92 lines
4.4 KiB
C
92 lines
4.4 KiB
C
//
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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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} |