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Add CAN1 100 ms heartbeat with verified firmware and updated protocol PDF

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shenlefengnai-rgb
2026-10-04 19:00:32 +08:00
parent 1e7b2e7f96
commit dba8aa5ea9
21 changed files with 1398 additions and 28 deletions
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AMI.dbc
+11 -2
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@@ -1,4 +1,4 @@
VERSION "AMI-2.4-2026-10-03"
VERSION "AMI-2.5-2026-10-04"
NS_ :
NS_DESC_
@@ -39,6 +39,12 @@ BO_ 768 AMI_TaskRequest: 8 AMI
SG_ Request_Source : 24|8@1+ (1,0) [1|1] "" VCU
SG_ MCU_Uptime : 32|32@1+ (1,0) [0|4294967295] "ms" VCU
BO_ 769 AMI_Heartbeat: 8 AMI
SG_ Protocol_Version : 0|8@1+ (1,0) [1|1] "" VCU
SG_ Reserved : 8|8@1+ (1,0) [0|0] "" VCU
SG_ Heartbeat_Sequence : 16|16@1+ (1,0) [0|65535] "" VCU
SG_ MCU_Uptime : 32|32@1+ (1,0) [0|4294967295] "ms" VCU
BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
SG_ Board_Identifier : 0|8@1+ (1,0) [0|255] "" AMI
SG_ Protocol_Version : 8|8@1+ (1,0) [0|255] "" AMI
@@ -85,7 +91,7 @@ BO_ 2556444915 BMS_Status_Extended: 8 BMS
BO_ 2556510451 BMS_Extremes_Extended: 8 BMS
SG_ Maximum_Cell_Temperature : 39|8@0+ (1,-40) [-40|215] "degC" AMI
CM_ "AMI CAN interface v2.4. CAN1: 500000 bit/s; CAN2: 250000 bit/s. Both use Classic CAN, identical IDs, parsing and task request capability. This file is CAN1; use AMI_CAN2_250k.dbc for CAN2. Frames are not bridged between buses. SDC fields follow SDC_ACQ_DAC.dbc VERSION 1.1. BMS consumed fields follow BmsMonitor-CANTest commit e65c95203d1689df05343775982d7e85bd782646. AMI_DrivetrainDisplay and AMI_VCUStatus are custom instrument inputs to be implemented by VCU. Native motor-controller protocols, calibrated vehicle speed and AMI heartbeat are not defined.";
CM_ "AMI CAN interface v2.5. CAN1: 500000 bit/s; CAN2: 250000 bit/s. Both use Classic CAN, identical IDs, parsing and task request capability. This file is CAN1; use AMI_CAN2_250k.dbc for CAN2. Frames are not bridged between buses. SDC fields follow SDC_ACQ_DAC.dbc VERSION 1.1. BMS consumed fields follow BmsMonitor-CANTest commit e65c95203d1689df05343775982d7e85bd782646. AMI_DrivetrainDisplay and AMI_VCUStatus are custom instrument inputs to be implemented by VCU. Native motor-controller protocols, calibrated vehicle speed are not defined. AMI heartbeat is standard 0x301 every 100 ms on CAN1 only.";
CM_ BU_ AMI "Instrument MCU. UART HMI task confirmation produces AMI_TaskRequest. Display values come from SDC, BMS and custom VCU display inputs.";
CM_ BU_ VCU "Task request receiver and authoritative sender for actual task, lock and EBS display states plus drivetrain data. Vehicle execution and safety outputs remain VCU responsibilities.";
CM_ BU_ SDC_ACQ_DAC "Source of ADC, capture frequencies and raw PD0-PD14 states; both SDC CAN ports carry the same protocol.";
@@ -182,3 +188,6 @@ BA_ "GenMsgCycleTime" BO_ 387 100;
BA_ "GenMsgCycleTime" BO_ 1696 100;
BA_ "GenMsgCycleTime" BO_ 1697 500;
BA_ "GenMsgCycleTime" BO_ 1698 20;
CM_ BO_ 769 "Standard 0x301, Classic CAN DLC 8. CAN1 (500 kbit/s) only, every 100 ms regardless of RX activity. Version 1, reserved 0, uint16 sequence and uint32 uptime in ms, little-endian. Sequence starts at 0 and increments each scheduled period even if transmission is skipped. Keep one TX FIFO slot for tasks; busy/error periods are skipped without software retry. Hardware automatic retransmission still applies.";
BA_ "GenMsgCycleTime" BO_ 769 100;