feat: add VCU status feedback and map DEBUG safety inputs

2026-10-03 21:52:14 +08:00
parent dbbda5624a
commit 1e7b2e7f96
305 changed files with 32906 additions and 68 deletions
@@ -0,0 +1,26 @@
+import os, json, time, struct, subprocess, re
+from pathlib import Path
+root=Path(__file__).resolve().parent
+project=root.parents[1]
+dll=project/'tmp/can1-test-20261002/pcan-basic/x64'
+os.environ['PATH']=str(dll)+os.pathsep+os.environ['PATH']
+handle=os.add_dll_directory(str(dll))
+import can
+cli=r'D:\STM32CubeCLT_1.19.0\STM32CubeProgrammer\bin\STM32_Programmer_CLI.exe'
+results=[]
+for rate in (250000,500000):
+    with can.Bus(interface='pcan',channel='PCAN_USBBUS1',bitrate=rate) as bus:
+        tag=rate+123
+        data=struct.pack('<HHI',1,1,tag)
+        errors=[]
+        for i in range(20):
+            try: bus.send(can.Message(arbitration_id=0x6a6,data=data,is_extended_id=False),timeout=.1)
+            except Exception as exc: errors.append(str(exc)); break
+            time.sleep(.1)
+        status=hex(bus.status())
+        r=subprocess.run([cli,'-c','port=SWD','mode=HOTPLUG','freq=1000','-r32','0x200002cc','128'],capture_output=True,timeout=15)
+        (root/f'probe_{rate}_ram.log').write_bytes(r.stdout+r.stderr)
+        result={'bitrate':rate,'tag':tag,'pcan_status':status,'send_errors':errors,'ram':r.stdout.decode(errors='replace')}
+        results.append(result)
+        print(json.dumps(result),flush=True)
+(root/'link-probe.json').write_text(json.dumps(results,indent=2),encoding='utf-8')