1.0
This commit is contained in:
183
App/Can/snc_can_app.h
Normal file
183
App/Can/snc_can_app.h
Normal file
@@ -0,0 +1,183 @@
|
||||
#ifndef __SNC_CAN_APP_H
|
||||
#define __SNC_CAN_APP_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "fdcan.h"
|
||||
|
||||
#define SNC_ODOM_TIMEOUT_MS 300U
|
||||
|
||||
/* ========================= 协议 CAN ID ========================= */
|
||||
#define SNC_CAN_ID_HEARTBEAT 0x080U
|
||||
#define SNC_CAN_ID_CMD_VEL 0x100U
|
||||
|
||||
#define SNC_CAN_ID_STATUS 0x181U
|
||||
#define SNC_CAN_ID_ACTUAL_RPM 0x182U
|
||||
#define SNC_CAN_ID_TARGET_RPM 0x183U
|
||||
#define SNC_CAN_ID_COMM_DIAG 0x184U
|
||||
#define SNC_CAN_ID_ODOM 0x200U
|
||||
|
||||
/* ========================= 系统状态定义 ========================= */
|
||||
typedef enum
|
||||
{
|
||||
SNC_SYSTEM_BOOTING = 0,
|
||||
SNC_SYSTEM_OPERATIONAL = 1,
|
||||
SNC_SYSTEM_SAFE_FAULT = 2
|
||||
} SNC_SystemState_t;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
SNC_SYSTEM_HEALTH_OK = 0,
|
||||
SNC_SYSTEM_HEALTH_WARNING = 1,
|
||||
SNC_SYSTEM_HEALTH_FAULT = 2
|
||||
} SNC_SystemHealth_t;
|
||||
|
||||
/* ========================= 诊断位定义 ========================= */
|
||||
typedef enum
|
||||
{
|
||||
SNC_DIAG_COMM_TIMEOUT = (1UL << 0),
|
||||
SNC_DIAG_CAN_BUS_OFF = (1UL << 1),
|
||||
SNC_DIAG_CMD_CRC_STORM = (1UL << 2),
|
||||
SNC_DIAG_CMD_CNT_STORM = (1UL << 3),
|
||||
SNC_DIAG_MOTOR_FL_STALL = (1UL << 4),
|
||||
SNC_DIAG_MOTOR_RL_STALL = (1UL << 5),
|
||||
SNC_DIAG_MOTOR_FR_STALL = (1UL << 6),
|
||||
SNC_DIAG_MOTOR_RR_STALL = (1UL << 7),
|
||||
SNC_DIAG_CONTROL_SATURATION = (1UL << 8)
|
||||
} SNC_DiagBits_t;
|
||||
|
||||
/* ========================= 下位机状态快照 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t state;
|
||||
uint8_t health;
|
||||
uint32_t diag_bits;
|
||||
uint8_t cmd_age_10ms;
|
||||
uint8_t status_counter;
|
||||
uint32_t last_update_ms;
|
||||
bool online;
|
||||
} SNC_ChassisStatus_t;
|
||||
|
||||
/* ========================= 轮速数据 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
int16_t fl;
|
||||
int16_t rl;
|
||||
int16_t fr;
|
||||
int16_t rr;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_WheelRpmFrame_t;
|
||||
|
||||
/* ========================= 里程增量 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
int16_t fl_delta;
|
||||
int16_t rl_delta;
|
||||
int16_t fr_delta;
|
||||
int16_t rr_delta;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_OdomDeltaFrame_t;
|
||||
|
||||
/**
|
||||
* @brief 里程增量累加器
|
||||
*
|
||||
* 解决 0x200 增量帧的"漏积分/重复积分"问题：
|
||||
* - ISR 收到每帧 0x200 时，将增量**累加**到此结构体（不覆盖）
|
||||
* - 消费者调用 SNC_CAN_ConsumeOdomDelta() 原子取走累计值并清零
|
||||
*
|
||||
* 这样即使消费者频率 (100ms) 低于帧到达频率 (~60ms)，
|
||||
* 也不会丢失任何增量；也不会重复消费同一份增量。
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
int32_t fl_accum; /**< 左前轮累计增量 ticks (int32 防溢出) */
|
||||
int32_t rl_accum; /**< 左后轮累计增量 ticks */
|
||||
int32_t fr_accum; /**< 右前轮累计增量 ticks */
|
||||
int32_t rr_accum; /**< 右后轮累计增量 ticks */
|
||||
uint32_t first_frame_ms; /**< 本次累加窗口内第一帧的时间戳 [ms] */
|
||||
uint32_t last_frame_ms; /**< 本次累加窗口内最后一帧的时间戳 [ms] */
|
||||
uint32_t span_ms; /**< 本次累计增量实际覆盖的时间窗 [ms] */
|
||||
uint8_t frame_count; /**< 本次累加窗口内收到的帧数 */
|
||||
} SNC_OdomDeltaAccum_t;
|
||||
|
||||
/* ========================= 通信诊断 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t valid_cmd_total_lsb;
|
||||
uint8_t crc_error_total_lsb;
|
||||
uint8_t counter_reject_total_lsb;
|
||||
uint8_t can_tx_drop_total_lsb;
|
||||
uint8_t busoff_total_lsb;
|
||||
uint8_t rx_overrun_total_lsb;
|
||||
uint8_t last_accepted_counter;
|
||||
uint8_t consecutive_counter_errors;
|
||||
uint8_t consecutive_crc_errors;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_CommDiagFrame_t;
|
||||
|
||||
/* ========================= 上位机应用层总状态 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
SNC_ChassisStatus_t status;
|
||||
SNC_WheelRpmFrame_t actual_rpm;
|
||||
SNC_WheelRpmFrame_t target_rpm;
|
||||
SNC_OdomDeltaFrame_t odom_delta; /**< 最近一帧快照 (保留兼容性, 勿用于积分) */
|
||||
SNC_OdomDeltaAccum_t odom_accum; /**< 里程增量累加器 (正确消费入口) */
|
||||
SNC_CommDiagFrame_t comm_diag;
|
||||
|
||||
uint8_t tx_counter;
|
||||
uint8_t tx_ctrl_flags;
|
||||
uint32_t tx_total;
|
||||
uint32_t tx_fail_total;
|
||||
uint32_t rx_total;
|
||||
} SNC_CAN_AppContext_t;
|
||||
|
||||
/* ========================= 全局上下文 ========================= */
|
||||
extern SNC_CAN_AppContext_t g_snc_can_app;
|
||||
|
||||
/* ========================= 初始化与任务 ========================= */
|
||||
void SNC_CAN_AppInit(void);
|
||||
void SNC_CAN_20msTask(void);
|
||||
void SNC_CAN_100msTask(void);
|
||||
void SNC_CAN_PollOnlineState(uint32_t now_ms);
|
||||
|
||||
/* ========================= 发送接口 ========================= */
|
||||
HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void);
|
||||
HAL_StatusTypeDef SNC_CAN_SendCmdVel(float vx_mps, float wz_radps, uint8_t ctrl_flags);
|
||||
|
||||
/* ========================= 接收回调 ========================= */
|
||||
void SNC_CAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t rxFifo0ITs);
|
||||
|
||||
/* ========================= 数据读取接口 ========================= */
|
||||
const SNC_CAN_AppContext_t *SNC_CAN_GetContext(void);
|
||||
|
||||
/**
|
||||
* @brief 原子取走并清零里程增量累加器
|
||||
*
|
||||
* 消费者（monitorTask）每周期调用一次，取走自上次消费以来
|
||||
* 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。
|
||||
*
|
||||
* @param[out] fl 左前轮累计增量 ticks (截断为 int16)
|
||||
* @param[out] rl 左后轮累计增量 ticks
|
||||
* @param[out] fr 右前轮累计增量 ticks
|
||||
* @param[out] rr 右后轮累计增量 ticks
|
||||
* @param[out] dt_ms 累加增量实际覆盖的时间窗 [ms]
|
||||
* 若无法可靠计算（如系统首帧）则为 0，可用默认帧间隔替代
|
||||
* @return 本次取走的帧数；0 表示期间没有新帧到达
|
||||
*/
|
||||
uint8_t SNC_CAN_ConsumeOdomDelta(int16_t *fl, int16_t *rl,
|
||||
int16_t *fr, int16_t *rr,
|
||||
uint32_t *dt_ms);
|
||||
|
||||
/* ========================= 工具接口 ========================= */
|
||||
uint8_t SNC_CAN_Crc8J1850(const uint8_t *data, uint16_t len);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __SNC_CAN_APP_H */
|
||||
Reference in New Issue
Block a user