Initial commit: CCU621_M firmware project with BLE debug link support.

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-08 17:28:36 +08:00
commit 9ceb218f80
1597 changed files with 724159 additions and 0 deletions
@@ -0,0 +1,125 @@
+#include "mdu_comm/mdu_stm_status_comm.h"
+#include "mdu_comm/mdu_comm_task.h"
+#include "collect_ctrl/yk_ctrl.h"
+
+
+#if (GUN_LINK_COMM_EN)
+
+/* STM32072 板状态 CAN 帧：扩展帧 ID 0x1801AABB
+ * data[0] = A枪插枪（0=未插枪 1=插枪）
+ * data[1] = B枪插枪
+ * data[2] = DI1
+ * data[3] = DI2
+ */
+#define STM_STATUS_CAN_ID       ((U32_T)0x1801AABB)
+
+/* STM32072 板控制 CAN 帧：扩展帧 ID 0x1802BBAA
+ * data[0] = DO0（本板 DO1，对应辅源1）
+ * data[1] = DO1（本板 DO2，对应辅源2）
+ */
+#define STM_CTRL_CAN_ID         ((U32_T)0x1802BBAA)
+
+typedef struct
+{
+    U8_T u8_gun_plug[2];    // 0:A枪 1:B枪
+    U8_T u8_di[2];          // 0:DI1  1:DI2
+    U8_T u8_aux[2];         // 0:AUX_A 1:AUX_B
+} S_STM_STATUS_CAN;
+
+static S_STM_STATUS_CAN s_stm_status_can;
+
+U8_T u8_stm_status_can_rx(CAN_DATA *rxMsg)
+{
+    if (rxMsg->ID != STM_STATUS_CAN_ID)
+    {
+        return 0;
+    }
+
+    s_stm_status_can.u8_gun_plug[0] = (rxMsg->Data[0] ? 1U : 0U);
+    s_stm_status_can.u8_gun_plug[1] = (rxMsg->Data[1] ? 1U : 0U);
+    s_stm_status_can.u8_di[0]       = (rxMsg->Data[2] ? 1U : 0U);
+    s_stm_status_can.u8_di[1]       = (rxMsg->Data[3] ? 1U : 0U);
+    s_stm_status_can.u8_aux[0]      = (rxMsg->Data[4] ? 1U : 0U);   // AUX_PADET_A
+    s_stm_status_can.u8_aux[1]      = (rxMsg->Data[5] ? 1U : 0U);   // AUX_PADET_B
+    return 1;
+}
+
+void v_stm_status_can_send_aux_frame(void)
+{
+    CAN_DATA can_data;
+    memset(&can_data , 0 , sizeof(CAN_DATA));
+
+    can_data.ID  = STM_CTRL_CAN_ID;   /* 与 STM32 侧 APP_CTRL_CAN_ID 保持一致 */
+    can_data.Len = 8;
+
+    /* 辅源1/2 控制：E_CMD 为 0/1，直接作为 DO0/DO1 的控制位 */
+    can_data.Data[0] = (U8_T)e_yk_get_ctrl_cmd(E_KY_TYPE_AUX_POWER1);
+    can_data.Data[1] = (U8_T)e_yk_get_ctrl_cmd(E_KY_TYPE_AUX_POWER2);
+
+    v_MduCanMsg_send(&can_data);
+}
+
+U8_T u8_stm_status_get_gun_plug(U8_T u8_gunNo)
+{
+    if (u8_gunNo < 2)
+    {
+        return s_stm_status_can.u8_gun_plug[u8_gunNo];
+    }
+    return 0;
+}
+
+U8_T u8_stm_status_get_di(U8_T u8_index)
+{
+    if (u8_index < 2)
+    {
+        return s_stm_status_can.u8_di[u8_index];
+    }
+    return 0;
+}
+
+U8_T u8_stm_status_get_aux(U8_T u8_index)
+{
+    if (u8_index < 2)
+    {
+        return s_stm_status_can.u8_aux[u8_index];
+    }
+    return 0;
+}
+// 判断是否有国标枪，若有则启用国标相关功能
+U8_T u8_stm_gb_enable(void)
+{
+    return (g_t_share_data.t_sys_fix_cfg.u8_gun_type[0] == GUN_TYPE_GB  ||
+            g_t_share_data.t_sys_fix_cfg.u8_gun_type[1] == GUN_TYPE_GB);
+}
+
+#else  /* GUN_LINK_COMM_EN == 0 */
+
+U8_T u8_stm_status_can_rx(CAN_DATA *rxMsg)
+{
+    (void)rxMsg;
+    return 0;
+}
+
+void v_stm_status_can_send_aux_frame(void)
+{
+}
+
+U8_T u8_stm_status_get_gun_plug(U8_T u8_gunNo)
+{
+    (void)u8_gunNo;
+    return 0;
+}
+
+U8_T u8_stm_status_get_di(U8_T u8_index)
+{
+    (void)u8_index;
+    return 0;
+}
+// 判断是否有国标枪，若有则启用国标相关功能
+U8_T u8_stm_gb_enable(void)
+{
+    return 0;
+}
+
+#endif /* GUN_LINK_COMM_EN */
+