Обновление

LinTasks.c

@@ -109,6 +109,69 @@ static lin_event_id_t SEND_ACTUATOR_COM_x(tLinTaskActuator *env, uint8_t COM_ADR
 }
 
 
+lin_event_id_t DFR_PRG_x(tLinTaskActuator *env, 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;
+
+    ACT_DFR_PRG *ACT_DFR_PRG_ = (ACT_DFR_PRG *) env->linData->g_aTxBuffer;
+    ACT_DFR_PRG_->BUS_ADR = BUS_ADR;
+    ACT_DFR_PRG_->Data1_DFR_PRG = 0xFF;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_PRG);
+
+        if (res == LIN_TX_COMPLETED) {
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+lin_event_id_t RFR_PRG_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
+    lin_event_id_t res;
+
+    env->linData->direction = LIN_DIRECTION_GET;
+
+    env->linData->g_aTxBufferLen = 0;
+    env->linData->g_aRxBufferLen = sizeof(ACT_RFR_PRG);
+
+    ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) env->linData->g_aRxBuffer;
+
+    uint8_t retry = 3;
+
+    while (retry) {
+
+        res = SEND_ACTUATOR_COM_x(env->linIo->env, 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;
+
+            break;
+        }
+
+        --retry;
+    }
+
+    return res;
+}
+
+
+
 lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
     lin_event_id_t res;
 
@@ -249,6 +312,8 @@ lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
 
             ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) env->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);
@@ -282,9 +347,20 @@ void Lin0_Scheduler(tLinTaskActuator *env) {
 
     if (osMutexAcquire(env->access, 100) == osOK) {
 
+        for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+
+            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);
+            }
 
-        if (DFR_IDE_x(env, BUS_ADR) == LIN_TX_COMPLETED) {
-            RFR_IDE_x(env, BUS_ADR);
         }
 
         for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {

LinTasks.h

@@ -283,7 +283,7 @@ typedef struct __attribute__ ((packed)) {
 
 typedef struct __attribute__ ((packed)) {
     uint8_t BUS_ADR;
-    uint8_t Data1_DFR_PRG: 1; // Установить в 0xFF
+    uint8_t Data1_DFR_PRG; // Установить в 0xFF
 } ACT_DFR_PRG;
 
 typedef struct __attribute__ ((packed)) {
@@ -380,6 +380,14 @@ typedef struct {
     uint8_t IDE_Sup;
     uint8_t IDE_Har;
 
+    uint8_t BUS_NEW_ADR;
+    uint8_t NOTL_DREH_Master;
+    uint8_t NOTL_ENAB_Master;
+    uint8_t DREH_Slave;
+    uint8_t ParitySlave;
+    uint8_t Free;
+    uint8_t Version_CFR;
+
 
 } tLinStateActuator;