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Обновление

This commit is contained in:
cfif 2025-12-12 15:09:20 +03:00
parent 0bac6c3c2d
commit f789849b2f
2 changed files with 457 additions and 213 deletions
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660
LinTasks.c
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@ -25,8 +25,10 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
if (env->direction == LIN_DIRECTION_SET) { if (env->direction == LIN_DIRECTION_SET) {
LIN_DrvSendFrameNonBlocking(u8LinIndex, env->g_aTxBuffer, env->g_aTxBufferLen); LIN_DrvSendFrameNonBlocking(u8LinIndex, env->g_aTxBuffer, env->g_aTxBufferLen);
return;
} else if (env->direction == LIN_DIRECTION_GET) { } else if (env->direction == LIN_DIRECTION_GET) {
LIN_DrvReceiveFrameNonBlocking(u8LinIndex, env->g_aRxBuffer, env->g_aRxBufferLen); LIN_DrvReceiveFrameNonBlocking(u8LinIndex, env->g_aRxBuffer, env->g_aRxBufferLen);
return;
} else { } else {
// Misra check. // Misra check.
uint8_t data = LIN_TIMEOUT; uint8_t data = LIN_TIMEOUT;
@ -37,12 +39,12 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
break; break;
case LIN_PID_ERROR: case LIN_PID_ERROR:
// Go to idle mode // Go to idle mode
LIN_DrvGoToIdleMode(u8LinIndex); // LIN_DrvGoToIdleMode(u8LinIndex);
// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Receive PID error!\r\n"); // FCUART_Printf(DEBUG_FCUART_INSTANCE, "Receive PID error!\r\n");
break; break;
case LIN_TX_COMPLETED: case LIN_TX_COMPLETED:
// Go to IDLE state. // Go to IDLE state.
LIN_DrvGoToIdleMode(u8LinIndex); // LIN_DrvGoToIdleMode(u8LinIndex);
// FCUART_Printf(DEBUG_FCUART_INSTANCE, "This test case will send data to slave node. Send data: \r\n"); // FCUART_Printf(DEBUG_FCUART_INSTANCE, "This test case will send data to slave node. Send data: \r\n");
// for (s_countIndex = 0U; s_countIndex < sizeof(g_aTxBuffer); s_countIndex++) { // for (s_countIndex = 0U; s_countIndex < sizeof(g_aTxBuffer); s_countIndex++) {
// FCUART_Printf(DEBUG_FCUART_INSTANCE, " 0x%x ", g_aTxBuffer[s_countIndex]); // FCUART_Printf(DEBUG_FCUART_INSTANCE, " 0x%x ", g_aTxBuffer[s_countIndex]);
@ -51,7 +53,7 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
break; break;
case LIN_RX_COMPLETED: case LIN_RX_COMPLETED:
// Go to idle mode // Go to idle mode
LIN_DrvGoToIdleMode(u8LinIndex); // LIN_DrvGoToIdleMode(u8LinIndex);
// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Master node receive data:\r\n"); // FCUART_Printf(DEBUG_FCUART_INSTANCE, "Master node receive data:\r\n");
//for (s_countIndex = 0U; s_countIndex < sizeof(env->g_aRxBuffer); s_countIndex++) { //for (s_countIndex = 0U; s_countIndex < sizeof(env->g_aRxBuffer); s_countIndex++) {
@ -81,7 +83,7 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
break; break;
case LIN_WAKEUP_SIGNAL: case LIN_WAKEUP_SIGNAL:
// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Wake up signal received!\r\n"); // FCUART_Printf(DEBUG_FCUART_INSTANCE, "Wake up signal received!\r\n");
LIN_DrvGoToIdleMode(u8LinIndex); //LIN_DrvGoToIdleMode(u8LinIndex);
break; break;
case LIN_TIMEOUT: case LIN_TIMEOUT:
// FCUART_Printf(DEBUG_FCUART_INSTANCE, "LIN transfer timeout occurred!\r\n"); // FCUART_Printf(DEBUG_FCUART_INSTANCE, "LIN transfer timeout occurred!\r\n");
@ -103,8 +105,8 @@ void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
} }
static lin_event_id_t SEND_ACTUATOR_COM_x(tLinIO *linIo, uint8_t COM_ADR) { static lin_event_id_t SEND_ACTUATOR_COM_x(tLinIO *linIo, uint8_t COM_ADR) {
lin_event_id_t res = linIo->runCommand(linIo->env, COM_ADR, 50); lin_event_id_t res = linIo->runCommand(linIo->env, COM_ADR, 40);
SystemDelayMs(20); SystemDelayMs(30);
return res; return res;
} }
@ -121,7 +123,7 @@ lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
ACT_DFR_PRG_->BUS_ADR = BUS_ADR; ACT_DFR_PRG_->BUS_ADR = BUS_ADR;
ACT_DFR_PRG_->Data1_DFR_PRG = 0xFF; ACT_DFR_PRG_->Data1_DFR_PRG = 0xFF;
uint8_t retry = 3; uint8_t retry = 1;
while (retry) { while (retry) {
@ -139,7 +141,7 @@ lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData, lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint8_t *BUS_NEW_ADR, uint8_t *BUS_NEW_ADR,
uint8_t *NOTL_DREH_Master, uint8_t *NOTL_DREH_Master,
@ -149,29 +151,35 @@ lin_event_id_t RFR_PRG_x(tLinIO *linIo, tLinData *linData,
uint8_t *Version_CFR) { uint8_t *Version_CFR) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_GET;
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_PRG);
ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) linData->g_aRxBuffer; ACT_RFR_PRG *ACT_RFR_PRG_ = (ACT_RFR_PRG *) linData->g_aRxBuffer;
uint8_t retry = 3; uint8_t retry = 3;
while (retry) { while (retry) {
res = SEND_ACTUATOR_COM_x(linIo, RFR_PRG); res = DFR_PRG_x(linIo, linData, BUS_ADDRESS);
if (res == LIN_RX_COMPLETED) { if (res == LIN_TX_COMPLETED) {
*BUS_ADR = ACT_RFR_PRG_->BUS_ADR;
*BUS_NEW_ADR = ACT_RFR_PRG_->BUS_NEW_ADR; linData->direction = LIN_DIRECTION_GET;
*NOTL_DREH_Master = ACT_RFR_PRG_->NOTL_DREH_Master;
*NOTL_ENAB_Master = ACT_RFR_PRG_->NOTL_ENAB_Master; linData->g_aTxBufferLen = 0;
*DREH_Slave = ACT_RFR_PRG_->DREH_Slave; linData->g_aRxBufferLen = sizeof(ACT_RFR_PRG);
*ParitySlave = ACT_RFR_PRG_->ParitySlave;
*Version_CFR = ACT_RFR_PRG_->Version_CFR; res = SEND_ACTUATOR_COM_x(linIo, RFR_PRG);
if (res == LIN_RX_COMPLETED) {
*BUS_ADR = ACT_RFR_PRG_->BUS_ADR;
*BUS_NEW_ADR = ACT_RFR_PRG_->BUS_NEW_ADR;
*NOTL_DREH_Master = ACT_RFR_PRG_->NOTL_DREH_Master;
*NOTL_ENAB_Master = ACT_RFR_PRG_->NOTL_ENAB_Master;
*DREH_Slave = ACT_RFR_PRG_->DREH_Slave;
*ParitySlave = ACT_RFR_PRG_->ParitySlave;
*Version_CFR = ACT_RFR_PRG_->Version_CFR;
break;
}
break;
} }
--retry; --retry;
@ -193,7 +201,7 @@ lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData,
ACT_DFR_IDE_->BUS_ADR = BUS_ADR; ACT_DFR_IDE_->BUS_ADR = BUS_ADR;
ACT_DFR_IDE_->Data1_DFR_IDE = 0xFF; ACT_DFR_IDE_->Data1_DFR_IDE = 0xFF;
uint8_t retry = 3; uint8_t retry = 1;
while (retry) { while (retry) {
@ -209,33 +217,39 @@ lin_event_id_t DFR_IDE_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t RFR_IDE_x(tLinIO *linIo, tLinData *linData, lin_event_id_t RFR_IDE_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint8_t *IDE_ref, uint8_t *IDE_ref,
uint8_t *IDE_Sup, uint8_t *IDE_Sup,
uint8_t *IDE_Har) { uint8_t *IDE_Har) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_GET;
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_IDE);
ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) linData->g_aRxBuffer; ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) linData->g_aRxBuffer;
uint8_t retry = 3; uint8_t retry = 3;
while (retry) { while (retry) {
res = SEND_ACTUATOR_COM_x(linIo, RFR_IDE); res = DFR_IDE_x(linIo, linData, BUS_ADDRESS);
if (res == LIN_RX_COMPLETED) { if (res == LIN_TX_COMPLETED) {
*BUS_ADR = ACT_RFR_IDE_->BUS_ADR;
*IDE_ref = ACT_RFR_IDE_->IDE_ref; linData->direction = LIN_DIRECTION_GET;
*IDE_Sup = ACT_RFR_IDE_->IDE_Sup;
*IDE_Har = ACT_RFR_IDE_->IDE_Har; linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_IDE);
res = SEND_ACTUATOR_COM_x(linIo, RFR_IDE);
if (res == LIN_RX_COMPLETED) {
*BUS_ADR = ACT_RFR_IDE_->BUS_ADR;
*IDE_ref = ACT_RFR_IDE_->IDE_ref;
*IDE_Sup = ACT_RFR_IDE_->IDE_Sup;
*IDE_Har = ACT_RFR_IDE_->IDE_Har;
break;
}
break;
} }
--retry; --retry;
@ -255,7 +269,7 @@ lin_event_id_t DFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADR) {
ACT_DFR_STA_->BUS_ADR = BUS_ADR; ACT_DFR_STA_->BUS_ADR = BUS_ADR;
ACT_DFR_STA_->Data1_DFR_STA = 0xFF; ACT_DFR_STA_->Data1_DFR_STA = 0xFF;
uint8_t retry = 3; uint8_t retry = 1;
while (retry) { while (retry) {
@ -271,7 +285,7 @@ lin_event_id_t DFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADR) {
return res; return res;
} }
lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData, lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t *BUS_ADR, uint8_t *BUS_ADR,
uint16_t *CPOS_ALL, uint16_t *CPOS_ALL,
eEmrf_Slave_STA *Emrf_Slave, eEmrf_Slave_STA *Emrf_Slave,
@ -284,33 +298,40 @@ lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData,
eReset_STA *Reset_Slave) { eReset_STA *Reset_Slave) {
lin_event_id_t res; lin_event_id_t res;
linData->direction = LIN_DIRECTION_GET;
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) linData->g_aRxBuffer; ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) linData->g_aRxBuffer;
uint8_t retry = 3; uint8_t retry = 1;
while (retry) { while (retry) {
res = SEND_ACTUATOR_COM_x(linIo, RFR_STA); res = DFR_STA_x(linIo, linData, BUS_ADDRESS);
if (res == LIN_RX_COMPLETED) { if (res == LIN_TX_COMPLETED) {
linData->direction = LIN_DIRECTION_GET;
linData->g_aTxBufferLen = 0;
linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
res = SEND_ACTUATOR_COM_x(linIo, RFR_STA);
if (res == LIN_RX_COMPLETED) {
*BUS_ADR = ACT_RFR_STA_->BUS_ADR;
*CPOS_ALL = ACT_RFR_STA_->CPOS_ALL;
*Emrf_Slave = ACT_RFR_STA_->Emrf_Slave;
*Mode_Slave = ACT_RFR_STA_->Mode_Slave;
*Error1_Supply_Slave = ACT_RFR_STA_->Error1_Supply_Slave;
*Error2_Communication_Slave = ACT_RFR_STA_->Error2_Communication_Slave;
*Error3_Temperature_Slave = ACT_RFR_STA_->Error3_Temperature_Slave;
*Error4_Permanent_Electrical_Slave = ACT_RFR_STA_->Error4_Permanent_Electrical_Slave;
*Stall_Slave = ACT_RFR_STA_->Stall_Slave;
*Reset_Slave = ACT_RFR_STA_->Reset_Slave;
break;
}
*BUS_ADR = ACT_RFR_STA_->BUS_ADR;
*CPOS_ALL = ACT_RFR_STA_->CPOS_ALL;
*Emrf_Slave = ACT_RFR_STA_->Emrf_Slave;
*Mode_Slave = ACT_RFR_STA_->Mode_Slave;
*Error1_Supply_Slave = ACT_RFR_STA_->Error1_Supply_Slave;
*Error2_Communication_Slave = ACT_RFR_STA_->Error2_Communication_Slave;
*Error3_Temperature_Slave = ACT_RFR_STA_->Error3_Temperature_Slave;
*Error4_Permanent_Electrical_Slave = ACT_RFR_STA_->Error4_Permanent_Electrical_Slave;
*Stall_Slave = ACT_RFR_STA_->Stall_Slave;
*Reset_Slave = ACT_RFR_STA_->Reset_Slave;
break;
} }
--retry; --retry;
@ -319,8 +340,7 @@ lin_event_id_t RFR_STA_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData, lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData, uint8_t COM,
uint8_t BUS_ADR,
uint8_t *BLOCK_MT, uint8_t *BLOCK_MT,
uint16_t *CPOS_ALL, uint16_t *CPOS_ALL,
uint8_t *DIAGNOSE_MT) { uint8_t *DIAGNOSE_MT) {
@ -334,14 +354,14 @@ lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData,
while (retry) { while (retry) {
res = SEND_ACTUATOR_COM_x(linIo, BUS_ADR); res = SEND_ACTUATOR_COM_x(linIo, COM);
if (res == LIN_RX_COMPLETED) { if (res == LIN_RX_COMPLETED) {
ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) linData->g_aRxBuffer; ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) linData->g_aRxBuffer;
*BLOCK_MT = ACT_RFR_ISSR_->BLOCK_MT; *BLOCK_MT = ACT_RFR_ISSR_->BLOCK_MT;
*CPOS_ALL = ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 8); *CPOS_ALL = ACT_RFR_ISSR_->CPOS_1_LSB_MT | (ACT_RFR_ISSR_->CPOS_1_MSB_MT << 7);
*DIAGNOSE_MT = ACT_RFR_ISSR_->DIAGNOSE_MT; *DIAGNOSE_MT = ACT_RFR_ISSR_->DIAGNOSE_MT;
break; break;
@ -355,8 +375,7 @@ lin_event_id_t ISSR_x(tLinIO *linIo, tLinData *linData,
} }
lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData, lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t BUS_ADR,
eMode_Mod Mode_Slave) { eMode_Mod Mode_Slave) {
lin_event_id_t res; lin_event_id_t res;
@ -365,7 +384,7 @@ lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData,
linData->g_aRxBufferLen = 0; linData->g_aRxBufferLen = 0;
ACT_CFR_MOD *ACT_CFR_MOD_ = (ACT_CFR_MOD *) linData->g_aTxBuffer; ACT_CFR_MOD *ACT_CFR_MOD_ = (ACT_CFR_MOD *) linData->g_aTxBuffer;
ACT_CFR_MOD_->BUS_ADR = BUS_ADR; ACT_CFR_MOD_->BUS_ADR = BUS_ADDRESS;
ACT_CFR_MOD_->Mode_Slave = Mode_Slave; ACT_CFR_MOD_->Mode_Slave = Mode_Slave;
ACT_CFR_MOD_->Unused = 0xFF; ACT_CFR_MOD_->Unused = 0xFF;
ACT_CFR_MOD_->Data2_Mod = 0xFF; ACT_CFR_MOD_->Data2_Mod = 0xFF;
@ -387,8 +406,7 @@ lin_event_id_t CFR_MOD_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData, lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t BUS_ADR,
uint16 INI_CPOS) { uint16 INI_CPOS) {
lin_event_id_t res; lin_event_id_t res;
@ -397,7 +415,7 @@ lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData,
linData->g_aRxBufferLen = 0; linData->g_aRxBufferLen = 0;
ACT_CFR_INI *ACT_CFR_INI_ = (ACT_CFR_INI *) linData->g_aTxBuffer; ACT_CFR_INI *ACT_CFR_INI_ = (ACT_CFR_INI *) linData->g_aTxBuffer;
ACT_CFR_INI_->BUS_ADR = BUS_ADR; ACT_CFR_INI_->BUS_ADR = BUS_ADDRESS;
ACT_CFR_INI_->INI_CPOS = INI_CPOS; ACT_CFR_INI_->INI_CPOS = INI_CPOS;
ACT_CFR_INI_->unused = 0xFF; ACT_CFR_INI_->unused = 0xFF;
ACT_CFR_INI_->Not_Used_INI = 0xFF; ACT_CFR_INI_->Not_Used_INI = 0xFF;
@ -418,8 +436,7 @@ lin_event_id_t CFR_INI_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData, lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint8_t BUS_ADR,
uint16 FINAL_POS, uint16 FINAL_POS,
eStall_SET Stall_SET, eStall_SET Stall_SET,
eLnoise_SET Lnoise_SET, eLnoise_SET Lnoise_SET,
@ -433,7 +450,7 @@ lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData,
linData->g_aRxBufferLen = 0; linData->g_aRxBufferLen = 0;
ACT_CFR_SET *ACT_CFR_SET_ = (ACT_CFR_SET *) linData->g_aTxBuffer; ACT_CFR_SET *ACT_CFR_SET_ = (ACT_CFR_SET *) linData->g_aTxBuffer;
ACT_CFR_SET_->BUS_ADR = BUS_ADR; ACT_CFR_SET_->BUS_ADR = BUS_ADDRESS;
ACT_CFR_SET_->FINAL_POS = FINAL_POS; ACT_CFR_SET_->FINAL_POS = FINAL_POS;
ACT_CFR_SET_->unused = 0xFF; ACT_CFR_SET_->unused = 0xFF;
@ -461,8 +478,8 @@ lin_event_id_t CFR_SET_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
lin_event_id_t CFR_PRG_x(tLinIO *linIo, tLinData *linData, /*
uint8_t BUS_ADR, lin_event_id_t CFR_PRG_x(tLinIO *linIo, tLinData *linData, uint8_t BUS_ADDRESS,
uint16_t BUS_NEW_ADR, uint16_t BUS_NEW_ADR,
uint8_t NOTL_DREH_Master, uint8_t NOTL_DREH_Master,
uint8_t NOTL_ENAB_Master, uint8_t NOTL_ENAB_Master,
@ -477,7 +494,7 @@ lin_event_id_t CFR_PRG_x(tLinIO *linIo, tLinData *linData,
linData->g_aRxBufferLen = 0; linData->g_aRxBufferLen = 0;
ACT_CFR_PRG *ACT_CFR_PRG_ = (ACT_CFR_PRG *) linData->g_aTxBuffer; ACT_CFR_PRG *ACT_CFR_PRG_ = (ACT_CFR_PRG *) linData->g_aTxBuffer;
ACT_CFR_PRG_->BUS_ADR = BUS_ADR; ACT_CFR_PRG_->BUS_ADR = BUS_ADDRESS;
ACT_CFR_PRG_->BUS_NEW_ADR = BUS_NEW_ADR; ACT_CFR_PRG_->BUS_NEW_ADR = BUS_NEW_ADR;
ACT_CFR_PRG_->NOTL_DREH_Master = NOTL_DREH_Master; ACT_CFR_PRG_->NOTL_DREH_Master = NOTL_DREH_Master;
ACT_CFR_PRG_->NOTL_ENAB_Master = NOTL_ENAB_Master; ACT_CFR_PRG_->NOTL_ENAB_Master = NOTL_ENAB_Master;
@ -502,7 +519,7 @@ lin_event_id_t CFR_PRG_x(tLinIO *linIo, tLinData *linData,
return res; return res;
} }
*/
void Lin_0_Init(tLinTaskActuator *env, void Lin_0_Init(tLinTaskActuator *env,
tLinData *linData, tLinData *linData,
tLinIO *linIO) { tLinIO *linIO) {
@ -511,10 +528,15 @@ void Lin_0_Init(tLinTaskActuator *env,
env->linData = linData; env->linData = linData;
env->access = osMutexNew(NULL); env->access = osMutexNew(NULL);
for (uint8_t i = 0; i < 9; ++i) {
env->linCommandActuator[i].COM = LIN_ACT_CFR_MOD;
}
InitThreadAtrStatic(&env->thread.attr, "Lin0", env->thread.controlBlock, env->thread.stack, InitThreadAtrStatic(&env->thread.attr, "Lin0", env->thread.controlBlock, env->thread.stack,
osPriorityNormal); osPriorityNormal);
} }
lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) { lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
lin_event_id_t ret; lin_event_id_t ret;
@ -530,11 +552,20 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].isRFR_STA = 1; env->linCommandActuator[i].isRFR_STA = 1;
if (env->linCommandActuator[i].BUS_ADR == 0x20) {
for (uint8_t j = 0; j < LIN0_ISSR_ALL; ++j) {
env->linCommandActuator[j].isRFR_STA = 1;
}
break;
}
} else { } else {
return ret; // return ret;
} }
if (env->linCommandActuator[i].BUS_ADR & 0x1F) { if (env->linCommandActuator[i].BUS_ADR == 0x20) {
break; break;
} }
@ -549,13 +580,12 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].BUS_ADR, env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].POS); env->linCommandActuator[i].POS);
if (ret == LIN_TX_COMPLETED) { // if (ret == LIN_TX_COMPLETED) {
// } else {
// return ret;
// }
} else { if (env->linCommandActuator[i].BUS_ADR == 0x20) {
return ret;
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break; break;
} }
@ -575,13 +605,12 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].Speed_SET, env->linCommandActuator[i].Speed_SET,
env->linCommandActuator[i].Coils_Stop_SET); env->linCommandActuator[i].Coils_Stop_SET);
if (ret == LIN_TX_COMPLETED) { // if (ret == LIN_TX_COMPLETED) {
// } else {
// return ret;
// }
} else { if (env->linCommandActuator[i].BUS_ADR == 0x20) {
return ret;
}
if (env->linCommandActuator[i].BUS_ADR & 0x1F) {
break; break;
} }
@ -589,76 +618,6 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
} }
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
if (env->linCommandActuator[i].COM == LIN_ACT_CFR_PRG) {
ret = CFR_PRG_x(env->linIo, env->linData,
env->linCommandActuator[i].BUS_ADR,
env->linCommandActuator[i].BUS_NEW_ADR,
env->linCommandActuator[i].NOTL_DREH_Master,
env->linCommandActuator[i].NOTL_ENAB_Master,
env->linCommandActuator[i].DREH_Master,
env->linCommandActuator[i].Motor,
env->linCommandActuator[i].Baudrate,
env->linCommandActuator[i].Version_CFR);
if (ret == LIN_TX_COMPLETED) {
ret = DFR_PRG_x(env->linIo, env->linData, i);
if (ret == LIN_TX_COMPLETED) {
uint8_t BUS_ADR;
uint8_t BUS_NEW_ADR;
uint8_t NOTL_DREH_Master;
uint8_t NOTL_ENAB_Master;
uint8_t DREH_Slave;
uint8_t ParitySlave;
uint8_t Version_CFR;
ret = RFR_PRG_x(env->linIo, env->linData,
&BUS_ADR,
&BUS_NEW_ADR,
&NOTL_DREH_Master,
&NOTL_ENAB_Master,
&DREH_Slave,
&ParitySlave,
&Version_CFR);
if (ret == LIN_RX_COMPLETED) {
if (BUS_ADR != i) {
asm("nop");
}
if (BUS_ADR < LIN0_ISSR_ALL) {
env->linStateActuator[BUS_ADR].BUS_NEW_ADR = BUS_NEW_ADR;
env->linStateActuator[BUS_ADR].NOTL_DREH_Master = NOTL_DREH_Master;
env->linStateActuator[BUS_ADR].NOTL_ENAB_Master = NOTL_ENAB_Master;
env->linStateActuator[BUS_ADR].DREH_Slave = DREH_Slave;
env->linStateActuator[BUS_ADR].ParitySlave = ParitySlave;
env->linStateActuator[BUS_ADR].Version_CFR = Version_CFR;
} else {
asm("nop");
}
} else {
return ret;
}
} else {
return ret;
}
} else {
return ret;
}
}
}
for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) { for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
ret = ISSR_x(env->linIo, env->linData, ret = ISSR_x(env->linIo, env->linData,
@ -673,65 +632,61 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
env->linCommandActuator[i].isRFR_STA = 0; env->linCommandActuator[i].isRFR_STA = 0;
ret = DFR_STA_x(env->linIo, env->linData, i); uint8_t BUS_ADR;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
uint8_t Error2_Communication_Slave;
uint8_t Error3_Temperature_Slave;
uint8_t Error4_Permanent_Electrical_Slave;
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
if (ret == LIN_TX_COMPLETED) { ret = RFR_STA_x(env->linIo, env->linData, i | 0x20,
&BUS_ADR,
&CPOS_ALL,
&Emrf_Slave,
&Mode_Slave,
&Error1_Supply_Slave,
&Error2_Communication_Slave,
&Error3_Temperature_Slave,
&Error4_Permanent_Electrical_Slave,
&Stall_Slave,
&Reset_Slave);
uint8_t BUS_ADR; if (ret == LIN_RX_COMPLETED) {
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
uint8_t Error2_Communication_Slave;
uint8_t Error3_Temperature_Slave;
uint8_t Error4_Permanent_Electrical_Slave;
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
ret = RFR_STA_x(env->linIo, env->linData, BUS_ADR &= 0x1F;
&BUS_ADR,
&CPOS_ALL,
&Emrf_Slave,
&Mode_Slave,
&Error1_Supply_Slave,
&Error2_Communication_Slave,
&Error3_Temperature_Slave,
&Error4_Permanent_Electrical_Slave,
&Stall_Slave,
&Reset_Slave);
if (ret == LIN_RX_COMPLETED) { if (BUS_ADR != i) {
asm("nop");
if (BUS_ADR != i) {
asm("nop");
}
if (BUS_ADR < LIN0_ISSR_ALL) {
env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
} else {
asm("nop");
}
} else {
return ret;
} }
if (BUS_ADR < LIN0_ISSR_ALL) {
env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
} else {
asm("nop");
}
} else {
// return ret;
} }
} else {
return ret;
} }
} else { } else {
return ret; // return ret;
} }
} }
@ -744,6 +699,295 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
return LIN_NO_EVENT; return LIN_NO_EVENT;
} }
/*
lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
lin_event_id_t ret;
ret = CFR_MOD_x(env->linIo, env->linData,
0x20,
LIN_MODE_STOP);
if (ret == LIN_TX_COMPLETED) {
asm("nop");
}
ret = CFR_INI_x(env->linIo, env->linData,
0x20,
6000);
if (ret == LIN_TX_COMPLETED) {
asm("nop");
}
ret = CFR_MOD_x(env->linIo, env->linData,
0x20,
LIN_MODE_NORMAL);
if (ret == LIN_TX_COMPLETED) {
asm("nop");
}
asm("nop");
ret = DFR_STA_x(env->linIo, env->linData, 0x27);
uint8_t BUS_ADR;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
uint8_t Error2_Communication_Slave;
uint8_t Error3_Temperature_Slave;
uint8_t Error4_Permanent_Electrical_Slave;
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
ret = RFR_STA_x(env->linIo, env->linData,
&BUS_ADR,
&CPOS_ALL,
&Emrf_Slave,
&Mode_Slave,
&Error1_Supply_Slave,
&Error2_Communication_Slave,
&Error3_Temperature_Slave,
&Error4_Permanent_Electrical_Slave,
&Stall_Slave,
&Reset_Slave);
if (ret == LIN_RX_COMPLETED) {
asm("nop");
} else {
asm("nop");
}
//asm("nop");
ret = CFR_SET_x(env->linIo, env->linData,
0x27,
0,
1,
0,
0,
0,
0);
if (ret == LIN_TX_COMPLETED) {
asm("nop");
}
asm("nop");
ret = ISSR_x(env->linIo, env->linData,
7,
&env->linStateActuator[7].BLOCK_MT,
&env->linStateActuator[7].CPOS_ALL,
&env->linStateActuator[7].DIAGNOSE_MT);
if (ret == LIN_RX_COMPLETED) {
asm("nop");
}
uint8_t BUS_ADR;
uint8_t IDE_ref;
uint8_t IDE_Sup;
uint8_t IDE_Har;
ret = DFR_IDE_x(env->linIo, env->linData, 7);
if (ret == LIN_TX_COMPLETED) {
asm("nop");
}
ret = RFR_IDE_x(env->linIo, env->linData,
&BUS_ADR,
&IDE_ref,
&IDE_Sup,
&IDE_Har);
if (ret == LIN_RX_COMPLETED) {
asm("nop");
}
asm("nop");
ret = ISSR_x(env->linIo, env->linData,
7,
&env->linStateActuator[7].BLOCK_MT,
&env->linStateActuator[7].CPOS_ALL,
&env->linStateActuator[7].DIAGNOSE_MT);
if (ret == LIN_RX_COMPLETED) {
if ((env->linStateActuator[7].DIAGNOSE_MT) || (env->linCommandActuator[7].isRFR_STA)) {
env->linCommandActuator[7].isRFR_STA = 0;
ret = DFR_STA_x(env->linIo, env->linData, 7);
if (ret == LIN_TX_COMPLETED) {
uint8_t BUS_ADR;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
uint8_t Error2_Communication_Slave;
uint8_t Error3_Temperature_Slave;
uint8_t Error4_Permanent_Electrical_Slave;
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
ret = RFR_STA_x(env->linIo, env->linData,
&BUS_ADR,
&CPOS_ALL,
&Emrf_Slave,
&Mode_Slave,
&Error1_Supply_Slave,
&Error2_Communication_Slave,
&Error3_Temperature_Slave,
&Error4_Permanent_Electrical_Slave,
&Stall_Slave,
&Reset_Slave);
if (ret == LIN_RX_COMPLETED) {
if (BUS_ADR != 7) {
asm("nop");
}
if (BUS_ADR < LIN0_ISSR_ALL) {
env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
} else {
asm("nop");
}
} else {
asm("nop");
//return ret;
}
}
} else {
asm("nop");
//return ret;
}
} else {
asm("nop");
//return ret;
}
uint8_t BUS_ADR;
uint8_t IDE_ref;
uint8_t IDE_Sup;
uint8_t IDE_Har;
ret = DFR_IDE_x(env->linIo, env->linData,7);
ret = RFR_IDE_x(env->linIo, env->linData,
&BUS_ADR,
&IDE_ref,
&IDE_Sup,
&IDE_Har);
ret = CFR_INI_x(env->linIo, env->linData,
0x20,
0);
ret = ISSR_x(env->linIo, env->linData,
7,
&env->linStateActuator[7].BLOCK_MT,
&env->linStateActuator[7].CPOS_ALL,
&env->linStateActuator[7].DIAGNOSE_MT);
ret = DFR_PRG_x(env->linIo, env->linData, 7);
uint8_t BUS_ADR;
uint8_t BUS_NEW_ADR;
uint8_t NOTL_DREH_Master;
uint8_t NOTL_ENAB_Master;
uint8_t DREH_Slave;
uint8_t ParitySlave;
uint8_t Version_CFR;
ret = RFR_PRG_x(env->linIo, env->linData,
&BUS_ADR,
&BUS_NEW_ADR,
&NOTL_DREH_Master,
&NOTL_ENAB_Master,
&DREH_Slave,
&ParitySlave,
&Version_CFR);
for (uint8_t i = 0; i < 31; ++i) {
ret = DFR_STA_x(env->linIo, env->linData, i);
uint8_t BUS_ADR;
uint16_t CPOS_ALL;
eEmrf_Slave_STA Emrf_Slave;
eMode_Mod Mode_Slave;
uint8_t Error1_Supply_Slave;
uint8_t Error2_Communication_Slave;
uint8_t Error3_Temperature_Slave;
uint8_t Error4_Permanent_Electrical_Slave;
eStall_STA Stall_Slave;
eReset_STA Reset_Slave;
ret = RFR_STA_x(env->linIo, env->linData,
&BUS_ADR,
&CPOS_ALL,
&Emrf_Slave,
&Mode_Slave,
&Error1_Supply_Slave,
&Error2_Communication_Slave,
&Error3_Temperature_Slave,
&Error4_Permanent_Electrical_Slave,
&Stall_Slave,
&Reset_Slave);
if (ret == LIN_RX_COMPLETED) {
asm("nop");
} else {
asm("nop");
}
}
if ((ret == LIN_TX_COMPLETED) || (ret == LIN_RX_COMPLETED)) {
} else {
return ret;
}
return LIN_NO_EVENT;
}
*/
static _Noreturn void Lin0_Thread(tLinTaskActuator *env) { static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
for (;;) { for (;;) {
if (osMutexAcquire(env->access, 100) == osOK) { if (osMutexAcquire(env->access, 100) == osOK) {

10
LinTasks.h
View File

@ -415,10 +415,10 @@ typedef struct {
// COM - Команда // COM - Команда
typedef enum { typedef enum {
LIN_ACT_CFR_MOD = 0, LIN_ACT_CFR_NONE = 0,
LIN_ACT_CFR_INI = 1, LIN_ACT_CFR_MOD = 1,
LIN_ACT_CFR_SET = 2, LIN_ACT_CFR_INI = 2,
LIN_ACT_CFR_PRG = 3, LIN_ACT_CFR_SET = 3
} eLinCOM; } eLinCOM;
typedef struct { typedef struct {
@ -459,7 +459,7 @@ typedef struct {
struct { struct {
osThreadId_t id; osThreadId_t id;
uint32_t stack[512]; uint32_t stack[1024];
StaticTask_t controlBlock; StaticTask_t controlBlock;
osThreadAttr_t attr; osThreadAttr_t attr;
} thread; } thread;