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feat: add CAN board test tool and timing safeguards

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shenlefengnai-rgb
2026-10-01 17:43:28 +08:00
parent be4f167b83
commit 34627fa6a0
14 changed files with 607 additions and 44 deletions
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SDC_ACQ_DAC.dbc
+10 -10
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@@ -72,17 +72,17 @@ VAL_ 1700 DAC_Set_Result 0 "Failed" 1 "OK" ;
VAL_ 1700 DAC_Select 1 "DAC1" 2 "DAC2" ;
VAL_ 1701 ASSI_State 0 "AS_OFF" 1 "AS_READY" 2 "AS_DRIVING" 3 "AS_EMERGENCY" 4 "AS_FINISHED" ;
CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 1 s on CAN1 and CAN2.";
CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 100 ms on CAN1 and CAN2.";
CM_ BO_ 1697 "Standard ID 0x6A1. Filtered and calibrated physical input voltage before the hardware divider.";
CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 500 ms. Frequency order is PA0, PA2, PA6, PB14.";
CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value.";
CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms. Frequency order is PA0, PA2, PA6, PB14.";
CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value. Each DAC is reset to 0 mV if its own control frame is not received again within 100 ms.";
CM_ BO_ 1700 "Standard ID 0x6A4. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
CM_ BO_ 1701 "Standard ID 0x6A5. Accepted on CAN1 and CAN2. Byte 0 selects the latched ASSI RGB lamp state: AS_OFF, AS_READY, AS_DRIVING, AS_EMERGENCY, or AS_FINISHED.";
CM_ BO_ 1702 "Standard ID 0x6A6. Sent at startup and whenever PD0-PD14 state changes, on CAN1 and CAN2.";
CM_ SG_ 256 Board_Identifier "Fixed board identifier 0xA1.";
CM_ SG_ 259 Frequency_PA0 "TIM5_CH1 input capture on PA0.";
CM_ SG_ 259 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
CM_ SG_ 259 Frequency_PA6 "TIM3_CH1 input capture on PA6.";
CM_ SG_ 259 Frequency_PB14 "TIM12_CH1 input capture on PB14.";
CM_ SG_ 816 SDC_Input_State "Bit 0 through bit 14 map directly to PD0 through PD14.";
CM_ SG_ 816 SDC_Changed_Mask "A set bit identifies an input that changed since the preceding GPIO-status frame.";
CM_ SG_ 1696 Board_Identifier "Fixed board identifier 0xA1.";
CM_ SG_ 1698 Frequency_PA0 "TIM5_CH1 input capture on PA0.";
CM_ SG_ 1698 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
CM_ SG_ 1698 Frequency_PA6 "TIM3_CH1 input capture on PA6.";
CM_ SG_ 1698 Frequency_PB14 "TIM12_CH1 input capture on PB14.";
CM_ SG_ 1702 SDC_Input_State "Bit 0 through bit 14 map directly to PD0 through PD14.";
CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed since the preceding GPIO-status frame.";