// // Created by cfif on 19.12.2025. // #include "Model_Task.h" #include #include #include "HVAC_model.h" #include "memory.h" #include "SystemDelayInterface.h" #define LOG_SIGN "ModelTask" #define LOGGER env->logger void ModelTask_Init( tModelTask *env, tLinTaskActuator *linTaskActuator1, tLinTaskActuator *linTaskActuator2, tLinTaskActuator *linTaskActuator3, tPwms *pwms, tGpios *gpios, tAdc0Task *adc0Task, tAdc1Task *adc1Task, tCanSpamReceiver *canSpamReceiver, tCanSpamTransmitter *canSpamTransmitter, tCanSpamDebugTransmitter *canSpamDebugTransmitter, tDiagnostic *diagnostic, tLoggerInterface *logger ) { HVAC_model_initialize(); env->linTaskActuator1 = linTaskActuator1; env->linTaskActuator2 = linTaskActuator2; env->linTaskActuator3 = linTaskActuator3; env->pwms = pwms; env->gpios = gpios; env->adc0Task = adc0Task; env->adc1Task = adc1Task; env->canSpamReceiver = canSpamReceiver; env->canSpamTransmitter = canSpamTransmitter; env->canSpamDebugTransmitter = canSpamDebugTransmitter; env->diagnostic = diagnostic; env->access = osMutexNew(NULL); env->logger = logger; InitThreadAtrStatic(&env->thread.attr, "ModelTask", env->thread.controlBlock, env->thread.stack, osPriorityNormal); env->thread.id = 0; HVAC_model_initialize(); } static bool setActuatorBusy(tModelTask *env) { if (env->triggerCommand1 == false) { for (uint8_t i = 0; i < env->linTaskActuator1->LIN_ISSR_ALL; ++i) { if (Actuator_Ch0_Command_Model.COM[i] != 0) { env->triggerCommand1 = true; memcpy(&env->triggerActuatorCmdBus_1, &Actuator_Ch0_Command_Model, sizeof(ActuatorCmdBus)); #if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN1_ACTUATOR == 1) for (uint8_t j = 0; j < env->linTaskActuator1->LIN_ISSR_ALL; ++j) { switch (Actuator_Ch0_Command_Model.COM[j]) { case LIN_ACT_CFR_MOD: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j, Actuator_Ch0_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_INI: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j, Actuator_Ch0_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_SET: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j, Actuator_Ch0_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_NONE: { break; } default: { LoggerFormatError(LOGGER, LOG_SIGN, "LIN1 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)", j, Actuator_Ch0_Command_Model.BUS_ADR[j], Actuator_Ch0_Command_Model.COM[j]) } } } #endif #endif Actuator_Ch0_Status_Model.Busy = 1; break; } } } if (env->triggerCommand2 == false) { for (uint8_t i = 0; i < env->linTaskActuator2->LIN_ISSR_ALL; ++i) { if (Actuator_Ch1_Command_Model.COM[i] != 0) { env->triggerCommand2 = true; memcpy(&env->triggerActuatorCmdBus_2, &Actuator_Ch1_Command_Model, sizeof(ActuatorCmdBus)); #if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN2_ACTUATOR == 1) for (uint8_t j = 0; j < env->linTaskActuator2->LIN_ISSR_ALL; ++j) { switch (Actuator_Ch1_Command_Model.COM[j]) { case LIN_ACT_CFR_MOD: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j, Actuator_Ch1_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_INI: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j, Actuator_Ch1_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_SET: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j, Actuator_Ch1_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_NONE: { break; } default: { LoggerFormatError(LOGGER, LOG_SIGN, "LIN2 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)", j, Actuator_Ch1_Command_Model.BUS_ADR[j], Actuator_Ch1_Command_Model.COM[j]) } } } #endif #endif Actuator_Ch1_Status_Model.Busy = 1; break; } } } if (env->triggerCommand3 == false) { for (uint8_t i = 0; i < env->linTaskActuator3->LIN_ISSR_ALL; ++i) { if (Actuator_Ch2_Command_Model.COM[i] != 0) { env->triggerCommand3 = true; memcpy(&env->triggerActuatorCmdBus_3, &Actuator_Ch2_Command_Model, sizeof(ActuatorCmdBus)); #if (LOG_LIN_ACTUATOR == 1) #if (LOG_LIN3_ACTUATOR == 1) for (uint8_t j = 0; j < env->linTaskActuator3->LIN_ISSR_ALL; ++j) { switch (Actuator_Ch2_Command_Model.COM[j]) { case LIN_ACT_CFR_MOD: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_MOD (SET BUSY)", j, Actuator_Ch2_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_INI: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_INI (SET BUSY)", j, Actuator_Ch2_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_SET: { LoggerFormatTrace(LOGGER, LOG_SIGN, "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND LIN_ACT_CFR_SET (SET BUSY)", j, Actuator_Ch2_Command_Model.BUS_ADR[j]) break; } case LIN_ACT_CFR_NONE: { break; } default: { LoggerFormatError(LOGGER, LOG_SIGN, "LIN3 (ADR[%d] = %d): TRIGGERED COMMAND = %d UNKNOWN !!! (SET BUSY)", j, Actuator_Ch2_Command_Model.BUS_ADR[j], Actuator_Ch2_Command_Model.COM[j]) } } } #endif #endif Actuator_Ch2_Status_Model.Busy = 1; break; } } } return false; } static _Noreturn void ModelTask_Thread(tModelTask *env) { for (;;) { if (osMutexAcquire(env->access, 1000) == osOK) { rtDW.t_now = SystemGetMs(); // LoggerFormatError(LOGGER, LOG_SIGN, "Step 1 = %d", SystemGetMs()) getCmdBusADCData(env->adc0Task, &rtDW.ADC_Data_Model); // LoggerFormatError(LOGGER, LOG_SIGN, "Step 2 = %d", SystemGetMs()) getCmdBusADC2Data(env->adc1Task, (CmdBusADC2Data *)&rtDW.ADC_Data_Model.VN7008AJ_DIAG_FrontLINActuatorPowerDriverAB); // LoggerFormatError(LOGGER, LOG_SIGN, "Step 3 = %d", SystemGetMs()) // PWM_Get.pwmPercentFront = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env); // PWM_Get.pwmPercentRear = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env); // PWM_Get.pwmPercentFrontReserved = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env); // PWM_Get.pwmPercentRearReserved = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env); // LoggerFormatError(LOGGER, LOG_SIGN, "Step 4 = %d", SystemGetMs()) get_CanSpamReceiver(env->canSpamReceiver); // LoggerFormatError(LOGGER, LOG_SIGN, "Step 5 = %d", SystemGetMs()) HVAC_model_step(); setActuatorBusy(env); // Включение 5V (0 - ВКЛ) GpioPinSet(&env->gpios->power.SW5V_EN, rtY.PowerEnable_Model.SW5V_EN); // GpioPinSet(&env->gpios->power.SW5V_EN, true); // Контроль напряжения борт-сети (1 - ВКЛ) GpioPinSet(&env->gpios->power.PBATT_CK_EN, rtY.PowerEnable_Model.PBATT_CK_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Front_EN, rtY.PowerEnable_Model.Incar_Motor_Front_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_EN_Diag, true); GpioPinSet(&env->gpios->power.BTS5180_2EKA_FrontRearIncarMotor.Incar_Motor_Rear_EN, rtY.PowerEnable_Model.Incar_Motor_Rear_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN, rtY.PowerEnable_Model.TwoWayValve_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.TwoWayValve_EN_Diag, true); GpioPinSet(&env->gpios->power.BTS5180_2EKA_TwoWayValveAndReservePowerSupply.ReservePower_EN, rtY.PowerEnable_Model.ReservePower_EN); GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ReservePowerOutput.EN_ReservePower, rtY.PowerEnable_Model.EN_ReservePower); GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_PowerReserve.EN_PowerReserve, rtY.PowerEnable_Model.EN_PowerReserve); GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver1_EN, rtY.PowerEnable_Model.PtcRelayDriver1_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver_EN_Diag, true); GpioPinSet(&env->gpios->power.BTS5180_2EKA_2xChannelPTCPower.PtcRelayDriver2_EN, rtY.PowerEnable_Model.PtcRelayDriver2_EN); GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.LIN_ActPower_AB, rtY.PowerEnable_Model.LIN_ActPower_AB); GpioPinSet(&env->gpios->power.VN7008AJ_FrontLINActuatorPowerDriverAB.EN_CurrentSensing_AB, true); GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.LIN_ActPower_C, rtY.PowerEnable_Model.LIN_ActPower_C); GpioPinSet(&env->gpios->power.VN7008AJ_RearLINActuatorPowerDriverC.EN_CurrentSensing_C, true); GpioPinSet(&env->gpios->power.BTS4175SGAXUMA1_ShutOFFValveBatteryChiller.EN_BATTChiller, rtY.PowerEnable_Model.EN_BATTChiller); GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffFront_EN, rtY.PowerEnable_Model.ShutOffFront_EN); GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOff_EN_Diag, true); GpioPinSet(&env->gpios->power.BTS5180_2EKA_ShutOFFValveFrontRear.ShutOffRear_EN, rtY.PowerEnable_Model.ShutOffRear_EN); GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV1_EN, rtY.PowerEnable_Model.ShutOffTXV1_EN); GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV_EN_Diag, true); GpioPinSet(&env->gpios->power.BTS5120_2EKA_ShutoffValvePowerTXV.ShutOffTXV2_EN, rtY.PowerEnable_Model.ShutOffTXV2_EN); env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, rtY.PWM_Get_f.pwmPercentFront); env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, rtY.PWM_Get_f.pwmPercentRear); env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, rtY.PWM_Get_f.pwmPercentFrontReserved); env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, rtY.PWM_Get_f.pwmPercentRearReserved); memcpy(&env->ccu_candb_tx.CCU_Errors, &rtY.CCU_Errors_model, sizeof(env->ccu_candb_tx.CCU_Errors)); memcpy(&env->ccu_candb_tx.CCU_Stat1, &rtY.CCU_Stat1_model, sizeof(env->ccu_candb_tx.CCU_Stat1)); memcpy(&env->ccu_candb_tx.CCU_Stat2, &rtY.CCU_Stat2_model, sizeof(env->ccu_candb_tx.CCU_Stat2)); memcpy(&env->ccu_candb_tx.CCU_HVC_Req_Msg, &rtY.CCUCAN_HVC_REQ_MSG_MODEL, sizeof(env->ccu_candb_tx.CCU_HVC_Req_Msg)); memcpy(&env->ccu_candb_tx.CCU_Msg3, &rtY.CCU_Msg3_model, sizeof(env->ccu_candb_tx.CCU_Msg3)); memcpy(&env->ccu_candb_tx.CCU_Msg1, &rtY.CCU_Msg1_model, sizeof(env->ccu_candb_tx.CCU_Msg1)); set_CanSpamTransmitter(env->canSpamTransmitter, &env->ccu_candb_tx); memcpy(&env->ccu_candb_dbg_tx.dbg_Act0, &rtY.dbgCAN_dbg_Act0_model, sizeof(env->ccu_candb_dbg_tx.dbg_Act0)); memcpy(&env->ccu_candb_dbg_tx.dbg_Act1, &rtY.dbgCAN_dbg_Act1_model, sizeof(env->ccu_candb_dbg_tx.dbg_Act1)); memcpy(&env->ccu_candb_dbg_tx.dbg_Act2, &rtY.dbgCAN_dbg_Act2_model, sizeof(env->ccu_candb_dbg_tx.dbg_Act2)); memcpy(&env->ccu_candb_dbg_tx.dbg_Sen_Duct, &rtY.dbgCAN_dbg_Sen_Duct_model, sizeof(env->ccu_candb_dbg_tx.dbg_Sen_Duct)); memcpy(&env->ccu_candb_dbg_tx.dbg_Sen_Eva, &rtY.dbgCAN_dbg_Sen_Eva_model, sizeof(env->ccu_candb_dbg_tx.dbg_Sen_Eva)); memcpy(&env->ccu_candb_dbg_tx.dbg_Logic_Blower, &rtY.dbgCAN_dbg_Logic_Blower_model, sizeof(env->ccu_candb_dbg_tx.dbg_Logic_Blower)); memcpy(&env->ccu_candb_dbg_tx.dbg_Sen_Amb, &rtY.dbgCAN_dbg_Sen_Amb_model, sizeof(env->ccu_candb_dbg_tx.dbg_Sen_Amb)); memcpy(&env->ccu_candb_dbg_tx.dbg_Sen_Incar, &rtY.dbgCAN_dbg_Sen_Incar_model, sizeof(env->ccu_candb_dbg_tx.dbg_Sen_Incar)); memcpy(&env->ccu_candb_dbg_tx.dbg_Sen_0, &rtY.dbgCAN_dbg_Sen_0_model, sizeof(env->ccu_candb_dbg_tx.dbg_Sen_0)); memcpy(&env->ccu_candb_dbg_tx.dbg_Logic_Ac, &rtY.dbg_Logic_Ac_model, sizeof(env->ccu_candb_dbg_tx.dbg_Logic_Ac)); memcpy(&env->ccu_candb_dbg_tx.dbg_CCU_IO, &rtY.dbgCAN_CCU_IO_model, sizeof(env->ccu_candb_dbg_tx.dbg_CCU_IO)); memcpy(&env->ccu_candb_dbg_tx.dbg_Logic_Rec, &rtY.dbgCAN_Logic_Rec_model, sizeof(env->ccu_candb_dbg_tx.dbg_Logic_Rec)); memcpy(&env->ccu_candb_dbg_tx.dbg_Logic_State, &rtY.dbgCAN_Logic_State_model, sizeof(env->ccu_candb_dbg_tx.dbg_Logic_State)); memcpy(&env->ccu_candb_dbg_tx.dbg_Auto_AF, &rtY.dbgCAN_Auto_AF_model, sizeof(env->ccu_candb_dbg_tx.dbg_Auto_AF)); memcpy(&env->ccu_candb_dbg_tx.dbg_Auto_Duct, &rtY.dbgCAN_Auto_Duct_model, sizeof(env->ccu_candb_dbg_tx.dbg_Auto_Duct)); set_CanDebugSpamTransmitter(env->canSpamDebugTransmitter, &env->ccu_candb_dbg_tx); set_Dtc_state(env->diagnostic); // LoggerFormatError(LOGGER, LOG_SIGN, "Step END = %d", SystemGetMs()) env->isRunning = true; osMutexRelease(env->access); } else { LoggerErrorStatic(LOGGER, LOG_SIGN, "Access error ModelTask_Thread"); } SystemDelayMs(10); } } void ModelTask_StartThread(tModelTask *env) { if (!env->thread.id) { env->thread.id = osThreadNew((osThreadFunc_t) (ModelTask_Thread), (void *) (env), &env->thread.attr); } else { osThreadResume(env->thread.id); } } void ModelTask_StopThread(tModelTask *env) { if (env->thread.id) { osThreadSuspend(env->thread.id); } }