5F0报文添加字段

src/canbus/canbus.cpp

@@ -567,6 +567,7 @@ bool Canbus::BrkPedalActCtrRequest(canbus::BrkPedalActCtrReq::Request &req,
         request.uiBrkDecCtrReq = req.uiBrkDecCtrReq;
         request.uiBrkFocCtrReq = req.uiBrkFocCtrReq;
         request.uiBrkPsngCtrReq = req.uiBrkPsngCtrReq;
+        request.uiBrkStrokeRateCtrReq = req.uiBrkStrokeRateCtrReq;
 
         MessageCoder::CanMsgPackage((void*)&request, robot::common::BrkPedalActCtrReq, &canBrkPedalActCtrReqMsg);
         if (write_data(&canBrkPedalActCtrReqMsg)!=ROBOT_SUCCESS)

src/canbus/candatatype.h

@@ -403,7 +403,7 @@ typedef struct
 /*************制动踏板执行机构控制命令*************/
 typedef struct
 {
-  unsigned int :8;
+  unsigned int uiBrkStrokeRateCtrReq:8;      //制动踏板行程速率控制请求
   unsigned int uiBrkDecCtrReq:8;		//制动机构减速度控制请求
   unsigned int uiBrkAccCtrReq:8;		//制动机构加速度控制请求
   unsigned int :7;
@@ -442,8 +442,13 @@ typedef struct
   unsigned int uiBrkFocCtrReq;	//制动踏板力控制请求
   unsigned int uiBrkAccCtrReq;	//制动机构加速度控制请求
   unsigned int uiBrkDecCtrReq;	//制动机构减速度控制请求
+  unsigned int uiBrkStrokeRateCtrReq;//制动机构行程速率控制请求
 }T_BRK_PEDAL_ACT_CTR_REQ;
 
+#define	BRK_CTRMODE_SPEED			1	//速度控制模式
+#define	BRK_CTRMODE_FORCE			2	//力控制模式
+#define	BRK_CTRMODE_STROKERATE		3	//行程速率控制模式
+
 /********************制动机构时间控制设置****************/
 typedef struct
 {

src/canbus/messagecoder.cpp

@@ -743,6 +743,7 @@ void MessageCoder::CanMsgPackageID_5F0(T_BRK_PEDAL_ACT_CTR_REQ * tBrkPedalActCtr
     tCtrCmd5F0.uiBrkPsngCtrReq = tBrkPedalActCtrReq->uiBrkPsngCtrReq;
     tCtrCmd5F0.uiBrkFocCtrReqH = tCtrCmd5F0Union.tCtrCmd5F0Src.uiBrkFocCtrReqH;
     tCtrCmd5F0.uiBrkFocCtrReqL = tCtrCmd5F0Union.tCtrCmd5F0Src.uiBrkFocCtrReqL;
+    tCtrCmd5F0.uiBrkStrokeRateCtrReq = tBrkPedalActCtrReq->uiBrkStrokeRateCtrReq;
 
     memcpy(ucCanMsgSrc, &tCtrCmd5F0, CAN_MSG_LEN);
         CharReverse(ucCanMsgSrc,8);

src/canbus/srv/BrkPedalActCtrReq.srv

@@ -4,5 +4,6 @@ uint32 uiBrkSpdCtrReq	    #制动踏板速度控制请求
 uint32 uiBrkFocCtrReq	    #制动踏板力控制请求
 uint32 uiBrkAccCtrReq       #制动机构加速度控制请求
 uint32 uiBrkDecCtrReq       #制动机构减速度控制请求
+uint32 uiBrkStrokeRateCtrReq  #制动机构行程速率控制请求
 ---
 uint32 uiReturn