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Обновление

This commit is contained in:
cfif 2026-02-13 15:59:41 +03:00
parent 8eaee9d0d4
commit 4023c117d7
2 changed files with 310 additions and 139 deletions
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445
LinActuatorTasks.c
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@ -9,7 +9,7 @@
#include "Lins.h" #include "Lins.h"
#include "LoggerInterface.h" #include "LoggerInterface.h"
#define LOG_SIGN "Lin0" //#define LOG_SIGN "Lin0"
#define LOGGER env->logger #define LOGGER env->logger
@ -112,7 +112,7 @@ static lin_event_id_t SEND_ACTUATOR_COM_x(tLinIO *linIo, uint8_t COM_ADR) {
static lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData, static lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR) { uint8_t BUS_ADR) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET; linData->direction = LIN_DIRECTION_SET;
@ -142,13 +142,13 @@ static lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
} }
static lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint8_t *BUS_NEW_ADR, uint8_t *BUS_NEW_ADR,
uint8_t *NOTL_DREH_Master, uint8_t *NOTL_DREH_Master,
uint8_t *NOTL_ENAB_Master, uint8_t *NOTL_ENAB_Master,
uint8_t *DREH_Slave, uint8_t *DREH_Slave,
uint8_t *ParitySlave, uint8_t *ParitySlave,
uint8_t *Version_CFR) { uint8_t *Version_CFR) {
lin_event_id_t res; lin_event_id_t res;
ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) linData->g_aRxBuffer; ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) linData->g_aRxBuffer;
@ -190,7 +190,7 @@ static lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_AD
static lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData, static lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData,
uint8_t BUS_ADR) { uint8_t BUS_ADR) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET; linData->direction = LIN_DIRECTION_SET;
@ -218,10 +218,10 @@ static lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData,
} }
static lin_event_id_t RFR_IDE_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t RFR_IDE_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint8_t *IDE_ref, uint8_t *IDE_ref,
uint8_t *IDE_Sup, uint8_t *IDE_Sup,
uint8_t *IDE_Har) { uint8_t *IDE_Har) {
lin_event_id_t res; lin_event_id_t res;
ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) linData->g_aRxBuffer; ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) linData->g_aRxBuffer;
@ -286,16 +286,16 @@ static lin_event_id_t DFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_AD
} }
static lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint16_t *CPOS_ALL, uint16_t *CPOS_ALL,
eEmrf_Slave_STA *Emrf_Slave, eEmrf_Slave_STA *Emrf_Slave,
eMode_Mod *Mode_Slave, eMode_Mod *Mode_Slave,
uint8_t *Error1_Supply_Slave, uint8_t *Error1_Supply_Slave,
uint8_t *Error2_Communication_Slave, uint8_t *Error2_Communication_Slave,
uint8_t *Error3_Temperature_Slave, uint8_t *Error3_Temperature_Slave,
uint8_t *Error4_Permanent_Electrical_Slave, uint8_t *Error4_Permanent_Electrical_Slave,
eStall_STA *Stall_Slave, eStall_STA *Stall_Slave,
eReset_STA *Reset_Slave) { eReset_STA *Reset_Slave) {
lin_event_id_t res; lin_event_id_t res;
ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) linData->g_aRxBuffer; ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) linData->g_aRxBuffer;
@ -341,9 +341,9 @@ static lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_AD
} }
static lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData, uint8_t COM, static lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData, uint8_t COM,
uint8_t *BLOCK_MT, uint8_t *BLOCK_MT,
uint16_t *CPOS_ALL, uint16_t *CPOS_ALL,
uint8_t *DIAGNOSE_MT) { uint8_t *DIAGNOSE_MT) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_GET; linData->direction = LIN_DIRECTION_GET;
@ -376,7 +376,7 @@ static lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData, uint8_t COM,
} }
static lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
eMode_Mod Mode_Slave) { eMode_Mod Mode_Slave) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET; linData->direction = LIN_DIRECTION_SET;
@ -407,7 +407,7 @@ static lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_AD
} }
static lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint16 INI_CPOS) { uint16 INI_CPOS) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET; linData->direction = LIN_DIRECTION_SET;
@ -437,12 +437,12 @@ static lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_AD
} }
static lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS, static lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint16 FINAL_POS, uint16 FINAL_POS,
eStall_SET Stall_SET, eStall_SET Stall_SET,
eLnoise_SET Lnoise_SET, eLnoise_SET Lnoise_SET,
eAutos_SET Autos_SET, eAutos_SET Autos_SET,
eSpeed_SET Speed_SET, eSpeed_SET Speed_SET,
eCoils_Stop_SET Coils_Stop_SET) { eCoils_Stop_SET Coils_Stop_SET) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_SET; linData->direction = LIN_DIRECTION_SET;
@ -551,140 +551,311 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
return false; return false;
} }
static bool isBroadCast(tLinTaskActuator *env) {
static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) { for (uint8_t j = 0; j < env->LIN_ISSR_ALL; ++j) {
if (env->linCommandActuator[j].BUS_ADR != 0) {
return false;
}
}
return true;
}
static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, char *LOG_SIGN) {
lin_event_id_t ret = LIN_NO_EVENT; lin_event_id_t ret = LIN_NO_EVENT;
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { if (isBroadCast(env)) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) { //--------------------------------------BROADCAST---------------------------------------------------------
//--------------------------------------BROADCAST---------------------------------------------------------
//--------------------------------------BROADCAST---------------------------------------------------------
if (env->linCommandActuator[0].COM == LIN_ACT_CFR_MOD) {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[0].MODE)
#endif #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[0].BUS_ADR | 0x20,
env->linCommandActuator[i].MODE); env->linCommandActuator[0].MODE);
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[0].MODE)
#endif #endif
if (setState20(env, false, i)) setState20(env, false, 0);
break;
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[i].MODE) env->linCommandActuator[0].MODE)
#endif #endif
if (setState20(env, true, i)) setState20(env, true, 0);
break;
} }
} }
}
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { if (env->linCommandActuator[0].COM == LIN_ACT_CFR_INI) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[i].POS) env->linCommandActuator[0].POS)
#endif #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[0].BUS_ADR | 0x20,
env->linCommandActuator[i].POS); env->linCommandActuator[0].POS);
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS) env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS)
#endif #endif
if (setState20(env, false, i)) setState20(env, false, 0);
break;
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #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 (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS)
#endif
setState20(env, true, 0);
}
}
if (env->linCommandActuator[0].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Sending a command (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS,
env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Speed_SET,
env->linCommandActuator[0].Coils_Stop_SET
)
#endif
ret = CFR_SET_x(env->linIo, env->linData,
env->linCommandActuator[0].BUS_ADR | 0x20,
env->linCommandActuator[0].POS,
env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Speed_SET,
env->linCommandActuator[0].Coils_Stop_SET);
if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS,
env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Speed_SET,
env->linCommandActuator[0].Coils_Stop_SET)
#endif
setState20(env, false, 0);
} else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS,
env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Speed_SET,
env->linCommandActuator[0].Coils_Stop_SET
)
#endif
setState20(env, true, 0);
}
}
} else {
//--------------------------------------NO BROADCAST---------------------------------------------------------
//--------------------------------------NO BROADCAST---------------------------------------------------------
//--------------------------------------NO BROADCAST---------------------------------------------------------
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
#endif
continue;
}
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)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
#endif
ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20,
env->linCommandActuator[i].MODE);
if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
#endif
if (setState20(env, false, i))
break;
} else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
#endif
if (setState20(env, true, i))
break;
}
}
}
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Let's skip the 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 #endif
if (setState20(env, true, i)) continue;
break;
} }
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
}
}
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %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, env->linCommandActuator[i].POS)
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
)
#endif #endif
ret = CFR_SET_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);
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) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN,
"Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
#endif
if (setState20(env, false, i))
break;
} else {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS)
#endif
if (setState20(env, true, i))
break;
}
}
}
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1) #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)", "Let's skip the 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,
env->linCommandActuator[i].POS, env->linCommandActuator[i].POS,
env->linCommandActuator[i].Stall_SET, env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Lnoise_SET, env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Autos_SET, env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Coils_Stop_SET)
)
#endif #endif
if (setState20(env, false, i)) continue;
break; }
} else {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1) #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)", "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,
env->linCommandActuator[i].POS, env->linCommandActuator[i].POS,
env->linCommandActuator[i].Stall_SET, env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Lnoise_SET, env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Autos_SET, env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Coils_Stop_SET)
)
#endif #endif
if (setState20(env, true, i)) ret = CFR_SET_x(env->linIo, env->linData,
break; env->linCommandActuator[i].BUS_ADR | 0x20,
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) {
#if (LOG_LIN_ACTUATOR == 1)
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
)
#endif
if (setState20(env, false, i))
break;
} else {
#if (LOG_LIN_ACTUATOR == 1)
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
)
#endif
if (setState20(env, true, i))
break;
}
} }
} }
}
} // BroadCast
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
/* /*
@ -712,16 +883,16 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].isRFR_STA = 0; env->linCommandActuator[i].isRFR_STA = 0;
uint8_t BUS_ADR; uint8_t BUS_ADR = 0;
uint16_t CPOS_ALL; uint16_t CPOS_ALL = 0;
eEmrf_Slave_STA Emrf_Slave; eEmrf_Slave_STA Emrf_Slave = 0;
eMode_Mod Mode_Slave; eMode_Mod Mode_Slave = 0;
uint8_t Error1_Supply_Slave; uint8_t Error1_Supply_Slave = 0;
uint8_t Error2_Communication_Slave; uint8_t Error2_Communication_Slave = 0;
uint8_t Error3_Temperature_Slave; uint8_t Error3_Temperature_Slave = 0;
uint8_t Error4_Permanent_Electrical_Slave; uint8_t Error4_Permanent_Electrical_Slave = 0;
eStall_STA Stall_Slave; eStall_STA Stall_Slave = 0;
eReset_STA Reset_Slave; eReset_STA Reset_Slave = 0;
ret = RFR_STA_x(env->linIo, env->linData, i | 0x20, ret = RFR_STA_x(env->linIo, env->linData, i | 0x20,
&BUS_ADR, &BUS_ADR,
@ -836,28 +1007,28 @@ bool setBusy(tLinTaskActuator *env) {
return false; return false;
} }
void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall) { void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall, char *LOG_SIGN) {
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { for (uint8_t i = 0; i < env->LIN_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) #if (LOG_LIN_ACTUATOR == 1)
LoggerInfoStatic(LOGGER, LOG_SIGN, "Reset STALL") LoggerInfoStatic(LOGGER, LOG_SIGN, "Reset STALL")
#endif #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;
if (env->linCommandActuator[i].BUS_ADR == 0) { if (env->linCommandActuator[i].BUS_ADR == 0) {
for (uint8_t j = 0; j < env->LIN_ISSR_ALL; ++j) { for (uint8_t j = 0; j < env->LIN_ISSR_ALL; ++j) {
env->linStateActuator[j].Stall_Slave = LIN_STALL_STA_OFF; env->linStateActuator[j].Stall_Slave = LIN_STALL_STA_OFF;
dataLocalStall[j] = LIN_STALL_STA_OFF; dataLocalStall[j] = LIN_STALL_STA_OFF;
}
return;
} }
// } return;
}
// }
} }
} }
@ -879,7 +1050,7 @@ void Lin_1_Init(tLinTaskActuator *env,
env->LIN_ISSR_ALL = LIN_ISSR_ALL; env->LIN_ISSR_ALL = LIN_ISSR_ALL;
env->access = osMutexNew(NULL); env->access = osMutexNew(NULL);
InitThreadAtrStatic(&env->threadLin.attr, "Lin1", env->threadLin.controlBlock, env->threadLin.stack, InitThreadAtrStatic(&env->threadLin.attr, "Ln1", env->threadLin.controlBlock, env->threadLin.stack,
osPriorityNormal); osPriorityNormal);
} }
@ -888,7 +1059,7 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 1000) == osOK) { if (osMutexAcquire(env->access, 1000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, "Ln1 ");
uint8_t isError = 0; uint8_t isError = 0;
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
@ -941,7 +1112,7 @@ void Lin_2_Init(tLinTaskActuator *env,
env->LIN_ISSR_ALL = LIN_ISSR_ALL; env->LIN_ISSR_ALL = LIN_ISSR_ALL;
env->access = osMutexNew(NULL); env->access = osMutexNew(NULL);
InitThreadAtrStatic(&env->threadLin.attr, "Lin2", env->threadLin.controlBlock, env->threadLin.stack, InitThreadAtrStatic(&env->threadLin.attr, "Ln2", env->threadLin.controlBlock, env->threadLin.stack,
osPriorityNormal); osPriorityNormal);
} }
@ -950,7 +1121,7 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 1000) == osOK) { if (osMutexAcquire(env->access, 1000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, "Ln2 ");
uint8_t isError = 0; uint8_t isError = 0;
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
@ -1003,7 +1174,7 @@ void Lin_3_Init(tLinTaskActuator *env,
env->LIN_ISSR_ALL = LIN_ISSR_ALL; env->LIN_ISSR_ALL = LIN_ISSR_ALL;
env->access = osMutexNew(NULL); env->access = osMutexNew(NULL);
InitThreadAtrStatic(&env->threadLin.attr, "Lin3", env->threadLin.controlBlock, env->threadLin.stack, InitThreadAtrStatic(&env->threadLin.attr, "Ln3", env->threadLin.controlBlock, env->threadLin.stack,
osPriorityNormal); osPriorityNormal);
} }
@ -1012,7 +1183,7 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 1000) == osOK) { if (osMutexAcquire(env->access, 1000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, "Ln3 ");
uint8_t isError = 0; uint8_t isError = 0;
for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) { for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {

4
LinActuatorTasks.h
View File

@ -10,7 +10,7 @@
#include "LinIO.h" #include "LinIO.h"
#include "LoggerInterface.h" #include "LoggerInterface.h"
#define LOG_LIN_ACTUATOR 0 #define LOG_LIN_ACTUATOR 1
typedef struct __attribute__ ((packed)) { typedef struct __attribute__ ((packed)) {
uint8_t BUS_ADR; uint8_t BUS_ADR;
@ -490,7 +490,7 @@ void Lin3_StartThread(tLinTaskActuator *env);
void GetLin123CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state); void GetLin123CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state);
void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall); void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall, char *LOG_SIGN);
bool setBusy(tLinTaskActuator *env); bool setBusy(tLinTaskActuator *env);
#endif //HVAC_LIN_TASKS_H #endif //HVAC_LIN_TASKS_H