242 lines
8.0 KiB
C
242 lines
8.0 KiB
C
#include "app_config.h"
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#include "interface.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "app_param_manage.h"
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#include "app_power.h"
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#include "app_brake.h"
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#include "app_differential_drive.h"
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// 使用内联函数
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static inline uint8_t setBrakeOn(void) { return 1; }
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static inline uint8_t setBrakeOff(void) { return 0; }
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BrakeSystem brake_data;
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// 判断是否需要刹车
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static uint8_t shouldApplyBrake()
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{
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return (brake_data.emergency_stop_switch ||
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brake_data.remote_emergency_stop ||
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(brake_data.mode_signal == 0 && brake_data.remote_fault) ||
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(brake_data.mode_signal == 1 && brake_data.can_bus_fault));//20241021 修改不计算以太网故障
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// (brake_data.mode_signal == 1 && (brake_data.can_bus_fault || brake_data.ethernet_fault)));
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}
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// 判断是否需要释放刹车
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static uint8_t shouldReleaseBrake()
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{
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return (!brake_data.emergency_stop_switch &&
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!brake_data.remote_emergency_stop &&
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((brake_data.mode_signal == 0 && !brake_data.remote_fault) ||
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(brake_data.mode_signal == 1 && !brake_data.can_bus_fault)));//20241021 修改不计算以太网故障
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// (brake_data.mode_signal == 1 && (!brake_data.can_bus_fault && !brake_data.ethernet_fault))));
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}
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// 输出处理函数
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static void brakeOutput(void *signal_id)
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{
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(void)signal_id;
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// 根据电机状态，填充发送数据结构，发送信号
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switch (brake_data.brake_motor_state)
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{
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case 1: // 电机前进状态
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un_h_bridge_output.bit_data.channel_01 = setBrakeOn();
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un_h_bridge_output.bit_data.channel_02 = setBrakeOff();
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un_h_bridge_output1.bit_data.channel_01 = setBrakeOn();
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un_h_bridge_output1.bit_data.channel_02 = setBrakeOff();
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printf("Brake: Motor forward\n");
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break;
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case 2: // 电机后退状态
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un_h_bridge_output.bit_data.channel_01 = setBrakeOff();
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un_h_bridge_output.bit_data.channel_02 = setBrakeOn();
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un_h_bridge_output1.bit_data.channel_01 = setBrakeOff();
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un_h_bridge_output1.bit_data.channel_02 = setBrakeOn();
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printf("Brake: Motor reverse\n");
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break;
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default:
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un_h_bridge_output.bit_data.channel_01 = setBrakeOff();
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un_h_bridge_output.bit_data.channel_02 = setBrakeOff();
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un_h_bridge_output1.bit_data.channel_01 = setBrakeOff();
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un_h_bridge_output1.bit_data.channel_02 = setBrakeOff();
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printf("Brake: Motor off\n");
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break;
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}
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publishMessage(&un_h_bridge_output, 1);
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publishMessage(&un_inf_can_kgf_output1, 1);
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}
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// 修改刹车定时器处理函数
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static void brakeTimerProcess(void *signal_id)
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{
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(void)signal_id;
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//#ifdef OIL_BRAKE
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switch (brake_data.state)
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{
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case BRAKE_STATE_IDLE:
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if (shouldApplyBrake())
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{
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brake_data.state = BRAKE_STATE_APPLYING_BRAKE;
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brake_data.brake_motor_state = 1;
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if( 0 == brake_data.brake_direction)
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{
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brake_data.brake_motor_state = 1;
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}
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else
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{
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brake_data.brake_motor_state = 2;
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}
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brakeOutput(NULL);
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timerStart(&brake_data.brake_apply_timer, (uint32_t)(getParam("brk_on")), 0);
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}
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break;
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case BRAKE_STATE_BRAKE_ON:
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if (shouldReleaseBrake() && power_data.current_state == POWER_WORKING)
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{
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brake_data.state = BRAKE_STATE_RELEASING_BRAKE;
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brake_data.brake_motor_state = 2;
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brakeOutput(NULL);
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if( 0 == brake_data.brake_direction)
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{
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brake_data.brake_motor_state = 2;
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}
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else
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{
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brake_data.brake_motor_state = 1;
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}
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timerStart(&brake_data.brake_release_timer, (uint32_t)(getParam("brk_off")), 0);
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}
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break;
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case BRAKE_STATE_APPLYING_BRAKE:
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if (!brake_data.brake_apply_timer.active)
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{
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brake_data.state = BRAKE_STATE_BRAKE_ON;
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brake_data.brake_motor_state = 0;
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brakeOutput(NULL);
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brake_data.brake_position = 1; // 刹车位置：1表示刹车
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}
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break;
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case BRAKE_STATE_RELEASING_BRAKE:
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if (!brake_data.brake_release_timer.active)
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{
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brake_data.state = BRAKE_STATE_IDLE;
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brake_data.brake_motor_state = 0;
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brakeOutput(NULL);
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brake_data.brake_position = 0; // 刹车位置：0表示未刹车
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}
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break;
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default:
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printf("ERROR: Unknown state\n");
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brake_data.state = BRAKE_STATE_IDLE;
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break;
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}
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// 如果刹车位置有变化，存入EEPROM
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if (brake_data.brake_position != brake_data.old_brake_position)
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{
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setParam("brk_pos", (float)brake_data.brake_position);
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brake_data.old_brake_position = brake_data.brake_position;
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printf("writeE2 brake_position = %d\n",brake_data.brake_position);
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}
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timerStart(&brake_data.brake_timer, 100, 1); // 周期调用
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}
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// 处理所有输入信号的函数
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static void brakeInput(void *signal_id)
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{
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// BrakeSystem old_data = brake_data; // 定义并初始化old_data
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// 填充数据
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if (signal_id == &un_sw_sample)
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{
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brake_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;
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}
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else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
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{
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brake_data.remote_emergency_stop = ((uint8_t)un_remote_control_input.bit_data.switch_b == 1) ? 0 : 1;
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brake_data.mode_signal = ((uint8_t)un_remote_control_input.bit_data.switch_c == 1) ? 1 : 0;
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}
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else if (signal_id == &can_fault_info)
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{
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brake_data.remote_fault = !can_fault_info.bit_data.remote_state;
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brake_data.can_bus_fault = !can_fault_info.bit_data.motor1_state || !can_fault_info.bit_data.motor2_state || !can_fault_info.bit_data.navigator_state;
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}
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else if (signal_id == ðernet_fault_Info)
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{
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brake_data.ethernet_fault = !ethernet_fault_Info.bit_data.auto_state && !ethernet_fault_Info.bit_data.manual_state;
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}
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}
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void paramUpdate(void *signal_id)
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{
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brake_data.brake_direction = (uint8_t)getParam("brk_rev");
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timerStart(&brake_data.brake_param_timer, 1000, 1);
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}
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// 修改APP模块的初始化函数
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void brakeAppInit(void)
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{
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// 初始化
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memset(&brake_data, 0, sizeof(BrakeSystem));
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brake_data.state = BRAKE_STATE_IDLE;
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// 初始化时恢复刹车位置
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brake_data.brake_position = (uint8_t)getParam("brk_pos");
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brake_data.old_brake_position = brake_data.brake_position;
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// 根据刹车位置恢复刹车状态
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if (brake_data.brake_position == 1)
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{
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brake_data.state = BRAKE_STATE_BRAKE_ON;
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}
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else
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{
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brake_data.state = BRAKE_STATE_IDLE;
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}
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// 初始化定时器
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timerInit(&brake_data.brake_timer);
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timerInit(&brake_data.brake_apply_timer);
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timerInit(&brake_data.brake_release_timer);
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timerInit(&brake_data.brake_param_timer);
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// 订阅输入信号,处理刹车逻辑
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subscribe(&un_sw_sample, brakeInput);
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subscribe(&un_remote_control_input, brakeInput);
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subscribe(&can_fault_info, brakeInput);
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subscribe(ðernet_fault_Info, brakeInput);
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// 订阅定时器信号,用于状态机的定时处理
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subscribe(&brake_data.brake_timer, brakeTimerProcess);
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subscribe(&brake_data.brake_apply_timer, brakeTimerProcess);
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subscribe(&brake_data.brake_release_timer, brakeTimerProcess);
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subscribe(&brake_data.brake_param_timer, paramUpdate);
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// 启动定时器，定期调用 brakeTimerProcess
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timerStart(&brake_data.brake_timer, 500, 1);
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timerStart(&brake_data.brake_param_timer, 1000, 1);
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printf("app_brake: initial OK \n");
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}
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