锂电池改用 BCU-MBMS CAN 协议按节点解析 + bcu_node 解析数据落库 + 板卡对时脚本
- pCCU/CanBms：按《04KT38电池BCU-MBMS通信(CAN)定义》重写解码， BmsStatus 单状态模型改为 BcuNodeStatus 多节点模型（0x10XX00YY， 节点地址 01~36h），支持 0x0000 电压/电流/SOC/告警码、0x0001 单体 电压、0x0002 单体温度、0x0003 继电器、0x0006 绝缘/端口电压、 0x0010 告警位（附录1 中文码表）六类报文 - 平均单体温度偏移修正：协议文档 BYTE5 写"偏移0"有误，实测固件与 最高/最低一致均带 -40℃ 偏移（实车 0x10020002 原始 68/69 减 40 后 为 28/29℃，落在最低28~最高30区间内，按文档直读则超出物理范围） - pCCU/DbStore：新增 bcu_node 解析数据表，锂电池 BMS 报文每帧落一行 节点合成状态（原 comm_log 仅原始帧，BMS/CAN 帧此前不落 pCCU 库）， buildReport 增加 BMS 记录数 - 快照/网页：BCU 按节点分组展示（告警位解析中文含义、数据 age）， PM 状态报文锂电池/应急电池卡片 - pPowerManger：新增 iport 本地输入端口配置（UDP bind 延迟到 OnStartUp 读取配置后执行，保证 iport/ccuhost/ccuport 生效）， 各 mission 文件补充注释 - test：CAN BCU 解码用例按新协议/新偏移更新（实车抓包 + 文档示例值）， 133 项全部通过 - docs：删除旧 BMS 协议（xlsx/20230324docx），归档 04KT38 BCU-MBMS CAN 定义、配电控制器通信协议 20260824、配电系统 CAN 通讯协议 - scripts：新增 sync-board-time.sh，223 板卡(RK3588)时间校正 （本机为基准 + RTT 折半补偿对时，尽力写 RTC，支持 status/--time）
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@@ -289,50 +289,105 @@ static void testDbStore() {
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}
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//--------------------------------------------------------------------------
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// 9. CAN BMS 报文解码（docs/BMS_协议字段定义.xlsx，测试向量为实车抓包数据）
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// 9. CAN BCU 报文解码（docs/04KT38电池BCU-MBMS通信(CAN)定义.docx，
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// 测试向量为实车抓包数据与协议文档示例值）
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static void testCanBmsDecode() {
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BmsStatusValue v;
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uint8_t addr = 0;
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// 0x10010000：14 da 17 70 00 c9 31 01（实车抓包）
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// 总电压 0x14DA=5338 -> 533.8V；SOC 0x00C9=201 -> 20.1%
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// 故障码 0x31=49；状态位 0x01
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// 0x10010000（节点01，实车抓包）：14 da 17 70 00 c9 31 01
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// 累加电压 0x14DA=5338 -> 533.8V；回路电流 0x1770=6000 -> 600.0-600=0.0A
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// SOC 0x00C9=201 -> 20.1%；告警码 0x31；自检状态 0x01
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BcuNodeStatus n1;
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const uint8_t d0[8] = {0x14,0xDA,0x17,0x70,0x00,0xC9,0x31,0x01};
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CHECK(decodeCanBmsFrame(0x10010000, d0, 8, v));
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CHECK(v.totalVoltage == 533.8);
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CHECK(v.soc == 20.1);
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CHECK(v.faultCode == 0x31);
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CHECK(v.statusBits == 0x01);
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CHECK(decodeCanBcuFrame(0x10010000, d0, 8, addr, n1));
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CHECK(addr == 1);
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CHECK(n1.totalVoltage == 533.8);
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CHECK(n1.current == 0.0);
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CHECK(n1.soc == 20.1);
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CHECK(n1.alarmCode == 0x31);
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CHECK(n1.selfCheck == 0x01);
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// 文档示例帧：14 d9 => 533.7V
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const uint8_t d0doc[8] = {0x14,0xD9,0x17,0x70,0x00,0xC9,0x31,0x01};
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CHECK(decodeCanBmsFrame(0x10010000, d0doc, 8, v));
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CHECK(v.totalVoltage == 533.7);
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// 回路电流：充电 -25A -> raw 0x1676=5750 -> 575.0-600=-25.0A
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const uint8_t d0n[8] = {0x14,0xDA,0x16,0x76,0x00,0xC9,0x31,0x00};
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decodeCanBcuFrame(0x10010000, d0n, 8, addr, n1);
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CHECK(n1.current == -25.0);
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// 0x10010005：07 d0 00 00 0e a8 00 00
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// 最大电流限制 0x07D0=2000 -> 200.0A；总电流 00 00 00 -> 0.0A
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// 最高单体电压 0x0EA8=3752 -> 3.752V
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const uint8_t d5[8] = {0x07,0xD0,0x00,0x00,0x0E,0xA8,0x00,0x00};
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CHECK(decodeCanBmsFrame(0x10010005, d5, 8, v));
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CHECK(v.maxCurrentLimit == 200.0);
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CHECK(v.totalCurrent == 0.0);
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CHECK(v.maxCellVoltage == 3.752);
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// 0x10010001（节点01）单体电压：0e a8 05 0e a0 03 0e a4
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// 最高 0x0EA8=3752 -> 3.752V (#5)；最低 0x0EA0=3744 -> 3.744V (#3)
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// 平均 0x0EA4=3748 -> 3.748V；部分更新，概要字段保留
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const uint8_t dv[8] = {0x0E,0xA8,0x05,0x0E,0xA0,0x03,0x0E,0xA4};
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CHECK(decodeCanBcuFrame(0x10010001, dv, 8, addr, n1));
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CHECK(n1.maxCellVoltage == 3.752);
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CHECK(n1.maxCellVoltageNo == 5);
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CHECK(n1.minCellVoltage == 3.744);
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CHECK(n1.minCellVoltageNo == 3);
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CHECK(n1.avgCellVoltage == 3.748);
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CHECK(n1.totalVoltage == 533.8); // 同节点部分更新，前一帧字段不被清除
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CHECK(n1.rxMask == ((1u << BCU_FUNC_BASE) | (1u << BCU_FUNC_CELL_V)));
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// 总电流负数：s16 补码 FF 06 = -250 -> -25.0A（xlsx 负数示例）
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const uint8_t d5n[8] = {0x07,0xD0,0xFF,0x06,0x0E,0xA8,0x00,0x00};
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CHECK(decodeCanBmsFrame(0x10010005, d5n, 8, v));
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CHECK(v.totalCurrent == -25.0);
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// 0x10010002（节点01）单体温度：3c 01 2d 02 33
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// 最高 0x3C=60-40=20℃ (#1)；最低 0x2D=45-40=5℃ (#2)；平均 0x33=51-40=11℃
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// （实测固件平均温度与最高/最低一致均带 -40℃ 偏移，协议文档"偏移0"有误：
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// 实车 0x10020002 原始 68/69 减 40 后为 28/29℃，落在最低28~最高30区间内）
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const uint8_t dt[8] = {0x3C,0x01,0x2D,0x02,0x33,0x00,0x00,0x00};
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CHECK(decodeCanBcuFrame(0x10010002, dt, 8, addr, n1));
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CHECK(n1.maxCellTemp == 20.0);
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CHECK(n1.maxCellTempNo == 1);
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CHECK(n1.minCellTemp == 5.0);
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CHECK(n1.minCellTempNo == 2);
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CHECK(n1.avgCellTemp == 11.0);
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// 0x10010006：07 d0 07 d0 14 da 00 00 -> 总电压校验 0x14DA=533.8V
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const uint8_t d6[8] = {0x07,0xD0,0x07,0xD0,0x14,0xDA,0x00,0x00};
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CHECK(decodeCanBmsFrame(0x10010006, d6, 8, v));
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CHECK(v.totalVoltageChk == 533.8);
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// 0x10010003（节点01）继电器：01 01 -> 正/负极均闭合
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const uint8_t dr[8] = {0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00};
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CHECK(decodeCanBcuFrame(0x10010003, dr, 8, addr, n1));
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CHECK(n1.posRelay == 1 && n1.negRelay == 1);
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// 非 BMS 报文 ID 不命中
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// 0x10010006（节点01，实车抓包）：07 d0 07 d0 14 da 00 00
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// 正/负极绝缘 2000kΩ；端口电压 0x14DA -> 533.8V；外侧电压 0.0V
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const uint8_t di[8] = {0x07,0xD0,0x07,0xD0,0x14,0xDA,0x00,0x00};
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CHECK(decodeCanBcuFrame(0x10010006, di, 8, addr, n1));
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CHECK(n1.posInsulationKohm == 2000.0);
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CHECK(n1.negInsulationKohm == 2000.0);
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CHECK(n1.portVoltage == 533.8);
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CHECK(n1.posRelayOuterVoltage == 0.0);
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// 0x10010010（节点01）告警位：byte0=0x01 -> BCU绝缘2级；byte1=0x04 -> 烟雾报警1级
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const uint8_t da[8] = {0x01,0x04,0x00,0x00,0x00,0x00,0x00,0x00};
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CHECK(decodeCanBcuFrame(0x10010010, da, 8, addr, n1));
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CHECK(n1.alarmBits[0] == 0x01 && n1.alarmBits[1] == 0x04);
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const char* texts[8] = {nullptr};
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int cnt = bcuAlarmTexts(n1, texts, 8);
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CHECK(cnt == 2);
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CHECK(cnt > 0 && std::string(texts[0]) == "BCU绝缘2级");
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CHECK(cnt > 1 && std::string(texts[1]) == "BCU烟雾报警1级");
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// 无告警
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const uint8_t dz[8] = {0,0,0,0,0,0,0,0};
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decodeCanBcuFrame(0x10010010, dz, 8, addr, n1);
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CHECK(bcuAlarmTexts(n1, texts, 8) == 0);
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// 节点分离：0x10020000（节点02）解析到独立状态
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BcuNodeStatus n2;
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const uint8_t d02[8] = {0x0D,0x40,0x17,0x70,0x01,0x2C,0x00,0x00};
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CHECK(decodeCanBcuFrame(0x10020000, d02, 8, addr, n2));
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CHECK(addr == 2);
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CHECK(n2.totalVoltage == 339.2);
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CHECK(n2.soc == 30.0);
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CHECK(n1.alarmCode == 0x31); // 节点01 快照不受节点02 帧影响
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// 非 BCU 报文 / 预留功能码 / 地址越界 / 下发指令 均不命中
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const uint8_t dx[8] = {0,0,0,0,0,0,0,0};
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CHECK(!decodeCanBmsFrame(0x10010035, dx, 8, v));
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CHECK(!decodeCanBmsFrame(0x10010000, nullptr, 0, v));
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CHECK(isCanBmsId(0x10010000) && isCanBmsId(0x10010005) && isCanBmsId(0x10010006));
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CHECK(!isCanBmsId(0x10010001));
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CHECK(!decodeCanBcuFrame(0x10010035, dx, 8, addr, n1)); // 未定义功能码
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CHECK(!decodeCanBcuFrame(0x10010004, dx, 8, addr, n1)); // Reserve
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CHECK(!decodeCanBcuFrame(0x10010005, dx, 8, addr, n1)); // Reserve
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CHECK(!decodeCanBcuFrame(0x10370000, dx, 8, addr, n1)); // 地址 0x37 越界
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CHECK(!decodeCanBcuFrame(0x10000000, dx, 8, addr, n1)); // 地址 0 非法
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CHECK(!decodeCanBcuFrame(0x100181FF, dx, 8, addr, n1)); // MBMS 下发指令
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CHECK(!decodeCanBcuFrame(0x10010000, nullptr, 0, addr, n1));
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CHECK(isCanBcuId(0x10010000) && isCanBcuId(0x10010001) &&
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isCanBcuId(0x10010002) && isCanBcuId(0x10010003) &&
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isCanBcuId(0x10010006) && isCanBcuId(0x10010010));
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CHECK(!isCanBcuId(0x10010004) && !isCanBcuId(0x10010005) &&
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!isCanBcuId(0x100181FF) && !isCanBcuId(0x10370000));
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}
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//--------------------------------------------------------------------------
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