184 lines
6.0 KiB
C
184 lines
6.0 KiB
C
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#ifndef __SNC_CAN_APP_H
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#define __SNC_CAN_APP_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#include "fdcan.h"
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#define SNC_ODOM_TIMEOUT_MS 300U
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/* ========================= 协议 CAN ID ========================= */
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#define SNC_CAN_ID_HEARTBEAT 0x080U
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#define SNC_CAN_ID_CMD_VEL 0x100U
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#define SNC_CAN_ID_STATUS 0x181U
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#define SNC_CAN_ID_ACTUAL_RPM 0x182U
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#define SNC_CAN_ID_TARGET_RPM 0x183U
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#define SNC_CAN_ID_COMM_DIAG 0x184U
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#define SNC_CAN_ID_ODOM 0x200U
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/* ========================= 系统状态定义 ========================= */
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typedef enum
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{
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SNC_SYSTEM_BOOTING = 0,
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SNC_SYSTEM_OPERATIONAL = 1,
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SNC_SYSTEM_SAFE_FAULT = 2
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} SNC_SystemState_t;
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typedef enum
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{
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SNC_SYSTEM_HEALTH_OK = 0,
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SNC_SYSTEM_HEALTH_WARNING = 1,
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SNC_SYSTEM_HEALTH_FAULT = 2
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} SNC_SystemHealth_t;
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/* ========================= 诊断位定义 ========================= */
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typedef enum
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{
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SNC_DIAG_COMM_TIMEOUT = (1UL << 0),
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SNC_DIAG_CAN_BUS_OFF = (1UL << 1),
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SNC_DIAG_CMD_CRC_STORM = (1UL << 2),
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SNC_DIAG_CMD_CNT_STORM = (1UL << 3),
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SNC_DIAG_MOTOR_FL_STALL = (1UL << 4),
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SNC_DIAG_MOTOR_RL_STALL = (1UL << 5),
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SNC_DIAG_MOTOR_FR_STALL = (1UL << 6),
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SNC_DIAG_MOTOR_RR_STALL = (1UL << 7),
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SNC_DIAG_CONTROL_SATURATION = (1UL << 8)
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} SNC_DiagBits_t;
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/* ========================= 下位机状态快照 ========================= */
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typedef struct
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{
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uint8_t state;
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uint8_t health;
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uint32_t diag_bits;
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uint8_t cmd_age_10ms;
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uint8_t status_counter;
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uint32_t last_update_ms;
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bool online;
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} SNC_ChassisStatus_t;
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/* ========================= 轮速数据 ========================= */
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typedef struct
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{
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int16_t fl;
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int16_t rl;
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int16_t fr;
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int16_t rr;
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uint32_t last_update_ms;
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} SNC_WheelRpmFrame_t;
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/* ========================= 里程增量 ========================= */
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typedef struct
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{
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int16_t fl_delta;
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int16_t rl_delta;
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int16_t fr_delta;
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int16_t rr_delta;
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uint32_t last_update_ms;
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} SNC_OdomDeltaFrame_t;
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/**
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* @brief 里程增量累加器
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*
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* 解决 0x200 增量帧的"漏积分/重复积分"问题：
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* - ISR 收到每帧 0x200 时，将增量**累加**到此结构体（不覆盖）
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* - 消费者调用 SNC_CAN_ConsumeOdomDelta() 原子取走累计值并清零
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*
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* 这样即使消费者频率 (100ms) 低于帧到达频率 (~60ms)，
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* 也不会丢失任何增量；也不会重复消费同一份增量。
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*/
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typedef struct
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{
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int32_t fl_accum; /**< 左前轮累计增量 ticks (int32 防溢出) */
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int32_t rl_accum; /**< 左后轮累计增量 ticks */
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int32_t fr_accum; /**< 右前轮累计增量 ticks */
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int32_t rr_accum; /**< 右后轮累计增量 ticks */
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uint32_t first_frame_ms; /**< 本次累加窗口内第一帧的时间戳 [ms] */
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uint32_t last_frame_ms; /**< 本次累加窗口内最后一帧的时间戳 [ms] */
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uint32_t span_ms; /**< 本次累计增量实际覆盖的时间窗 [ms] */
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uint8_t frame_count; /**< 本次累加窗口内收到的帧数 */
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} SNC_OdomDeltaAccum_t;
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/* ========================= 通信诊断 ========================= */
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typedef struct
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{
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uint8_t valid_cmd_total_lsb;
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uint8_t crc_error_total_lsb;
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uint8_t counter_reject_total_lsb;
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uint8_t can_tx_drop_total_lsb;
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uint8_t busoff_total_lsb;
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uint8_t rx_overrun_total_lsb;
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uint8_t last_accepted_counter;
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uint8_t consecutive_counter_errors;
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uint8_t consecutive_crc_errors;
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uint32_t last_update_ms;
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} SNC_CommDiagFrame_t;
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/* ========================= 上位机应用层总状态 ========================= */
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typedef struct
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{
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SNC_ChassisStatus_t status;
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SNC_WheelRpmFrame_t actual_rpm;
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SNC_WheelRpmFrame_t target_rpm;
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SNC_OdomDeltaFrame_t odom_delta; /**< 最近一帧快照 (保留兼容性, 勿用于积分) */
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SNC_OdomDeltaAccum_t odom_accum; /**< 里程增量累加器 (正确消费入口) */
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SNC_CommDiagFrame_t comm_diag;
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uint8_t tx_counter;
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uint8_t tx_ctrl_flags;
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uint32_t tx_total;
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uint32_t tx_fail_total;
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uint32_t rx_total;
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} SNC_CAN_AppContext_t;
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/* ========================= 全局上下文 ========================= */
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extern SNC_CAN_AppContext_t g_snc_can_app;
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/* ========================= 初始化与任务 ========================= */
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void SNC_CAN_AppInit(void);
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void SNC_CAN_20msTask(void);
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void SNC_CAN_100msTask(void);
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void SNC_CAN_PollOnlineState(uint32_t now_ms);
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/* ========================= 发送接口 ========================= */
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HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void);
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HAL_StatusTypeDef SNC_CAN_SendCmdVel(float vx_mps, float wz_radps, uint8_t ctrl_flags);
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/* ========================= 接收回调 ========================= */
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void SNC_CAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t rxFifo0ITs);
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/* ========================= 数据读取接口 ========================= */
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const SNC_CAN_AppContext_t *SNC_CAN_GetContext(void);
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/**
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* @brief 原子取走并清零里程增量累加器
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*
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* 消费者（monitorTask）每周期调用一次，取走自上次消费以来
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* ISR 累积的全部增量帧总和。返回后累加器归零，等待下一批帧。
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*
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* @param[out] fl 左前轮累计增量 ticks (截断为 int16)
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* @param[out] rl 左后轮累计增量 ticks
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* @param[out] fr 右前轮累计增量 ticks
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* @param[out] rr 右后轮累计增量 ticks
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* @param[out] dt_ms 累加增量实际覆盖的时间窗 [ms]
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* 若无法可靠计算（如系统首帧）则为 0，可用默认帧间隔替代
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* @return 本次取走的帧数；0 表示期间没有新帧到达
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*/
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uint8_t SNC_CAN_ConsumeOdomDelta(int16_t *fl, int16_t *rl,
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int16_t *fr, int16_t *rr,
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uint32_t *dt_ms);
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/* ========================= 工具接口 ========================= */
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uint8_t SNC_CAN_Crc8J1850(const uint8_t *data, uint16_t len);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __SNC_CAN_APP_H */
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