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增加了xc声纳的上电

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zjk
2025-09-12 11:35:17 +08:00
parent c2b9bccfc6
commit 481171d9ea
43 changed files with 1921 additions and 296 deletions
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src/pPowerManger/fsm/ShoreBasedReady.cpp
+11 -11
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@@ -17,14 +17,14 @@ void ShoreBasedReady::entry() {
pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Start;
//1.2 闭合动力电断路器
pm->m_lowerCommManager->operate_HV_powerLithiumBattery_Breaker(1);
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HV_dcDc5Module_Breaker(1);
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HV_dcDc5_Breaker(1);
pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(1);
MOOSPause(10);
MOOSPause(100);
pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(1);
MOOSPause(3);
MOOSPause(100);
//2. 启动动力电设备
unsigned char cmd = 1;
//2.0 艉舵
@@ -44,7 +44,7 @@ void ShoreBasedReady::entry() {
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
//2.2 敞水电缸
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
@@ -56,36 +56,36 @@ void ShoreBasedReady::entry() {
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
//2.3 艏舵
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
//2.4 桅杆舵机
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
//2.5 艏部浮调机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
//2.6 艉部浮调机构
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
//2.7 推进电机
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
MOOSPause(3);
MOOSPause(100);
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
pm->workCondition = WorkCondition::SHORE_BASED_READY;
LOG_F(INFO, "进入岸基备航状态");