478 lines
18 KiB
C
478 lines
18 KiB
C
//
|
||
// Created by cfif on 05.05.23.
|
||
//
|
||
#include "MainModesArbiter_Private.h"
|
||
#include "stdio.h"
|
||
#include "fc7xxx_driver_rgm.h"
|
||
#include "Model_actuator.h"
|
||
|
||
#include "ADC_Temp_Table.h"
|
||
|
||
|
||
const char LOG_TASK_ARB[] = "Arb";
|
||
#define LOGGER &env->slog.logger
|
||
|
||
void Mma_Init(
|
||
tMma *env,
|
||
tGpios *gpios,
|
||
tAdcs *adcs,
|
||
tSerialPorts *serialPorts,
|
||
tLinPorts *linPorts,
|
||
tCanPorts *canPorts,
|
||
tStorageOnFlash *flash,
|
||
tPwms *pwms,
|
||
tRtcs *rtcs
|
||
) {
|
||
env->gpios = gpios;
|
||
env->serialPorts = serialPorts;
|
||
env->linPorts = linPorts;
|
||
env->canPorts = canPorts;
|
||
env->rtcs = rtcs;
|
||
env->adcs = adcs;
|
||
env->flash = flash;
|
||
env->pwms = pwms;
|
||
|
||
InitThreadAtrStatic(&env->thread.attr, "Mma", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
|
||
env->thread.id = 0;
|
||
}
|
||
|
||
|
||
//uint8_t dataR[1024 * 2];
|
||
|
||
|
||
void BTS5180_120(tMma *env, char *desc, uint16_t adc_value) {
|
||
float kILIS = 550.0f;
|
||
|
||
float ERROR_THRESHOLD_V = 4.9f;
|
||
uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
|
||
|
||
if (adc_value >= ERROR_THRESHOLD_CODE) {
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Ошибка !!!", desc)
|
||
} else {
|
||
// Преобразование в напряжение
|
||
float U = (float) adc_value * 5.0f / 4095.0f;
|
||
float I = U / 1200; // Ток диагностики R = 1200
|
||
float Iout = I * kILIS; // Ток устройства
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
|
||
"%s: Напряжение = %f Ток диагностики = %f Выходной = %f",
|
||
desc, U, I, Iout)
|
||
}
|
||
|
||
}
|
||
|
||
void VN7008AJ(tMma *env, char *desc, uint16_t adc_value) {
|
||
|
||
float RSENSE = 2490.0f; // Сопротивление датчика, Ом (На схеме)
|
||
float K_TYPICAL = 5890.0f; // Типичный коэффициент из даташита на микросхему
|
||
|
||
float ERROR_THRESHOLD_V = 4.9f;
|
||
uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
|
||
|
||
// 1. Проверка на ошибку
|
||
if (adc_value >= ERROR_THRESHOLD_CODE) {
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Ошибка !!!", desc)
|
||
} else {
|
||
|
||
// 2. Преобразование в напряжение
|
||
float vsense = (float) adc_value * 5.0f / 4095.0f;
|
||
|
||
// 3. Вычисление тока
|
||
float Isense = vsense / RSENSE;
|
||
float Iout = Isense * K_TYPICAL;
|
||
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB,
|
||
"%s: Напряжение = %f Ток диагностики = %f Выходной = %f",
|
||
desc, vsense, Isense, Iout)
|
||
}
|
||
|
||
}
|
||
|
||
void ANALOG_SENSOR(tMma *env, char *desc, uint16_t adc_value) {
|
||
float ERROR_THRESHOLD_V = 4.9f;
|
||
uint16_t ERROR_THRESHOLD_CODE = (uint16_t) (ERROR_THRESHOLD_V * 4095.0f / 5.0f);
|
||
|
||
// 1. Проверка на ошибку
|
||
if (adc_value >= ERROR_THRESHOLD_CODE) {
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Ошибка !!!", desc)
|
||
} else {
|
||
// Преобразование в напряжение
|
||
float U = (float) adc_value * 5.0f / 4095.0f;
|
||
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "%s: Напряжение = %f", desc, U)
|
||
}
|
||
|
||
}
|
||
|
||
void LoadDataInFromModel(tMma *env) {
|
||
int16_t temp1 = 0;
|
||
float temp2 = 0;
|
||
|
||
if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
|
||
|
||
if (env->adcTask0.ADC_isUpdate) {
|
||
env->adcTask0.ADC_isUpdate = false;
|
||
|
||
|
||
temp1 = get_temperature_fast(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
|
||
temp2 = get_temperature_from_adc(env->adcTask0.ADC0_Data.Sensor_Ambient_Temp, ALG_STEINHART);
|
||
env->rtDW.controllerDataIncarInput.InIncarFL = env->adcTask0.ADC0_Data.Sensor_Ambient_Temp;
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d; Temp2 = %d;", temp1, (int16_t) (temp2 * 10.0f))
|
||
|
||
// R1 = 91000 R2 = 20000 ((5 * (91000 + 20000)) / 20000 = 27.75 В)
|
||
float U_IGN_CHECK = ((float) env->adcTask0.ADC0_Data.IGN_ANS * 27.75f) / 4095.0f;
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_IGN_CHECK = %f", U_IGN_CHECK)
|
||
|
||
|
||
BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV1",
|
||
env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV1);
|
||
BTS5180_120(env, "BTS5120_2EKA_ShutoffValvePowerTXV2",
|
||
env->adcTask0.ADC0_Data.BTS5120_2EKA_ShutoffValvePowerTXV2);
|
||
|
||
BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveFront", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveFront);
|
||
BTS5180_120(env, "BTS5180_2EKA_ShutOFFValveRear", env->adcTask0.ADC0_Data.BTS5180_2EKA_ShutOFFValveRear);
|
||
|
||
BTS5180_120(env, "BTS5180_2EKA_TwoWayValve", env->adcTask0.ADC0_Data.BTS5180_2EKA_TwoWayValve);
|
||
BTS5180_120(env, "BTS5180_2EKA_ReservePowerSupply",
|
||
env->adcTask0.ADC0_Data.BTS5180_2EKA_ReservePowerSupply);
|
||
|
||
BTS5180_120(env, "BTS5180_2EKA_FrontIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_FrontIncarMotor);
|
||
BTS5180_120(env, "BTS5180_2EKA_RearIncarMotor", env->adcTask0.ADC0_Data.BTS5180_2EKA_RearIncarMotor);
|
||
|
||
BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower1", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower1);
|
||
BTS5180_120(env, "BTS5180_2EKA_ChannelPTCPower2", env->adcTask0.ADC0_Data.BTS5180_2EKA_ChannelPTCPower2);
|
||
|
||
ANALOG_SENSOR(env, "Sensor_Ambient_Temp", env->adcTask0.ADC0_Data.Sensor_Ambient_Temp);
|
||
ANALOG_SENSOR(env, "Sensor_AC_Pressure", env->adcTask0.ADC0_Data.Sensor_AC_Pressure);
|
||
ANALOG_SENSOR(env, "Sensor_Incar_Temp_FL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FL);
|
||
ANALOG_SENSOR(env, "Sensor_Incar_Temp_RL", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RL);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Rear_Evap_Temp);
|
||
ANALOG_SENSOR(env, "Sensor_Evap_Temp", env->adcTask0.ADC0_Data.Sensor_Evap_Temp);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct1", env->adcTask0.ADC0_Data.Sensor_Rear_Duct1);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct2", env->adcTask0.ADC0_Data.Sensor_Rear_Duct2);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct1", env->adcTask0.ADC0_Data.Sensor_Front_Duct1);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct2", env->adcTask0.ADC0_Data.Sensor_Front_Duct2);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct3", env->adcTask0.ADC0_Data.Sensor_Front_Duct3);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct4", env->adcTask0.ADC0_Data.Sensor_Front_Duct4);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct3", env->adcTask0.ADC0_Data.Sensor_Rear_Duct3);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct4", env->adcTask0.ADC0_Data.Sensor_Rear_Duct4);
|
||
ANALOG_SENSOR(env, "Sensor_Incar_Temp_FR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_FR);
|
||
ANALOG_SENSOR(env, "Sensor_Incar_Temp_RR", env->adcTask0.ADC0_Data.Sensor_Incar_Temp_RR);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct5", env->adcTask0.ADC0_Data.Sensor_Rear_Duct5);
|
||
ANALOG_SENSOR(env, "Sensor_Rear_Duct6", env->adcTask0.ADC0_Data.Sensor_Rear_Duct6);
|
||
ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_1", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_1);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct5", env->adcTask0.ADC0_Data.Sensor_Front_Duct5);
|
||
ANALOG_SENSOR(env, "Sensor_Front_Duct6", env->adcTask0.ADC0_Data.Sensor_Front_Duct6);
|
||
ANALOG_SENSOR(env, "Pressure_DIAG", env->adcTask0.ADC0_Data.Pressure_DIAG);
|
||
ANALOG_SENSOR(env, "Reserve_Sensor_Duct_Temp_2", env->adcTask0.ADC0_Data.Reserve_Sensor_Duct_Temp_2);
|
||
|
||
}
|
||
|
||
osMutexRelease(env->adcTask0.access);
|
||
|
||
}
|
||
|
||
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
|
||
|
||
if (env->adcTask1.ADC_isUpdate) {
|
||
env->adcTask1.ADC_isUpdate = false;
|
||
|
||
// R1 = 91000 R2 = 16000 ((5 * (91000 + 16000)) / 16000 = 33.4375 В)
|
||
float U_PBATT_CHECK = ((float) env->adcTask1.ADC1_Data.PBATT_CHECK * 33.4375f) / 4095.0f;
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_PBATT_CHECK = %f", U_PBATT_CHECK)
|
||
|
||
// R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
|
||
float U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB =
|
||
((float) env->adcTask0.ADC0_Data.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB * 17.5f) / 4095.0f;
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB = %f",
|
||
U_VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB)
|
||
|
||
// R1 = 30000 R2 = 12000 ((5 * (30000 + 12000)) / 12000 = 17.5 В)
|
||
float U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC =
|
||
((float) env->adcTask0.ADC0_Data.VN7008AJ_DIAG_RearLINActuatorPowerDriverC * 17.5f) / 4095.0f;
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC = %f",
|
||
U_VN7008AJ_DIAG_RearLINActuatorPowerDriverC)
|
||
|
||
VN7008AJ(env, "VN7008AJ_FrontLINActuatorPowerDriverAB", env->adcTask1.ADC1_Data.VN7008AJ_FrontLINActuatorPowerDriverAB);
|
||
VN7008AJ(env, "VN7008AJ_RearLINActuatorPowerDriverC", env->adcTask1.ADC1_Data.VN7008AJ_RearLINActuatorPowerDriverC);
|
||
|
||
}
|
||
|
||
//temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
|
||
|
||
//env->rtDW.controllerDataIncarInput.InIncarFR = env->adcTask1.ADC_Data[0];
|
||
|
||
osMutexRelease(env->adcTask1.access);
|
||
//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
|
||
}
|
||
|
||
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
|
||
rtDW.t_now = GetSystemTick();
|
||
memcpy(&rtDW.controllerDataIncarInput, &env->rtDW, sizeof(env->rtDW));
|
||
|
||
if (env->ModelTask.isUpdate) {
|
||
env->ModelTask.isUpdate = false;
|
||
|
||
//bool IncarFLErr;
|
||
//bool IncarFRErr;
|
||
//bool IncarRLErr;
|
||
//bool IncarRRErr;
|
||
|
||
|
||
env->CCU_Errors.CCU_IncarTempErrF_Stat = IncarError.CANIncarTempErrF; // CANIncarTempErrF
|
||
env->CCU_Errors.CCU_IncarTempErrR_Stat = IncarError.CANIncarTempErrR; // CANIncarTempErrR
|
||
set_CCU_Errors(&env->canSpamTransmitter, &env->CCU_Errors);
|
||
|
||
}
|
||
|
||
osMutexRelease(env->ModelTask.access);
|
||
}
|
||
}
|
||
|
||
static _Noreturn void Mma_Thread(tMma *env) {
|
||
|
||
// Запуск устройства
|
||
Mma_InitStage(env);
|
||
|
||
init_fast_lookup_table(ALG_STEINHART);
|
||
// can_rx_message_type frame_data;
|
||
|
||
// uint32_t step = 0;
|
||
|
||
|
||
if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
|
||
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Wake up from standby")
|
||
}
|
||
|
||
SystemDelayMs(1000);
|
||
|
||
LoadDataInFromModel(env);
|
||
|
||
// ModelTask_StartThread(&env->ModelTask);
|
||
|
||
|
||
/*
|
||
for (;;) {
|
||
uint16_t len = SerialPortReceive(&env->serialPorts->SerialPortLog_IO, dataR, 1024, 1000);
|
||
|
||
if (len != 0) {
|
||
SerialPortTransmit(&env->serialPorts->SerialPortLog_IO, dataR, len, 1000);
|
||
}
|
||
}
|
||
*/
|
||
|
||
|
||
// env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
|
||
|
||
for (;;) {
|
||
/*
|
||
env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 77);
|
||
SystemDelayMs(10);
|
||
uint8_t pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
|
||
//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
|
||
|
||
env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 22);
|
||
SystemDelayMs(10);
|
||
pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
|
||
//LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
|
||
|
||
*/
|
||
|
||
LoadDataInFromModel(env);
|
||
|
||
|
||
/*
|
||
LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Zorro...")
|
||
printf("Test Test Test Test Test Test Test Test Test Test XA XA ...\n");
|
||
|
||
GpioPinToggle(&env->gpios->led.LED1);
|
||
|
||
SystemDelayMs(500);
|
||
*/
|
||
|
||
/*
|
||
if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
|
||
} else {
|
||
SMC_SetSystemMode(SMC_MODE_STANBY_3);
|
||
}
|
||
*/
|
||
|
||
/*
|
||
if (osMutexAcquire(env->adcTask0.access, 1000) == osOK) {
|
||
temp1 = get_temperature_fast(env->adcTask0.ADC_Data[0], fast_lookup_Incar, 512);
|
||
osMutexRelease(env->adcTask0.access);
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp1 = %d", temp1)
|
||
}
|
||
|
||
|
||
if (osMutexAcquire(env->adcTask1.access, 1000) == osOK) {
|
||
temp2 = get_temperature_fast(env->adcTask1.ADC_Data[0], fast_lookup_KST45, 512);
|
||
osMutexRelease(env->adcTask1.access);
|
||
LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "Temp2 = %d", temp2)
|
||
}
|
||
*/
|
||
|
||
/*
|
||
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
|
||
|
||
if ((env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_SUCCESSFUL) ||
|
||
(env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE)) {
|
||
busy = true;
|
||
}
|
||
|
||
if (busy == true) {
|
||
busy = false;
|
||
|
||
switch (step) {
|
||
case 0: {
|
||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
|
||
++step;
|
||
|
||
break;
|
||
}
|
||
case 1: {
|
||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
|
||
++step;
|
||
|
||
break;
|
||
}
|
||
case 2: {
|
||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
|
||
++step;
|
||
|
||
break;
|
||
}
|
||
case 3: {
|
||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].POS = 0;
|
||
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 4: {
|
||
SystemDelayMs(10000);
|
||
asm("nop");
|
||
++step;
|
||
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
|
||
// ++step;
|
||
//}
|
||
break;
|
||
}
|
||
|
||
case 5: {
|
||
|
||
resetStall(&env->linTaskActuator0);
|
||
|
||
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
|
||
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0;
|
||
env->linTaskActuator0.linCommandActuator[0].POS = 0;
|
||
++step;
|
||
|
||
break;
|
||
}
|
||
|
||
case 6: {
|
||
|
||
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);
|
||
}
|
||
} |