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Обновление

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cfif 2025-12-24 16:47:12 +03:00
parent 1b1389196c
commit 243b3b49be
2 changed files with 25 additions and 21 deletions
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45
LinTasks.c
View File

@ -578,29 +578,30 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[i].MODE)
#endif
ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20, ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].MODE); env->linCommandActuator[i].MODE);
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", "Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[i].MODE)
#endif
if (setState20(env, false, i)) if (setState20(env, false, i))
break; break;
} else { } else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[i].MODE)
#endif
if (setState20(env, true, i)) if (setState20(env, true, i))
break; break;
} }
@ -612,29 +613,29 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
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_INI) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS) env->linCommandActuator[i].POS)
#endif
ret = CFR_INI_x(env->linIo, env->linData, ret = CFR_INI_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR | 0x20, env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].POS); env->linCommandActuator[i].POS);
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)", "Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS) env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
#endif
if (setState20(env, false, i)) if (setState20(env, false, i))
break; break;
} else { } else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS) env->linCommandActuator[i].POS)
#endif
if (setState20(env, true, i)) if (setState20(env, true, i))
break; break;
} }
@ -646,7 +647,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
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_SET) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, 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)", "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].BUS_ADR,
@ -657,7 +658,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Coils_Stop_SET
) )
#endif
ret = CFR_SET_x(env->linIo, env->linData, ret = CFR_SET_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR | 0x20, env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].POS, env->linCommandActuator[i].POS,
@ -668,7 +669,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Coils_Stop_SET); env->linCommandActuator[i].Coils_Stop_SET);
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, 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)", "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].BUS_ADR,
@ -679,11 +680,11 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Coils_Stop_SET
) )
#endif
if (setState20(env, false, i)) if (setState20(env, false, i))
break; break;
} else { } else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", "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].BUS_ADR,
@ -694,7 +695,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Coils_Stop_SET
) )
#endif
if (setState20(env, true, i)) if (setState20(env, true, i))
break; break;
} }
@ -770,7 +771,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
(env->linStateActuator[BUS_ADR].Error3_Temperature_Slave != Error3_Temperature_Slave) || (env->linStateActuator[BUS_ADR].Error3_Temperature_Slave != Error3_Temperature_Slave) ||
(env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave != (env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave !=
Error4_Permanent_Electrical_Slave)) { Error4_Permanent_Electrical_Slave)) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, LoggerFormatInfo(LOGGER, LOG_SIGN,
"State: ADR = %d CPOS = %d Emrf = %d Mode = %d Err1 = %d Err2 = %d Err3 = %d Err4 = %d", "State: ADR = %d CPOS = %d Emrf = %d Mode = %d Err1 = %d Err2 = %d Err3 = %d Err4 = %d",
BUS_ADR, BUS_ADR,
@ -782,7 +783,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
Error3_Temperature_Slave, Error3_Temperature_Slave,
Error4_Permanent_Electrical_Slave Error4_Permanent_Electrical_Slave
) )
#endif
} }
env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL; env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
@ -796,11 +797,13 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
if (env->linStateActuator[BUS_ADR].Stall_Slave == LIN_STALL_STA_OFF) { if (env->linStateActuator[BUS_ADR].Stall_Slave == LIN_STALL_STA_OFF) {
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave; env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
#if (LOG_LIN_ACTUATOR == 1)
if (Stall_Slave == LIN_STALL_STA_ON) { if (Stall_Slave == LIN_STALL_STA_ON) {
LoggerFormatInfo(LOGGER, LOG_SIGN, "Detect STALL: (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, LOG_SIGN, "Detect STALL: (ADR = %d POS = %d)",
BUS_ADR, BUS_ADR,
CPOS_ALL) CPOS_ALL)
} }
#endif
} }
@ -856,9 +859,9 @@ void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall) {
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_SET) { // if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_SIGN, "Reset STALL") LoggerInfoStatic(LOGGER, LOG_SIGN, "Reset STALL")
#endif
env->linStateActuator[i].Stall_Slave = LIN_STALL_STA_OFF; env->linStateActuator[i].Stall_Slave = LIN_STALL_STA_OFF;
dataLocalStall[i] = LIN_STALL_STA_OFF; dataLocalStall[i] = LIN_STALL_STA_OFF;

1
LinTasks.h
View File

@ -10,6 +10,7 @@
#include "LinIO.h" #include "LinIO.h"
#include "LoggerInterface.h" #include "LoggerInterface.h"
#define LOG_LIN_ACTUATOR 0
typedef struct __attribute__ ((packed)) { typedef struct __attribute__ ((packed)) {
uint8_t BUS_ADR; uint8_t BUS_ADR;