123 lines
3.6 KiB
C
123 lines
3.6 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 "HVAC_model.h"
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#include "LinActuatorWork.h"
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#include "StatusError.h"
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#include "ADC_Temp.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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void GetCanErrors(tMma *env, uint8_t canIndex) {
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FLEXCAN_ErrorInfoType errorInfo;
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// Получить информацию об ошибках
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FLEXCAN_ErrorType result = FLEXCAN_GetErrorInfo(canIndex, &errorInfo);
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if (result == FLEXCAN_ERROR_OK) {
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// Количество ошибок приёма
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uint32_t rxErrors = errorInfo.u32RxErrCnt;
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uint32_t rxErrorsFast = errorInfo.u32RxErrCnt_Fast;
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// Количество ошибок передачи
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uint32_t txErrors = errorInfo.u32TxErrCnt;
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uint32_t txErrorsFast = errorInfo.u32TxErrCnt_Fast;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "RX Errors: %lu (normal), %lu (fast)\n", rxErrors, rxErrorsFast);
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "TX Errors: %lu (normal), %lu (fast)\n", txErrors, txErrorsFast);
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// Общее количество ошибок
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uint32_t totalErrors = rxErrors + rxErrorsFast + txErrors + txErrorsFast;
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LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Total errors: %lu\n", totalErrors);
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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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env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
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env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, 0);
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env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 0);
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env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 0);
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env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 0);
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/*
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uint32_t timeoutPowerTrain = SystemGetMs() + 3000;
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bool isNotNull = false;
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while ((!isNotNull) && (timeoutPowerTrain > SystemGetMs())) {
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isNotNull = get_is_NoNull_CanSpam_BCM_PowerTrain_Receiver(&env->canSpamReceiver);
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SystemDelayMs(1);
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}
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*/
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ModelTask_StartThread(&env->ModelTask);
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while (!env->ModelTask.isRunning) {
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Waiting for the model to run...")
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SystemDelayMs(1);
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}
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LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Model running...")
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// SMC_SetSystemMode(SMC_MODE_STANBY_3);
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for (;;) {
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// bool ST_PowerReserve = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.ST_PowerReserve);
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// bool ST_ReservePower = GpioPinGet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.ST_ReservePower);
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// GetCanErrors(env, 0);
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SystemDelayMs(25);
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GpioPinToggle(&env->gpios->led.LED_G);
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SystemDelayMs(25);
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}
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}
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void Mma_StartThread(tMma *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Mma_Thread), (void *) (env), &env->thread.attr);
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} else {
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osThreadResume(env->thread.id);
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}
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} |