Обновление

LinActuatorTasks.c

@@ -9,6 +9,8 @@
 #include "Lins.h"
 #include "LoggerInterface.h"
 #include "string.h"
+#include "LinActuatorWork.h"
+#include "HVAC_model.h"
 
 //#define LOG_SIGN "Lin0"
 #define LOGGER env->logger
@@ -597,17 +599,23 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
 
             if ((numAct == 1) && (a1 == false)) {
                 a1 = true;
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "----------------------START----ACT1--------------------------------------------------------", 1)
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "----------------------START----ACT1--------------------------------------------------------",
+                                 1)
             }
 
             if ((numAct == 2) && (a2 == false)) {
                 a2 = true;
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "----------------------START----ACT2--------------------------------------------------------", 1)
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "----------------------START----ACT2--------------------------------------------------------",
+                                 1)
             }
 
             if ((numAct == 3) && (a3 == false)) {
                 a3 = true;
-                LoggerFormatInfo(LOGGER, env->SIGN_LOG, "----------------------START----ACT3--------------------------------------------------------", 1)
+                LoggerFormatInfo(LOGGER, env->SIGN_LOG,
+                                 "----------------------START----ACT3--------------------------------------------------------",
+                                 1)
             }
 
 
@@ -1163,11 +1171,19 @@ void Lin_1_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
+
                 tLoggerInterface *logger) {
 
     env->linIo = linIO;
     env->linData = linData;
     env->logger = logger;
+    env->modelTaskAccess = modelTaskAccess;
+    env->actuator_Command_Model_trigger_local = actuator_Command_Model_trigger_local;
+    env->triggerCommand = triggerCommand;
     env->LIN_ISSR_ALL = LIN_ISSR_ALL;
     env->access = osMutexNew(NULL);
 
@@ -1182,6 +1198,15 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
+
+
+            LinActuatorWork(env, env->modelTaskAccess, 1,
+                            &env->actuator_Ch012_Command_Model_local,
+                            env->actuator_Command_Model_trigger_local,
+                            &env->actuator_Ch012_Input_Model_local,
+                            &Actuator_Ch0_Status_Model, env->triggerCommand, "Ln1 ");
+
+
             lin_event_id_t res = Lin_Scheduler(env, 1);
 
             uint8_t isError = 0;
@@ -1229,11 +1254,20 @@ void Lin_2_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
                 tLoggerInterface *logger) {
 
     env->linIo = linIO;
     env->linData = linData;
     env->logger = logger;
+
+    env->modelTaskAccess = modelTaskAccess;
+    env->actuator_Command_Model_trigger_local = actuator_Command_Model_trigger_local;
+    env->triggerCommand = triggerCommand;
+
+
     env->LIN_ISSR_ALL = LIN_ISSR_ALL;
     env->access = osMutexNew(NULL);
 
@@ -1248,6 +1282,13 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
+
+            LinActuatorWork(env, env->modelTaskAccess, 2,
+                            &env->actuator_Ch012_Command_Model_local,
+                            env->actuator_Command_Model_trigger_local,
+                            &env->actuator_Ch012_Input_Model_local,
+                            &Actuator_Ch1_Status_Model, env->triggerCommand, "Ln2 ");
+
             lin_event_id_t res = Lin_Scheduler(env, 2);
 
             uint8_t isError = 0;
@@ -1295,11 +1336,19 @@ void Lin_3_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
                 tLoggerInterface *logger) {
 
     env->linIo = linIO;
     env->linData = linData;
     env->logger = logger;
+
+    env->modelTaskAccess = modelTaskAccess;
+    env->actuator_Command_Model_trigger_local = actuator_Command_Model_trigger_local;
+    env->triggerCommand = triggerCommand;
+
     env->LIN_ISSR_ALL = LIN_ISSR_ALL;
     env->access = osMutexNew(NULL);
 
@@ -1314,6 +1363,13 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
     for (;;) {
 
         if (osMutexAcquire(env->access, 5000) == osOK) {
+
+            LinActuatorWork(env, env->modelTaskAccess, 3,
+                            &env->actuator_Ch012_Command_Model_local,
+                            env->actuator_Command_Model_trigger_local,
+                            &env->actuator_Ch012_Input_Model_local,
+                            &Actuator_Ch2_Status_Model, env->triggerCommand, "Ln3 ");
+
             lin_event_id_t res = Lin_Scheduler(env, 3);
 
             uint8_t isError = 0;

LinActuatorTasks.h

@@ -8,11 +8,12 @@
 #include <cmsis_os.h>
 #include "stdbool.h"
 #include "LinIO.h"
+#include "HVAC_model_types.h"
 #include "LoggerInterface.h"
 
 #define LOG_LIN_ACTUATOR 1
-#define LOG_LIN1_ACTUATOR 1
+#define LOG_LIN1_ACTUATOR 0
-#define LOG_LIN2_ACTUATOR 1
+#define LOG_LIN2_ACTUATOR 0
 #define LOG_LIN3_ACTUATOR 1
 
 
@@ -115,7 +116,6 @@ typedef struct __attribute__ ((packed)) {
     eCoils_Stop_SET Coils_Stop_SET: 2;
 
 
-
 } ACT_CFR_SET;
 
 // Using this service the master can switch an actuator to a needed functional mode.
@@ -461,6 +461,18 @@ typedef struct {
 
     tLoggerInterface *logger;
 
+
+    ActuatorCmdBus *actuator_Command_Model_trigger_local;
+    bool *triggerCommand;
+    osMutexId_t modelTaskAccess;
+
+    // Входные данные (локальные) для модели
+    ActuatorCmdBus actuator_Ch012_Command_Model_local;
+
+    // Выходные данные (локальные) для модели
+    ActuatorCmdBusInput actuator_Ch012_Input_Model_local;
+
+
     struct {
         osThreadId_t id;
         uint32_t stack[384];
@@ -474,6 +486,9 @@ void Lin_1_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
                 tLoggerInterface *logger);
 
 void Lin1_StartThread(tLinTaskActuator *env);
@@ -482,6 +497,9 @@ void Lin_2_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
                 tLoggerInterface *logger);
 
 void Lin2_StartThread(tLinTaskActuator *env);
@@ -490,6 +508,9 @@ void Lin_3_Init(tLinTaskActuator *env,
                 tLinData *linData,
                 tLinIO *linIO,
                 uint8_t LIN_ISSR_ALL,
+                osMutexId_t modelTaskAccess,
+                ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                bool *triggerCommand,
                 tLoggerInterface *logger);
 
 void Lin3_StartThread(tLinTaskActuator *env);

LinActuatorWork.c

@@ -0,0 +1,181 @@
+//
+// Created by cfif on 20.01.2026.
+//
+#include "LinActuatorWork.h"
+#include "string.h"
+
+
+//#define LOG_SIGN "Lin"
+#define LOGGER linTaskActuator->logger
+
+static bool isBroadCastTriggered(tLinTaskActuator *env, ActuatorCmdBus *actuator_Command_Model_trigger_local) {
+
+    for (uint8_t j = 0; j < env->LIN_ISSR_ALL; ++j) {
+        if (actuator_Command_Model_trigger_local->BUS_ADR[j] != 0) {
+            return false;
+        }
+    }
+
+    return true;
+}
+
+static void showLogCommand(tLinTaskActuator *linTaskActuator, char *LOG_SIGN, uint8_t BUS_ADR, uint8_t COM) {
+    switch (COM) {
+        case LIN_ACT_CFR_NONE: {
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - NO COMMAND", BUS_ADR)
+            break;
+        }
+
+        case LIN_ACT_CFR_MOD: {
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_MOD", BUS_ADR)
+            break;
+        }
+
+        case LIN_ACT_CFR_INI: {
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_INI", BUS_ADR)
+            break;
+        }
+
+        case LIN_ACT_CFR_SET: {
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - LIN_ACT_CFR_SET", BUS_ADR)
+            break;
+        }
+
+        default: {
+            LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - UNKNOWN COMMAND", BUS_ADR)
+            break;
+        }
+
+    }
+}
+
+#if (LOG_LIN_ACTUATOR == 1)
+#define IS_LOGGING_ENABLED(numAct) \
+    ( (numAct == 1 && LOG_LIN1_ACTUATOR == 1) || \
+      (numAct == 2 && LOG_LIN2_ACTUATOR == 1) || \
+      (numAct == 3 && LOG_LIN3_ACTUATOR == 1) )
+#endif
+
+// actuator_Command_Model_local  - Выход модели (команды для актуаторов) ЛОКАЛЬНО
+// actuator_Command_Model_trigger_local - Выход модели (команды для актуаторов) ЗАХВАТ
+// actuator_Output_Model_local - Вход модели (состояния актуаторов) ЛОКАЛЬНЫЙ
+// actuator_Output_Model_model - Вход модели (состояния актуаторов) МОДЕЛИ
+
+void LinActuatorWork(tLinTaskActuator *linTaskActuator, osMutexId_t modelTaskAccess, uint8_t numAct,
+                     ActuatorCmdBus *actuator_Command_Model_local,
+                     ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_model,
+                     bool *triggerCommand,
+                     char *LOG_SIGN) {
+
+
+    for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
+
+        linTaskActuator->linCommandActuator[i].POS = actuator_Command_Model_local->POS[i];
+        linTaskActuator->linCommandActuator[i].BUS_ADR = actuator_Command_Model_local->BUS_ADR[i];
+        linTaskActuator->linCommandActuator[i].MODE = actuator_Command_Model_local->MODE[i];
+
+        // Если команда выполнена
+        if (linTaskActuator->linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
+#if (LOG_LIN_ACTUATOR == 1)
+            if (IS_LOGGING_ENABLED(numAct)) {
+                LoggerFormatInfo(LOGGER, LOG_SIGN, "BUS_ADR: %d - SUCCESSFUL COMMAND (UNSET BUSY)", i + 1)
+            }
+#endif
+            //                   LoggerFormatInfo(LOGGER, LOG_SIGN, "ACTUATOR %d - SUCCESSFUL COMMAND (UNSET BUSY)", numAct)
+
+            actuator_Output_Model_local->Busy = 0;
+            // Разрешение обработки новой команды
+            //env->isActuatorNoGetNextCommand[numAct - 1] = false;
+
+            // Обнуляем команду в локальном буфере
+            actuator_Command_Model_local->COM[i] = LIN_ACT_CFR_NONE;
+        }
+
+        // ТОЛЬКО если команда не SUCCESSFUL, копируем новые данные
+        linTaskActuator->linCommandActuator[i].COM = actuator_Command_Model_local->COM[i];
+        linTaskActuator->linCommandActuator[i].Stall_SET = actuator_Command_Model_local->Stall_SET[i];
+        linTaskActuator->linCommandActuator[i].Lnoise_SET = actuator_Command_Model_local->Lnoise_SET[i];
+        linTaskActuator->linCommandActuator[i].Autos_SET = actuator_Command_Model_local->Autos_SET[i];
+        linTaskActuator->linCommandActuator[i].Speed_SET = actuator_Command_Model_local->Speed_SET[i];
+        linTaskActuator->linCommandActuator[i].Coils_Stop_SET = actuator_Command_Model_local->Coils_Stop_SET[i];
+
+        // Заполнение данных ВХОДЫ МОДЕЛИ
+        actuator_Output_Model_local->in_CPOS_ALL[i] = (int16_t) linTaskActuator->linStateActuator[i].CPOS_ALL;
+        actuator_Output_Model_local->in_Act_Emrf_Slave[i] = (int8_t) linTaskActuator->linStateActuator[i].Emrf_Slave;
+        actuator_Output_Model_local->in_Mode_Slave[i] = (int8_t) linTaskActuator->linStateActuator[i].Mode_Slave;
+        actuator_Output_Model_local->in_Act_Err1_Supply[i] = (int8_t) linTaskActuator->linStateActuator[i].Error1_Supply_Slave;
+        actuator_Output_Model_local->in_Act_Err2_Communication[i] = (int8_t) linTaskActuator->linStateActuator[i].Error2_Communication_Slave;
+        actuator_Output_Model_local->in_Act_Err3_Temperature[i] = (int8_t) linTaskActuator->linStateActuator[i].Error3_Temperature_Slave;
+        actuator_Output_Model_local->in_Act_Err4_Permanent_Electrical[i] = (int8_t) linTaskActuator->linStateActuator[i].Error4_Permanent_Electrical_Slave;
+        actuator_Output_Model_local->in_Act_Stall_Slave[i] = linTaskActuator->linStateActuator[i].Stall_Slave;
+        actuator_Output_Model_local->in_Act_Reset[i] = linTaskActuator->linStateActuator[i].Reset_Slave;
+    }
+
+    // Заполнение данных ВХОДЫ МОДЕЛИ
+    actuator_Output_Model_local->Error_Connect = linTaskActuator->error_connect;
+
+//            LoggerFormatInfo(LOGGER, LOG_SIGN, "Busy = %d Error_Connect = %d", actuator_Output_Model_local->Busy, actuator_Output_Model_local->Error_Connect)
+
+
+
+
+
+    if (osMutexAcquire(modelTaskAccess, 5000) == osOK) {
+
+        // Если прията команда и актуатор не занят (может принимать команды)
+//        if ((*triggerCommand == true) && (env->isActuatorNoGetNextCommand[numAct - 1] == false)) {
+        if (*triggerCommand == true) {
+
+            *triggerCommand = false;
+
+#if (LOG_LIN_ACTUATOR == 1)
+            if (IS_LOGGING_ENABLED(numAct)) {
+                if (isBroadCastTriggered(linTaskActuator, actuator_Command_Model_trigger_local)) {
+                    LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND (BROADCAST):")
+                    showLogCommand(linTaskActuator, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[0],
+                                   actuator_Command_Model_trigger_local->COM[0]);
+                } else {
+                    LoggerInfoStatic(LOGGER, LOG_SIGN, "DETECT COMMAND (NO BROADCAST):")
+                    for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
+                        showLogCommand(linTaskActuator, LOG_SIGN, actuator_Command_Model_trigger_local->BUS_ADR[i],
+                                       actuator_Command_Model_trigger_local->COM[i]);
+                    }
+                }
+            }
+#endif
+            //
+            actuator_Output_Model_local->Busy = 1;
+
+            // Запрещение обработки новой команды
+            //env->isActuatorNoGetNextCommand[numAct - 1] = true;
+
+            // начало --- ВЫХОД МОДЕЛИ ----------
+
+            // ВЫХОД МОДЕЛИ
+            memcpy(actuator_Command_Model_local, actuator_Command_Model_trigger_local, sizeof(ActuatorCmdBus));
+
+            // Сброс STALL в состоянии актуатор (локальном состоянии)
+
+#if (LOG_LIN_ACTUATOR == 1)
+            if (IS_LOGGING_ENABLED(numAct)) {
+                LoggerInfoStatic(LOGGER, linTaskActuator->SIGN_LOG, "Reset LOCAL STALL (DETECT STALL RESET)")
+            }
+#endif
+            for (uint8_t i = 0; i < linTaskActuator->LIN_ISSR_ALL; ++i) {
+                actuator_Output_Model_local->in_Act_Stall_Slave[i] = LIN_STALL_STA_OFF;
+            }
+
+            // конец --- ВЫХОД МОДЕЛИ ----------
+
+        }
+
+        // ВХОДЫ МОДЕЛИ
+        memcpy(actuator_Output_Model_model, actuator_Output_Model_local, sizeof(ActuatorCmdBusInput));
+
+        osMutexRelease(modelTaskAccess);
+    }
+
+
+}

LinActuatorWork.h

@@ -0,0 +1,18 @@
+//
+// Created by cfif on 20.01.2026.
+//
+
+#ifndef HVAC_M7_LINACTUATORWORK_H
+#define HVAC_M7_LINACTUATORWORK_H
+
+#include "LinActuatorTasks.h"
+
+void LinActuatorWork(tLinTaskActuator *linTaskActuator, osMutexId_t modelTaskAccess, uint8_t numAct,
+                     ActuatorCmdBus *actuator_Command_Model_local,
+                     ActuatorCmdBus *actuator_Command_Model_trigger_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_local,
+                     ActuatorCmdBusInput *actuator_Output_Model_model,
+                     bool *triggerCommand,
+                     char *LOG_SIGN);
+
+#endif //HVAC_M7_LINACTUATORWORK_H