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
@@ -3,6 +3,7 @@

 /* CAN1 is 500 kbit/s; CAN2 is 250 kbit/s. Both share IDs and parsing. */
 #define AMI_CAN_ID_DRIVETRAIN_DISPLAY 0x182U
+#define AMI_CAN_ID_VCU_STATUS         0x183U
 #define AMI_CAN_ID_SDC_HEARTBEAT    0x6A0U
 #define AMI_CAN_ID_SDC_ADC          0x6A1U
 #define AMI_CAN_ID_SDC_FREQUENCY    0x6A2U
@@ -19,6 +20,7 @@
 #define AMI_ADC_TIMEOUT_MS          1500U
 #define AMI_BMS_TIMEOUT_MS          2000U
 #define AMI_DRIVETRAIN_TIMEOUT_MS   2000U
+#define AMI_VCU_STATUS_TIMEOUT_MS    500U
 #define AMI_SCREEN_BOOT_DELAY_MS     800U
 #define AMI_SCREEN_RESYNC_MS        5000U

@@ -42,6 +42,11 @@ static volatile uint32_t adc_last_rx_ms;
 static volatile uint32_t bms_status_last_rx_ms;
 static volatile uint32_t bms_temperature_last_rx_ms;
 static volatile uint32_t drivetrain_last_rx_ms;
+static volatile uint32_t vcu_status_last_rx_ms;
+/* Task 7 = unknown; lock/EBS 0 = unknown, 1 = green, 2 = red. */
+static volatile uint8_t vcu_display_state[3] = {7U, 0U, 0U};
+static volatile uint8_t vcu_display_dirty;
+static volatile bool vcu_status_received;
 /* Preserve the exact source units even where the HMI has integer controls. */
 static volatile uint16_t sdc_adc_mv;
 static volatile uint16_t sdc_frequency_hz[4];
@@ -246,12 +251,59 @@ static void SetDashValue(uint32_t index, int32_t value)
  SetDashValid(index, true);
 }

+static void UpdateDebugFromSdcGpio(uint16_t levels)
+{
+  /* PD order supplied by the wiring table; HMI dN order is different. */
+  static const uint8_t debug_index[15] = {
+    0U, 5U, 2U, 6U, 7U, 1U, 3U, 4U,
+    8U, 9U, 10U, 11U, 12U, 13U, 14U
+  };
+  for (uint32_t bit = 0U; bit < 15U; ++bit)
+  {
+    uint32_t index = debug_index[bit];
+    /* All fifteen inputs: low = normal, high = fault. */
+    uint8_t state = (levels & (1U << bit)) ? 2U : 1U;
+    if (display_state.debug_state[index] != state)
+    {
+      display_state.debug_state[index] = state;
+      display_dirty |= DIRTY_DEBUG(index);
+    }
+  }
+  /* d15 (12V_Control) has no source in the fifteen-input table. */
+}
+
 static bool DecodeCan(uint32_t identifier, uint32_t id_type,
                      uint32_t length, const uint8_t *data)
 {
  uint32_t now = HAL_GetTick();
  if (id_type == FDCAN_STANDARD_ID)
  {
+    if (identifier == AMI_CAN_ID_VCU_STATUS)
+    {
+      /* Custom VCU feedback; requests never update these actual states. */
+      if ((length != 8U) || (data[7] != 1U) || (data[0] > 6U) ||
+          (data[1] > 1U) || (data[2] > 1U) || ((data[3] & 0xF8U) != 0U) ||
+          (data[5] != 0U) || (data[6] != 0U))
+      {
+        return false;
+      }
+      uint8_t states[3] = {
+        (data[3] & 1U) ? data[0] : 7U,
+        (data[3] & 2U) ? (data[1] ? 1U : 2U) : 0U,
+        (data[3] & 4U) ? (data[2] ? 1U : 2U) : 0U
+      };
+      for (uint32_t i = 0U; i < 3U; ++i)
+      {
+        if (vcu_display_state[i] != states[i])
+        {
+          vcu_display_state[i] = states[i];
+          vcu_display_dirty |= (uint8_t)(1U << i);
+        }
+      }
+      vcu_status_last_rx_ms = now;
+      vcu_status_received = true;
+      return true;
+    }
    if (identifier == AMI_CAN_ID_DRIVETRAIN_DISPLAY)
    {
      /* Version 1 display input only; no motor actuation is performed. */
@@ -305,7 +357,7 @@ static bool DecodeCan(uint32_t identifier, uint32_t id_type,
                              ((uint32_t)data[6] << 16) | ((uint32_t)data[7] << 24);
      sdc_gpio_received = true;
      debug_last_rx_ms = now;
-      /* No PD0..PD14 -> named safety signals / normal polarity mapping. */
+      UpdateDebugFromSdcGpio(sdc_gpio_state);
      return true;
    }
    if ((identifier == AMI_CAN_ID_SDC_DAC_ACK) && (length == 4U))
@@ -379,7 +431,9 @@ static void ConfigureCanPort(FDCAN_HandleTypeDef *hfdcan)
  if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }

  filter.FilterIndex = 3U;
+  filter.FilterType = FDCAN_FILTER_DUAL;
  filter.FilterID1 = AMI_CAN_ID_DRIVETRAIN_DISPLAY;
+  filter.FilterID2 = AMI_CAN_ID_VCU_STATUS;
  if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }

  filter.IdType = FDCAN_EXTENDED_ID;
@@ -507,6 +561,15 @@ static void UpdateTimeoutsAndLeds(void)
  __disable_irq();
  /* Sample time after excluding RX IRQs: a newer timestamp must not underflow. */
  now = HAL_GetTick();
+  if (vcu_status_received &&
+      ((now - vcu_status_last_rx_ms) > AMI_VCU_STATUS_TIMEOUT_MS))
+  {
+    vcu_display_state[0] = 7U;
+    vcu_display_state[1] = 0U;
+    vcu_display_state[2] = 0U;
+    vcu_display_dirty |= 7U;
+    vcu_status_received = false;
+  }
  if ((adc_last_rx_ms == 0U) || ((now - adc_last_rx_ms) > AMI_ADC_TIMEOUT_MS))
  {
    SetDashValid(7U, false);
@@ -528,28 +591,31 @@ static void UpdateTimeoutsAndLeds(void)
    SetDashValid(4U, false);
    SetDashValid(5U, false);
  }
-  __enable_irq();
-
+  /* Recheck within the RX critical section to avoid erasing a new snapshot. */
+  debug_timeout = (debug_last_rx_ms == 0U) ||
+                  ((now - debug_last_rx_ms) > AMI_CAN_DATA_TIMEOUT_MS);
  if (debug_timeout && !debug_timeout_applied)
  {
    uint32_t i;
-    __disable_irq();
    for (i = 0U; i < 16U; ++i)
    {
      display_state.debug_state[i] = 0U;
    }
    display_dirty |= DIRTY_DEBUG_ALL;
-    __enable_irq();
    debug_timeout_applied = true;
  }
  else if (!debug_timeout)
  {
    debug_timeout_applied = false;
  }
+  __enable_irq();
 }

 static void SendNextDirtyValue(void)
 {
+  static const char *const vcu_prefix[3] = {
+    "current_task=", "lock_state=", "ebs_state="
+  };
  static const char *const dash_prefix[8] = {
    "dash.speed.val=", "dash.ts.val=", "dash.mct.val=", "dash.dl.val=",
    "dash.djwd.val=", "dash.mcuwd.val=", "dash.dtwd.val=", "dash.lvbat.val="
@@ -560,6 +626,7 @@ static void SendNextDirtyValue(void)
  };
  static uint32_t cursor;
  uint32_t dirty;
+  uint8_t vcu_dirty;
  uint32_t bit;
  uint32_t index;
  int32_t value;
@@ -573,23 +640,31 @@ static void SendNextDirtyValue(void)

  __disable_irq();
  dirty = display_dirty;
+  vcu_dirty = vcu_display_dirty;
  __enable_irq();
-  if (dirty == 0U)
+  if ((dirty == 0U) && (vcu_dirty == 0U))
  {
    return;
  }

  /* Fair rotation prevents rapid source updates from starving other fields. */
-  for (uint32_t offset = 0U; offset < 32U; ++offset)
+  for (uint32_t offset = 0U; offset < 35U; ++offset)
  {
-    index = (cursor + offset) & 31U;
-    if ((dirty & (1UL << index)) != 0U) { break; }
+    index = (cursor + offset) % 35U;
+    if ((index < 32U) ? ((dirty & (1UL << index)) != 0U)
+                      : ((vcu_dirty & (1U << (index - 32U))) != 0U)) { break; }
  }
-  bit = 1UL << index;
-  cursor = (index + 1U) & 31U;
+  bit = 1UL << ((index < 32U) ? index : index - 32U);
+  cursor = (index + 1U) % 35U;

  __disable_irq();
-  if (index < 8U)
+  if (index >= 32U)
+  {
+    value = vcu_display_state[index - 32U];
+    prefix = vcu_prefix[index - 32U];
+    vcu_display_dirty &= (uint8_t)~bit;
+  }
+  else if (index < 8U)
  {
    value = display_state.dash_value[index];
    prefix = dash_prefix[index];
@@ -617,13 +692,14 @@ static void SendNextDirtyValue(void)
      prefix = debug_prefix;
    }
  }
-  display_dirty &= ~bit;
+  if (index < 32U) { display_dirty &= ~bit; }
  __enable_irq();

  if (!StartScreenAssignment(prefix, value))
  {
    __disable_irq();
-    display_dirty |= bit;
+    if (index < 32U) { display_dirty |= bit; }
+    else { vcu_display_dirty |= (uint8_t)bit; }
    __enable_irq();
  }
 }
@@ -633,6 +709,7 @@ void AMI_App_Init(void)
  HAL_GPIO_WritePin(STATUS_LED1_GPIO_Port, STATUS_LED1_Pin, LedInactiveLevel());
  HAL_GPIO_WritePin(STATUS_LED2_GPIO_Port, STATUS_LED2_Pin, AMI_LED_ACTIVE_LEVEL);
  display_dirty = DIRTY_DASH_ALL | DIRTY_DEBUG_ALL | DIRTY_COLOR_ALL;
+  vcu_display_dirty = 7U;
  ConfigureCan();
  RestartScreenRx();
 }
@@ -649,6 +726,7 @@ void AMI_App_Service(void)
  {
    __disable_irq();
    display_dirty |= DIRTY_DASH_ALL | DIRTY_DEBUG_ALL | DIRTY_COLOR_ALL;
+    vcu_display_dirty |= 7U;
    __enable_irq();
    last_screen_sync_ms = now;
  }
@@ -23,6 +23,8 @@ CAN1 为 500 kbit/s、CAN2 为 250 kbit/s。FDCAN 时钟为 64 MHz，两路 Cloc

 - FDCAN1、FDCAN2 使用相同的四条标准过滤器和一条扩展过滤器，接收自定义显示 0x182、SDC 0x6A0..0x6A6 与 BMS 0x140 / 0x156 / 0x186040F3 / 0x186140F3。
 - 标准 0x182 / DLC 8：小端 int16 扭矩千分、0.1℃ 电机温度、0.1℃ MCU 温度；有效标志及版本校验见 [DBC 说明](../docs/AMI_CAN_DBC说明.md)。设置 dash.mct / djwd / mcuwd，独立超时 2000 ms。
+- v2.4 标准 0x183 / DLC 8：VCU 实际任务、锁定、EBS 显示反馈，各有有效标志，独立超时 500 ms；错误帧不刷新超时。过滤器 3 使用双 ID 接收 0x182/0x183，两路共用解码。UART 更新 current_task/lock_state/ebs_state，任务请求不改写实际状态；屏幕接口需配套 1.4。
+- 标准 0x6A6 的 PD0～PD14 按用户表顺序映射为 d0,d5,d2,d6,d7,d1,d3,d4,d8..d14；全部低电平正常、高电平故障，d15 保持未知。有效心跳维持已有状态；SDC 心跳/GPIO 均超过 500 ms 未接收后置未知，恢复需新 GPIO 采样。
 - SDC ADC 为低压电池电压；BMS 总压、偏置电流和最高有效实际温度按源协议解码。旧 0x180 / 0x181 / 0x280 不再接收。
 - 主循环通过 USART2 TX DMA 一次发送一条完整 TJC 指令，末尾为三个真实字节 `FF FF FF`。
 - 仅变化后的数值排队，字段轮转和 DMA 合并最新值，避免刷新饥饿；白色为有效数值，灰色为未知/失效，ADC 和 BMS 各自计时。
@@ -58,4 +60,4 @@ CubeMX 配置源为 `AMI_Controller.ioc`。重新生成时保留 USER CODE 区
 4. 下载 `AMI.HMI` 后逐条验证仪表数值、16 路 debug 状态及 6 个任务按钮。
 5. 2026-10-03 已完成 v2.1 CAN1 500K 与 CAN2 250K 分别到 MCU / USART2 / COM4 / 官方 HMI 调试器的联调；物理屏幕、真实节点、两路同时接入和 LED 极性尚未实测。见 [双 CAN 测试报告](../docs/CAN1_CAN2_v2.1测试报告.md)。

-当前 v2.2 BIN 已烧录并完整回读比对；新 0x182 在 CAN2 250K 实测，见 [显示 CAN 测试报告](../docs/AMI自定义显示CAN测试报告.md)。v2.1 的双 CAN 分别联调和两路均为 500K 的 v2.0 历史证据及 BIN 保留；SDC 仍为 500K。
+当前 v2.4 BIN 已烧录并完整回读 16428 字节一致，RAM 2640 字节，详见 [VCU 状态反馈报告](../docs/VCU状态反馈测试报告.md)。此前 v2.3 BIN 已归档，十五路映射历史实测见 [映射报告](../docs/DEBUG十五路CAN映射测试报告.md)。v2.2 的 0x182 CAN2 250K 历史实测见 [显示 CAN 测试报告](../docs/AMI自定义显示CAN测试报告.md)。v2.1 双 CAN 分别联调及 v2.0 历史证据保留；SDC 仍为 500K。