Razvalyaev
7e0063eee0
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294 lines
7.5 KiB
C
294 lines
7.5 KiB
C
/*
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* oscil_can.c
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*
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* Created on: 24 ìàÿ 2020 ã.
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* Author: yura
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*/
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#include "oscil_can.h"
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#include "CAN_Setup.h"
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#include "global_time.h"
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#pragma DATA_SECTION(oscil_can, ".slow_vars")
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OSCIL_CAN oscil_can = OSCIL_CAN_DEFAULTS;
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//int oscil_buffer[OSCIL_CAN_NUMBER_CHANNEL][OSCIL_CAN_NUMBER_POINTS];
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void oscil_clear_buffer(OSCIL_CAN_handle oc)
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{
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unsigned int i,k;
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for (i=0;i<OSCIL_CAN_NUMBER_CHANNEL;i++)
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for (k=0;k<(OSCIL_CAN_NUMBER_POINTS+OSCIL_CAN_NUMBER_POINTS_ADD);k++)
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oc->oscil_buffer[i][k] = 0;
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for (i=0;i<OSCIL_CAN_NUMBER_CHANNEL;i++)
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for (k=0;k<OSCIL_CAN_NUMBER_POINTS;k++)
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oc->temp_oscil_buffer[i][k] = 0;
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oc->current_position = 0;
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// oc->enable_rewrite = 1;
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}
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void oscil_send_buffer(OSCIL_CAN_handle oc)
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{
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static unsigned int old_time = 0;
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static int prev_send_to_can = 0;
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unsigned long old_t;
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unsigned int i;
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int real_mbox;
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static int flag_send_buf = 0;
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// if (flag_send_buf)
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// {
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//
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//
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//
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// return;
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// }
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oc->global_enable = TerminalUnites[oc->number_can_box_terminal_oscil][0] & 0x1;
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oc->send_after_cmd = (TerminalUnites[oc->number_can_box_terminal_oscil][0] & 0x2) >> 1;
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oc->cmd_send = (TerminalUnites[oc->number_can_box_terminal_oscil][0] & 0x4) >> 2;
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oc->stop_update_on_error = (TerminalUnites[oc->number_can_box_terminal_oscil][0] & 0x8) >> 3;
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oc->stop_update_on_stop_pwm = (TerminalUnites[oc->number_can_box_terminal_oscil][0] & 0x10) >> 4;
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TerminalUnites[oc->number_can_box_terminal_oscil][0] &= ~0x4; // clear cmd_send
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oc->number_ch = TerminalUnites[oc->number_can_box_terminal_oscil][1];
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oc->number_points = TerminalUnites[oc->number_can_box_terminal_oscil][2];
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oc->step = TerminalUnites[oc->number_can_box_terminal_oscil][3];
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if (oc->global_enable==0)
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return;
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real_mbox = get_real_out_mbox(TERMINAL_TYPE_BOX, oc->number_can_box_terminal_oscil);
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// áûëà êîìàíäà íà îòïðàâêó ïîñûëêè è îíà åùå íå óøëà, òîãäà ñðáàñûâàåì ñ÷åò÷èê âðåìåíè ïàóçû ìåæäó ïîñûëêàìè,
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// ò.å. OSCIL_TIME_WAIT ìåæäó êîíöîì îòïðàâêè ïîñûëêè è íîâîé ïîñûëêè.
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if (prev_send_to_can && CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_OFF)==0)
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{
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old_time = (unsigned int)global_time.miliseconds;
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return;
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}
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prev_send_to_can = 0;
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if (oc->send_after_cmd==0)
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{
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if (!detect_pause_milisec(OSCIL_TIME_WAIT,&old_time))
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return;
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}
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if ( (oc->send_after_cmd==0 || (oc->send_after_cmd==1 && oc->cmd_send==1 ) ) )
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{
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oc->cmd_send = 0; // clear cmd
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if (CAN_cycle_full_free(real_mbox,CAN_BOX_STAT_ON))
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{
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// oc->enable_rewrite = 0;
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old_t = oc->current_position;//
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// old_t = global_time.microseconds;
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oc->prepare_data_can(oc);
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// oc->timer_send = (global_time.microseconds - old_t);
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oc->timer_send = (oc->current_position - old_t);
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flag_send_buf = 1;
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CAN_cycle_send(
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TERMINAL_TYPE_BOX,
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oc->number_can_box_terminal_oscil,
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0,
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&(oc->temp_oscil_buffer[0][0]), (oc->number_ch * oc->number_points) , CAN_BOX_EXTENDED_ADR, CAN_BOX_PRIORITY_LOW );
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prev_send_to_can = 1;
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// while (CAN_cycle_free(real_mbox)==0);
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// oc->timer_send = (global_time.microseconds - old_t)/100;
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oc->enable_rewrite = 1;
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// if (cur_position_buf_modbus16_can >= SIZE_MODBUS_TABLE)
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// {
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// cur_position_buf_modbus16_can = 0;
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//// modbus_table_can_out[ADR_CAN_TEST_PLUS_ONE].all++;
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// }
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//
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// if ((cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN) >= SIZE_MODBUS_TABLE)
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// count_write_to_modbus_can = SIZE_MODBUS_TABLE - cur_position_buf_modbus16_can;
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// else
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// count_write_to_modbus_can = SIZE_BUF_WRITE_TO_MODBUS16_CAN;
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//
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// if (CAN_cycle_free(real_mbox))
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// {
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// CAN_cycle_send(
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// MPU_TYPE_BOX,
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// edrk.flag_second_PCH,
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// cur_position_buf_modbus16_can + 1,
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// &modbus_table_can_out[cur_position_buf_modbus16_can].all,
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// count_write_to_modbus_can, 0);
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//
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// cur_position_buf_modbus16_can = cur_position_buf_modbus16_can + SIZE_BUF_WRITE_TO_MODBUS16_CAN;
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// }
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//
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//
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}
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}
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}
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//#pragma CODE_SECTION(oscil_next_position,".fast_run");
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void oscil_next_position(OSCIL_CAN_handle oc)
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{
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static int prev_status_pwm = 0;
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static int prev_status_error = 0;
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static int cmd_stop_after_stop_pwm = 0;
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static int cmd_stop_after_stop_error = 0;
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static int count_write_after_stop = 0;
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static int prev_stop_update_on_stop_pwm = 0;
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static int prev_stop_update_on_stop_error = 0;
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//////////
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if (oc->stop_update_on_error)
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{
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if (oc->status_error && prev_status_error==0)
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{
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// ïîñëå âûñòàâëåíèÿ îøèáêè ìû òîðìîçèì ëîã
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count_write_after_stop = OSCIL_CAN_NUMBER_POINTS_AFTER_STOP;
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cmd_stop_after_stop_error = 1;
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}
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if (oc->status_error==0 && prev_status_error)
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{
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// ïîñëå ñáðîñà îøèáîê ìû çàïóñêàåì ëîã.
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cmd_stop_after_stop_error = 0;
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}
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}
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else
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cmd_stop_after_stop_error = 0;
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////////////
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if (oc->stop_update_on_stop_pwm==1 && prev_stop_update_on_stop_pwm==0)
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{
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// ïîñëå âêëþ÷åíèÿ íàñòðîéêè onPWM ìû òîðìîçèì ëîã åñëè îí çàïèñûâàëñÿ.
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cmd_stop_after_stop_pwm = 1;
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}
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if (oc->stop_update_on_stop_pwm)
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{
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if (oc->status_pwm==0 && prev_status_pwm)
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{
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// ïîñëå âûêëþ÷åíèÿ PWM ìû òîðìîçèì ëîã åñëè îí çàïèñûâàëñÿ.
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count_write_after_stop = OSCIL_CAN_NUMBER_POINTS_AFTER_STOP;
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cmd_stop_after_stop_pwm = 1;
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}
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if (oc->status_pwm && prev_status_pwm==0)
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{
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// ïîñëå âêëþ÷åíèÿ PWM ìû çàïóñêàåì ëîã.
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cmd_stop_after_stop_pwm = 0;
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}
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}
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else
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cmd_stop_after_stop_pwm = 0;
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prev_stop_update_on_stop_pwm = oc->stop_update_on_stop_pwm;
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prev_stop_update_on_stop_error = oc->stop_update_on_error;
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prev_status_error = oc->status_error;
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prev_status_pwm = oc->status_pwm;
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////////////
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oc->current_step++;
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if (oc->current_step>=oc->step)
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{
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oc->current_step = 0;
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if (cmd_stop_after_stop_error || cmd_stop_after_stop_pwm)
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{
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if (count_write_after_stop)
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{
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count_write_after_stop--;
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oc->current_position++;
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oc->code_status_log = OSCIL_CODE_STATUS_LOG_RUN_TO_STOP;
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}
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else
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oc->code_status_log = OSCIL_CODE_STATUS_LOG_STOP;
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}
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else
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{
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oc->current_position++;
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oc->code_status_log = OSCIL_CODE_STATUS_LOG_RUN;
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}
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if (oc->current_position==(OSCIL_CAN_NUMBER_POINTS+OSCIL_CAN_NUMBER_POINTS_ADD))
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oc->current_position = 0;
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}
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}
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#pragma CODE_SECTION(oscil_prepare_data_can,".fast_run");
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void oscil_prepare_data_can(OSCIL_CAN_handle oc)
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{
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unsigned int old_position, t_position;
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int i, k;
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old_position = oc->current_position;
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for (i=0;i<OSCIL_CAN_NUMBER_CHANNEL;i++)
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{
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t_position = old_position;
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for (k=OSCIL_CAN_NUMBER_POINTS-1;k>=0;k--)
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{
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if (t_position==0)
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{
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t_position = (OSCIL_CAN_NUMBER_POINTS+OSCIL_CAN_NUMBER_POINTS_ADD)-1;
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}
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else
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t_position = t_position - 1;
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oc->temp_oscil_buffer[i][k] = oc->oscil_buffer[i][t_position];
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}
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}
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}
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