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