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HVAC_M7_LIN_TASKS
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Обновление

This commit is contained in:
cfif 2025-12-24 13:08:09 +03:00
parent db66ce5cb5
commit 08dcd5ddb9
2 changed files with 138 additions and 40 deletions
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155
LinTasks.c
View File

@ -457,11 +457,12 @@ lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
ACT_CFR_SET_->BUS_ADR = BUS_ADDRESS;
ACT_CFR_SET_->FINAL_POS = FINAL_POS;
ACT_CFR_SET_->unused = 0x1;
ACT_CFR_SET_->Unused_SET = 0x1;
ACT_CFR_SET_->Stall_SET = Stall_SET;
ACT_CFR_SET_->unused = 1;
ACT_CFR_SET_->Unused_SET = 0;
ACT_CFR_SET_->Stall_SET = 0;//Stall_SET;
ACT_CFR_SET_->Lnoise_SET = Lnoise_SET;
ACT_CFR_SET_->Autos_SET = Autos_SET;
ACT_CFR_SET_->Autos_SET = 0;//Autos_SET;
ACT_CFR_SET_->Speed_SET = Speed_SET;
ACT_CFR_SET_->Coils_Stop_SET = Coils_Stop_SET;
@ -577,15 +578,29 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].MODE);
if (ret == LIN_TX_COMPLETED) {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
if (setState20(env, false, i))
break;
} else {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
if (setState20(env, true, i))
break;
}
@ -598,14 +613,28 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS)
ret = CFR_INI_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].POS);
if (ret == LIN_TX_COMPLETED) {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
if (setState20(env, false, i))
break;
} else {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS)
if (setState20(env, true, i))
break;
}
@ -618,6 +647,17 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Sending a command: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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
)
ret = CFR_SET_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].POS,
@ -628,9 +668,33 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Coils_Stop_SET);
if (ret == LIN_TX_COMPLETED) {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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 (setState20(env, false, i))
break;
} else {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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 (setState20(env, true, i))
break;
}
@ -640,29 +704,33 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
/*
uint8_t BLOCK_MT;
uint8_t DIAGNOSE_MT;
uint16_t CPOS_2_ALL;
// uint8_t BLOCK_MT;
// uint8_t DIAGNOSE_MT;
uint16_t CPOS_ALL;
ret = ISSR_x(env->linIo, env->linData,
i,
&BLOCK_MT,
&CPOS_2_ALL,
&DIAGNOSE_MT);
// ret = ISSR_x(env->linIo, env->linData,
// i,
// &BLOCK_MT,
// &CPOS_ALL,
// &DIAGNOSE_MT);
// if (ret == LIN_RX_COMPLETED) {
// env->linStateActuator[i].BLOCK_MT = BLOCK_MT;
// env->linStateActuator[i].CPOS_ALL = CPOS_ALL << 1;
// env->linStateActuator[i].DIAGNOSE_MT = DIAGNOSE_MT;
if (ret == LIN_RX_COMPLETED) {
env->linStateActuator[i].BLOCK_MT = BLOCK_MT;
env->linStateActuator[i].CPOS_2_ALL = CPOS_2_ALL << 1;
env->linStateActuator[i].DIAGNOSE_MT = DIAGNOSE_MT;
}
*/
// if ((env->linStateActuator[i].DIAGNOSE_MT) || (env->linCommandActuator[i].isRFR_STA)) {
if ((env->linCommandActuator[i].COM == LIN_ACT_CFR_NONE) || (env->linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) || (env->linCommandActuator[i].isRFR_STA)) {
if ((env->linCommandActuator[i].COM == LIN_ACT_CFR_NONE) ||
(env->linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) || (env->linCommandActuator[i].isRFR_STA)) {
env->linCommandActuator[i].isRFR_STA = 0;
uint8_t BUS_ADR;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
@ -693,6 +761,32 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
}
if (BUS_ADR < LIN0_ISSR_ALL) {
if ((env->linStateActuator[BUS_ADR].CPOS_ALL != CPOS_ALL) ||
(env->linStateActuator[BUS_ADR].Stall_Slave != Stall_Slave) ||
(env->linStateActuator[BUS_ADR].Emrf_Slave != Emrf_Slave) ||
(env->linStateActuator[BUS_ADR].Mode_Slave != Mode_Slave) ||
(env->linStateActuator[BUS_ADR].Error1_Supply_Slave != Error1_Supply_Slave) ||
(env->linStateActuator[BUS_ADR].Error2_Communication_Slave != Error2_Communication_Slave) ||
(env->linStateActuator[BUS_ADR].Error3_Temperature_Slave != Error3_Temperature_Slave) ||
(env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave !=
Error4_Permanent_Electrical_Slave)) {
LoggerFormatInfo(LOGGER, LOG_SIGN,
"State: ADR = %d CPOS = %d Stall = %d Emrf = %d Mode = %d Err1 = %d Err2 = %d Err3 = %d Err4 = %d",
BUS_ADR,
CPOS_ALL,
Stall_Slave,
Emrf_Slave,
Mode_Slave,
Error1_Supply_Slave,
Error2_Communication_Slave,
Error3_Temperature_Slave,
Error4_Permanent_Electrical_Slave
)
}
env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
@ -703,8 +797,15 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linStateActuator[BUS_ADR].Stall_Slave == LIN_STALL_STA_OFF) {
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
if (Stall_Slave == LIN_STALL_STA_ON) {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Detect STALL: (ADR = %d POS = %d)",
BUS_ADR,
CPOS_ALL)
}
}
env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
// LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR = %d, CPOS_ALL = %d, Stall_Slave = %d", BUS_ADR,
@ -741,7 +842,9 @@ bool setBusy(tLinTaskActuator *env) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM != LIN_ACT_CFR_NONE) {
if ((env->linCommandActuator[i].COM != LIN_ACT_CFR_NONE) &&
(env->linCommandActuator[i].COM != LIN_ACT_CFR_SUCCESSFUL)) {
env->busy = true;
return true;
}
@ -750,24 +853,28 @@ bool setBusy(tLinTaskActuator *env) {
return false;
}
void resetStall(tLinTaskActuator *env) {
void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall) {
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
// if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
LoggerInfoStatic(LOGGER, LOG_SIGN, "Reset STALL")
env->linStateActuator[i].Stall_Slave = LIN_STALL_STA_OFF;
dataLocalStall[i] = LIN_STALL_STA_OFF;
if (env->linCommandActuator[i].BUS_ADR == 0) {
for (uint8_t j = 0; j < LIN0_ISSR_ALL; ++j) {
env->linStateActuator[j].Stall_Slave = LIN_STALL_STA_OFF;
dataLocalStall[j] = LIN_STALL_STA_OFF;
}
return;
}
}
// }
}
}
@ -795,7 +902,7 @@ static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
osMutexRelease(env->access);
}
SystemDelayMs(500);
SystemDelayMs(50);
}
}

23
LinTasks.h
View File

@ -98,14 +98,19 @@ typedef enum {
typedef struct __attribute__ ((packed)) {
uint8_t BUS_ADR;
uint16_t FINAL_POS: 15;
uint8_t unused: 1;
uint8_t Unused_SET: 1;
eStall_SET Stall_SET: 1;
eLnoise_SET Lnoise_SET: 1;
eAutos_SET Autos_SET: 1;
eSpeed_SET Speed_SET: 2;
eCoils_Stop_SET Coils_Stop_SET: 2;
} ACT_CFR_SET;
// Using this service the master can switch an actuator to a needed functional mode.
@ -369,6 +374,7 @@ typedef struct {
uint8_t BLOCK_MT;
uint8_t DIAGNOSE_MT;
uint16_t CPOS_2_ALL;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
@ -395,21 +401,6 @@ typedef struct {
} tLinStateFullActuator;
typedef struct {
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;
} tLinStateActuator;
// POS - Позиция
// BUS_ADR - (3 бита [7..5] - Группа; 5 бит [4..0] - Адрес)
@ -483,7 +474,7 @@ void Lin0_StartThread(tLinTaskActuator *env);
void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state);
void resetStall(tLinTaskActuator *env);
void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall);
bool setBusy(tLinTaskActuator *env);