Files
H100PowerManger/.gitignore
T
zjk 873a1a9b09
build-test-deploy / ci (push) Failing after 32m37s
新增 pMotor 推进电机操作程序:经 pCanBridge(CAN1) 与电机控制器交互
- 协议模块(protocol/MotorCan):12 条 CAN ID、指令帧 0x18EF2010 编码、
  状态帧(转速/母线电压/温度)与支路一/二故障报警帧解码,故障位按协议
  逐位映射中文描述(docs/推进电机通信协议20260321.docx)
- 主程序(MOOS 应用):订阅 pCanBridge 透传 CAN_0x* 解码电机状态;
  500ms 周期下发指令帧(CAN_TX_0x18EF2010,m_sSrcAux=CAN1),
  可选 red_channel 冗余下发 0x18EF2011;复位位保持 reset_hold_sec
- 网页(18081):按协议指令帧字段独立下发(使能命令 Byte0 bit0 /
  复位命令 Byte0 bit1 / 期望转速 Byte2/3,无联动按钮);
  WebSocket 1Hz 推送转速/电压/温度/故障告警/链路统计
- 配置接入:missions/h100.moos 增加 pMotor 配置块(can_channel=CAN1)
- 测试:pmotorTest 92 项(指令帧字节级对照协议示例、解码/故障表)
- 部署:scripts/build-board.sh 增加 pMotor 产物拷贝 + pMotor.service;
  .gitignore 补 bin/pMotor、bin/pmotorTest
- 联调验证:MOOSDB+pCanBridge+假CANET 全链路,下行帧 01 00 E8 03
  与协议文档示例一致,复位位 3s 保持行为正确
2026-09-02 10:50:28 +08:00

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