316 lines
9.8 KiB
C
316 lines
9.8 KiB
C
//
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// Created by cfif on 05.04.2024.
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//
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#include <SystemDelayInterface.h>
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#include "LinTasks.h"
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#include "CmsisRtosThreadUtils.h"
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#include "CanPorts.h"
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#include "fc7xxx_driver_lin.h"
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#include "Lins.h"
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//начало----------------------------------------- LIN 0 ----------------------------------------------------------------
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//начало----------------------------------------- LIN 0 ----------------------------------------------------------------
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//начало----------------------------------------- LIN 0 ----------------------------------------------------------------
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//начало----------------------------------------- LIN 0 ----------------------------------------------------------------
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void GetLin0CallbackHandler(tLinData *env, uint8_t u8LinIndex, void *state) {
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lin_xfer_state_t *pXferState = state;
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//uint32_t s_countIndex = 0U;
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//bool s_rxError = false;
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//LIN_DrvSetTimeOutCounter(u8LinIndex, 500);
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switch (pXferState->currentEventId) {
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case LIN_PID_OK:
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if (env->direction == LIN_DIRECTION_SET) {
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LIN_DrvSendFrameNonBlocking(u8LinIndex, env->g_aTxBuffer, env->g_aTxBufferLen);
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} else if (env->direction == LIN_DIRECTION_GET) {
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LIN_DrvReceiveFrameNonBlocking(u8LinIndex, env->g_aRxBuffer, env->g_aRxBufferLen);
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} else {
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// Misra check.
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uint8_t data = LIN_TIMEOUT;
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osMessageQueuePut(env->rxDataQueue, &data, 0x0, 0U);
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return;
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}
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break;
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case LIN_PID_ERROR:
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// Go to idle mode
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LIN_DrvGoToIdleMode(u8LinIndex);
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Receive PID error!\r\n");
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break;
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case LIN_TX_COMPLETED:
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// Go to IDLE state.
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LIN_DrvGoToIdleMode(u8LinIndex);
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "This test case will send data to slave node. Send data: \r\n");
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// for (s_countIndex = 0U; s_countIndex < sizeof(g_aTxBuffer); s_countIndex++) {
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, " 0x%x ", g_aTxBuffer[s_countIndex]);
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// }
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "\r\nMaster node send complete! \r\n");
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break;
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case LIN_RX_COMPLETED:
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// Go to idle mode
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LIN_DrvGoToIdleMode(u8LinIndex);
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Master node receive data:\r\n");
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//for (s_countIndex = 0U; s_countIndex < sizeof(env->g_aRxBuffer); s_countIndex++) {
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, " 0x%x ", g_aRxBuffer[s_countIndex]);
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//if (env->g_aRxBuffer[s_countIndex] != (env->g_aTxBuffer[s_countIndex] + 1U)) {
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// s_rxError = true;
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//}
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//env->g_aRxBuffer[s_countIndex] = 0U;
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//}
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//if (true == s_rxError) {
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "\r\nReceived data Error\r\n");
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//} else {
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "\r\nReveiced data matched!\r\n");
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//}
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break;
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case LIN_CHECKSUM_ERROR:
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Receive checksum byte error!\r\n");
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break;
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case LIN_READBACK_ERROR:
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Read back error!\r\n");
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break;
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case LIN_FRAME_ERROR:
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break;
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case LIN_RECV_BREAK_FIELD_OK:
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break;
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case LIN_WAKEUP_SIGNAL:
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "Wake up signal received!\r\n");
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LIN_DrvGoToIdleMode(u8LinIndex);
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break;
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case LIN_TIMEOUT:
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// FCUART_Printf(DEBUG_FCUART_INSTANCE, "LIN transfer timeout occurred!\r\n");
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break;
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case LIN_SYNC_ERROR:
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break;
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case LIN_BAUDRATE_ADJUSTED:
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break;
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case LIN_NO_EVENT:
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break;
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case LIN_SYNC_OK:
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break;
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default:
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// do nothing
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break;
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}
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osMessageQueuePut(env->rxDataQueue, (uint8_t *) &pXferState->currentEventId, 0x0, 0U);
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}
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static lin_event_id_t SEND_ACTUATOR_COM_x(tLinTaskActuator *env, uint8_t COM_ADR) {
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lin_event_id_t res = env->linIo->runCommand(env->linIo->env, COM_ADR, 50);
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SystemDelayMs(20);
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return res;
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}
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lin_event_id_t DFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
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lin_event_id_t res;
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env->linData->direction = LIN_DIRECTION_SET;
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env->linData->g_aTxBufferLen = sizeof(ACT_DFR_IDE);
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env->linData->g_aRxBufferLen = 0;
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ACT_DFR_IDE *ACT_DFR_IDE_ = (ACT_DFR_IDE *) env->linData->g_aTxBuffer;
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ACT_DFR_IDE_->BUS_ADR = BUS_ADR;
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ACT_DFR_IDE_->Data1_DFR_IDE = 0xFF;
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uint8_t retry = 3;
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while (retry) {
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res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_IDE);
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if (res == LIN_TX_COMPLETED) {
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break;
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}
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--retry;
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}
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return res;
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}
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lin_event_id_t RFR_IDE_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
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lin_event_id_t res;
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env->linData->direction = LIN_DIRECTION_GET;
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env->linData->g_aTxBufferLen = 0;
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env->linData->g_aRxBufferLen = sizeof(ACT_RFR_IDE);
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ACT_RFR_IDE *ACT_RFR_IDE_ = (ACT_RFR_IDE *) env->linData->g_aRxBuffer;
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uint8_t retry = 3;
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while (retry) {
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res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_IDE);
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if (res == LIN_RX_COMPLETED) {
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env->linStateActuator[BUS_ADR].IDE_ref = ACT_RFR_IDE_->IDE_ref;
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env->linStateActuator[BUS_ADR].IDE_Sup = ACT_RFR_IDE_->IDE_Sup;
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env->linStateActuator[BUS_ADR].IDE_Har = ACT_RFR_IDE_->IDE_Har;
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break;
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}
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--retry;
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}
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return res;
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}
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lin_event_id_t DFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
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lin_event_id_t res;
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env->linData->direction = LIN_DIRECTION_SET;
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env->linData->g_aTxBufferLen = sizeof(ACT_DFR_STA);
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env->linData->g_aRxBufferLen = 0;
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ACT_DFR_STA *ACT_DFR_STA_ = (ACT_DFR_STA *) env->linData->g_aTxBuffer;
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ACT_DFR_STA_->BUS_ADR = BUS_ADR;
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ACT_DFR_STA_->Data1_DFR_STA = 0xFF;
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uint8_t retry = 3;
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while (retry) {
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res = SEND_ACTUATOR_COM_x(env->linIo->env, DFR_STA);
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if (res == LIN_TX_COMPLETED) {
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break;
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}
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--retry;
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}
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return res;
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}
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lin_event_id_t RFR_STA_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
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lin_event_id_t res;
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env->linData->direction = LIN_DIRECTION_GET;
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env->linData->g_aTxBufferLen = 0;
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env->linData->g_aRxBufferLen = sizeof(ACT_RFR_STA);
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ACT_RFR_STA *ACT_RFR_STA_ = (ACT_RFR_STA *) env->linData->g_aRxBuffer;
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uint8_t retry = 3;
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while (retry) {
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res = SEND_ACTUATOR_COM_x(env->linIo->env, RFR_STA);
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if (res == LIN_RX_COMPLETED) {
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env->linStateActuator[BUS_ADR].CPOS_ALL = ACT_RFR_STA_->CPOS_ALL;
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env->linStateActuator[BUS_ADR].Emrf_Slave = ACT_RFR_STA_->Emrf_Slave;
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env->linStateActuator[BUS_ADR].Mode_Slave = ACT_RFR_STA_->Mode_Slave;
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env->linStateActuator[BUS_ADR].Error1_Supply_Slave = ACT_RFR_STA_->Error1_Supply_Slave;
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env->linStateActuator[BUS_ADR].Error2_Communication_Slave = ACT_RFR_STA_->Error2_Communication_Slave;
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env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = ACT_RFR_STA_->Error3_Temperature_Slave;
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env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = ACT_RFR_STA_->Error4_Permanent_Electrical_Slave;
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env->linStateActuator[BUS_ADR].Stall_Slave = ACT_RFR_STA_->Stall_Slave;
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env->linStateActuator[BUS_ADR].Reset_Slave = ACT_RFR_STA_->Reset_Slave;
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break;
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}
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--retry;
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}
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return res;
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}
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lin_event_id_t ISSR_x(tLinTaskActuator *env, uint8_t BUS_ADR) {
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lin_event_id_t res;
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env->linData->direction = LIN_DIRECTION_GET;
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env->linData->g_aTxBufferLen = 0;
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env->linData->g_aRxBufferLen = sizeof(ACT_RFR_ISSR);
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uint8_t retry = 3;
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while (retry) {
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res = SEND_ACTUATOR_COM_x(env->linIo->env, BUS_ADR);
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if (res == LIN_RX_COMPLETED) {
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ACT_RFR_ISSR *ACT_RFR_ISSR_ = (ACT_RFR_ISSR *) env->linData->g_aRxBuffer;
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if (ACT_RFR_ISSR_->DIAGNOSE_MT) {
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if (DFR_STA_x(env, BUS_ADR) == LIN_TX_COMPLETED) {
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RFR_STA_x(env, BUS_ADR);
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}
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}
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break;
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}
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--retry;
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}
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return res;
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}
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void Lin_0_Init(tLinTaskActuator *env,
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tLinData *linData,
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tLinIO *linIO) {
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env->linIo = linIO;
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env->linData = linData;
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env->access = osMutexNew(NULL);
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InitThreadAtrStatic(&env->thread.attr, "Lin0", env->thread.controlBlock, env->thread.stack,
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osPriorityNormal);
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}
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void Lin0_Scheduler(tLinTaskActuator *env) {
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if (osMutexAcquire(env->access, 100) == osOK) {
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if (DFR_IDE_x(env, BUS_ADR) == LIN_TX_COMPLETED) {
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RFR_IDE_x(env, BUS_ADR);
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}
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for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
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lin_event_id_t res = ISSR_x(env, i);
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}
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osMutexRelease(env->access);
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}
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}
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static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
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for (;;) {
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Lin0_Scheduler(env);
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}
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}
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void Li0_StartThread(tLinTaskActuator *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (Lin0_Thread), (void *) (env), &env->thread.attr);
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}
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}
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//конец----------------------------------------- LIN 0 ----------------------------------------------------------------
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//конец----------------------------------------- LIN 0 ----------------------------------------------------------------
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//конец----------------------------------------- LIN 0 ----------------------------------------------------------------
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//конец----------------------------------------- LIN 0 ----------------------------------------------------------------
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