[0];
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osMutexRelease(env->adcTask1.access);
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//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
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}
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if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
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rtDW.t_now = GetSystemTick();
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memcpy(&rtDW, &env->rtDW.ADC_Data_Model, sizeof(rtDW.ADC_Data_Model));
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if (env->ModelTask.isUpdate) {
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env->ModelTask.isUpdate = false;
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set_CCU_Errors(&env->canSpamTransmitter, (CCU_Errors_t *)&CCU_Errors_Model);
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}
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osMutexRelease(env->ModelTask.access);
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}
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}
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static _Noreturn void Mma_Thread(tMma *env) {
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// Запуск устройства
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Mma_InitStage(env);
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init_fast_lookup_table(ALG_STEINHART);
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// can_rx_message_type frame_data;
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// uint32_t step = 0;
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if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
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}
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SystemDelayMs(1000);
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LoadDataInFromModel(env);
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ModelTask_StartThread(&env->ModelTask);
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/*
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for (;;) {
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uint16_t len = SerialPortReceive(&env->serialPorts->SerialPortLog_IO, dataR, 1024, 1000);
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if (len != 0) {
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SerialPortTransmit(&env->serialPorts->SerialPortLog_IO, dataR, len, 1000);
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}
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}
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*/
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// env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
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for (;;) {
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/*
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env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 77);
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SystemDelayMs(10);
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uint8_t 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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env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 22);
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SystemDelayMs(10);
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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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*/
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LoadDataInFromModel(env);
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SystemDelayMs(500);
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GpioPinToggle(&env->gpios->led.LED_G);
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SystemDelayMs(500);
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/*
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if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
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} else {
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SMC_SetSystemMode(SMC_MODE_STANBY_3);
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}
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*/
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/*
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if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
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temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
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osMutexRelease(env->adcTask0.access);
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
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}
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if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
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temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
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osMutexRelease(env->adcTask1.access);
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
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}
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*/
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/*
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if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
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if ((env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_SUCCESSFUL) ||
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(env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE)) {
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busy = true;
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}
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if (busy == true) {
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busy = false;
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switch (step) {
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case 0: {
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resetStall(&env->linTaskActuator0);
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env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
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env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
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env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
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++step;
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break;
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}
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case 1: {
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resetStall(&env->linTaskActuator0);
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env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
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env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
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env->linTaskActuator0.linCommandActuator[0].POS = 6000;
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++step;
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break;
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}
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case 2: {
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resetStall(&env->linTaskActuator0);
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env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
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env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
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env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
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++step;
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break;
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}
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case 3: {
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resetStall(&env->linTaskActuator0);
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env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
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env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
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env->linTaskActuator0.linCommandActuator[0].POS = 0;
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env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
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env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
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env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
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env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
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env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
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++step;
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break;
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}
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case 4: {
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SystemDelayMs(10000);
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asm("nop");
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++step;
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//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
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// ++step;
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//}
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break;
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}
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case 5: {
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resetStall(&env->linTaskActuator0);
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env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
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env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
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env->linTaskActuator0.linCommandActuator[0].POS = 0;
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++step;
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break;
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}
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case 6: {
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||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
|
||
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 = 3;
|
||
env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
|
||
|
||
++step;
|
||
|
||
break;
|
||
}
|
||
|
||
case 7: {
|
||
SystemDelayMs(10000);
|
||
asm("nop");
|
||
++step;
|
||
|
||
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
|
||
// ++step;
|
||
//}
|
||
break;
|
||
}
|
||
|
||
case 8: {
|
||
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
|
||
++step;
|
||
}
|
||
break;
|
||
}
|
||
|
||
default: {
|
||
}
|
||
}
|
||
}
|
||
osMutexRelease(env->linTaskActuator0.access);
|
||
}
|
||
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Step = %d", step)
|
||
*/
|
||
|
||
|
||
|
||
|
||
|
||
/*
|
||
uint16_t len = env->canPorts->Can0_IO.receive(env->canPorts->Can0_IO.env, 0, (uint8_t *)&frame_data, 1, 1000);
|
||
|
||
if (len > 0) {
|
||
|
||
if (frame_data.id_type == FLEXCAN_ID_STD) {
|
||
CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_STD);
|
||
CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.standard_id);
|
||
} else {
|
||
CanSerialPortFrameSetType(env->canPorts->Can0_IO.env, FLEXCAN_ID_EXT);
|
||
CanSerialPortFrameSetId(env->canPorts->Can0_IO.env, frame_data.extended_id);
|
||
}
|
||
|
||
|
||
env->canPorts->Can0_IO.transmit(env->canPorts->Can0_IO.env, frame_data.data, frame_data.dlc, 1000);
|
||
}
|
||
*/
|
||
|
||
// SystemDelayMs(10);
|
||
}
|
||
}
|
||
|
||
|
||
void Mma_StartThread(tMma *env) {
|
||
if (!env->thread.id) {
|
||
env->thread.id = osThreadNew((osThreadFunc_t) (Mma_Thread), (void *) (env), &env->thread.attr);
|
||
} else {
|
||
osThreadResume(env->thread.id);
|
||
}
|
||
} |