Обновление
This commit is contained in:
cfif
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8eaee9d0d4
commit
4023c117d7
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@ -9,7 +9,7 @@
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#include "Lins.h"
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#include "LoggerInterface.h"
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#define LOG_SIGN "Lin0"
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//#define LOG_SIGN "Lin0"
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#define LOGGER env->logger
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@ -551,13 +551,160 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
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return false;
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}
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static bool isBroadCast(tLinTaskActuator *env) {
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static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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for (uint8_t j = 0; j < env->LIN_ISSR_ALL; ++j) {
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if (env->linCommandActuator[j].BUS_ADR != 0) {
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return false;
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}
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}
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return true;
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}
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static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, char *LOG_SIGN) {
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lin_event_id_t ret = LIN_NO_EVENT;
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if (isBroadCast(env)) {
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//--------------------------------------BROADCAST---------------------------------------------------------
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//--------------------------------------BROADCAST---------------------------------------------------------
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//--------------------------------------BROADCAST---------------------------------------------------------
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if (env->linCommandActuator[0].COM == LIN_ACT_CFR_MOD) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].MODE)
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#endif
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ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[0].BUS_ADR | 0x20,
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env->linCommandActuator[0].MODE);
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Command completed successfully (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].MODE)
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#endif
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setState20(env, false, 0);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].MODE)
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#endif
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setState20(env, true, 0);
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}
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}
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if (env->linCommandActuator[0].COM == LIN_ACT_CFR_INI) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].POS)
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#endif
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ret = CFR_INI_x(env->linIo, env->linData,
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env->linCommandActuator[0].BUS_ADR | 0x20,
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env->linCommandActuator[0].POS);
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Command completed successfully (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS)
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#endif
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setState20(env, false, 0);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Command failed (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].POS)
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#endif
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setState20(env, true, 0);
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}
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}
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if (env->linCommandActuator[0].COM == LIN_ACT_CFR_SET) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Sending a command (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].POS,
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env->linCommandActuator[0].Stall_SET,
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env->linCommandActuator[0].Lnoise_SET,
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env->linCommandActuator[0].Autos_SET,
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env->linCommandActuator[0].Speed_SET,
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env->linCommandActuator[0].Coils_Stop_SET
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)
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#endif
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ret = CFR_SET_x(env->linIo, env->linData,
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env->linCommandActuator[0].BUS_ADR | 0x20,
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env->linCommandActuator[0].POS,
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env->linCommandActuator[0].Stall_SET,
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env->linCommandActuator[0].Lnoise_SET,
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env->linCommandActuator[0].Autos_SET,
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env->linCommandActuator[0].Speed_SET,
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env->linCommandActuator[0].Coils_Stop_SET);
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Command completed successfully (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].POS,
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env->linCommandActuator[0].Stall_SET,
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env->linCommandActuator[0].Lnoise_SET,
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env->linCommandActuator[0].Autos_SET,
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env->linCommandActuator[0].Speed_SET,
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env->linCommandActuator[0].Coils_Stop_SET)
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#endif
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setState20(env, false, 0);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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env->linCommandActuator[0].BUS_ADR,
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env->linCommandActuator[0].POS,
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env->linCommandActuator[0].Stall_SET,
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env->linCommandActuator[0].Lnoise_SET,
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env->linCommandActuator[0].Autos_SET,
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env->linCommandActuator[0].Speed_SET,
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env->linCommandActuator[0].Coils_Stop_SET
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)
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#endif
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setState20(env, true, 0);
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}
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}
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} else {
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//--------------------------------------NO BROADCAST---------------------------------------------------------
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//--------------------------------------NO BROADCAST---------------------------------------------------------
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//--------------------------------------NO BROADCAST---------------------------------------------------------
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
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env->linCommandActuator[i].BUS_ADR,
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env->linCommandActuator[i].MODE)
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#endif
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continue;
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}
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if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
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#if (LOG_LIN_ACTUATOR == 1)
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@ -594,6 +741,15 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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env->linCommandActuator[i].BUS_ADR,
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env->linCommandActuator[i].POS)
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#endif
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continue;
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}
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if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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@ -628,6 +784,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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"Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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env->linCommandActuator[i].BUS_ADR,
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env->linCommandActuator[i].POS,
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env->linCommandActuator[i].Stall_SET,
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env->linCommandActuator[i].Lnoise_SET,
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env->linCommandActuator[i].Autos_SET,
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env->linCommandActuator[i].Speed_SET,
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env->linCommandActuator[i].Coils_Stop_SET)
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#endif
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continue;
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}
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if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
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#if (LOG_LIN_ACTUATOR == 1)
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LoggerFormatInfo(LOGGER, LOG_SIGN,
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@ -638,8 +809,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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env->linCommandActuator[i].Lnoise_SET,
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env->linCommandActuator[i].Autos_SET,
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env->linCommandActuator[i].Speed_SET,
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env->linCommandActuator[i].Coils_Stop_SET
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)
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env->linCommandActuator[i].Coils_Stop_SET)
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#endif
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ret = CFR_SET_x(env->linIo, env->linData,
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env->linCommandActuator[i].BUS_ADR | 0x20,
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@ -685,6 +855,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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}
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}
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} // BroadCast
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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/*
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@ -712,16 +883,16 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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env->linCommandActuator[i].isRFR_STA = 0;
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uint8_t BUS_ADR;
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uint16_t CPOS_ALL;
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eEmrf_Slave_STA Emrf_Slave;
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eMode_Mod Mode_Slave;
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uint8_t Error1_Supply_Slave;
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uint8_t Error2_Communication_Slave;
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uint8_t Error3_Temperature_Slave;
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uint8_t Error4_Permanent_Electrical_Slave;
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eStall_STA Stall_Slave;
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eReset_STA Reset_Slave;
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uint8_t BUS_ADR = 0;
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uint16_t CPOS_ALL = 0;
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eEmrf_Slave_STA Emrf_Slave = 0;
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eMode_Mod Mode_Slave = 0;
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uint8_t Error1_Supply_Slave = 0;
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uint8_t Error2_Communication_Slave = 0;
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uint8_t Error3_Temperature_Slave = 0;
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uint8_t Error4_Permanent_Electrical_Slave = 0;
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eStall_STA Stall_Slave = 0;
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eReset_STA Reset_Slave = 0;
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ret = RFR_STA_x(env->linIo, env->linData, i | 0x20,
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&BUS_ADR,
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@ -836,7 +1007,7 @@ bool setBusy(tLinTaskActuator *env) {
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return false;
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}
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void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall) {
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void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall, char *LOG_SIGN) {
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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@ -879,7 +1050,7 @@ void Lin_1_Init(tLinTaskActuator *env,
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env->LIN_ISSR_ALL = LIN_ISSR_ALL;
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env->access = osMutexNew(NULL);
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InitThreadAtrStatic(&env->threadLin.attr, "Lin1", env->threadLin.controlBlock, env->threadLin.stack,
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InitThreadAtrStatic(&env->threadLin.attr, "Ln1", env->threadLin.controlBlock, env->threadLin.stack,
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osPriorityNormal);
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}
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@ -888,7 +1059,7 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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lin_event_id_t res = Lin_Scheduler(env);
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lin_event_id_t res = Lin_Scheduler(env, "Ln1 ");
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uint8_t isError = 0;
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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@ -941,7 +1112,7 @@ void Lin_2_Init(tLinTaskActuator *env,
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env->LIN_ISSR_ALL = LIN_ISSR_ALL;
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env->access = osMutexNew(NULL);
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InitThreadAtrStatic(&env->threadLin.attr, "Lin2", env->threadLin.controlBlock, env->threadLin.stack,
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InitThreadAtrStatic(&env->threadLin.attr, "Ln2", env->threadLin.controlBlock, env->threadLin.stack,
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osPriorityNormal);
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}
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@ -950,7 +1121,7 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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lin_event_id_t res = Lin_Scheduler(env);
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lin_event_id_t res = Lin_Scheduler(env, "Ln2 ");
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uint8_t isError = 0;
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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@ -1003,7 +1174,7 @@ void Lin_3_Init(tLinTaskActuator *env,
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env->LIN_ISSR_ALL = LIN_ISSR_ALL;
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env->access = osMutexNew(NULL);
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InitThreadAtrStatic(&env->threadLin.attr, "Lin3", env->threadLin.controlBlock, env->threadLin.stack,
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InitThreadAtrStatic(&env->threadLin.attr, "Ln3", env->threadLin.controlBlock, env->threadLin.stack,
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osPriorityNormal);
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}
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@ -1012,7 +1183,7 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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lin_event_id_t res = Lin_Scheduler(env);
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lin_event_id_t res = Lin_Scheduler(env, "Ln3 ");
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uint8_t isError = 0;
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
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@ -10,7 +10,7 @@
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#include "LinIO.h"
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#include "LoggerInterface.h"
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#define LOG_LIN_ACTUATOR 0
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#define LOG_LIN_ACTUATOR 1
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typedef struct __attribute__ ((packed)) {
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uint8_t BUS_ADR;
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@ -490,7 +490,7 @@ void Lin3_StartThread(tLinTaskActuator *env);
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void GetLin123CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state);
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void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall);
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void resetStall(tLinTaskActuator *env, uint8_t *dataLocalStall, char *LOG_SIGN);
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bool setBusy(tLinTaskActuator *env);
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#endif //HVAC_LIN_TASKS_H
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