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feat: report wheel speed and GPIO state periodically

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shenlefengnai-rgb
2026-10-05 19:49:49 +08:00
parent 34627fa6a0
commit 68e8fdbcb8
7 changed files with 234 additions and 335 deletions
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SDC_ACQ_DAC.dbc
+8 -12
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@@ -43,11 +43,9 @@ BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
BO_ 1697 SDC_ADC_InputVoltage: 2 SDC_ACQ_DAC
SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V" VehicleController
BO_ 1698 SDC_InputFrequencies: 8 SDC_ACQ_DAC
SG_ Frequency_PA0 : 0|16@1+ (1,0) [0|65535] "Hz" VehicleController
SG_ Frequency_PA2 : 16|16@1+ (1,0) [0|65535] "Hz" VehicleController
SG_ Frequency_PA6 : 32|16@1+ (1,0) [0|65535] "Hz" VehicleController
SG_ Frequency_PB14 : 48|16@1+ (1,0) [0|65535] "Hz" VehicleController
BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s" VehicleController
SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s" VehicleController
BO_ 1699 SDC_DAC_Set: 3 VehicleController
SG_ DAC_Select : 0|8@1+ (1,0) [1|2] "" SDC_ACQ_DAC
@@ -74,15 +72,13 @@ VAL_ 1701 ASSI_State 0 "AS_OFF" 1 "AS_READY" 2 "AS_DRIVING" 3 "AS_EMERGENCY" 4 "
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 20 ms. Frequency order is PA0, PA2, PA6, PB14.";
CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms with two wheel speeds: left-front PA0 then right-front PA6. Raw value is mm/s (physical scale 0.001 m/s), derived from 49 pulses/rev and 1414 mm wheel circumference.";
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_ BO_ 1702 "Standard ID 0x6A6. Sent every 1000 ms on CAN1 and CAN2. Changed-mask bits accumulate PD0-PD14 transitions since the preceding report.";
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_ 1698 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
CM_ SG_ 1698 WheelSpeed_RightFront_PA6 "Right-front wheel speed. TIM3_CH1 input capture on PA6; 49 pulses/rev and 1414 mm circumference.";
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.";
CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";