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Обновление

This commit is contained in:
cfif 2026-04-24 12:26:51 +03:00
parent 44986e710f
commit af90f443bf
2 changed files with 215 additions and 157 deletions
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366
LinActuatorTasks.c
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@ -571,7 +571,12 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
return false; return false;
} }
static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) { #define IS_LOGGING_ENABLED(numAct) \
( (numAct == 1 && LOG_LIN1_ACTUATOR == 1) || \
(numAct == 2 && LOG_LIN2_ACTUATOR == 1) || \
(numAct == 3 && LOG_LIN3_ACTUATOR == 1) )
static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
lin_event_id_t ret = LIN_NO_EVENT; lin_event_id_t ret = LIN_NO_EVENT;
@ -584,28 +589,34 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[0].COM == LIN_ACT_CFR_MOD) { if (env->linCommandActuator[0].COM == LIN_ACT_CFR_MOD) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Sending a command (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Sending a command (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[0].MODE) env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].MODE)
}
#endif #endif
ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[0].BUS_ADR | 0x20, ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[0].BUS_ADR | 0x20,
env->linCommandActuator[0].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, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Command completed successfully (BROADCAST): LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[0].MODE) env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].MODE)
}
#endif #endif
setState20(env, false, 0); setState20(env, false, 0);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command failed (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Command failed (BROADCAST) [%d]: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[0].MODE) env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].MODE)
}
#endif #endif
setState20(env, true, 0); setState20(env, true, 0);
} }
@ -615,10 +626,12 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[0].COM == LIN_ACT_CFR_INI) { if (env->linCommandActuator[0].COM == LIN_ACT_CFR_INI) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Sending a command (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Sending a command (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[0].POS) env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS)
}
#endif #endif
ret = CFR_INI_x(env->linIo, env->linData, ret = CFR_INI_x(env->linIo, env->linData,
env->linCommandActuator[0].BUS_ADR | 0x20, env->linCommandActuator[0].BUS_ADR | 0x20,
@ -626,18 +639,22 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS) "Command completed successfully (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[0].BUS_ADR, env->linCommandActuator[0].POS)
}
#endif #endif
setState20(env, false, 0); setState20(env, false, 0);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command failed (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Command failed (BROADCAST): LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[0].POS) env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].POS)
}
#endif #endif
setState20(env, true, 0); setState20(env, true, 0);
} }
@ -648,16 +665,18 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (env->linCommandActuator[0].COM == LIN_ACT_CFR_SET) { if (env->linCommandActuator[0].COM == LIN_ACT_CFR_SET) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Sending a command (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "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].POS, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].Stall_SET, env->linCommandActuator[0].POS,
env->linCommandActuator[0].Lnoise_SET, env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Autos_SET, env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Speed_SET, env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Coils_Stop_SET env->linCommandActuator[0].Speed_SET,
) env->linCommandActuator[0].Coils_Stop_SET
)
}
#endif #endif
ret = CFR_SET_x(env->linIo, env->linData, ret = CFR_SET_x(env->linIo, env->linData,
env->linCommandActuator[0].BUS_ADR | 0x20, env->linCommandActuator[0].BUS_ADR | 0x20,
@ -670,30 +689,34 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "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].POS, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].Stall_SET, env->linCommandActuator[0].POS,
env->linCommandActuator[0].Lnoise_SET, env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Autos_SET, env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Speed_SET, env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Coils_Stop_SET) env->linCommandActuator[0].Speed_SET,
env->linCommandActuator[0].Coils_Stop_SET)
}
#endif #endif
setState20(env, false, 0); setState20(env, false, 0);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[0].BUS_ADR, "Command failed (BROADCAST): LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[0].POS, env->linCommandActuator[0].BUS_ADR,
env->linCommandActuator[0].Stall_SET, env->linCommandActuator[0].POS,
env->linCommandActuator[0].Lnoise_SET, env->linCommandActuator[0].Stall_SET,
env->linCommandActuator[0].Autos_SET, env->linCommandActuator[0].Lnoise_SET,
env->linCommandActuator[0].Speed_SET, env->linCommandActuator[0].Autos_SET,
env->linCommandActuator[0].Coils_Stop_SET env->linCommandActuator[0].Speed_SET,
) env->linCommandActuator[0].Coils_Stop_SET
)
}
#endif #endif
setState20(env, true, 0); setState20(env, true, 0);
@ -709,42 +732,51 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG,
"Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
env->linCommandActuator[i].BUS_ADR, i + 1,
env->linCommandActuator[i].MODE)
#endif
continue;
}
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)", if (IS_LOGGING_ENABLED(numAct)) {
env->linCommandActuator[i].BUS_ADR, i, LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].MODE) "Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
env->linCommandActuator[i].BUS_ADR, i + 1,
env->linCommandActuator[i].MODE)
}
#endif
continue;
}
#if (LOG_LIN_ACTUATOR == 1)
if (IS_LOGGING_ENABLED(numAct)) {
LoggerFormatInfo(LOGGER, env->SIGN_LOG,
"Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
env->linCommandActuator[i].BUS_ADR, i,
env->linCommandActuator[i].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[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) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, "Command completed successfully: LIN_ACT_CFR_MOD (ADR = %d MODE = %d)",
env->linCommandActuator[i].MODE) env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].MODE)
}
#endif #endif
setState20(env, false, i); setState20(env, false, i);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, i, "Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
env->linCommandActuator[i].MODE) env->linCommandActuator[i].BUS_ADR, i,
env->linCommandActuator[i].MODE)
}
#endif #endif
setState20(env, true, i); setState20(env, true, i);
} }
@ -755,21 +787,26 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG,
"Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
env->linCommandActuator[i].BUS_ADR, i + 1,
env->linCommandActuator[i].POS)
#endif
continue;
}
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_INI) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)", if (IS_LOGGING_ENABLED(numAct)) {
env->linCommandActuator[i].BUS_ADR, LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].POS) "Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
env->linCommandActuator[i].BUS_ADR, i + 1,
env->linCommandActuator[i].POS)
}
#endif
continue;
}
#if (LOG_LIN_ACTUATOR == 1)
if (IS_LOGGING_ENABLED(numAct)) {
LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].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[i].BUS_ADR | 0x20,
@ -777,17 +814,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS) "Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
}
#endif #endif
setState20(env, false, i); setState20(env, false, i);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)", if (IS_LOGGING_ENABLED(numAct)) {
env->linCommandActuator[i].BUS_ADR, LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
env->linCommandActuator[i].POS) env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS)
}
#endif #endif
setState20(env, true, i); setState20(env, true, i);
@ -799,32 +840,37 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG,
"Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d (%d) STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[i].BUS_ADR, i + 1,
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
continue;
}
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) { if (env->linCommandActuator[i].COM == LIN_ACT_CFR_SET) {
if (env->linCommandActuator[i].BUS_ADR == 0) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Sending a command: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, "Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d (%d) STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[i].POS, env->linCommandActuator[i].BUS_ADR, i + 1,
env->linCommandActuator[i].Stall_SET, env->linCommandActuator[i].POS,
env->linCommandActuator[i].Lnoise_SET, env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Autos_SET, env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Coils_Stop_SET) env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET)
}
#endif
continue;
}
#if (LOG_LIN_ACTUATOR == 1)
if (IS_LOGGING_ENABLED(numAct)) {
LoggerFormatInfo(LOGGER, env->SIGN_LOG,
"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].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_SET_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR | 0x20, env->linCommandActuator[i].BUS_ADR | 0x20,
@ -837,31 +883,35 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (ret == LIN_TX_COMPLETED) { if (ret == LIN_TX_COMPLETED) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command completed successfully: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, "Command completed successfully: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[i].POS, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].Stall_SET, env->linCommandActuator[i].POS,
env->linCommandActuator[i].Lnoise_SET, env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Autos_SET, env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Speed_SET,
) env->linCommandActuator[i].Coils_Stop_SET
)
}
#endif #endif
setState20(env, false, i); setState20(env, false, i);
} else { } else {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
env->linCommandActuator[i].BUS_ADR, "Command failed: LIN_ACT_CFR_SET (ADR = %d POS = %d STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
env->linCommandActuator[i].POS, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].Stall_SET, env->linCommandActuator[i].POS,
env->linCommandActuator[i].Lnoise_SET, env->linCommandActuator[i].Stall_SET,
env->linCommandActuator[i].Autos_SET, env->linCommandActuator[i].Lnoise_SET,
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Autos_SET,
env->linCommandActuator[i].Coils_Stop_SET env->linCommandActuator[i].Speed_SET,
) env->linCommandActuator[i].Coils_Stop_SET
)
}
#endif #endif
setState20(env, true, i); setState20(env, true, i);
@ -997,19 +1047,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
Error4_Permanent_Electrical_Slave) Error4_Permanent_Electrical_Slave)
) { ) {
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, if (IS_LOGGING_ENABLED(numAct)) {
"State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d", LoggerFormatInfo(LOGGER, env->SIGN_LOG,
BUS_ADR + 1, "State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
CPOS_ALL, BUS_ADR + 1,
Stall_Slave, CPOS_ALL,
Emrf_Slave, Stall_Slave,
Mode_Slave, Emrf_Slave,
Reset_Slave, Mode_Slave,
Error1_Supply_Slave, Reset_Slave,
Error2_Communication_Slave, Error1_Supply_Slave,
Error3_Temperature_Slave, Error2_Communication_Slave,
Error4_Permanent_Electrical_Slave Error3_Temperature_Slave,
) Error4_Permanent_Electrical_Slave
)
}
#endif #endif
} }
@ -1025,9 +1077,11 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
if (Stall_Slave == LIN_STALL_STA_ON) { if (Stall_Slave == LIN_STALL_STA_ON) {
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave; env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
#if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN_ACTUATOR == 1)
LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)", if (IS_LOGGING_ENABLED(numAct)) {
BUS_ADR + 1, LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
CPOS_ALL) BUS_ADR + 1,
CPOS_ALL)
}
#endif #endif
} }
@ -1102,7 +1156,7 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 5000) == osOK) { if (osMutexAcquire(env->access, 5000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, 1);
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) {
@ -1169,7 +1223,7 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 5000) == osOK) { if (osMutexAcquire(env->access, 5000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, 2);
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) {
@ -1236,7 +1290,7 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 5000) == osOK) { if (osMutexAcquire(env->access, 5000) == osOK) {
lin_event_id_t res = Lin_Scheduler(env); lin_event_id_t res = Lin_Scheduler(env, 3);
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) {

6
LinActuatorTasks.h
View File

@ -10,7 +10,11 @@
#include "LinIO.h" #include "LinIO.h"
#include "LoggerInterface.h" #include "LoggerInterface.h"
#define LOG_LIN_ACTUATOR 0 #define LOG_LIN_ACTUATOR 1
#define LOG_LIN1_ACTUATOR 1
#define LOG_LIN2_ACTUATOR 0
#define LOG_LIN3_ACTUATOR 0
typedef struct __attribute__ ((packed)) { typedef struct __attribute__ ((packed)) {
uint8_t BUS_ADR; uint8_t BUS_ADR;