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HVAC_M7_LIN_TASKS
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Обновление

This commit is contained in:
cfif 2025-11-28 11:47:23 +03:00
parent 2b1199e214
commit 05830fb4fa
2 changed files with 330 additions and 166 deletions
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483
LinTasks.c
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@ -102,21 +102,22 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
osMessageQueuePut(env->rxDataQueue, (uint8_t *) &pXferState->currentEventId, 0x0, 0U);
}
static lin_event_id_t SEND_ACTUATOR_COM_x(tLinTaskActuator *env, uint8_t COM_ADR) {
lin_event_id_t res = env->linIo->runCommand(env->linIo->env, COM_ADR, 50);
static lin_event_id_t SEND_ACTUATOR_COM_x(tLinIO *linIo, uint8_t COM_ADR) {
lin_event_id_t res = linIo->runCommand(linIo->env, COM_ADR, 50);
SystemDelayMs(20);
return res;
}
lin_event_id_t DFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_DFR_PRG);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_DFR_PRG);
linData->g_aRxBufferLen = 0;
ACT_DFR_PRG *ACT_DFR_PRG_ = (ACT_DFR_PRG *) env->linData->g_aTxBuffer;
ACT_DFR_PRG *ACT_DFR_PRG_ = (ACT_DFR_PRG *) linData->g_aTxBuffer;
ACT_DFR_PRG_->BUS_ADR = BUS_ADR;
ACT_DFR_PRG_->Data1_DFR_PRG = 0xFF;
@ -124,7 +125,7 @@ lin_event_id_t DFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_PRG);
res = SEND_ACTUATOR_COM_x(linIo, DFR_PRG);
if (res == LIN_TX_COMPLETED) {
break;
@ -136,30 +137,37 @@ lin_event_id_t DFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
return res;
}
lin_event_id_t RFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData,
uint8_t *BUS_ADR,
uint8_t *BUS_NEW_ADR,
uint8_t *NOTL_DREH_Master,
uint8_t *NOTL_ENAB_Master,
uint8_t *DREH_Slave,
uint8_t *ParitySlave,
uint8_t *Version_CFR) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_GET;
linData->direction = LIN_DIRECTION_GET;
env->linData->g_aTxBufferLen = 0;
env->linData->g_aRxBufferLen = sizeof(ACT_RFR_PRG);
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_PRG);
ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) env->linData->g_aRxBuffer;
ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) linData->g_aRxBuffer;
uint8_t retry = 3;
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_PRG);
res = SEND_ACTUATOR_COM_x(linIo, RFR_PRG);
if (res == LIN_RX_COMPLETED) {
env->linStateActuator[BUS_ADR].BUS_NEW_ADR = ACT_RFR_PRG_->BUS_NEW_ADR;
env->linStateActuator[BUS_ADR].NOTL_DREH_Master = ACT_RFR_PRG_->NOTL_DREH_Master;
env->linStateActuator[BUS_ADR].NOTL_ENAB_Master = ACT_RFR_PRG_->NOTL_ENAB_Master;
env->linStateActuator[BUS_ADR].DREH_Slave = ACT_RFR_PRG_->DREH_Slave;
env->linStateActuator[BUS_ADR].ParitySlave = ACT_RFR_PRG_->ParitySlave;
env->linStateActuator[BUS_ADR].Version_CFR = ACT_RFR_PRG_->Version_CFR;
*BUS_ADR = ACT_RFR_PRG_->BUS_ADR;
*BUS_NEW_ADR = ACT_RFR_PRG_->BUS_NEW_ADR;
*NOTL_DREH_Master = ACT_RFR_PRG_->NOTL_DREH_Master;
*NOTL_ENAB_Master = ACT_RFR_PRG_->NOTL_ENAB_Master;
*DREH_Slave = ACT_RFR_PRG_->DREH_Slave;
*ParitySlave = ACT_RFR_PRG_->ParitySlave;
*Version_CFR = ACT_RFR_PRG_->Version_CFR;
break;
}
@ -171,14 +179,15 @@ lin_event_id_t RFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
}
lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_DFR_IDE);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_DFR_IDE);
linData->g_aRxBufferLen = 0;
ACT_DFR_IDE *ACT_DFR_IDE_ = (ACT_DFR_IDE *) env->linData->g_aTxBuffer;
ACT_DFR_IDE *ACT_DFR_IDE_ = (ACT_DFR_IDE *) linData->g_aTxBuffer;
ACT_DFR_IDE_->BUS_ADR = BUS_ADR;
ACT_DFR_IDE_->Data1_DFR_IDE = 0xFF;
@ -186,7 +195,7 @@ lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_IDE);
res = SEND_ACTUATOR_COM_x(linIo, DFR_IDE);
if (res == LIN_TX_COMPLETED) {
break;
@ -198,27 +207,31 @@ lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
return res;
}
lin_event_id_t RFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t RFR_IDE_x(tLinIO *linIo, tLinData *linData,
uint8_t *BUS_ADR,
uint8_t *IDE_ref,
uint8_t *IDE_Sup,
uint8_t *IDE_Har) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_GET;
linData->direction = LIN_DIRECTION_GET;
env->linData->g_aTxBufferLen = 0;
env->linData->g_aRxBufferLen = sizeof(ACT_RFR_IDE);
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_IDE);
ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) env->linData->g_aRxBuffer;
ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) linData->g_aRxBuffer;
uint8_t retry = 3;
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_IDE);
res = SEND_ACTUATOR_COM_x(linIo, RFR_IDE);
if (res == LIN_RX_COMPLETED) {
env->linStateActuator[BUS_ADR].IDE_ref = ACT_RFR_IDE_->IDE_ref;
env->linStateActuator[BUS_ADR].IDE_Sup = ACT_RFR_IDE_->IDE_Sup;
env->linStateActuator[BUS_ADR].IDE_Har = ACT_RFR_IDE_->IDE_Har;
*BUS_ADR = ACT_RFR_IDE_->BUS_ADR;
*IDE_ref = ACT_RFR_IDE_->IDE_ref;
*IDE_Sup = ACT_RFR_IDE_->IDE_Sup;
*IDE_Har = ACT_RFR_IDE_->IDE_Har;
break;
}
@ -229,14 +242,14 @@ lin_event_id_t RFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
return res;
}
lin_event_id_t DFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t DFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADR) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_DFR_STA);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_DFR_STA);
linData->g_aRxBufferLen = 0;
ACT_DFR_STA *ACT_DFR_STA_ = (ACT_DFR_STA *) env->linData->g_aTxBuffer;
ACT_DFR_STA *ACT_DFR_STA_ = (ACT_DFR_STA *) linData->g_aTxBuffer;
ACT_DFR_STA_->BUS_ADR = BUS_ADR;
ACT_DFR_STA_->Data1_DFR_STA = 0xFF;
@ -244,7 +257,7 @@ lin_event_id_t DFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_STA);
res = SEND_ACTUATOR_COM_x(linIo, DFR_STA);
if (res == LIN_TX_COMPLETED) {
break;
@ -256,34 +269,44 @@ lin_event_id_t DFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
return res;
}
lin_event_id_t RFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData,
uint8_t *BUS_ADR,
uint16_t *CPOS_ALL,
eEmrf_Slave_STA *Emrf_Slave,
eMode_Mod *Mode_Slave,
uint8_t *Error1_Supply_Slave,
uint8_t *Error2_Communication_Slave,
uint8_t *Error3_Temperature_Slave,
uint8_t *Error4_Permanent_Electrical_Slave,
eStall_STA *Stall_Slave,
eReset_STA *Reset_Slave) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_GET;
linData->direction = LIN_DIRECTION_GET;
env->linData->g_aTxBufferLen = 0;
env->linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) env->linData->g_aRxBuffer;
ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) linData->g_aRxBuffer;
uint8_t retry = 3;
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_STA);
res = SEND_ACTUATOR_COM_x(linIo, RFR_STA);
if (res == LIN_RX_COMPLETED) {
env->linStateActuator[BUS_ADR].CPOS_ALL = ACT_RFR_STA_->CPOS_ALL;
env->linStateActuator[BUS_ADR].Emrf_Slave = ACT_RFR_STA_->Emrf_Slave;
env->linStateActuator[BUS_ADR].Mode_Slave = ACT_RFR_STA_->Mode_Slave;
env->linStateActuator[BUS_ADR].Error1_Supply_Slave = ACT_RFR_STA_->Error1_Supply_Slave;
env->linStateActuator[BUS_ADR].Error2_Communication_Slave = ACT_RFR_STA_->Error2_Communication_Slave;
env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = ACT_RFR_STA_->Error3_Temperature_Slave;
env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = ACT_RFR_STA_->Error4_Permanent_Electrical_Slave;
env->linStateActuator[BUS_ADR].Stall_Slave = ACT_RFR_STA_->Stall_Slave;
env->linStateActuator[BUS_ADR].Reset_Slave = ACT_RFR_STA_->Reset_Slave;
*BUS_ADR = ACT_RFR_STA_->BUS_ADR;
*CPOS_ALL = ACT_RFR_STA_->CPOS_ALL;
*Emrf_Slave = ACT_RFR_STA_->Emrf_Slave;
*Mode_Slave = ACT_RFR_STA_->Mode_Slave;
*Error1_Supply_Slave = ACT_RFR_STA_->Error1_Supply_Slave;
*Error2_Communication_Slave = ACT_RFR_STA_->Error2_Communication_Slave;
*Error3_Temperature_Slave = ACT_RFR_STA_->Error3_Temperature_Slave;
*Error4_Permanent_Electrical_Slave = ACT_RFR_STA_->Error4_Permanent_Electrical_Slave;
*Stall_Slave = ACT_RFR_STA_->Stall_Slave;
*Reset_Slave = ACT_RFR_STA_->Reset_Slave;
break;
}
@ -294,31 +317,30 @@ lin_event_id_t RFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
return res;
}
lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR,
uint8_t *BLOCK_MT,
uint16_t *CPOS_ALL,
uint8_t *DIAGNOSE_MT) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_GET;
env->linData->g_aTxBufferLen = 0;
env->linData->g_aRxBufferLen = sizeof(ACT_RFR_ISSR);
linData->direction = LIN_DIRECTION_GET;
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_ISSR);
uint8_t retry = 3;
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, BUS_ADR);
res = SEND_ACTUATOR_COM_x(linIo, BUS_ADR);
if (res == LIN_RX_COMPLETED) {
ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) env->linData->g_aRxBuffer;
ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) linData->g_aRxBuffer;
env->linStateActuator[BUS_ADR].CPOS_ALL =
ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 8);
if (ACT_RFR_ISSR_->DIAGNOSE_MT) {
if (DFR_STA_x(env, BUS_ADR) == LIN_TX_COMPLETED) {
RFR_STA_x(env, BUS_ADR);
}
}
*BLOCK_MT = ACT_RFR_ISSR_->BLOCK_MT;
*CPOS_ALL = ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 8);
*DIAGNOSE_MT = ACT_RFR_ISSR_->DIAGNOSE_MT;
break;
}
@ -331,14 +353,16 @@ lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
}
lin_event_id_t CFR_MOD_x(tLinTaskActuator *env, uint8_t BUS_ADR, eMode_Mod Mode_Slave) {
lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR,
eMode_Mod Mode_Slave) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_CFR_MOD);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_CFR_MOD);
linData->g_aRxBufferLen = 0;
ACT_CFR_MOD *ACT_CFR_MOD_ = (ACT_CFR_MOD *) env->linData->g_aTxBuffer;
ACT_CFR_MOD *ACT_CFR_MOD_ = (ACT_CFR_MOD *) linData->g_aTxBuffer;
ACT_CFR_MOD_->BUS_ADR = BUS_ADR;
ACT_CFR_MOD_->Mode_Slave = Mode_Slave;
ACT_CFR_MOD_->Unused = 0xFF;
@ -349,7 +373,7 @@ lin_event_id_t CFR_MOD_x(tLinTaskActuator *env, uint8_t BUS_ADR, eMode_Mod Mode_
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_MOD);
res = SEND_ACTUATOR_COM_x(linIo, CFR_MOD);
if (res == LIN_TX_COMPLETED) {
break;
@ -361,14 +385,16 @@ lin_event_id_t CFR_MOD_x(tLinTaskActuator *env, uint8_t BUS_ADR, eMode_Mod Mode_
return res;
}
lin_event_id_t CFR_INI_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 INI_CPOS) {
lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR,
uint16 INI_CPOS) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_CFR_INI);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_CFR_INI);
linData->g_aRxBufferLen = 0;
ACT_CFR_INI *ACT_CFR_INI_ = (ACT_CFR_INI *) env->linData->g_aTxBuffer;
ACT_CFR_INI *ACT_CFR_INI_ = (ACT_CFR_INI *) linData->g_aTxBuffer;
ACT_CFR_INI_->BUS_ADR = BUS_ADR;
ACT_CFR_INI_->INI_CPOS = INI_CPOS;
ACT_CFR_INI_->unused = 0xFF;
@ -378,7 +404,7 @@ lin_event_id_t CFR_INI_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 INI_CPOS
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_INI);
res = SEND_ACTUATOR_COM_x(linIo, CFR_INI);
if (res == LIN_TX_COMPLETED) {
break;
@ -390,7 +416,9 @@ lin_event_id_t CFR_INI_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 INI_CPOS
return res;
}
lin_event_id_t CFR_SET_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 FINAL_POS,
lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR,
uint16 FINAL_POS,
eStall_SET Stall_SET,
eLnoise_SET Lnoise_SET,
eAutos_SET Autos_SET,
@ -398,11 +426,11 @@ lin_event_id_t CFR_SET_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 FINAL_PO
eCoils_Stop_SET Coils_Stop_SET) {
lin_event_id_t res;
env->linData->direction = LIN_DIRECTION_SET;
env->linData->g_aTxBufferLen = sizeof(ACT_CFR_SET);
env->linData->g_aRxBufferLen = 0;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_CFR_SET);
linData->g_aRxBufferLen = 0;
ACT_CFR_SET *ACT_CFR_SET_ = (ACT_CFR_SET *) env->linData->g_aTxBuffer;
ACT_CFR_SET *ACT_CFR_SET_ = (ACT_CFR_SET *) linData->g_aTxBuffer;
ACT_CFR_SET_->BUS_ADR = BUS_ADR;
ACT_CFR_SET_->FINAL_POS = FINAL_POS;
@ -419,7 +447,49 @@ lin_event_id_t CFR_SET_x(tLinTaskActuator *env, uint8_t BUS_ADR, uint16 FINAL_PO
while (retry) {
res = SEND_ACTUATOR_COM_x(env->linIo->env, CFR_INI);
res = SEND_ACTUATOR_COM_x(linIo, CFR_SET);
if (res == LIN_TX_COMPLETED) {
break;
}
--retry;
}
return res;
}
lin_event_id_t CFR_PRG_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR,
uint16_t BUS_NEW_ADR,
uint8_t NOTL_DREH_Master,
uint8_t NOTL_ENAB_Master,
uint8_t DREH_Master,
uint8_t Motor,
uint8_t Baudrate,
uint8_t Version_CFR) {
lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET;
linData->g_aTxBufferLen = sizeof(ACT_CFR_SET);
linData->g_aRxBufferLen = 0;
ACT_CFR_PRG *ACT_CFR_PRG_ = (ACT_CFR_PRG *) linData->g_aTxBuffer;
ACT_CFR_PRG_->BUS_ADR = BUS_ADR;
ACT_CFR_PRG_->BUS_NEW_ADR = BUS_NEW_ADR;
ACT_CFR_PRG_->NOTL_DREH_Master = NOTL_DREH_Master;
ACT_CFR_PRG_->NOTL_ENAB_Master = NOTL_ENAB_Master;
ACT_CFR_PRG_->DREH_Master = DREH_Master;
ACT_CFR_PRG_->Motor = Motor;
ACT_CFR_PRG_->Baudrate = Baudrate;
ACT_CFR_PRG_->Free = 0xFF;
ACT_CFR_PRG_->Version_CFR = Version_CFR;
uint8_t retry = 3;
while (retry) {
res = SEND_ACTUATOR_COM_x(linIo, CFR_PRG);
if (res == LIN_TX_COMPLETED) {
break;
@ -443,98 +513,179 @@ void Lin_0_Init(tLinTaskActuator *env,
osPriorityNormal);
}
void Lin0_Scheduler(tLinTaskActuator *env) {
lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (osMutexAcquire(env->access, 100) == osOK) {
lin_event_id_t ret;
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
if (CFR_MOD_x(env, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE) == LIN_TX_COMPLETED) {
ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE);
if (DFR_STA_x(env, i) == LIN_TX_COMPLETED) {
RFR_STA_x(env, i);
}
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
if (ret == LIN_TX_COMPLETED) {
} else {
return ret;
}
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
if (CFR_INI_x(env, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS) == LIN_TX_COMPLETED) {
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
if (CFR_SET_x(env, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS,
env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET) == LIN_TX_COMPLETED) {
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
}
}
/*
if (DFR_PRG_x(env, i) == LIN_TX_COMPLETED) {
RFR_PRG_x(env, i);
}
if (DFR_IDE_x(env, i) == LIN_TX_COMPLETED) {
RFR_IDE_x(env, i);
}
if (DFR_STA_x(env, i) == LIN_TX_COMPLETED) {
RFR_STA_x(env, i);
}
*/
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
lin_event_id_t res = ISSR_x(env, i);
}
osMutexRelease(env->access);
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
ret = CFR_INI_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS);
if (ret == LIN_TX_COMPLETED) {
} else {
return ret;
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
}
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
ret = CFR_SET_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS,
env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET);
if (ret == LIN_TX_COMPLETED) {
} else {
return ret;
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break;
}
}
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_PRG) {
ret = CFR_PRG_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].BUS_NEW_ADR,
env->linCommandActuator[i].NOTL_DREH_Master,
env->linCommandActuator[i].NOTL_ENAB_Master,
env->linCommandActuator[i].DREH_Master,
env->linCommandActuator[i].Motor,
env->linCommandActuator[i].Baudrate,
env->linCommandActuator[i].Version_CFR);
if (ret == LIN_TX_COMPLETED) {
ret = DFR_PRG_x(env->linIo, env->linData, i);
if (ret == LIN_TX_COMPLETED) {
uint8_t BUS_ADR;
ret = RFR_PRG_x(env->linIo, env->linData,
&BUS_ADR,
&env->linStateActuator[i].BUS_NEW_ADR,
&env->linStateActuator[i].NOTL_DREH_Master,
&env->linStateActuator[i].NOTL_ENAB_Master,
&env->linStateActuator[i].DREH_Slave,
&env->linStateActuator[i].ParitySlave,
&env->linStateActuator[i].Version_CFR);
if (ret == LIN_TX_COMPLETED) {
} else {
return ret;
}
} else {
return ret;
}
} else {
return ret;
}
}
}
lin_event_id_t res;
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
res = ISSR_x(env->linIo, env->linData,
i,
&env->linStateActuator[i].BLOCK_MT,
&env->linStateActuator[i].CPOS_ALL,
&env->linStateActuator[i].DIAGNOSE_MT);
ret = DFR_STA_x(env->linIo, env->linData, i);
if (ret == LIN_TX_COMPLETED) {
uint8_t BUS_ADR;
ret = RFR_STA_x(env->linIo, env->linData,
&BUS_ADR,
&env->linStateActuator[i].CPOS_ALL,
&env->linStateActuator[i].Emrf_Slave,
&env->linStateActuator[i].Mode_Slave,
&env->linStateActuator[i].Error1_Supply_Slave,
&env->linStateActuator[i].Error2_Communication_Slave,
&env->linStateActuator[i].Error3_Temperature_Slave,
&env->linStateActuator[i].Error4_Permanent_Electrical_Slave,
&env->linStateActuator[i].Stall_Slave,
&env->linStateActuator[i].Reset_Slave);
if (ret == LIN_RX_COMPLETED) {
} else {
return ret;
}
} else {
return ret;
}
}
if ((res == LIN_TX_COMPLETED) || (res == LIN_RX_COMPLETED)) {
} else {
return ret;
}
}
static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
for (;;) {
Lin0_Scheduler(env);
if (osMutexAcquire(env->access, 100) == osOK) {
Lin0_Scheduler(env);
osMutexRelease(env->access);
}
}
}

13
LinTasks.h
View File

@ -364,6 +364,9 @@ typedef struct __attribute__ ((packed)) {
typedef struct {
uint8_t BLOCK_MT;
uint8_t DIAGNOSE_MT;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
@ -399,6 +402,7 @@ typedef struct {
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
} tLinStateActuator;
// POS - Позиция
@ -427,6 +431,15 @@ typedef struct {
eAutos_SET Autos_SET;
eSpeed_SET Speed_SET;
eCoils_Stop_SET Coils_Stop_SET;
uint16_t BUS_NEW_ADR;
uint8_t NOTL_DREH_Master;
uint8_t NOTL_ENAB_Master;
uint8_t DREH_Master;
uint8_t Motor;
uint8_t Baudrate;
uint8_t Version_CFR;
} tLinCommandActuator;
typedef struct {