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matlab_23550/Inu/Src2/main/optical_bus.c

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#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
/*
* optical_bus.h.c
*
* Created on: 18 <EFBFBD><EFBFBD><EFBFBD>. 2020 <EFBFBD>.
* Author: stud
*/
#include <adc_tools.h>
#include <edrk_main.h>
#include <optical_bus.h>
#include <params.h>
#include <sync_tools.h>
#include <vector.h>
#include "IQmathLib.h"
#include "xp_project.h"
OPTICAL_BUS_DATA optical_write_data = OPTICAL_BUS_DATA_DEFAULT;
OPTICAL_BUS_DATA optical_read_data = OPTICAL_BUS_DATA_DEFAULT;
void parse_task_from_optical_bus(void);
#pragma CODE_SECTION(optical_bus_update_data_write,".fast_run");
void optical_bus_update_data_write(void)
{
optical_write_data.data.cmd.bit.alarm = edrk.summ_errors;
optical_write_data.data.cmd.bit.master = edrk.auto_master_slave.local.bits.master;
optical_write_data.data.cmd.bit.slave = edrk.auto_master_slave.local.bits.slave;
optical_write_data.data.cmd.bit.maybe_master = edrk.auto_master_slave.local.bits.try_master;
// optical_write_data.cmd.bit.controlMode = ;
// optical_write_data.cmd.bit.err_optbus =
// optical_write_data.cmd.bit.master =
// optical_write_data.cmd.bit.maybe_master =
// optical_write_data.cmd.bit.pwm_status =
//
if (edrk.Status_Rascepitel_Ok==0)
{
if (edrk.RunZahvatRascepitel)
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF;// 10 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
else
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_OFF;//00 - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else
{
if (edrk.Status_Ready.bits.ready_final==0) // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
if (edrk.RunUnZahvatRascepitel)
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_REQUEST_AND_THIS_OFF;// 10 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
else
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON;// 01 - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else
{
if (edrk.you_can_on_rascepitel==0)
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_DISABLE_THIS_ON; // 11 - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
else
optical_write_data.data.cmd.bit.rascepitel_cmd = CODE_RASCEPITEL_CMD_ENABLE_ON_AND_THIS_ON; // 01 - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
}
if (edrk.Status_Ready.bits.ready7 || (edrk.Status_Ready.bits.ready5 && edrk.Status_Ready.bits.ImitationReady2) )
optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY2;
else
if (edrk.SumSbor)
optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY1TO2;
else
optical_write_data.data.cmd.bit.ready_cmd = CODE_READY_CMD_READY1;
// optical_write_data.cmd.bit.ready_to_go =
// optical_write_data.cmd.bit.slave =
//
// optical_write_data.cmd.bit.start_pwm =
optical_write_data.data.cmd.bit.statusQTV = edrk.from_shema_filter.bits.QTV_ON_OFF;
// optical_write_data.cmd.bit.stop_pwm =
optical_write_data.data.cmd.bit.sync_1_2 = sync_data.local_flag_sync_1_2;
optical_write_data.data.cmd.bit.sync_line_detect = !sync_data.timeout_sync_signal;
// optical_write_data.data1 = f.Mode == 1 ? f.fzad * 60.0 + 0.5 :
// f.Mode == 2 ? f.p_zad / 1000.0 :
// 0;
// optical_write_data.data2 = rotor.direct_rotor == -1 ? -_IQtoIQ15(rotor.iqFout) :
// _IQtoIQ15(rotor.iqFout);
// optical_write_data.data3 = _IQtoIQ15(analog.iqIq_zadan);
// optical_write_data.data4.bit.controlMode = f.Mode == 2 ? 1 : 0;
// optical_write_data.data4.bit.leading_ready = f.Ready2 && (f.Mode == 1 || f.Mode == 2) ? 1 : 0;
// optical_write_data.data4.bit.leading_Go = edrk.Go;
}
#pragma CODE_SECTION(optical_bus_write,".fast_run");
void optical_bus_write(void)
{
#if(USE_TK_3)
// check error write PBUS OPTICAL BUS
project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
// write data to OPTICAL BUS
project.cds_tk[3].optical_data_out.buf[0] = optical_write_data.data.pzad_or_wzad;
project.cds_tk[3].optical_data_out.buf[1] = optical_write_data.data.angle_pwm;
project.cds_tk[3].optical_data_out.buf[2] = optical_write_data.data.iq_zad_i_zad;
project.cds_tk[3].optical_data_out.buf[3] = optical_write_data.data.cmd.all;
optical_write_data.status = 1;
project.cds_tk[3].optical_bus_write_data(&project.cds_tk[3]);
#endif
}
#pragma CODE_SECTION(optical_bus_read_old,".fast_run");
void optical_bus_read_old(void)
{
// // check error write PBUS OPTICAL BUS
// project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
//// read data from OPTICAL BUS
// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
// // check error read PBUS OPTICAL BUS
// project.cds_tk[3].optical_bus_check_error_read(&project.cds_tk[3]);
//
//
// if (project.cds_tk[3].optical_data_in.new_data_ready)
// {
// if (project.cds_tk[3].optical_data_in.overfull_new_data)
// optical_read_data.overfull_data++;
//
// optical_read_data.raw.pzad_or_wzad = (int)project.cds_tk[3].optical_data_in.buf[0];
// optical_read_data.raw.angle_pwm = (int)project.cds_tk[3].optical_data_in.buf[1];
// optical_read_data.raw.iq_zad = (int)project.cds_tk[3].optical_data_in.buf[2];
// optical_read_data.raw.cmd.all = project.cds_tk[3].optical_data_in.buf[3];
//
//
// optical_read_data.data.pzad_or_wzad = optical_read_data.raw.pzad_or_wzad;
// optical_read_data.data.angle_pwm = optical_read_data.raw.angle_pwm ;
// optical_read_data.data.iq_zad = optical_read_data.raw.iq_zad;
// optical_read_data.data.cmd.all = optical_read_data.raw.cmd.all;
//
// optical_read_data.code_status.bit.ready = 1;
// optical_read_data.code_status.bit.recive_error = 0;
// optical_read_data.code_status.bit.overfull = 0;
// optical_read_data.code_status.bit.timeout = 0;
// optical_read_data.code_status.bit.wait = 0;
//
// project.cds_tk[3].optical_data_in.new_data_ready = 0;
//
// return (optical_read_data.code_status);
//
// }
// else
// {
//
// if (project.cds_tk[3].optical_data_in.ready == 1)
// {
// optical_read_data.code_status.bit.ready = 0;
//
// if (project.cds_tk[3].optical_data_in.raw_local_error)
// optical_read_data.code_status.bit.recive_error = 1;
// else
// optical_read_data.code_status.bit.recive_error = 0;
//
// optical_read_data.code_status.bit.overfull = 0;
// optical_read_data.code_status.bit.timeout = 0;
// optical_read_data.code_status.bit.wait = 1;
//
// return (optical_read_data.code_status);
// }
//
// }
//
//
// if (project.cds_tk[3].optical_data_out.ready == 0) {
//
// project.cds_tk[3].optical_data_out.error_not_ready_count += 1;
//
//// optical_read_data.code_status.bit.ready = 0;
// optical_read_data.code_status.bit.send_error = 1;
//// optical_read_data.code_status.bit.overfull = 0;
//// optical_read_data.code_status.bit.timeout = 0;
//// optical_read_data.code_status.bit.wait = 0;
//
//// optical_write_data.status = 2;
//// return (optical_read_data.code_status);
// }
// else
// optical_read_data.code_status.bit.send_error = 0;
//
//
// if (project.cds_tk[3].optical_data_in.ready == 0) {
//
//// f.read_task_from_optical_bus = 0;
// project.cds_tk[3].optical_data_in.error_not_ready_count += 1;
//
// optical_read_data.code_status.bit.ready = 0;
// // optical_read_data.code_status.bit.send_error = 0;
// //optical_read_data.code_status.bit.recive_error = 1;
// optical_read_data.code_status.bit.overfull = 0;
// optical_read_data.code_status.bit.timeout = 1;
// optical_read_data.code_status.bit.wait = 0;
//
// optical_read_data.data.pzad_or_wzad = 0;
// optical_read_data.data.angle_pwm = 0;
// optical_read_data.data.iq_zad = 0;
// optical_read_data.data.cmd.all = 0;
//
// // optical_read_data.status = 2;
//
// // return (project.cds_tk[3].optical_data_in.raw_local_error);
// }
// else
// {
//
//
//
// }
//
// return (optical_read_data.code_status);
//
//
//// optical_read_data.status = 1;
//
// // return (project.cds_tk[3].optical_data_in.raw_local_error);
//
//// if (f.flag_leading == 0 && f.flag_distance && f.Ready1){
//// parse_task_from_optical_bus();
//// } else {
//// f.read_task_from_optical_bus = 0;
//// }
//// rotor.iqFrotFromOptica = _IQ15toIQ(optical_read_data.data2); //Frot
//// analog.iqIq_zad_from_optica = _IQ15toIQ(optical_read_data.data3);
}
#pragma CODE_SECTION(optical_bus_read,".fast_run");
void optical_bus_read(void)
{
// check error write PBUS OPTICAL BUS
// project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
// read data from OPTICAL BUS
#if(USE_TK_3)
project.cds_tk[3].read_pbus(&project.cds_tk[3]);
#endif
return;
}
#pragma CODE_SECTION(optical_bus_read_clear_count_error,".fast_run");
void optical_bus_read_clear_count_error(void)
{
#if(USE_TK_3)
project.cds_tk[3].optical_data_in.local_count_error = 0;
#endif
return;
}
#pragma CODE_SECTION(optical_bus_get_status_and_read,".fast_run");
STATUS_DATA_READ_OPT_BUS optical_bus_get_status_and_read(void)
{
STATUS_DATA_READ_OPT_BUS status_read;
// check error write PBUS OPTICAL BUS
// project.cds_tk[3].optical_bus_check_error_write(&project.cds_tk[3]);
// read data from OPTICAL BUS
// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
#if(USE_TK_3)
// check error read PBUS OPTICAL BUS
project.cds_tk[3].optical_bus_check_error_read(&project.cds_tk[3]);
status_read.all = project.cds_tk[3].optical_data_in.status_read.all;
project.cds_tk[3].optical_data_in.prev_status_read.all = status_read.all;
project.cds_tk[3].optical_data_in.status_read.all = 0;
optical_read_data.status = project.cds_tk[3].optical_data_in.ready;
if (status_read.bit.new_data_ready)
{
if (status_read.bit.overfull_new_data)
optical_read_data.overfull_data++;
optical_read_data.raw.pzad_or_wzad = (int)project.cds_tk[3].optical_data_in.buf[0];
optical_read_data.raw.angle_pwm = (int)project.cds_tk[3].optical_data_in.buf[1];
optical_read_data.raw.iq_zad_i_zad = (int)project.cds_tk[3].optical_data_in.buf[2];
optical_read_data.raw.cmd.all = project.cds_tk[3].optical_data_in.buf[3];
optical_read_data.data.pzad_or_wzad = optical_read_data.raw.pzad_or_wzad;
optical_read_data.data.angle_pwm = optical_read_data.raw.angle_pwm ;
optical_read_data.data.iq_zad_i_zad = optical_read_data.raw.iq_zad_i_zad;
optical_read_data.data.cmd.all = optical_read_data.raw.cmd.all;
return (status_read); // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else
{
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> optical_bus, <20> <20><> <20><><EFBFBD>!
// optical_read_data.data.pzad_or_wzad = 0;
// optical_read_data.data.angle_pwm = 0;
// optical_read_data.data.iq_zad_i_zad = 0;
// optical_read_data.data.cmd.all = 0;
}
#else
status_read.all = 0;
#endif
return status_read; //<2F><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
void parse_task_from_optical_bus(void) {
// if (optical_read_data.data4.bit.leading_ready == 1) {
// f.read_task_from_optical_bus = 1;
// f.Mode = optical_read_data.data4.bit.controlMode == 0 ? 1 : 2;
// if (f.Mode == 1) {
// f.fzad = (float)optical_read_data.data1 / 60.0;
// f.iq_fzad = _IQ(f.fzad / NORMA_FROTOR);
// limit_mzz_zad_turns();
// }
// if (f.Mode == 2) {
// f.p_zad = (float)optical_read_data.data1 * 1000.0;
// f.iq_p_zad = _IQ(f.p_zad/NORMA_ACP/NORMA_ACP);
// //
// if (f.iq_p_zad > f.iq_p_limit_zad) { f.iq_p_zad = f.iq_p_limit_zad;}
// if (f.iq_p_zad < -f.iq_p_limit_zad) { f.iq_p_zad = -f.iq_p_limit_zad;}
//
// limit_mzz_zad_power();
// }
// if (f.Ready1 && f.Ready2) {
// if (((f.Mode == 1 && f.fzad != 0) || (f.Mode == 2 && f.p_zad != 0))
// && (!f.Is_Blocked || (f.Is_Blocked && edrk.Go))
// && (f.rotor_stopped == 0)
//// && (faults.faults5.bit.rotor_stopped == 0)
// //&& (optical_read_data.data4.bit.leading_Go == 1)
// ){
// edrk.Go = 1;
// } else {
// if (edrk.Go) {
// f.p_zad = 0;
// f.fzad = 0;
// f.iq_fzad = 0;
// f.iq_p_zad = 0;
// if(f.Mode == 1)
// {
// if(a.iqk < 1677722 || rotor.iqFout < 48210 //1677722 ~ 0.1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 503316 = 3% 838860 = 5%
// || (analog.iqIm_1 < 1677721 && analog.iqIm_2 < 1677721)) //1677721 ~ 300A
// {
// edrk.Go = 0;
// f.iq_fzad = 0;
// }
//
// }
// if(edrk.Go && f.Mode == 2)
// {
// if(analog.iqW < 186413)
// {
// if(a.iqk < 1677722 || //1677722 ~ 0.1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// (analog.iqIm_1 < 1677721 && analog.iqIm_2 < 1677721)) //1677721 ~ 300A
// {
// edrk.Go = 0;
// }
// }
// }
//
// } else {
// f.iq_mzz_zad = _IQ(500.0/NORMA_MZZ);
// }
// }
// } else {
// edrk.Go = 0;
// }
// _IQ15toIQ(optical_read_data.data3); //Iq_zad
// } else {
// f.read_task_from_optical_bus = 0;
// }
}
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