Обновление
This commit is contained in:
cfif
parent
44986e710f
commit
af90f443bf
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@ -571,7 +571,12 @@ 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 lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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#define IS_LOGGING_ENABLED(numAct) \
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( (numAct == 1 && LOG_LIN1_ACTUATOR == 1) || \
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(numAct == 2 && LOG_LIN2_ACTUATOR == 1) || \
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(numAct == 3 && LOG_LIN3_ACTUATOR == 1) )
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static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
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lin_event_id_t ret = LIN_NO_EVENT;
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@ -584,28 +589,34 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"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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}
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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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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}
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"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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}
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#endif
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setState20(env, true, 0);
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}
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@ -615,10 +626,12 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"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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}
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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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@ -626,18 +639,22 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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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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}
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"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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}
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#endif
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setState20(env, true, 0);
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}
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@ -648,6 +665,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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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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@ -658,6 +676,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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}
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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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@ -670,6 +689,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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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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@ -679,11 +699,13 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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, false, 0);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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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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@ -694,6 +716,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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}
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#endif
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setState20(env, true, 0);
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@ -709,42 +732,51 @@ 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].COM == LIN_ACT_CFR_MOD) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Let's skip the command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
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env->linCommandActuator[i].BUS_ADR, i + 1,
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env->linCommandActuator[i].MODE)
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}
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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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LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Sending a command: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
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env->linCommandActuator[i].BUS_ADR, i,
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env->linCommandActuator[i].MODE)
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}
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#endif
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ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR | 0x20,
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env->linCommandActuator[i].MODE);
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Command completed successfully: 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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}
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#endif
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setState20(env, false, i);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Command failed [%d]: LIN_ACT_CFR_MOD (ADR = %d (%d) MODE = %d)",
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env->linCommandActuator[i].BUS_ADR, i,
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env->linCommandActuator[i].MODE)
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}
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#endif
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setState20(env, true, i);
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}
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@ -755,21 +787,26 @@ 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].COM == LIN_ACT_CFR_INI) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Let's skip the command: LIN_ACT_CFR_INI (ADR = %d (%d) POS = %d)",
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env->linCommandActuator[i].BUS_ADR, i + 1,
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env->linCommandActuator[i].POS)
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}
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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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Sending a 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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}
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#endif
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ret = CFR_INI_x(env->linIo, env->linData,
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env->linCommandActuator[i].BUS_ADR | 0x20,
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@ -777,17 +814,21 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Command completed successfully: LIN_ACT_CFR_INI (ADR = %d POS = %d)",
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env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].POS)
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}
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#endif
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setState20(env, false, i);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Command failed: 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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}
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#endif
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setState20(env, true, i);
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@ -799,8 +840,11 @@ 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].COM == LIN_ACT_CFR_SET) {
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if (env->linCommandActuator[i].BUS_ADR == 0) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Let's skip the command: LIN_ACT_CFR_SET (ADR = %d POS = %d (%d) STALL= %d LNOISE = %d AUTOS = %d SPEED = %d COILS = %d)",
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env->linCommandActuator[i].BUS_ADR, i + 1,
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@ -810,12 +854,13 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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#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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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Sending a 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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@ -825,6 +870,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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#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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@ -837,6 +883,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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if (ret == LIN_TX_COMPLETED) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Command completed successfully: 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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@ -847,11 +894,13 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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}
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#endif
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setState20(env, false, i);
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} else {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"Command failed: 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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@ -862,6 +911,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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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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}
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#endif
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setState20(env, true, i);
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@ -997,6 +1047,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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Error4_Permanent_Electrical_Slave)
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) {
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG,
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"State: ADR = %d CPOS = %d Stall_Slave = %d Emrf = %d Mode = %d Reset = %d ErrSupply = %d ErrComm = %d ErrTemp = %d ErrElect = %d",
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BUS_ADR + 1,
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@ -1010,6 +1061,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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Error3_Temperature_Slave,
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Error4_Permanent_Electrical_Slave
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)
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}
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#endif
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}
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@ -1025,9 +1077,11 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env) {
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if (Stall_Slave == LIN_STALL_STA_ON) {
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env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
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#if (LOG_LIN_ACTUATOR == 1)
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if (IS_LOGGING_ENABLED(numAct)) {
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LoggerFormatInfo(LOGGER, env->SIGN_LOG, "Detect STALL: (ADR = %d POS = %d)",
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BUS_ADR + 1,
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CPOS_ALL)
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}
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#endif
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}
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@ -1102,7 +1156,7 @@ static _Noreturn void Lin1_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 5000) == 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, 1);
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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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@ -1169,7 +1223,7 @@ static _Noreturn void Lin2_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 5000) == 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, 2);
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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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@ -1236,7 +1290,7 @@ static _Noreturn void Lin3_Thread(tLinTaskActuator *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 5000) == 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, 3);
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uint8_t isError = 0;
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for (uint8_t i = 0; i < env->LIN_ISSR_ALL; ++i) {
|
||||
|
|
|
|||
|
|
@ -10,7 +10,11 @@
|
|||
#include "LinIO.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)) {
|
||||
uint8_t BUS_ADR;
|
||||
|
|
|
|||
Loading…
Reference in New Issue