73 lines
2.4 KiB
C
73 lines
2.4 KiB
C
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#ifndef __CONTROL_OUT_H__
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#define __CONTROL_OUT_H__
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#include "cm_os.h"
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#include "cm_gpio.h"
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#define ACC_RES_UP 10000
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#define ACC_RES_DOWN 3300
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#define VIN_RES_UP 240000
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#define VIN_RES_DOWN 3300
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// ACC 输出设置
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#define ACC_OUT_RES_UP 5100
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#define ACC_OUT_RES_DOWN 3300
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#define ACC_OUT_PERIOD_US 1000000
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#define ACC_OUT_Voltage_MAX 3820
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#define ACC_OUT_Voltage_MIN 880
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// #define ACC_Dmin (((880*ACC_OUT_RES_DOWN)/(ACC_OUT_RES_UP+ACC_OUT_RES_DOWN))*(ACC_OUT_PERIOD_US/(1800)))
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// #define ACC_Dmax (((3820*ACC_OUT_RES_DOWN)/(ACC_OUT_RES_UP+ACC_OUT_RES_DOWN))*(ACC_OUT_PERIOD_US/(1800)))
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typedef enum{
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OUT_Door_lock = CM_GPIO_NUM_21, // 门锁
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IO_MANAGER_MODE = CM_GPIO_NUM_12, // 管理模式
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IO_RX_BACK = CM_GPIO_NUM_3, // 倒车
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IO_TX_BRAKE = CM_GPIO_NUM_4, // 刹车
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}control_io_t;
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typedef struct{
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union{
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uint16_t VERSION; // 软件版本号
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struct{
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uint16_t SW_version:11; // 软件版本序号
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uint16_t HW_version:4; // 硬件版本序号
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uint16_t VER_type:1; // 当前固件类型0：0x04000；1：0x20000
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};
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};
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uint8_t Modbus_addr; // MODBUS地址
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uint8_t Manager_sLim; // 管理员模式油门极限(Unit:%)
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uint8_t Tourist_sLim; // 游客模式油门极限
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uint8_t Speed_Cut_sLim; // 减速油门极限(Unit:%)(自动减速时油门极限)
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uint16_t Brake_DLimit; // 刹车距离极限(前进)(Unit:mm)
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uint16_t Speed_Cut_DLimit; // 减速距离极限
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uint16_t Brake_DLimit_B; // 刹车距离极限(后退)
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uint16_t Speed_Cut_DLimit_B;// 减速距离极限
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uint16_t CRC16; // 配置信息CRC16校验码
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}SYS_CONF_t;
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extern SYS_CONF_t sys_conf;
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typedef struct{
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union{// 输入输出状态
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struct{
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uint8_t O_door_lock :1; // 1:电门锁打开,0:电门锁关闭
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uint8_t MAG_MODE :1; // 1:游客模式,0:管理模式
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uint8_t PLT_MODE :1; // 1:游客模式,0:管理模式
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uint8_t IO_RX_back :1; // 1:正常 0:倒车
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uint8_t IO_TX_brake :1; // 1:正常 0:刹车
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uint8_t A_brake :1; // 1:自动刹车,0:手动刹车
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uint8_t A_Speed_Cut :1; // 1:自动减速,0:手动减速
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uint8_t P_Radar_EN :1; // 1:雷达使能,0:雷达禁止
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};
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uint8_t IO_STA;
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};
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} sys_sta_t;
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extern sys_sta_t sys_sta;
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void control_out_init(void);
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#endif //__CONTROL_OUT_H__
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