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