feat: report wheel speed and GPIO state periodically

A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c

@@ -64,9 +64,12 @@ typedef struct
 #define UART_LINE_SIZE            32U
 #define ADC_REPORT_PERIOD_MS      500U
 #define PWM_REPORT_PERIOD_MS      20U
+#define GPIO_REPORT_PERIOD_MS     1000U
 #define CAN_HEARTBEAT_PERIOD_MS   100U
 #define DAC_CAN_TIMEOUT_MS        100U
 #define PWM_TIMEOUT_MS            1000U
+#define WHEEL_PULSES_PER_REV       49U
+#define WHEEL_CIRCUMFERENCE_MM     1414U
 
 #define CAN_HEARTBEAT_STD_ID      0x6A0U
 #define CAN_ADC_REPORT_STD_ID     0x6A1U
@@ -100,19 +103,19 @@ I2C_HandleTypeDef hi2c2;
 
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim5;
-TIM_HandleTypeDef htim9;
-TIM_HandleTypeDef htim12;
 
 UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN PV */
-static CaptureChannel capture_channels[4];
+/* PA0 left-front and PA6 right-front wheel-speed inputs only. */
+static CaptureChannel capture_channels[2];
 static uint16_t gpio_last_state;
 static volatile uint16_t gpio_shadow_state;
 static volatile uint16_t gpio_report_state;
 static volatile uint16_t gpio_pending_changed_mask;
 static uint32_t last_adc_report_ms;
 static uint32_t last_pwm_report_ms;
+static uint32_t last_gpio_report_ms;
 static uint32_t last_heartbeat_ms;
 static uint32_t last_can_heartbeat_ms;
 static uint32_t dac_can_last_command_ms[2];
@@ -136,8 +139,6 @@ static void MX_CAN2_Init(void);
 static void MX_I2C2_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_TIM5_Init(void);
-static void MX_TIM9_Init(void);
-static void MX_TIM12_Init(void);
 static void MX_USART1_UART_Init(void);
 static void MX_ADC1_Init(void);
 /* USER CODE BEGIN PFP */
@@ -163,6 +164,7 @@ static const char *DacName(uint8_t dac_id);
 static uint16_t ReadGpioInputState(void);
 static void QueueGpioSnapshot(uint16_t state);
 static uint32_t ReadAdcInputMillivolts(void);
+static uint32_t WheelSpeedMmPerSecond(uint32_t frequency_hz);
 static uint32_t GetTimerClockHz(const TIM_HandleTypeDef *htim);
 static void InitCaptureChannels(void);
 static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan);
@@ -221,8 +223,6 @@ int main(void)
   MX_I2C2_Init();
   MX_TIM3_Init();
   MX_TIM5_Init();
-  MX_TIM9_Init();
-  MX_TIM12_Init();
   MX_USART1_UART_Init();
   MX_ADC1_Init();
   /* USER CODE BEGIN 2 */
@@ -548,88 +548,6 @@ static void MX_TIM5_Init(void)
 
 }
 
-/**
-  * @brief TIM9 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM9_Init(void)
-{
-
-  /* USER CODE BEGIN TIM9_Init 0 */
-
-  /* USER CODE END TIM9_Init 0 */
-
-  TIM_IC_InitTypeDef sConfigIC = {0};
-
-  /* USER CODE BEGIN TIM9_Init 1 */
-
-  /* USER CODE END TIM9_Init 1 */
-  htim9.Instance = TIM9;
-  htim9.Init.Prescaler = 159;
-  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim9.Init.Period = 0xFFFF;
-  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim9.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_IC_Init(&htim9) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
-  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
-  sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim9, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM9_Init 2 */
-
-  /* USER CODE END TIM9_Init 2 */
-
-}
-
-/**
-  * @brief TIM12 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM12_Init(void)
-{
-
-  /* USER CODE BEGIN TIM12_Init 0 */
-
-  /* USER CODE END TIM12_Init 0 */
-
-  TIM_IC_InitTypeDef sConfigIC = {0};
-
-  /* USER CODE BEGIN TIM12_Init 1 */
-
-  /* USER CODE END TIM12_Init 1 */
-  htim12.Instance = TIM12;
-  htim12.Init.Prescaler = 159;
-  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim12.Init.Period = 0xFFFF;
-  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_IC_Init(&htim12) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
-  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
-  sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim12, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM12_Init 2 */
-
-  /* USER CODE END TIM12_Init 2 */
-
-}
-
 /**
   * @brief USART1 Initialization Function
   * @param None
@@ -767,6 +685,7 @@ static void AppInit(void)
   gpio_pending_changed_mask = 0U;
   last_adc_report_ms = HAL_GetTick();
   last_pwm_report_ms = last_adc_report_ms;
+  last_gpio_report_ms = last_adc_report_ms;
   last_heartbeat_ms = last_adc_report_ms;
   last_can_heartbeat_ms = last_adc_report_ms;
   dac_can_last_command_ms[0] = 0U;
@@ -787,7 +706,6 @@ static void AppInit(void)
   UartWrite("UART: DAC1 1.234 or DAC2 2500\r\n");
   UartWrite("CAN cmd 0x6A3: [dac_id][mV_L][mV_H] or ASCII text\r\n");
   UartWrite("CAN cmd 0x6A5: [ASSI state 0=OFF,1=READY,2=DRIVING,3=EMERGENCY,4=FINISHED]\r\n");
-  BroadcastGpioReport(0U, gpio_last_state);
 }
 
 static void PollUart(void)
@@ -903,29 +821,35 @@ static void PollCaptureChannels(void)
 
 static void PollGpioChanges(void)
 {
+  uint32_t now = HAL_GetTick();
   uint16_t state;
   uint16_t changed;
+  char line[96];
 
   __disable_irq();
   QueueGpioSnapshot(ReadGpioInputState());
+  __enable_irq();
+
+  if ((now - last_gpio_report_ms) < GPIO_REPORT_PERIOD_MS)
+  {
+    return;
+  }
+
+  __disable_irq();
   changed = gpio_pending_changed_mask;
   state = gpio_report_state;
   gpio_pending_changed_mask = 0U;
   __enable_irq();
 
-  if (changed != 0U)
+  last_gpio_report_ms = now;
-  {
+  gpio_last_state = state;
-    char line[96];
+  snprintf(line,
-
+           sizeof(line),
-    gpio_last_state = state;
+           "GPIO state=0x%04X changed=0x%04X\r\n",
-    snprintf(line,
+           (unsigned int)state,
-             sizeof(line),
+           (unsigned int)changed);
-             "GPIO changed mask=0x%04X state=0x%04X\r\n",
+  UartWrite(line);
-             (unsigned int)changed,
+  BroadcastGpioReport(changed, state);
-             (unsigned int)state);
-    UartWrite(line);
-    BroadcastGpioReport(changed, state);
-  }
 }
 
 static void SendPeriodicReport(void)
@@ -941,12 +865,12 @@ static void SendPeriodicReport(void)
 
     snprintf(line,
              sizeof(line),
-             "ADC=%lumV PWM=%lu,%lu,%lu,%luHz\r\n",
+             "ADC=%lumV WheelSpeed=LF:%lu.%03lum/s RF:%lu.%03lum/s\r\n",
              (unsigned long)adc_mv,
-             (unsigned long)capture_channels[0].frequency_hz,
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[0].frequency_hz) / 1000U),
-             (unsigned long)capture_channels[1].frequency_hz,
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[0].frequency_hz) % 1000U),
-             (unsigned long)capture_channels[2].frequency_hz,
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[1].frequency_hz) / 1000U),
-             (unsigned long)capture_channels[3].frequency_hz);
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[1].frequency_hz) % 1000U));
     UartWrite(line);
     BroadcastAdcReport(adc_mv);
   }
@@ -1338,6 +1262,12 @@ static uint32_t GetTimerClockHz(const TIM_HandleTypeDef *htim)
   return (pclk * multiplier) / prescaler;
 }
 
+static uint32_t WheelSpeedMmPerSecond(uint32_t frequency_hz)
+{
+  return (uint32_t)(((uint64_t)frequency_hz * WHEEL_CIRCUMFERENCE_MM +
+                     (WHEEL_PULSES_PER_REV / 2U)) / WHEEL_PULSES_PER_REV);
+}
+
 static void InitCaptureChannels(void)
 {
   capture_channels[0].htim = &htim5;
@@ -1347,43 +1277,21 @@ static void InitCaptureChannels(void)
   capture_channels[0].timer_clock_hz = GetTimerClockHz(&htim5);
   capture_channels[0].last_edge_ms = HAL_GetTick();
 
-  capture_channels[1].htim = &htim9;
+  capture_channels[1].htim = &htim3;
   capture_channels[1].channel = TIM_CHANNEL_1;
   capture_channels[1].flag = TIM_FLAG_CC1;
   capture_channels[1].counter_mask = 0xFFFFU;
-  capture_channels[1].timer_clock_hz = GetTimerClockHz(&htim9);
+  capture_channels[1].timer_clock_hz = GetTimerClockHz(&htim3);
   capture_channels[1].last_edge_ms = HAL_GetTick();
 
-  capture_channels[2].htim = &htim3;
-  capture_channels[2].channel = TIM_CHANNEL_1;
-  capture_channels[2].flag = TIM_FLAG_CC1;
-  capture_channels[2].counter_mask = 0xFFFFU;
-  capture_channels[2].timer_clock_hz = GetTimerClockHz(&htim3);
-  capture_channels[2].last_edge_ms = HAL_GetTick();
-
-  capture_channels[3].htim = &htim12;
-  capture_channels[3].channel = TIM_CHANNEL_1;
-  capture_channels[3].flag = TIM_FLAG_CC1;
-  capture_channels[3].counter_mask = 0xFFFFU;
-  capture_channels[3].timer_clock_hz = GetTimerClockHz(&htim12);
-  capture_channels[3].last_edge_ms = HAL_GetTick();
-
   if (HAL_TIM_IC_Start(&htim5, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Start(&htim9, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
   if (HAL_TIM_IC_Start(&htim3, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Start(&htim12, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
 }
 
 static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan)
@@ -1480,14 +1388,15 @@ static void BroadcastAdcReport(uint32_t input_mv)
 
 static void BroadcastPwmReport(void)
 {
-  uint8_t payload[8];
+  uint8_t payload[4];
   size_t i;
 
-  for (i = 0U; i < 4U; i++)
+  for (i = 0U; i < 2U; i++)
   {
-    uint16_t clamped = (capture_channels[i].frequency_hz > 0xFFFFU) ?
+    uint32_t speed_mm_per_s = WheelSpeedMmPerSecond(capture_channels[i].frequency_hz);
+    uint16_t clamped = (speed_mm_per_s > 0xFFFFU) ?
                        0xFFFFU :
-                       (uint16_t)capture_channels[i].frequency_hz;
+                       (uint16_t)speed_mm_per_s;
     payload[i * 2U] = (uint8_t)(clamped & 0xFFU);
     payload[(i * 2U) + 1U] = (uint8_t)(clamped >> 8);
   }

PC_Test/SDCAcqDacTester/MainWindow.xaml.cs

@@ -146,8 +146,8 @@ public partial class MainWindow : Window
             case AdcId when d.Length >= 2:
                 string adc = $"{U16(d, 0)} mV ({U16(d, 0) / 1000.0:F3} V)";
                 AdcValue.Text = adc; return adc;
-            case PwmId when d.Length >= 8:
+            case PwmId when d.Length >= 4:
-                string pwm = string.Join(" / ", Enumerable.Range(0, 4).Select(i => $"{U16(d, i * 2)} Hz"));
+                string pwm = $"左前 PA0={U16(d, 0) / 1000.0:F3} m/s / 右前 PA6={U16(d, 2) / 1000.0:F3} m/s";
                 PwmValue.Text = pwm; return pwm;
             case DacAckId when d.Length >= 4:
                 string ack = $"DAC{d[1]} {(d[0] == 1 ? "OK" : "ERR")} = {U16(d, 2)} mV";

SDC-ACQ_DAC_固件交付说明.html

@@ -76,8 +76,8 @@
   <h2>1. 功能概览</h2>
   <table>
     <tr><th style="width:20%">功能</th><th>当前实现</th></tr>
-    <tr><td>状态采集</td><td>采集 PD0–PD14 共 15 路数字输入。上电和任一输入变化时，向 CAN1、CAN2 发送完整状态与变化掩码。</td></tr>
+    <tr><td>状态采集</td><td>采集 PD0–PD14 共 15 路数字输入。每 1 秒向 CAN1、CAN2 发送完整状态与该秒内累积的变化掩码。</td></tr>
-    <tr><td>频率采集</td><td>采集 PA0、PA2、PA6、PB14 的上升沿频率，每 20 ms 通过 CAN 输出；串口每 500 ms 汇总输出。</td></tr>
+    <tr><td>轮速采集</td><td>仅采集左前 PA0、右前 PA6 的上升沿；以每圈 49 个方波、轮周长 1414 mm 换算为 m/s，每 20 ms 通过 CAN 输出。</td></tr>
     <tr><td>电压采集</td><td>ADC1_IN8（PB0）测量外部经分压后的输入；对外输出分压前、已标定且滤波后的电压。</td></tr>
     <tr><td>CAN</td><td>CAN1 与 CAN2 均为 500 kbit/s、11 位标准数据帧，并使用相同协议。</td></tr>
     <tr><td>DAC</td><td>通过 I2C2 控制两颗 MCP4725，接收 CAN 命令或串口命令设置 0–5.000 V 输出。</td></tr>
@@ -88,7 +88,7 @@
   <table>
     <tr><th>接口</th><th>MCU 引脚 / 外设</th><th>说明</th></tr>
     <tr><td>15 路状态输入</td><td>PD0–PD14 / EXTI</td><td>bit0 对应 PD0，bit14 对应 PD14。</td></tr>
-    <tr><td>频率输入</td><td>PA0/TIM5、PA2/TIM9、PA6/TIM3、PB14/TIM12</td><td>上升沿输入捕获。</td></tr>
+    <tr><td>轮速输入</td><td>左前 PA0/TIM5、右前 PA6/TIM3</td><td>上升沿输入捕获。</td></tr>
     <tr><td>电压输入</td><td>PB0 / ADC1_IN8</td><td>报告值为分压前电压，单位 mV。</td></tr>
     <tr><td>CAN1 / CAN2</td><td>PB8/PB9；PB5/PB6</td><td>分别为 RX/TX。</td></tr>
     <tr><td>DAC I2C</td><td>PB10/PB11 / I2C2</td><td>DAC1 地址 0x61，DAC2 地址 0x60（7 位地址）。</td></tr>
@@ -101,11 +101,11 @@
     <tr><th style="width:13%">CAN ID</th><th style="width:19%">名称</th><th style="width:22%">方向 / 时机</th><th>数据定义</th></tr>
     <tr><td><code>0x6A0</code></td><td>心跳</td><td>板卡发送，每 100 ms</td><td><code>A1 01 seq_L seq_H uptime_0..3</code>；板号 A1、协议版本 1、序号、运行时间 ms。</td></tr>
     <tr><td><code>0x6A1</code></td><td>输入电压</td><td>板卡发送，每 500 ms</td><td><code>uint16</code>，单位 mV。例如 <code>90 2F</code> = 0x2F90 = 12176 mV = 12.176 V。</td></tr>
-    <tr><td><code>0x6A2</code></td><td>四路频率</td><td>板卡发送，每 20 ms</td><td>4 个 <code>uint16</code>，单位 Hz；依次为 PA0、PA2、PA6、PB14。</td></tr>
+    <tr><td><code>0x6A2</code></td><td>双路轮速</td><td>板卡发送，每 20 ms</td><td>DLC=4；左前 PA0、右前 PA6 各一个 <code>uint16</code>，原始单位 mm/s（DBC 物理量纲 <code>0.001 m/s</code>）。按每圈 49 方波、轮周长 1414 mm 换算。</td></tr>
     <tr><td><code>0x6A3</code></td><td>DAC 设置</td><td>外部发送给板卡</td><td><code>[DAC 编号][mV_L][mV_H]</code>，编号仅允许 1 或 2；每路 100 ms 未续帧归零。</td></tr>
     <tr><td><code>0x6A4</code></td><td>DAC 应答</td><td>板卡发送，设置后</td><td><code>[结果][DAC 编号][mV_L][mV_H]</code>；结果 1 成功，0 失败。</td></tr>
     <tr><td><code>0x6A5</code></td><td>ASSI RGB 灯控</td><td>外部发送给板卡</td><td><code>byte0</code>：0=关、1=黄常亮、2=黄闪、3=蓝闪、4=蓝常亮。</td></tr>
-    <tr><td><code>0x6A6</code></td><td>15 路状态</td><td>板卡发送，上电或状态变化</td><td>状态 <code>uint16</code>、变化掩码 <code>uint16</code>、时间戳 <code>uint32 ms</code>。</td></tr>
+    <tr><td><code>0x6A6</code></td><td>15 路状态</td><td>板卡发送，每 1 s</td><td>状态 <code>uint16</code>、变化掩码 <code>uint16</code>、时间戳 <code>uint32 ms</code>；变化掩码在本秒内累积。</td></tr>
   </table>
 
   <h3>DAC 设置示例</h3>
@@ -118,7 +118,7 @@ DAC2 输出 1.140 V：ID = 0x6A3，DLC = 3，DATA = 02 74 04
 
   <h2>4. ADC 电压说明</h2>
   <p>ADC 输出为分压前输入电压，换算使用 100 kΩ / 30 kΩ 分压参数，并采用实测标定系数 <code>12300 / 11656</code>。单次报告包含 16 次 ADC 平均，随后对最近 4 次报告做移动平均；输出刷新周期为 500 ms，滤波时间约 2 秒。</p>
-  <pre>串口示例：ADC=12300mV PWM=10,0,0,0Hz</pre>
+  <pre>串口示例：ADC=12300mV WheelSpeed=LF:0.289m/s RF:0.577m/s</pre>
 
   <h2>5. 串口使用</h2>
   <p>串口参数：115200、8 数据位、1 停止位、无校验、无流控。USB-TTL 应交叉连接：PA9/TX → 转换器 RX，PA10/RX → 转换器 TX，并连接公共地。</p>

SDC_ACQ_DAC.dbc

@@ -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
+BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
- SG_ Frequency_PA0 : 0|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+ SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
- SG_ Frequency_PA2 : 16|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+ SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s"  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_ 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 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
-CM_ SG_ 1698 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
+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_ 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.";
+CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";

output/dbc/SDC_ACQ_DAC.dbc

@@ -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
+BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
- SG_ Frequency_PA0 : 0|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+ SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
- SG_ Frequency_PA2 : 16|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+ SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s"  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_ 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 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
-CM_ SG_ 1698 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
+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_ 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.";
+CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";

output/pdf/CAN报文说明表.pdf

@@ -47,7 +47,7 @@ endobj
 endobj
 6 0 obj
 <<
-/Author (\(anonymous\)) /CreationDate (D:20260922213520+08'00') /Creator (\(unspecified\)) /Keywords () /ModDate (D:20260922213520+08'00') /Producer (ReportLab PDF Library - \(opensource\)) 
+/Author (\(anonymous\)) /CreationDate (D:20261005194858+08'00') /Creator (\(unspecified\)) /Keywords () /ModDate (D:20261005194858+08'00') /Producer (ReportLab PDF Library - \(opensource\)) 
   /Subject (\(unspecified\)) /Title (\376\377\000S\000D\000C\000-\000A\000C\000Q\000_\000D\000A\000C\000 \000C\000A\000N\000 b\245e\207\213\364f\016\210h) /Trapped /False
 >>
 endobj
@@ -58,10 +58,10 @@ endobj
 endobj
 8 0 obj
 <<
-/Filter [ /ASCII85Decode /FlateDecode ] /Length 2151
+/Filter [ /ASCII85Decode /FlateDecode ] /Length 2289
 >>
 stream
-Gb!;fh/h((&:`#5Tg!QhR79`J0:Nh#kSMSP$(!`jF>-9*)FC,(+b;*3d(d7Eq=JfBT?eu4mA(J_G-tMWp:%YsNt[7tgpPI($2JI.DZ.K[#;UWl\>5;3[`OT:NOKjSc7(9DGcbbU^eb=EE#t/kdpSsqP\Y!#-5>25`Q8>,jC&p#AuE-A&74*;5hQ<+#\kghUsFKsU2DlJZ)MShYg)pNfs8lYd%/hO0X*qH#u>GTa,M)s+OtH6bV[+(,IDjG0Wq[u?@G7RYK6&WfueG('27o!b7%WQUJu*Td*9@N?pHe>"[WM^7BMuW#ZXPu'eJ$0;WTK1gIJjpc;[J8W2htJ.O/kT]IseM\CG4)BS8)L'4<oE2Cp\Fs0Z^(D"EF!h?@V[m7].M9'pZ2%q">2B$ps^%rTV1Mo4f9_s+>13[c#E56s>@OCfCSo\YX)$F`RaW7\S+Zu\=u42!i17Yg_o\o+Y2drl;^2J;aMhe$#2>&ti'[omFFCT'5o@fjP?31Sqi>a6-kfhBnoK-V8RjMah-CB*EY]OD2.cuU739?mu=XHfqF3`9f[aZ@Y/CIeZ\`A8XIeq8P`'ZcQiTNkUt:+g3gb[:ncYS=AWg/>EW_VEK^fS#6*/_DPQUD2WcUYu=)1?)p<guqJSKI(!RL'in@V,/%g8)/'cqUE?3B)&H9^k4]DPU2$nB!c0MfK><o:_f@(!s.SEOF#W:7&bRbP#@rM8@b!BQ!>e@[:_,=CqD)4PffjTkp0A""Z*ejWK,4aIt%*u!<G7m]FOO5KB17+<RJCFR_U'*<Z%SfPQnI)!r<qK:ch#pAk]BqT/>>jl#/2CJ(4NaM!Op]KftHrB$s`THC;&?_nQtef@O@g!Y^o%OE[MI;jT*]2D]p_0IX:[cjFQKPrP_:m5")Em]T`n9VqnQM,Rm*f=f<ilefsF':*hqD0'N_\"U=d?:hgPW:*'HEZ4]_oA/VAiPR3#bT`QoQf$Pe][,?;cnSQm*il)pq^::4T`\L<7?4fS!bTX,m:.-U!Z%$&PSRNL=(kCt@0tKBPPKmNQ$N5eFTYfYjj;H,,@9:X6Ot7XH4%'lT$UE5m'tEk<P93'SjM27&UIi4kjcf;kqFUX=P*V0amj^8FVs^NH69qM(9m2#JaNQF#M/P;m_di2qr(KgnMUY0#$2'e(^m];mB-\-A]eJm>iTOH9q]=;N+K<k0ihu=09b8+1B/,"kl(X)(K]2VZ-($*"oQeS\."!AY[DL0r,N2M>p]!>%tdoV:Btb5N40jh!]4#K?F)BM(t8<5GMs:t&CaEsKh*")O^>!A!72N)]`@hQ(`3_S10k'T5W+F+V<d,(iq!AMg!^PjR>bI"(E.?(G`0u=0%6YDoqr0UEb24uHKM.tC5mpo2p#M$=UWG+R0c:9dep%P&;,YN\J/@f_S8,H\'`t9.5lEkCE<)F]9k^jEO^eLX)6BM"El)p&F=E_fF*tVQE4Di.k"S^"abUg1>9I^g!"maLc9^L\6dr,g3!k[bL*gQe"m<Dkl)]"0SRXTkq<VVP'%Nb^`=?p(ue>Yo](RV_jt0$\QF8C"A6M5&<poT-ju<PQ4.#q/"T#2I-NrE#1H:6j)3Smq&>ZVe"^_'W#(JJ(0q$&Ho)hdFQm,fI?FEZp]C<%otU\a/LVs45"e?V+abtl0mQU_\8Q?n"(Vi'Dj"YSnd;u<QM/m$_)X:B</d3&@0g;8MT*Y1bZrsIHsc!+Po^8#s3Zg+i?t#Hn6/nAWpX95LA*1$iuWn"i_7"MO7D-6"LF#j&HSWZo*'Jn^jkPlrA38@>r85IY>'=W4o,el]kn6K`UKo&LX.(u]9,9\IEND$cJhhrhgo-jaicR0epbX=?YrUa%%oQ.$NFnV_scF9TL+dU_UnS3pk@CEs!1N5@OZk>_^o4i=F(,'YPALHFot<JbM-nW5s>\9XBMM9m!426P^knmOB"ogSgQf&qL3]!D7m/(puhEE>cBVN=E<Un3bUhXD#YKSJr(6LQ5hrW53_qZL)"60HVN&8TNGTHMd).J+HB?.Zpa^hg<JeRi(nf<;pBed,9dJYJ^'7bG8F&C$\nuT:CunF1NGt*G'EO7"M'4rk'ed;rZpW$?euB/op^?Y%[31rgq6d7MP;?LX3efVYR&;@cD&Na$9j0)Hk/+,*dmq\J?DF.2Z<a(l#A-~>endstream
+Gau`VD0+2b&H88.Tml3e1.=aGHEims"+>ku?@'.,%"h.*U`mAsKE*Tt;gs'pnl`8Gp0FbNA.B=.>-1i+I3,M$9.&jMI<g(SfFKc]q\R@"Yh:fZ'j#4[_1%uX]j6hC8QB^]92dSTQ7L<ImAQH]"'0-UV,:81`hC+25@,S*13@$Ym"DqM-;2qoB\*8-Ea&N?rTp_Ag@\&D0m1H2Y5$BZ[p3o+geM+Z+%0QA$Wm>\Q@F'SJ^R%'#[;ku$B9@4$#/Tm4TCGd?F&6YFt9tW>VMjYT,XTg<pS2ETjL(++@(C-!`1-%=;kTU`jO/^!=O?S>W86(h5-SMmjb"jPXQHqPuOs]N)p3Rg`CJB<+p+p&DW7gKa<C!J)uOi=1iLkqk3=^h,:9";r-:'k&^B7-PZupG@RcspSU*Bdr"PrcmEFU&8$r"SZNIJk6eVo.7/?<]5EY;mK@fRf1/o00TKi4Xeg'X4bPf>M*Hcn=V[*d&lj.E[Ge!9;DKpe#V:\I.CB7lQj(niYTt/%4$R3#DN[olS'/kc=u'dR1;$Ra>1-Mf;]#k;dXkM2BVdAU)07X$Wtek&'3V#1'eAt*dq'_p["pMk`rR_fQ6orSot1S1W!bM*4BI0;i$N1>aUPd.5V8s?O-(BVWRYB"QAjp=!-4&B5*Aqb4_,$7R[(3OJ.1S99bn/#7ds=>D"f?o5o3o6*<]8@W6DWcQ;M@s"f&kpP'eo#Y,'LMCsG/jCj6^(7O?:pCdM!<'NX?7eMC?@LSmot5hLD0fJ)bOBMRR=AG&Sg'3ITV&ngi7BlH_>?oXf8Xg>YOed_oVE@%`Xror,6RgK,sYO@2llsV_.dC(=Oo8H,4ItN&$emDEJ$Wgi2lrcYNr,N[[R4'&06)JRO(R/tl`Bb)aQUib9Il#FE&fW5i]FbOVhO$FPs1L6L&aA[E<ued1D+O(QQIan'[I6JWEY@I,e(GQPOfLoY[0V*9/rmP`q,"FsU19aV11j,@pQ*)`O7lgr'IE$<$%trU2id)V-*X%JVUPp_-:<.P/#?&W?.i#<>hLKc?<*5s,jE[me.Z0X.]GpuV4LBHY(q>oN#bDOIG&roojmpm'%@$DWM_JJc\><@j'Vt>PG8Y7l7pk7ksGIBBu%/i"#Br>#$B?0gRG1GGJgR3ib^!g`)QjJ`W@a@]'BB#T!=M4QaBu3,g]pZ`Y)Rp(s@$e,qu49@n_9LjdfF$MLCT?"hm@Z.EsI?$LK.d(.;hYCUncq#eNX&jB?rbWu&nSCu_MLMsNj-rZ2a0HHE"k'79%>F+-E.JbCf-%MpkgMr[Q"SA0$\EpL#QU%=]'gDJj4FEksZ10'`UPC?Vhm`Gdo,M,;EpPXJ\S6l!HiG7uaK]M*6p=s9hdWQ7)Q!STfa:8a[V04Bbb[)TdiCH#Q1i<JdFa0t)C3-Nsc";70,&OXqWF'7QpTX:o!bHRL,dBbX+GjYjo+E$tUH'mOQN#a5FF<.jDg1m(f=(7*\3&rYnlq<U2)"XeCn8;k'Q?kTLd]l8cXNZY-,2S"W0aT?L_H$Ik(n/QhXm_LHT1YB.!Ua+>-%e;<`]QM2%o8D`a)7&P%Q:Y?B,29]t^qo%HDQm?@]t(bXC80mPFh<<H=Eg>6]%Bi=C0,CV>UerYf%glDMf*G9$dA*LC]Ohlq>bgjSP?DuK&Q:nkHd;!O19bV\`k<o?)EBq$]5(uD_,f1eWk?RN(a2guofn(1d$#2ts6d7_8PNeV&8/cEB[f8^ZMn=,*+3W`N9WBi7af;t,I6j+T8^4b2j[epNRQ2i03B5^t3D0+g$qIr]jmV#>4)%"Kp)P!k%<#JPGX&4_B\[ed1D6=H,AgG%\CqGuZ2p5/O3UJ0<R.gXS_0&.gU1"V`H&hePa8b;FSA:]E2V@q)[Cn?lkcNOBUZ5'&`0XYVquS@3F7b+HB7l=9\d(JfV\FrNkM6Q[D\-,sl>m>A.<VlBML'@\PVp70\3g4>qnhUng[Rb_Zb8@e*5Bo$QYYBN"c@Y5d(fF`KUlK%3,8._pc.4X^2S;*YM%E,M0=SD*fH=l94U;Mqm`>"j_dGN::bYYTaK7L(gE7sUGB9_8J<%IW1mQ`G>/7>`+h050MjQp)cLeuLEs:1fu-mGRog1*H.0@8NjU:>L7#"O2bj6]kbAiL(N*6$C=b+h71a]:;bU==4lp@:,5kcWad3C:de`[9R"&@o&`0VplPFcR]DL"$2FBBLNV_"m,U6drX,>1/=PT#+[^F+.K^K>P:tX'W>OV>SUI>4@DAKCLl:<-g-mA^ICufrl[jJ"d(Aj6Sd&Y/000]s1@fj+45FK'i8H~>endstream
 endobj
 xref
 0 9
@@ -77,7 +77,7 @@ xref
 trailer
 <<
 /ID 
-[<e1e46c8f2a916049ff773458531b69dd><e1e46c8f2a916049ff773458531b69dd>]
+[<3d22dd34981c7eff4009fb12bd7de53c><3d22dd34981c7eff4009fb12bd7de53c>]
 % ReportLab generated PDF document -- digest (opensource)
 
 /Info 6 0 R
@@ -85,5 +85,5 @@ trailer
 /Size 9
 >>
 startxref
-4097
+4235
 %%EOF

固件使用说明.md

@@ -11,8 +11,8 @@
 1. 接收并处理串口命令。
 2. 接收 CAN1、CAN2 的 DAC 控制帧。
 3. 读取四路定时器捕获值并计算频率。
-4. 汇总 15 路 GPIO 变化并上报。
+4. 汇总 15 路 GPIO 状态与本周期变化，并每秒上报一次。
-5. 每 500 ms 上报 ADC、每 20 ms 上报四路频率。
+5. 每 500 ms 上报 ADC、每 20 ms 上报双路轮速。
 6. 每 500 ms 翻转运行指示灯，每 100 ms 发送 CAN 心跳。
 
 `PE0` 为正常运行心跳灯；若进入 `Error_Handler()`，`PE0` 和 `PE1` 会快速同时翻转。
@@ -22,10 +22,8 @@
 | 功能 | MCU 引脚/外设 | 当前配置 |
 |---|---|---|
 | 15 路状态输入 | `PD0`~`PD14` | 双边沿 EXTI，状态位直接对应端口位 |
-| 频率 1 | `PA0` / `TIM5_CH1` | 上升沿输入捕获，32 位计数器，16 MHz 计数时钟 |
+| 左前轮速 | `PA0` / `TIM5_CH1` | 上升沿输入捕获，32 位计数器，16 MHz 计数时钟 |
-| 频率 2 | `PA2` / `TIM9_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
+| 右前轮速 | `PA6` / `TIM3_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
-| 频率 3 | `PA6` / `TIM3_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
-| 频率 4 | `PB14` / `TIM12_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
 | 电压采集 | `PB0` / `ADC1_IN8` | 480 周期采样，16 次过采样 + 4 次报告均值滤波 |
 | CAN1 | `PB8` RX、`PB9` TX | 标准帧，500 kbit/s |
 | CAN2 | `PB5` RX、`PB6` TX | 标准帧，500 kbit/s |
@@ -38,15 +36,15 @@
 
 ## 3. 15 路状态输入
 
-`PD0`~`PD14` 的逻辑电平组成一个 15 位无符号数：bit0 对应 `PD0`，bit14 对应 `PD14`。任何一路变化会触发 EXTI 回调，主循环中合并同一时段的变化并输出：
+`PD0`~`PD14` 的逻辑电平组成一个 15 位无符号数：bit0 对应 `PD0`，bit14 对应 `PD14`。任何一路变化会触发 EXTI 回调，变化掩码会在当前 1 秒周期内累积；`0x6A6` 固定每秒发送一次：
 
 ```text
 GPIO changed mask=0x0004 state=0x0005
 ```
 
 - `state`：当前 15 路完整状态。
-- `mask`：相对于上一次 GPIO 状态帧发生变化的位。
+- `mask`：过去 1 秒内发生过变化的位；同一路即使变化多次也只置 1。
-- 上电时也会发送一帧状态，变化掩码为 0。
+- 上电后首个周期结束时发送第一帧；若无变化，变化掩码为 0。
 
 每秒串口还会打印一次完整状态，例如 `GPIO state=0x0005`。
 
@@ -61,16 +59,16 @@ ADC 原始值 -> 3.3 V ADC 电压 -> 100 kΩ / 30 kΩ 分压反算 -> 标定系
 标定系数固定为 `12300 / 11656`：即以实测输入 12.3 V、旧换算结果 11656 mV 为基准。每次报告读取 16 次 ADC 后求平均，再对最近 4 次报告做移动平均；报告周期为 500 ms，滤波窗口约 2 秒。输出示例：
 
 ```text
-ADC=12300mV PWM=10,0,0,0Hz
+ADC=12300mV WheelSpeed=LF:0.289m/s RF:0.577m/s
 ```
 
 若硬件分压电阻或外部标定基准改变，应同步修改 `main.c` 中的 `ADC_DIVIDER_*` 和 `ADC_CALIBRATION_*` 宏。
 
-## 5. 四路频率输入
+## 5. 双路轮速输入
 
-四路频率按 `PA0`、`PA2`、`PA6`、`PB14` 顺序输出。频率由相邻两个上升沿的计数差计算；超过 1 秒没有边沿则显示 0 Hz。当前固件只测频率，不测 PWM 占空比。
+仅采集左前轮速 `PA0` 和右前轮速 `PA6`。频率由相邻两个上升沿的计数差计算；超过 1 秒没有边沿则输出 0 m/s。每圈 49 个方波、轮周长 1414 mm，因此 `轮速(m/s) = 方波频率(Hz) × 1.414 / 49`。
 
-后三路 16 位定时器采用 100 kHz 计数时钟，以避免低频输入时 16 位溢出。其可无歧义测量的最低频率约为 1.53 Hz；TIM5 为 32 位计数器，低频范围更大。
+`0x6A2` 每 20 ms 发送两个 `uint16`：左前在 Byte0–1，右前在 Byte2–3。原始值的单位为 mm/s，DBC 的物理量纲为 `0.001 m/s`；最高表示 65.535 m/s。PA6 的 TIM3 为 100 kHz、16 位计数器，低频无歧义测量下限约 1.53 Hz；PA0 的 TIM5 为 32 位计数器，低频范围更大。
 
 ## 6. CAN 通信
 
@@ -80,11 +78,11 @@ CAN1 和 CAN2 使用相同协议，所有主动上报均分别发送到两条总
 |---:|---|---|---|
 | `0x6A0` | 心跳 | 每 100 ms | `A1 01 seq_L seq_H uptime_0..3` |
 | `0x6A1` | ADC 电压 | 每 500 ms | 输入电压 `uint16`，单位 mV |
-| `0x6A2` | 四路频率 | 每 20 ms | 4 个 `uint16`，单位 Hz，顺序 PA0/PA2/PA6/PB14 |
+| `0x6A2` | 双路轮速 | 每 20 ms | 左前 PA0、右前 PA6 各一个 `uint16`，单位 `0.001 m/s`，DLC=4 |
 | `0x6A3` | DAC 设置命令 | 接收 | `[DAC 编号][mV_L][mV_H]`；每路在 100 ms 内未收到本路下一帧时归零 |
 | `0x6A4` | DAC 应答 | 每次 DAC 设置后 | `[结果][DAC 编号][mV_L][mV_H]` |
 | `0x6A5` | ASSI 灯控 | 接收 | `byte0`：`0=AS_OFF`、`1=AS_READY`、`2=AS_DRIVING`、`3=AS_EMERGENCY`、`4=AS_FINISHED` |
-| `0x6A6` | GPIO 状态 | 上电、任一输入变化 | 状态 `uint16`、变化掩码 `uint16`、时间戳 `uint32 ms` |
+| `0x6A6` | GPIO 状态 | 每 1 s | 状态 `uint16`、变化掩码 `uint16`、时间戳 `uint32 ms` |
 
 心跳帧中板号为 `0xA1`、协议版本为 `0x01`，序号与上电时间均为低字节在前。完整信号定义和量纲以 [DBC 文件](SDC_ACQ_DAC.dbc) 为准。