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@@ -468,7 +468,11 @@ typedef struct
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typedef struct
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{
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unsigned int uiSftType : 2; //挡位类型
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- unsigned int : 11;
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+ unsigned int : 1;
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+ unsigned int uiRbtCfgMd:1; //机器人配置模式
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+ unsigned int:1;
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+ unsigned int uiRbtAplySenro:1; //机器人应用场景
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+ unsigned int:7;
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int iStrMaxLimt : 19; //转向极限值
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unsigned int : 6;
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unsigned int uiBrkMaxLimt : 10; //制动行程最大限值
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@@ -479,10 +483,12 @@ typedef struct
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//执行机构限值设置
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typedef struct
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{
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- unsigned int uiSftType; //挡位类型
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unsigned int uiAccMaxLimt; //油门行程最大限值
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unsigned int uiBrkMaxLimt; //制动行程最大限值
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int iStrMaxLimt; //转向极限值
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+ unsigned int uiRbtAplySenro; //机器人应用场景
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+ unsigned int uiRbtCfgMd; //机器人配置模式
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+ unsigned int uiSftType; //挡位类型
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}T_ACT_CTR_LIMT;
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/*************力矩保护设置*******/
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typedef struct
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@@ -497,8 +503,8 @@ typedef struct
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//力矩保护设置
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typedef struct
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{
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- unsigned int uiStrTorqSwitch; //转向力矩限制开关
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unsigned int uiStrTorqLimit; //转向力矩限值
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+ unsigned int uiStrTorqSwitch; //转向力矩限制开关
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}T_TRQ_PRTCT_STP;
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/*************制动机构力时间控制设置*******/
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@@ -515,9 +521,9 @@ typedef struct
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//制动机构力时间控制设置
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typedef struct
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{
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- unsigned int uiBrkTm; //控制时间
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- unsigned int uiBscFrc; //力的基准值
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unsigned int uiFrcSpd; //力增长速率
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+ unsigned int uiBscFrc; //力的基准值
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+ unsigned int uiBrkTm; //控制时间
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}T_BRK_FRC_CTR_STP;
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/*************转向三角波*******/
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@@ -558,12 +564,12 @@ typedef union
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//转向三角波
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typedef struct
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{
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- unsigned int uiBrkTm; //控制时间
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- int uiStrPstBsc; //方向盘位置基准值
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- int uiStrSpdk; //方向盘转速
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- unsigned int uiStrNum; //个数
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- unsigned int uiStrTT; //脉宽
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int uiStrTA; //峰值
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+ unsigned int uiStrTT; //脉宽
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+ unsigned int uiStrNum; //个数
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+ int uiStrSpdk; //方向盘转速
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+ int uiStrPstBsc; //方向盘位置基准值
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+ unsigned int uiBrkTm; //控制时间
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}T_STR_TRNGL_LN_CTR;
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/*************转向正弦控制*******/
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@@ -585,12 +591,12 @@ typedef struct
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//转向正弦控制
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typedef struct
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{
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- unsigned int uiBrkTm; //控制时间
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- unsigned int uiStrDt; //迟滞时间
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- unsigned int uiStrA; //幅值
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- int uiStrFi; //相位差
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- unsigned int uiStrFrtb; //频率基值
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unsigned int uiStrFrtk; //频率斜率
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+ unsigned int uiStrFrtb; //频率基值
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+ int uiStrFi; //相位差
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+ unsigned int uiStrA; //幅值
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+ unsigned int uiStrDt; //迟滞时间
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+ unsigned int uiBrkTm; //控制时间
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}T_STR_SIN_CTR;
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/*************油门机构位置时间控制*******/
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@@ -607,9 +613,9 @@ typedef struct
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//油门机构位置时间控制
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typedef struct
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{
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- unsigned int uiBrkTm : 11; //控制时间
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- unsigned int uiAccPstBsc : 11; //油门位置基准值
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unsigned int uiAccSpdP : 10; //油门速度
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+ unsigned int uiAccPstBsc : 11; //油门位置基准值
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+ unsigned int uiBrkTm : 11; //控制时间
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}T_ACC_PSTN_CTR_STP;
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/*************方向盘位置时间序列控制*******/
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@@ -646,11 +652,11 @@ typedef union
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//方向盘位置时间序列控制
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typedef struct
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{
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- int uiStrAngReq; //方向盘转角
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- unsigned int uiRelTime; //相对时间
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- unsigned int uiNum; //实际点序号
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- unsigned int uiTotalNum; //总个数
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unsigned int uiSqncID; //序列ID
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+ unsigned int uiTotalNum; //总个数
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+ unsigned int uiNum; //实际点序号
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+ unsigned int uiRelTime; //相对时间
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+ int uiStrAngReq; //方向盘转角
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}T_STR_PSTN_TM_CTR;
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/*************车辆一键启动*******/
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@@ -667,6 +673,19 @@ typedef struct
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unsigned int uiVehSwReq; //车辆一键启动
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}T_VEHICLE_START;
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+/****坡度模板****/
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+typedef struct
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+{
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+ unsigned int : 32;
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+ unsigned int : 21;
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+ int iSlopeReq : 11; //坡度电压请求
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+}T_CONTROL_CMD_70F;
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+
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+//坡度模板
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+typedef struct
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+{
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+ int iSlopeReq; //坡度电压请求
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+}T_Slope_MODE;
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/******************************ICU-RCU状态输入******************************/
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/*************车辆状态1*******技术规范添加了部分定义******/
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@@ -998,13 +1017,13 @@ typedef struct
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//控制器上电状态
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typedef struct
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{
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- unsigned int uiRCUPowStat; //RCU上电状态
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- unsigned int uiAccCtrPowStat; //油门踏板电机控制器上电状态
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- unsigned int uiBrkCtrPowStat; //制动电机控制器上电状态
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unsigned int uiClchCtrPowStat; //离合电机控制器上电状态
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- unsigned int uiStrCtrPowStat; //转向电机控制器上电状态
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- unsigned int uiXSftArmCtrPowStat; //换挡臂X电机控制器上电状态
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+ unsigned int uiBrkCtrPowStat; //制动电机控制器上电状态
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+ unsigned int uiAccCtrPowStat; //油门踏板电机控制器上电状态
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+ unsigned int uiRCUPowStat; //RCU上电状态
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unsigned int uiYSftArmCtrPowStat; //换挡臂Y电机控制器上电状态
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+ unsigned int uiXSftArmCtrPowStat; //换挡臂X电机控制器上电状态
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+ unsigned int uiStrCtrPowStat; //转向电机控制器上电状态
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}T_CTR_POW_STATUS;
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#define POW_STAT_OFF 0 //未上电
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@@ -1039,14 +1058,14 @@ typedef struct
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//执行机构使能状态
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typedef struct
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{
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- unsigned int uiAccMotEnStat; //油门踏板电机使能状态
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- unsigned int uiBrkMotEnStat; //制动电机使能状态
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- unsigned int uiStrMotEnStat; //转向电机使能状态
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unsigned int uiXSftMotEnStat; //换挡臂X电机使能状态
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- unsigned int uiYSftMotEnStat; //换挡臂Y电机使能状态
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- unsigned int uiClchMotEnStat; //离合电机使能状态
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- unsigned int uiAccClchCtrStat; //油门踏板离合器通电状态
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+ unsigned int uiStrMotEnStat; //转向电机使能状态
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+ unsigned int uiBrkMotEnStat; //制动电机使能状态
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+ unsigned int uiAccMotEnStat; //油门踏板电机使能状态
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unsigned int uiPauseEnStat; //系统软急停使能状态
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+ unsigned int uiAccClchCtrStat; //油门踏板离合器通电状态
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+ unsigned int uiClchMotEnStat; //离合电机使能状态
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+ unsigned int uiYSftMotEnStat; //换挡臂Y电机使能状态
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unsigned int uiBrkHVFFStat; //制动机构手阀状态
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}T_ACT_ENABLE_STATUS;
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@@ -1330,26 +1349,29 @@ typedef struct
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unsigned int uiRCUAlive : 4; //系统RCU心跳
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unsigned int : 4;
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unsigned int uiCtrMdStat : 3; //实际系统控制状态
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- unsigned int : 5;
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+ unsigned int : 1;
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+ unsigned int uiRbtCfgMdStat:1; //机器人实际配置模式
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+ unsigned int:3;
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}T_STATE_OUT_6ED;
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//系统运行状态参数反馈2
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typedef struct
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{
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+ unsigned int uiRbtCfgMdStat; //机器人实际配置模式
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unsigned int uiCtrMdStat; //实际系统控制状态
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unsigned int uiRCUAlive; //系统RCU心跳
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- unsigned int uiAccCtrAlive; //油门踏板控制器心跳
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unsigned int uiAccMotClbr; //油门踏板控制电机标零状态
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- unsigned int uiBrkCtrAlive; //制动控制器心跳
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+ unsigned int uiAccCtrAlive; //油门踏板控制器心跳
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unsigned int uiBrkMotClbr; //制动控制电机标零状态
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- unsigned int uiClchCtrAlive; //离合控制器心跳
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+ unsigned int uiBrkCtrAlive; //制动控制器心跳
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unsigned int uiClchMotClbr; //离合控制电机标零状态
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- unsigned int uiStrCtrAlive; //转向控制器心跳
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+ unsigned int uiClchCtrAlive; //离合控制器心跳
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unsigned int uiStrMotClbr; //转向控制电机标零状态
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- unsigned int uiXSftArmCtrAlive; //换挡臂X控制器心跳
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+ unsigned int uiStrCtrAlive; //转向控制器心跳
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unsigned int uiXSftMotClbr; //换挡臂X控制标零状态
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- unsigned int uiYSftArmCtrAlive; //换挡臂Y控制器心跳
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+ unsigned int uiXSftArmCtrAlive; //换挡臂X控制器心跳
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unsigned int uiYSftMotClbr; //换挡臂Y控制标零状态
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+ unsigned int uiYSftArmCtrAlive; //换挡臂Y控制器心跳
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}T_SYS_INFO_2;
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#define CTR_MD_STAT_AUTO_LEARN 0 //实际系统控制状态-自动学习模式
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