/*
* optical_bus_tools.c
*
* Created on: 19 àâã. 2024 ã.
* Author: user
*/
#include <adc_tools.h>
#include <alg_simple_scalar.h>
#include <alg_uf_const.h>
#include <break_regul.h>
#include <edrk_main.h>
#include <optical_bus.h>
#include <params.h>
#include <params_norma.h>
#include <params_pwm24.h>
#include <project.h>
#include <v_pwm24_v2.h>
#include <v_rotor.h>
#include <vector.h>
#include "global_time.h"
#include "IQmathLib.h"
#include "oscil_can.h"
#include "uf_alg_ing.h"
#include "MemoryFunctions.h"
#include "RS_Functions.h"
#include "v_rotor_22220.h"
#include "log_to_memory.h"
#include "log_params.h"
///////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(optical_bus_read_write_interrupt,".fast_run2");
void optical_bus_read_write_interrupt(void)
{
static unsigned int prev_error_read = 0, count_read_optical_bus_error = 0, count_read_optical_bus_old_data = 0;
static unsigned int max_count_read_old_data_optical_bus = 15;
static unsigned int flag_disable_resend = 0;
static unsigned int count_resend = 0, cc=0;
// static STATUS_DATA_READ_OPT_BUS buf_status[10];
static STATUS_DATA_READ_OPT_BUS optbus_status;
static unsigned int tt=0;
static unsigned int cmd_wdog_sbus = 0, count_wait_wdog_sbus = 0, wdog_sbus = 0;
static int prepare_time = 0;
static unsigned int t_finish_optbus = 14, t_read_optbus = 6, t_write_optbus = 10, max_count_read_error_optical_bus = 15, max_count_read_wdog_optical_bus = 48;
static int cmd_optbus = 0;
static int flag_enable_read=0, flag_finish_read = 0, flag_enable_write = 0, flag_finish_write = 0, count_wait_write = 0;
if (prepare_time==0)
{
if (edrk.flag_second_PCH==0)
{
t_read_optbus = 6;
t_write_optbus = 8;
t_finish_optbus = 20;
}
if (edrk.flag_second_PCH==1)
{
t_read_optbus = 12;
t_write_optbus = 14;
t_finish_optbus = 10;
}
prepare_time = 1;
}
if (flag_special_mode_rs==1)
return;
if (edrk.KvitirProcess)
return;
if (edrk.disable_interrupt_timer2)
return;
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_17_ON;
#endif
//i_led2_on_off(1);
//#if (ENABLE_LOG_INTERRUPTS)
// add_log_interrupts(2);
//#endif
// pause_1000(100);
if (optical_read_data.flag_clear)
{
// stage_1 = 0;
optical_read_data.timer = 0;
optical_read_data.flag_clear = 0;
optical_read_data.error_wdog = 0;
// count_wait_wdog_sbus = 0;
// if (optical_read_data.data_was_update_between_pwm_int==0)
// sum_count_err_read_opt_bus++;
//
// optical_read_data.data_was_update_between_pwm_int = 0;
// optical_read_data.data_was_update_between_pwm_int = 0;
cc = 0;
prev_error_read = 0;
}
#if(_ENABLE_PWM_LINES_FOR_TESTS)
if (optical_read_data.timer==0)
{
PWM_LINES_TK_16_ON;
}
else
{
PWM_LINES_TK_16_OFF;
}
#endif
// else
optical_read_data.timer++;
// if (edrk.into_pwm_interrupt==1)
// {
// if (optical_read_data.timer>=2)
// {
// optical_read_data.timer--;
// optical_read_data.timer--;
// }
// flag_disable_resend = 0;
// count_resend = 0;
//
// }
//
//
//
// if (stage_1==0)
// tt = t1;
//
// if (stage_1==1)
// tt = t2;
if (edrk.ms.another_bs_maybe_on==1 && edrk.flag_second_PCH==0 /*edrk.auto_master_slave.local.bits.master*/ )
{
if (optical_read_data.data.cmd.bit.wdog_tick)
{
// i_led1_on();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_21_ON;
#endif
}
else
{
// i_led1_off();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_21_OFF;
#endif
}
optical_write_data.data.cmd.bit.wdog_tick = optical_read_data.data.cmd.bit.wdog_tick;
if (optical_write_data.data.cmd.bit.wdog_tick)
{
// i_led2_on();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_22_ON;
#endif
}
else
{
// i_led2_off();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_22_OFF;
#endif
}
}
if (edrk.ms.another_bs_maybe_on==1 && edrk.flag_second_PCH==1 /*edrk.auto_master_slave.local.bits.slave*/ )
{
if (optical_write_data.data.cmd.bit.wdog_tick)
{
// i_led2_on();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_22_ON;
#endif
}
else
{
// i_led2_off();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_22_OFF;
#endif
}
if (optical_read_data.data.cmd.bit.wdog_tick)
{
// i_led1_on();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_21_ON;
#endif
}
else
{
// i_led1_off();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_21_OFF;
#endif
}
// ïèøåì
optical_write_data.data.cmd.bit.wdog_tick = wdog_sbus;
if (cmd_wdog_sbus==0)
{
// optical_write_data.data.cmd.bit.wdog_tick = wdog_sbus;
count_wait_wdog_sbus = 0;
cmd_wdog_sbus++;
}
else
// æäåì ïîäòâåðæäåíèÿ
if (cmd_wdog_sbus==1)
{
if (optical_read_data.data.cmd.bit.wdog_tick == wdog_sbus) //&& prev_error_read==0
{
// result_code_wdog_sbus = 1;
optical_read_data.count_error_wdog = count_wait_wdog_sbus;
count_wait_wdog_sbus = 0;
wdog_sbus = !wdog_sbus;
cmd_wdog_sbus = 0;
}
else
{
if (count_wait_wdog_sbus<max_count_read_wdog_optical_bus ) //6
{
count_wait_wdog_sbus++;
}
else
{
if (optical_read_data.error_wdog==0)
{
// íå áûëî îøèáîê è âäðóã åñòü!
// i_led2_toggle();
// pause_1000(10);
// i_led2_toggle();
// pause_1000(10);
}
// if (optical_read_data.data.cmd.bit.alarm==0) // ïîêà òàê!
optical_read_data.error_wdog = 1; // äàåì îøèáêó
}
}
}
}
#if(_ENABLE_PWM_LINES_FOR_TESTS)
// if (count_wait_wdog_sbus==0)
// {
// PWM_LINES_TK_16_ON;
// }
// else
// {
// PWM_LINES_TK_16_OFF;
// }
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
if (optical_read_data.error_wdog)
{
PWM_LINES_TK_23_ON;
PWM_LINES_TK_23_ON;
}
else
{
PWM_LINES_TK_23_OFF;
}
#endif
#define TIME_WAIT_CMD_WRITE 5 // ñêîëüêî òèêîâ åäåò çàïèñü äî ïðèåìíèêà, ïîñëå ýòîãî ìîæíî ïîïðîáîâàòü ïðî÷èòàòü äàííûå
if (edrk.flag_second_PCH==1)
{
switch (cmd_optbus)
{
case 0 : if (optical_read_data.timer==t_read_optbus)
cmd_optbus = 1;
break;
case 1: flag_enable_read = 1;
flag_finish_read = 0;
flag_enable_write = 0;
flag_finish_write = 0;
count_wait_write = 0;
cmd_optbus = 2;
break;
case 2: if (flag_finish_read)
{
flag_enable_write = 1;
count_wait_write = TIME_WAIT_CMD_WRITE;
cmd_optbus = 3;
}
break;
case 3: if (flag_enable_write==0)
{
if (count_wait_write)
{
count_wait_write--;
}
else
cmd_optbus = 4;
}
break;
case 4: if (optical_read_data.timer>=t_finish_optbus)
cmd_optbus = 1;
break;
case 5:
break;
case 6:
break;
case 7:
break;
case 8:
break;
case 9:
break;
default:
break;
}
}
if (edrk.flag_second_PCH==0)
{
switch (cmd_optbus)
{
case 0 : if (optical_read_data.timer==t_write_optbus)
cmd_optbus = 1;
break;
case 1: flag_enable_read = 0;
flag_finish_read = 0;
flag_enable_write = 1;
flag_finish_write = 0;
count_wait_write = TIME_WAIT_CMD_WRITE;
cmd_optbus = 2;
break;
case 2: if (flag_enable_write==0)
{
if (count_wait_write)
{
count_wait_write--;
}
else
cmd_optbus = 3;
}
break;
case 3: flag_enable_read = 1;
flag_finish_read = 0;
flag_enable_write = 0;
flag_finish_write = 0;
count_wait_write = 0;
cmd_optbus = 4;
break;
case 4: if (flag_finish_read)
{
//flag_enable_write = 1;
//count_wait_write = 2;
//cmd_optbus = 2;
flag_enable_read = 0;
flag_finish_read = 0;
flag_enable_write = 1;
flag_finish_write = 0;
count_wait_write = TIME_WAIT_CMD_WRITE;
cmd_optbus = 2; // ìèíóåì case 5: è case 1:
}
break;
case 5: if (optical_read_data.timer>=t_finish_optbus)
cmd_optbus = 1;
break;
case 6:
break;
case 7:
break;
case 8:
break;
case 9:
break;
case 10:
break;
default:
break;
}
}
// if (optical_read_data.timer==t_read_optbus)
// flag_run_cycle = 1;
//
// if (flag_run_cycle==t_read_optbus)
// {
// flag_enable_read = 1;
// flag_finish_read = 0;
// flag_enable_write = 0;
// flag_finish_write = 0;
// flag_run_cycle = 0;
// }
//
//
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_18_OFF;
#endif
if (flag_enable_read)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_19_ON;
#endif
#if(USE_TK_3)
project.cds_tk[3].read_pbus(&project.cds_tk[3]);
#endif
optbus_status = optical_bus_get_status_and_read();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_19_OFF;
#endif
cc++;
if (optbus_status.bit.new_data_ready)
{
prev_error_read = 0;
optical_read_data.count_read_optical_bus_old_data = 0;
if (optical_read_data.data_was_update_between_pwm_int<10000)
optical_read_data.data_was_update_between_pwm_int += 1;
count_read_optical_bus_error = 0;
flag_finish_read = 1;
flag_enable_read = 0;
}
if (optbus_status.bit.receiver_error || optbus_status.bit.bad_status12 )
{
prev_error_read = 1;
if (count_read_optical_bus_error<=max_count_read_error_optical_bus)
count_read_optical_bus_error++;
else
{
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;
flag_finish_read = 1;
}
}
if (optbus_status.bit.old_data)
{
// prev_error_read = 1;
flag_finish_read = 1;
if (optical_read_data.count_read_optical_bus_old_data<=max_count_read_old_data_optical_bus)
optical_read_data.count_read_optical_bus_old_data++;
else
{
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;
}
}
#if(_ENABLE_PWM_LINES_FOR_TESTS)
if (optbus_status.bit.new_data_ready)
{
PWM_LINES_TK_18_ON;
}
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12)
{
// PWM_LINES_TK_16_ON;
}
#endif
}
//
//
// if (flag_finish_read)
// {
// flag_enable_write = 1;
// count_wait_write = 10;
// }
if (flag_enable_write)
{
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_20_ON;
#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
static unsigned int ccc = 0;
ccc++;
optical_write_data.data.angle_pwm = ccc;
#endif
optical_bus_write();
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_20_OFF;
#endif
flag_enable_write = 0;
}
//
// if (count_wait_write)
// {
// count_wait_write--;
// }
// else
// flag_finish_write = 1;
//
//
//
//// read
//
// if (optical_read_data.timer==(t_read_optbus-1))
// prev_error_read = 1;
// else
// if (optical_read_data.timer==t_read_optbus || prev_error_read==1)
// {
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_18_OFF;
//#endif
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_19_ON;
//#endif
//
// project.cds_tk[3].read_pbus(&project.cds_tk[3]);
//
// optbus_status = optical_bus_get_status_and_read();
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_19_OFF;
//#endif
// cc++;
//
// if (optbus_status.bit.new_data_ready)
// {
//
// prev_error_read = 0;
//
// if (optical_read_data.data_was_update_between_pwm_int<10000)
// optical_read_data.data_was_update_between_pwm_int += 1;
//
// count_read_optical_bus_error = 0;
// }
//
// if (optbus_status.bit.receiver_error || optbus_status.bit.bad_status12 )
// {
//
// prev_error_read = 1;
//
// if (count_read_optical_bus_error<=max_count_read_error_optical_bus)
// count_read_optical_bus_error++;
// else
// {
// 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 = 0x40; // âðåìåííî! alarm = 1
// optical_read_data.data.cmd.all = 0;
// }
// }
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// if (optbus_status.bit.new_data_ready)
// {
// PWM_LINES_TK_18_ON;
// }
//#endif
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12)
// {
// // PWM_LINES_TK_16_ON;
// }
//#endif
//
// }
//
//
//
//
//// write
//
// if (optical_read_data.timer==t_write_optbus)
// {
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_20_ON;
//#endif
//
// optical_bus_write();
//
//
//#if(_ENABLE_PWM_LINES_FOR_TESTS)
// PWM_LINES_TK_20_OFF;
//#endif
// }
// finish
// if (optical_read_data.timer>=t_finish_optbus)
// {
// optical_read_data.timer = 0;
// }
// if (prev_error_read==0)
// i_led2_off();
// if (optical_read_data.timer==t2)
// {
//
// // if (edrk.flag_second_PCH==0)
// stage_2 = 1;
// // else
// // stage_1 = 1;
//
// optical_read_data.timer = 0;
// }
// if (optical_read_data.timer>=t3)
// {
// optical_read_data.timer = 0;
// }
//
// if (stage_1==2 && prev_stage1!=stage_1)
// {
// // i_led2_on();
//// if (flag_disable_resend==0)
//// {
// // if (edrk.ms.another_bs_maybe_on==1 && (edrk.auto_master_slave.local.bits.master ) )
//
// // if (edrk.flag_second_PCH==0)
// {
// i_led2_on();
// i_led2_off();
// i_led2_on();
//
// optical_bus_write();
// }
//// else
//// {
//// i_led2_on();
////
//// optical_bus_read();
//// optbus_status = optical_bus_get_status_and_read();
//// buf_status[cc] = optbus_status;
//// cc++;
////
//// if (optbus_status.bit.new_data_ready)
//// optical_read_data.data_was_update_between_pwm_int = 1;
////
//// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12
//// )
//// {
//// i_led1_on();
//// i_led1_off();
////
//// }
////
//// }
// stage_1 = 0;
// }
// if (stage_1==1 && prev_stage1!=stage_1)
// {
//
//// if (edrk.flag_second_PCH==1)
//// {
//// i_led2_on();
//// i_led2_off();
//// i_led2_on();
////
//// optical_bus_write();
//// }
//// else
// // {
// i_led2_on();
//
// optical_bus_read();
// optbus_status = optical_bus_get_status_and_read();
// buf_status[cc] = optbus_status;
// cc++;
//
// if (optbus_status.bit.new_data_ready)
// optical_read_data.data_was_update_between_pwm_int = 1;
//
// if (optbus_status.bit.receiver_busy || optbus_status.bit.receiver_error || optbus_status.bit.bad_status12
// )
// {
// i_led1_on();
// i_led1_off();
//
// }
//
// // }
//
//
// // stage_1 = 0;
// }
// prev_stage1 = stage_1;
// }
// if (edrk.flag_second_PCH==1)
// {
// i_led2_off();
// }
//i_led2_on_off(0);
//#if (ENABLE_LOG_INTERRUPTS)
// add_log_interrupts(102);
//#endif
#if(_ENABLE_PWM_LINES_FOR_TESTS)
PWM_LINES_TK_17_OFF;
#endif
}
///////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////