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HVAC_M7_DebugTesting/MainModesArbiter.c

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//
// 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";
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;
}
static _Noreturn void Mma_Thread(tMma *env) {
// Запуск устройства
Mma_InitStage(env);
can_rx_message_type frame_data;
uint32_t step = 0;
int16_t temp1 = 0;
int16_t temp2 = 0;
if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
LoggerInfoStatic(&env->slog.logger, LOG_TASK_ARB, "Wake up from standby")
}
// SystemDelayMs(1000);
// ModelTask_StartThread(&env->ModelTask);
bool isActuatorWorkBusy = false;
// env->pwms->pwmIo.run(env->pwms->pwmIo.env);
for (;;) {
/*
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
if (env->linTaskActuator0.busy == 0) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];
if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
}
env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
env->linTaskActuator0.linCommandActuator[i].Autos_SET = env->rtY_local.Out1.Autos_SET[i];
env->linTaskActuator0.linCommandActuator[i].Speed_SET = env->rtY_local.Out1.Speed_SET[i];
env->linTaskActuator0.linCommandActuator[i].Coils_Stop_SET = env->rtY_local.Out1.Coils_Stop_SET[i];
env->rtU_local.in_CPOS_ALL_Ch0[i] = env->linTaskActuator0.linStateActuator[i].CPOS_ALL;
env->rtU_local.in_Act_Emrf_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Emrf_Slave;
env->rtU_local.in_Mode_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Mode_Slave;
env->rtU_local.in_Act_Err1_Supply_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error1_Supply_Slave;
env->rtU_local.in_Act_Err2_Communication_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error2_Communication_Slave;
env->rtU_local.in_Act_Err3_Temperature_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error3_Temperature_Slave;
env->rtU_local.in_Act_Err4_Permanent_Electrical_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Error4_Permanent_Electrical_Slave;
env->rtU_local.in_Act_Stall_Slave_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Stall_Slave;
env->rtU_local.in_Act_Reset_Ch0[i] = env->linTaskActuator0.linStateActuator[i].Reset_Slave;
}
isActuatorWorkBusy = setBusy(&env->linTaskActuator0);
resetStall(&env->linTaskActuator0);
env->rtU_local.in_Error_Connect_Ch0 = env->linTaskActuator0.error_connect;
env->rtU_local.in_Busy_Ch0 = env->linTaskActuator0.busy;
}
osMutexRelease(env->linTaskActuator0.access);
}
if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
if (env->ModelTask.triggerCommand == true) {
env->rtU_local.in_Busy_Ch0 = 1;
}
memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
if ((env->ModelTask.triggerCommand == true) && (isActuatorWorkBusy == false)) {
env->ModelTask.triggerCommand = false;
isActuatorWorkBusy = true;
for (uint8_t i = 0; i < 9; ++i) {
rtY.Out1.COM[i] = env->ModelTask.numCommand[i];
}
memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
}
osMutexRelease(env->ModelTask.access);
}
*/
/*
LoggerInfoStatic(&env->slog.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(&env->slog.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(&env->slog.logger, LOG_TASK_ARB, "Temp2 = %d", temp2)
}
*/
/*
bool isBusy = true;
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
if (env->linTaskActuator0.linCommandActuator[0].COM == LIN_ACT_CFR_NONE) {
isBusy = false;
}
osMutexRelease(env->linTaskActuator0.access);
}
if (isBusy == false) {
switch (step) {
case 0: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 1: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 6000;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 2: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 3: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
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;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 4: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
// ++step;
//}
break;
}
case 5: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 0;
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 6: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
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;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 7: {
SystemDelayMs(10000);
asm("nop");
++step;
//if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
// ++step;
//}
break;
}
case 8: {
if (osMutexAcquire(env->linTaskActuator0.access, 5000) == osOK) {
env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
env->linTaskActuator0.linCommandActuator[0].POS = 8000;
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;
resetStall(&env->linTaskActuator0);
++step;
osMutexRelease(env->linTaskActuator0.access);
}
break;
}
case 9: {
if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
++step;
}
break;
}
default: {
}
}
}
*/
/*
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(100);
}
}
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);
}
}
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