self control

2026-06-24 16:25:02 +08:00
parent ef91f64d83
commit 85bfb5d8ec
2093 changed files with 6559 additions and 268658 deletions
--- a/config/edge/physical_channels.json
+++ b/config/edge/physical_channels.json
@@ -21,9 +21,17 @@
    },
    {
      "channelId": "can_0",
+      "protocol": "can",
+      "transport": "can",
+      "interface": "emuccan0",
+      "bitrate": 500000,
+      "pollIntervalMs": 200
+    },
+    {
+      "channelId": "can_1",
      "protocol": "canopen",
      "transport": "can",
-      "interface": "can0",
+      "interface": "emuccan1",
      "bitrate": 500000,
      "pollIntervalMs": 200
    }
--- a/config/edge/physical_devices.json
+++ b/config/edge/physical_devices.json
@@ -53,8 +53,26 @@
      ]
    },
    {
-      "physicalDeviceId": "phy_canopen_node_1",
+      "physicalDeviceId": "phy_emuc_raw",
      "channelId": "can_0",
+      "protocol": "can",
+      "points": [
+        {
+          "physicalPointId": "phy_can_frame_456",
+          "cobId": 1110,
+          "pdoType": "frame",
+          "scale": 1.0,
+          "signalType": "AI",
+          "writable": true,
+          "reportOnChange": true,
+          "deadband": 0.0,
+          "pollIntervalMs": 200
+        }
+      ]
+    },
+    {
+      "physicalDeviceId": "phy_canopen_node_1",
+      "channelId": "can_1",
      "protocol": "canopen",
      "nodeId": 1,
      "edsPath": "samples/minimal.eds",