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修复清扫部件初始化bug

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lyq 2026-01-26 15:17:36 +08:00
parent 5211cd55dc
commit 86871a4ab8
1 changed files with 27 additions and 48 deletions
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75
src/base/mc/src/timer_tasks.cpp
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@ -35,60 +35,39 @@ void epsTimerTask(CANDriver& canctl)
// 修改timer_tasks.cpp中的vcuTimerTask函数
void vcuTimerTask(CANDriver& canctl)
{
static bool vcu_initialized = false;
static bool last_sweep_state = false; // 记录上一次清扫状态
auto msg = get_safe_control();
// 首次运行时初始化VCU控制
if (!vcu_initialized)
{
// 发送CAN使能指令
vcu_enable_cmd.setCANEnable(true);
canctl.sendFrame(vcu_enable_cmd.toFrame());
// LOG_INFO("mcuTimerTask");
vcu_initialized = true;
LOG_INFO("[VCU] CAN control enabled");
}
// 根据清扫状态设置所有部件
int8_t target_value = msg.sweep ? 100 : 0; // 100表示启动，0表示停止
int8_t target_value2 = msg.sweep ? -100 : 100; // -100表示下沉，100表示抬升
// 检查清扫状态是否变化
bool sweep_state_changed = (msg.sweep != last_sweep_state);
// 发送CAN使能指令
vcu_enable_cmd.setCANEnable(true);
canctl.sendFrame(vcu_enable_cmd.toFrame());
if (sweep_state_changed)
{
// 根据清扫状态设置所有部件
int8_t target_value = msg.sweep ? 100 : 0; // 100表示启动，0表示停止
int8_t target_value2 = msg.sweep ? -100 : 100; // -100表示下沉，100表示抬升
// ===== 控制0x211报文 (电机M1-M7) =====
vcu_motor1_cmd.setByte0(msg.sweep ? 1 : 0); // 1表示正向运行，0表示停止
vcu_motor1_cmd.setByte1(target_value);
vcu_motor1_cmd.setByte2(target_value);
vcu_motor1_cmd.setByte3(target_value);
vcu_motor1_cmd.setByte4(target_value2);
vcu_motor1_cmd.setByte5(target_value2);
vcu_motor1_cmd.setByte6(target_value);
vcu_motor1_cmd.setByte7(target_value);
canctl.sendFrame(vcu_motor1_cmd.toFrame());
// ===== 控制0x211报文 (电机M1-M7) =====
vcu_motor1_cmd.setByte0(msg.sweep ? 1 : 0); // 1表示正向运行，0表示停止
vcu_motor1_cmd.setByte1(target_value);
vcu_motor1_cmd.setByte2(target_value);
vcu_motor1_cmd.setByte3(target_value);
vcu_motor1_cmd.setByte4(target_value2);
vcu_motor1_cmd.setByte5(target_value2);
vcu_motor1_cmd.setByte6(target_value);
vcu_motor1_cmd.setByte7(target_value);
canctl.sendFrame(vcu_motor1_cmd.toFrame());
// LOG_INFO("vcuTimerTask1");
// ===== 控制0x212报文 (电机M8和LED输出) =====
vcu_motor2_cmd.setByte0(target_value);
vcu_motor2_cmd.setByte1(target_value);
vcu_motor2_cmd.setByte2(target_value);
vcu_motor2_cmd.setByte3(target_value);
vcu_motor2_cmd.setByte4(target_value);
vcu_motor2_cmd.setByte5(target_value);
vcu_motor2_cmd.setByte6(target_value);
vcu_motor2_cmd.setByte7(target_value);
canctl.sendFrame(vcu_motor2_cmd.toFrame());
// ===== 控制0x212报文 (电机M8和LED输出) =====
vcu_motor2_cmd.setByte0(target_value);
vcu_motor2_cmd.setByte1(target_value);
vcu_motor2_cmd.setByte2(target_value);
vcu_motor2_cmd.setByte3(target_value);
vcu_motor2_cmd.setByte4(target_value);
vcu_motor2_cmd.setByte5(target_value);
vcu_motor2_cmd.setByte6(target_value);
vcu_motor2_cmd.setByte7(target_value);
canctl.sendFrame(vcu_motor2_cmd.toFrame());
// LOG_INFO("vcuTimerTask2");
// LOG_INFO("[VCU] Sweep mode %s", msg.sweep ? "activated" : "deactivated");
// 更新状态记录
last_sweep_state = msg.sweep;
}
LOG_INFO_THROTTLE(1000, "[VCU] Sweep? %s", msg.sweep ? "Yes" : "No");
}
// 定时器回调：BMS 查询任务