feat: add ASSI lamp control and CAN protocol docs

A11_F407_SDC_ACQ_DAC_CubeMX/A11_F407_SDC_ACQ_DAC.ioc

@@ -68,14 +68,17 @@ Mcu.Pin28=PB9
 Mcu.Pin29=PE0
 Mcu.Pin3=PB0
 Mcu.Pin30=PE1
-Mcu.Pin31=VP_SYS_VS_Systick
+Mcu.Pin31=PE9
+Mcu.Pin32=PE10
+Mcu.Pin33=PE11
+Mcu.Pin34=VP_SYS_VS_Systick
 Mcu.Pin4=PB10
 Mcu.Pin5=PB11
 Mcu.Pin6=PB14
 Mcu.Pin7=PD8
 Mcu.Pin8=PD9
 Mcu.Pin9=PD10
-Mcu.PinsNb=32
+Mcu.PinsNb=35
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VETx
@@ -139,6 +142,9 @@ PD8.Signal=GPXTI8
 PD9.Signal=GPXTI9
 PE0.Signal=GPIO_Output
 PE1.Signal=GPIO_Output
+PE9.Signal=GPIO_Output
+PE10.Signal=GPIO_Output
+PE11.Signal=GPIO_Output
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false

A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c

@@ -66,12 +66,20 @@ typedef struct
 #define CAN_HEARTBEAT_PERIOD_MS   1000U
 #define PWM_TIMEOUT_MS            1000U
 
-#define CAN_HEARTBEAT_STD_ID      0x100U
+#define CAN_HEARTBEAT_STD_ID      0x6A0U
-#define CAN_GPIO_REPORT_STD_ID    0x330U
+#define CAN_ADC_REPORT_STD_ID     0x6A1U
-#define CAN_ADC_REPORT_STD_ID     0x102U
+#define CAN_PWM_REPORT_STD_ID     0x6A2U
-#define CAN_PWM_REPORT_STD_ID     0x103U
+#define CAN_DAC_CMD_STD_ID        0x6A3U
-#define CAN_DAC_CMD_STD_ID        0x321U
+#define CAN_DAC_ACK_STD_ID        0x6A4U
-#define CAN_DAC_ACK_STD_ID        0x322U
+#define CAN_ASSI_LAMP_CMD_STD_ID  0x6A5U
+#define CAN_GPIO_REPORT_STD_ID    0x6A6U
+
+#define ASSI_LAMP_FLASH_HALF_PERIOD_MS 250U
+#define ASSI_STATE_OFF             0U
+#define ASSI_STATE_READY           1U
+#define ASSI_STATE_DRIVING         2U
+#define ASSI_STATE_EMERGENCY       3U
+#define ASSI_STATE_FINISHED        4U
 
 /* USER CODE END PD */
 
@@ -110,7 +118,8 @@ static uint32_t adc_filter_sum;
 static uint8_t adc_filter_count;
 static uint8_t adc_filter_index;
 static char uart_line[UART_LINE_SIZE];
-static uint8_t uart_line_len;
+static uint8_t uart_line_len;
+static uint8_t assi_lamp_state;
 
 /* USER CODE END PV */
 
@@ -133,8 +142,10 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name);
 static void PollCaptureChannels(void);
 static void PollGpioChanges(void);
 static void SendPeriodicReport(void);
-static void ServiceHeartbeat(void);
+static void ServiceHeartbeat(void);
-static void SendCanHeartbeat(void);
+static void ServiceAssiLamp(void);
+static void SendCanHeartbeat(void);
+static void HandleAssiLampSetRequest(const char *source, uint8_t state);
 static void HandleTextCommand(const char *source, const char *line);
 static void HandleDacSetRequest(const char *source, uint8_t dac_id, uint16_t millivolts);
 static void UartWrite(const char *text);
@@ -221,9 +232,10 @@ int main(void)
 
     /* USER CODE BEGIN 3 */
     PollUart();
-    PollCanBus(&hcan1, "CAN1");
+    PollCanBus(&hcan1, "CAN1");
-    PollCanBus(&hcan2, "CAN2");
+    PollCanBus(&hcan2, "CAN2");
-    PollCaptureChannels();
+    ServiceAssiLamp();
+    PollCaptureChannels();
     PollGpioChanges();
     SendPeriodicReport();
     ServiceHeartbeat();
@@ -666,7 +678,7 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PD8 PD9 PD10 PD11
                            PD12 PD13 PD14 PD0
@@ -687,8 +699,8 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PE0 PE1 */
+  /*Configure GPIO pins : PE0 PE1 PE9 PE10 PE11 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -753,14 +765,16 @@ static void AppInit(void)
   adc_filter_sum = 0U;
   adc_filter_count = 0U;
   adc_filter_index = 0U;
-  uart_line_len = 0U;
+  uart_line_len = 0U;
+  assi_lamp_state = ASSI_STATE_OFF;
 
   (void)DacSetMillivolts(1U, 0U);
   (void)DacSetMillivolts(2U, 0U);
 
   UartWrite("\r\nA11 F407 monitor ready\r\n");
   UartWrite("UART: DAC1 1.234 or DAC2 2500\r\n");
-  UartWrite("CAN cmd 0x321: [dac_id][mV_L][mV_H] or ASCII text\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);
 }
 
@@ -810,7 +824,7 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name)
       continue;
     }
 
-    if (rx_header.StdId == CAN_DAC_CMD_STD_ID)
+    if (rx_header.StdId == CAN_DAC_CMD_STD_ID)
     {
       if ((rx_header.DLC >= 3U) && (rx_data[0] >= 1U) && (rx_data[0] <= 2U))
       {
@@ -825,8 +839,15 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name)
         memcpy(line, rx_data, length);
         line[length] = '\0';
         HandleTextCommand(name, line);
-      }
+      }
-    }
+    }
+    else if (rx_header.StdId == CAN_ASSI_LAMP_CMD_STD_ID)
+    {
+      if ((rx_header.DLC >= 1U) && (rx_data[0] <= ASSI_STATE_FINISHED))
+      {
+        HandleAssiLampSetRequest(name, rx_data[0]);
+      }
+    }
   }
 }
 
@@ -918,7 +939,7 @@ static void SendPeriodicReport(void)
   }
 }
 
-static void ServiceHeartbeat(void)
+static void ServiceHeartbeat(void)
 {
   uint32_t now = HAL_GetTick();
 
@@ -927,7 +948,53 @@ static void ServiceHeartbeat(void)
     last_heartbeat_ms = now;
     HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_0);
   }
-}
+}
+
+static void ServiceAssiLamp(void)
+{
+  GPIO_PinState red = GPIO_PIN_RESET;
+  GPIO_PinState green = GPIO_PIN_RESET;
+  GPIO_PinState blue = GPIO_PIN_RESET;
+  bool flash_on = ((HAL_GetTick() / ASSI_LAMP_FLASH_HALF_PERIOD_MS) & 1U) == 0U;
+
+  switch (assi_lamp_state)
+  {
+    case ASSI_STATE_READY:
+      red = GPIO_PIN_SET;
+      green = GPIO_PIN_SET;
+      break;
+
+    case ASSI_STATE_DRIVING:
+      red = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      green = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      break;
+
+    case ASSI_STATE_EMERGENCY:
+      blue = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      break;
+
+    case ASSI_STATE_FINISHED:
+      blue = GPIO_PIN_SET;
+      break;
+
+    case ASSI_STATE_OFF:
+    default:
+      break;
+  }
+
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, red);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, green);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, blue);
+}
+
+static void HandleAssiLampSetRequest(const char *source, uint8_t state)
+{
+  char reply[64];
+
+  assi_lamp_state = state;
+  snprintf(reply, sizeof(reply), "OK %s ASSI state=%u\r\n", source, (unsigned int)state);
+  UartWrite(reply);
+}
 
 static void SendCanHeartbeat(void)
 {
@@ -945,7 +1012,7 @@ static void SendCanHeartbeat(void)
   can_heartbeat_sequence++;
   gpio_state = ReadGpioInputState();
 
-  /* CAN ID 0x100, sent independently on CAN1 and CAN2:
+  /* CAN ID 0x6A0, sent independently on CAN1 and CAN2:
    * [0] 0xA1 board identifier; [1] firmware protocol version 1;
    * [2..3] sequence counter, little-endian; [4..7] uptime in ms, little-endian.
    */

SDC-ACQ_DAC_固件交付说明.html

@@ -99,20 +99,21 @@
   <p>所有字段均为小端序（低字节在前）。板卡主动上报的帧会分别发到 CAN1 和 CAN2。</p>
   <table>
     <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>0x100</code></td><td>心跳</td><td>板卡发送，每 1 s</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>0x6A0</code></td><td>心跳</td><td>板卡发送，每 1 s</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>0x102</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>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>0x103</code></td><td>四路频率</td><td>板卡发送，每 500 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>四路频率</td><td>板卡发送，每 500 ms</td><td>4 个 <code>uint16</code>，单位 Hz；依次为 PA0、PA2、PA6、PB14。</td></tr>
-    <tr><td><code>0x321</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。</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。</td></tr>
-    <tr><td><code>0x322</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>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>0x330</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>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>
   </table>
 
   <h3>DAC 设置示例</h3>
   <p>电压 V 到 CAN 数据的换算：<code>mV = round(V × 1000)</code>，随后拆为低字节和高字节。</p>
-  <pre>DAC1 输出 3.000 V：ID = 0x321，DLC = 3，DATA = 01 B8 0B
+  <pre>DAC1 输出 3.000 V：ID = 0x6A3，DLC = 3，DATA = 01 B8 0B
-DAC2 输出 1.140 V：ID = 0x321，DLC = 3，DATA = 02 74 04
+DAC2 输出 1.140 V：ID = 0x6A3，DLC = 3，DATA = 02 74 04
 
-应答示例（DAC1 成功设为 3.000 V）：ID = 0x322，DATA = 01 01 B8 0B</pre>
+应答示例（DAC1 成功设为 3.000 V）：ID = 0x6A4，DATA = 01 01 B8 0B</pre>
   <div class="notice">DAC 输出范围为 0–5000 mV。软件中 DAC1、DAC2 到板级 MC_L、MC_R 的实际对应关系应以实物测量为准。</div>
 
   <h2>4. ADC 电压说明</h2>
@@ -124,7 +125,7 @@ DAC2 输出 1.140 V：ID = 0x321，DLC = 3，DATA = 02 74 04
   <pre>DAC1 1.234
 DAC2 2500
 D1 2.5V</pre>
-  <p>命令不区分大小写，支持伏特小数或毫伏整数。设置完成后串口会回显结果，CAN1/CAN2 同时发送 <code>0x322</code> 应答。</p>
+  <p>命令不区分大小写，支持伏特小数或毫伏整数。设置完成后串口会回显结果，CAN1/CAN2 同时发送 <code>0x6A4</code> 应答。</p>
 
   <h2>6. 频率输入说明</h2>
   <p>频率使用相邻上升沿时间差计算；连续 1 秒没有新边沿时，该通道输出 0 Hz。当前版本只测频率，不输出占空比。</p>

SDC_ACQ_DAC.dbc

@@ -34,46 +34,51 @@ BS_:
 
 BU_: SDC_ACQ_DAC VehicleController
 
-BO_ 256 SDC_Heartbeat: 8 SDC_ACQ_DAC
+BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
  SG_ Board_Identifier : 0|8@1+ (1,0) [0|255] ""  VehicleController
  SG_ Protocol_Version : 8|8@1+ (1,0) [0|255] ""  VehicleController
  SG_ Heartbeat_Sequence : 16|16@1+ (1,0) [0|65535] ""  VehicleController
  SG_ Uptime : 32|32@1+ (0.001,0) [0|4294967.295] "s"  VehicleController
 
-BO_ 258 SDC_ADC_InputVoltage: 2 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_ 259 SDC_InputFrequencies: 8 SDC_ACQ_DAC
+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_ 801 SDC_DAC_Set: 3 VehicleController
+BO_ 1699 SDC_DAC_Set: 3 VehicleController
  SG_ DAC_Select : 0|8@1+ (1,0) [1|2] ""  SDC_ACQ_DAC
  SG_ DAC_Command_Voltage : 8|16@1+ (0.001,0) [0|5] "V"  SDC_ACQ_DAC
 
-BO_ 802 SDC_DAC_Ack: 4 SDC_ACQ_DAC
+BO_ 1700 SDC_DAC_Ack: 4 SDC_ACQ_DAC
  SG_ DAC_Set_Result : 0|8@1+ (1,0) [0|1] ""  VehicleController
  SG_ DAC_Select : 8|8@1+ (1,0) [1|2] ""  VehicleController
  SG_ DAC_Output_Voltage : 16|16@1+ (0.001,0) [0|5] "V"  VehicleController
 
-BO_ 816 SDC_GPIO_Status: 8 SDC_ACQ_DAC
+BO_ 1701 ASSI_Lamp_Set: 1 VehicleController
+ SG_ ASSI_State : 0|8@1+ (1,0) [0|4] ""  SDC_ACQ_DAC
+
+BO_ 1702 SDC_GPIO_Status: 8 SDC_ACQ_DAC
  SG_ SDC_Input_State : 0|15@1+ (1,0) [0|32767] ""  VehicleController
  SG_ SDC_Changed_Mask : 16|15@1+ (1,0) [0|32767] ""  VehicleController
  SG_ Timestamp : 32|32@1+ (0.001,0) [0|4294967.295] "s"  VehicleController
 
-VAL_ 256 Board_Identifier 161 "A11_F407" ;
+VAL_ 1696 Board_Identifier 161 "A11_F407" ;
-VAL_ 801 DAC_Select 1 "DAC1" 2 "DAC2" ;
+VAL_ 1699 DAC_Select 1 "DAC1" 2 "DAC2" ;
-VAL_ 802 DAC_Set_Result 0 "Failed" 1 "OK" ;
+VAL_ 1700 DAC_Set_Result 0 "Failed" 1 "OK" ;
-VAL_ 802 DAC_Select 1 "DAC1" 2 "DAC2" ;
+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_ 256 "Standard ID 0x100. Sent every 1 s on CAN1 and CAN2.";
+CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 1 s on CAN1 and CAN2.";
-CM_ BO_ 258 "Standard ID 0x102. Filtered and calibrated physical input voltage before the hardware divider.";
+CM_ BO_ 1697 "Standard ID 0x6A1. Filtered and calibrated physical input voltage before the hardware divider.";
-CM_ BO_ 259 "Standard ID 0x103. Sent every 500 ms. Frequency order is PA0, PA2, PA6, PB14.";
+CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 500 ms. Frequency order is PA0, PA2, PA6, PB14.";
-CM_ BO_ 801 "Standard ID 0x321. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value.";
+CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value.";
-CM_ BO_ 802 "Standard ID 0x322. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
+CM_ BO_ 1700 "Standard ID 0x6A4. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
-CM_ BO_ 816 "Standard ID 0x330. Sent at startup and whenever PD0-PD14 state changes, on CAN1 and CAN2.";
+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.";

output/pdf/CAN报文说明表.pdf

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固件使用说明.md

@@ -30,6 +30,7 @@
 | CAN1 | `PB8` RX、`PB9` TX | 标准帧，500 kbit/s |
 | CAN2 | `PB5` RX、`PB6` TX | 标准帧，500 kbit/s |
 | DAC I2C | `PB10` SCL、`PB11` SDA / `I2C2` | 控制两颗 MCP4725，5 V 基准 |
+| ASSI RGB 灯 MOS | `PE9` R、`PE10` G、`PE11` B | 推挽输出，高电平使能外部 MOS |
 | 调试串口 | `PA9` TX、`PA10` RX / `USART1` | 115200、8N1、无流控 |
 | 运行/故障 LED | `PE0` / `PE1` | 正常心跳 / 故障指示 |
 
@@ -77,27 +78,32 @@ CAN1 和 CAN2 使用相同协议，所有主动上报均分别发送到两条总
 
 | ID | 名称 | 周期/触发 | 数据 |
 |---:|---|---|---|
-| `0x100` | 心跳 | 每 1 s | `A1 01 seq_L seq_H uptime_0..3` |
+| `0x6A0` | 心跳 | 每 1 s | `A1 01 seq_L seq_H uptime_0..3` |
-| `0x102` | ADC 电压 | 每 500 ms | 输入电压 `uint16`，单位 mV |
+| `0x6A1` | ADC 电压 | 每 500 ms | 输入电压 `uint16`，单位 mV |
-| `0x103` | 四路频率 | 每 500 ms | 4 个 `uint16`，单位 Hz，顺序 PA0/PA2/PA6/PB14 |
+| `0x6A2` | 四路频率 | 每 500 ms | 4 个 `uint16`，单位 Hz，顺序 PA0/PA2/PA6/PB14 |
-| `0x330` | GPIO 状态 | 上电、任一输入变化 | 状态 `uint16`、变化掩码 `uint16`、时间戳 `uint32 ms` |
+| `0x6A3` | DAC 设置命令 | 接收 | `[DAC 编号][mV_L][mV_H]` |
-| `0x321` | DAC 设置命令 | 接收 | `[DAC 编号][mV_L][mV_H]` |
+| `0x6A4` | DAC 应答 | 每次 DAC 设置后 | `[结果][DAC 编号][mV_L][mV_H]` |
-| `0x322` | 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` |
 
 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。
 
+### ASSI RGB 状态灯
+
+`PE9/PE10/PE11` 分别控制外部红、绿、蓝灯 MOS，均为高电平有效。`0x6A5` 可由 CAN1 或 CAN2 接收，状态在下一帧有效灯控报文到达前保持不变；上电默认 `AS_OFF`。`AS_READY` 为红绿常亮（黄），`AS_DRIVING` 为红绿以 2 Hz、50% 占空比闪烁（各 250 ms 亮/灭），`AS_EMERGENCY` 为蓝灯以相同节奏闪烁，`AS_FINISHED` 为蓝灯常亮。`PE0` 运行心跳和 `PE1` 故障指示保持原行为。
+
 ### DAC CAN 报文示例
 
 将 DAC1 设为 2.500 V：
 
 ```text
-ID=0x321  DLC=3  DATA=01 C4 09
+ID=0x6A3  DLC=3  DATA=01 C4 09
 ```
 
 成功应答：
 
 ```text
-ID=0x322  DLC=4  DATA=01 01 C4 09
+ID=0x6A4  DLC=4  DATA=01 01 C4 09
 ```
 
 DAC 编号 1 的 I2C 7 位地址为 `0x61`，编号 2 为 `0x60`。两路与板级 `MC_L`、`MC_R` 网络的实际对应关系需要以实物测量确认后再固化到线束文档。
@@ -111,7 +117,7 @@ DAC 编号 1 的 I2C 7 位地址为 `0x61`，编号 2 为 `0x60`。两路与板
 ```text
 A11 F407 monitor ready
 UART: DAC1 1.234 or DAC2 2500
-CAN cmd 0x321: [dac_id][mV_L][mV_H] or ASCII text
+CAN cmd 0x6A3: [dac_id][mV_L][mV_H] or ASCII text
 ```
 
 支持的 DAC 命令不区分大小写：
@@ -122,7 +128,7 @@ DAC2 2500
 D1 2.5V
 ```
 
-数值可使用伏特小数或毫伏整数；允许范围为 0 至 5000 mV。命令执行后会回显结果，并在两条 CAN 上发送 `0x322` 应答。
+数值可使用伏特小数或毫伏整数；允许范围为 0 至 5000 mV。命令执行后会回显结果，并在两条 CAN 上发送 `0x6A4` 应答。
 
 ## 8. 编译、生成与下载
 
@@ -158,6 +164,6 @@ Release 固件为 `build/Release/A11_F407_SDC_ACQ_DAC.bin`。若改动了 `.ioc`
 
 - 变更 CubeMX 配置后必须重新生成并重新编译，检查 `main.c` 的用户代码区是否完整保留。
 - 修改 CAN 速率时，CAN1 与 CAN2 的波特率及外部分析仪配置必须一致。
-- 修改 ADC 分压、标定或滤波参数时，应使用已知直流电压复测，并确认 CAN `0x102` 与串口数值一致。
+- 修改 ADC 分压、标定或滤波参数时，应使用已知直流电压复测，并确认 CAN `0x6A1` 与串口数值一致。
 - 修改 DAC 地址、参考电压或输出范围时，同时更新 DBC、本文和 `DAC*_ADDR7`、`DAC_REFERENCE_MV` 宏。
 - 本工程不包含构建目录和 `.bin`、`.elf`、`.hex` 等固件二进制；发布生产固件前应从当前提交重新编译生成。