Files
DCU_DesktopController/pages/motor.html
T
cbb 209a869f96 feat(motor): 反馈刷新率 Hz 适配(0x0400/0x0401 扩展格式)+ ECAT 密排槽与判活自适应
反馈刷新率(配套电机固件 v0.4.1:0x0400 DLC4/0x0401 DLC2 扩展格式,
选择器 0x0100=STATUS · 0x0101=CONFIG 帧,协议值为周期 ms):
- 「节点 ID」页签新增 STATUS/CONFIG 刷新率读取/写入;界面单位一律 Hz
  (写入按 周期ms=round(1000/Hz) 换算下发,读取反算 Hz 并附原始周期,
  取整有损如实展示),0=停发,写入掉电保存;配置值以「读取」回读电机为准
- WiFi 应答回执走 0xC1 per-ID 快照(/can/feedback 全量 entries):
  GD32 0xC0 ACK 仅 1 字节状态、不携带电机回帧;同 ID 回帧快照只存最新
  一条,故一次快照只配一次请求(STATUS/CONFIG 分开读写)
- ECAT 回执走批量接收区 takeNodeIdReport,按长度分派 2B 旧格式/4B GET/5B SET ACK
- GET_NODE_ID 迁移到扩展选择器 0x0000,兼容旧固件 2B 节点 ID 应答
  (SET DLC2 旧格式行为不变)
- transport-wifi 新增 fetchFeedbackFull(全量 CAN 反馈快照)

EtherCAT/基础设施(密排槽固件 1.6.21 配套):
- 快照槽位 5→9 一拍整轮(扫描周期数 6→1);判活阈值随实测 seq 间隔
  自适应 clamp(3×EWMA, 2s, 30s),秒级回报档不再被固定 2s 误判离线;
  STATUS 面板 Hz 明确为网页到达口径(按槽 seq 实测电机回报率的方案已否掉)
- esp32_server.py:ecat_native 单实例收紧(后起独占 + taskkill 残留实例,
  双实例并存会抢 Npcap 致后起者抓不到从站)+ native stdout 落盘
- flash_gd32.py:刷写后校验「GD32 真的在跑新代码」(版本变化或 uptime 归零),
  防"写入≠在跑"假台账
- lab:新增 LAN9252 电源诊断台、PDO 布局页;SPI 测速并入 EtherCAT 接收看板
  并更名「SPI/ECAT 通信测速」;移除 continuity_test.html;新增 ECAT 单拍耗时
  优化报告;/_local/ 排除入库;测试同步更新(62+58 项全过)
2026-09-12 20:10:47 +08:00

437 lines
28 KiB
HTML
Raw Blame History

This file contains ambiguous Unicode characters
This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.
<!doctype html>
<html lang="zh-CN">
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>电机控制台 — Motor CAN FD Console</title>
<!-- 空 favicon:阻止浏览器自动请求 /favicon.ico(本地静态服务无此文件会 404) -->
<link rel="icon" href="data:,">
<link rel="stylesheet" href="../css/motor.css?v=20260908a">
</head>
<body>
<!-- ═══════════ TOOLBAR ═══════════ -->
<header class="toolbar">
<div class="toolbar-brand">
<svg width="26" height="26" viewBox="0 0 26 26" fill="none" aria-hidden="true">
<rect x="1" y="1" width="24" height="24" rx="6" stroke="var(--primary)" stroke-width="1.5" opacity=".6"/>
<circle cx="13" cy="13" r="5.5" stroke="var(--primary)" stroke-width="1.8"/>
<path d="M13 4v3.5M13 18.5V22M4 13h3.5M18.5 13H22" stroke="var(--primary)" stroke-width="1.5" stroke-linecap="round"/>
<circle cx="13" cy="13" r="1.8" fill="var(--primary)"/>
</svg>
<span>电机控制台</span>
<span class="sub">Motor CAN FD</span>
</div>
<div class="toolbar-sep"></div>
<div class="conn-group" title="与 OTA 主页共用设备 IP,本页不提供连接配置">
<span class="led" id="connLed"></span>
<span class="conn-ip-label" id="ipLabel">IP --</span>
<span style="font-size:.72rem;color:var(--fg-dim);font-family:var(--font-mono)" id="devStatus">探测中…</span>
</div>
<div class="toolbar-sep"></div>
<div class="conn-group" title="控制链路:WiFi 走 ESP32 固件 HTTP API;EtherCAT 走过程数据(自动拉起本地服务、打开网卡并进 OP,无需手工准备)。两种链路的界面与解码完全相同,仅数据通路不同">
<label for="transportSelect" style="font-size:.72rem;color:var(--fg-muted);font-family:var(--font-mono);letter-spacing:.06em">链路</label>
<select class="ch-select" id="transportSelect">
<option value="wifi">WiFi</option>
<option value="ecat">EtherCAT</option>
</select>
<input type="text" id="ecatAdapter" class="refresh-input" style="width:74px;display:none"
value="I210" aria-label="EtherCAT 网卡匹配子串"
title="EtherCAT 网卡描述匹配子串(默认 I210)。改这里会立即重连该网口,设置存本地。" />
</div>
<div class="toolbar-sep"></div>
<div class="conn-group">
<label for="chSelect" style="font-size:.72rem;color:var(--fg-muted);font-family:var(--font-mono);letter-spacing:.06em">通道</label>
<select class="ch-select" id="chSelect">
<option value="0">CH0</option>
<option value="1">CH1</option>
<option value="2">CH2</option>
</select>
</div>
<div class="toolbar-sep"></div>
<div class="conn-group" title="电机状态刷新间隔(ms)。WiFi 与 EtherCAT 各记一份,切链路自动换(默认 WiFi 250ms / EtherCAT 50ms)。下限也按链路:WiFi 50ms,EtherCAT 最低 6ms(≈160Hz,再快就超过屏幕绘制上限,实际频率见 STATUS 面板)">
<label for="refreshRate" class="refresh-hint">刷新速度</label>
<input type="number" id="refreshRate" class="refresh-input" value="250" min="50" max="5000" step="50" aria-label="电机状态刷新间隔(毫秒,按链路分别记忆)" />
<span class="refresh-hint">ms</span>
</div>
<div class="toolbar-right">
<a class="btn btn-sm" href="index.html" title="返回 OTA 主页配置连接">返回 OTA 控制台</a>
<span class="node-badge" id="nodeBadge">NODE -</span>
</div>
</header>
<div class="net-banner" id="netBanner">
<span class="led led-err led-pulse" style="width:7px;height:7px"></span>
<span id="netBannerText">未连接 — 使用主页共享 IP 自动探测中… 请先在 OTA 主页配置并测试连接</span>
</div>
<!-- ═══════════ MAIN 3-ZONE GRID ═══════════ -->
<main class="main-grid">
<!-- LEFT: NODE OVERVIEW -->
<aside class="panel nodes-panel">
<div class="panel-head">
<span class="panel-title">节点总览</span>
<span style="margin-left:auto;font-size:.68rem;color:var(--fg-dim);font-family:var(--font-mono)" id="nodeSummary">0/9 在线 · CAN FD</span>
</div>
<div class="panel-body">
<!-- 独立 BOOT 状态:总线检测到 0x103 心跳时显示,不归属任何 Nx
显示/隐藏只靠 .boot-badge / .boot-badge.show,禁止内联 display -->
<div id="bootBadge" class="boot-badge" aria-hidden="true">
<span class="boot-dot" aria-hidden="true"></span>
<span class="boot-txt">电机在 BOOT</span>
<span class="boot-sub" id="bootBadgeSub">0x103</span>
</div>
<div class="node-list" id="nodeList" role="listbox" aria-label="电机节点列表 N1-N9(离线可选)">
<!-- N1–N9 由 JS 固定渲染,离线也可选中刷写 -->
</div>
</div>
</aside>
<!-- CENTER: CONTROL -->
<section class="panel center-panel">
<div class="panel-head">
<span class="panel-title">CMD 控制</span>
<span style="font-size:.68rem;color:var(--fg-dim);font-family:var(--font-mono);margin-left:auto" id="cmdIdLabel">ID 0x000-0200 · DLC 32</span>
</div>
<div class="cmd-section">
<div class="cmd-grid">
<div class="field">
<span class="field-label">Control_Mode <span class="field-unit">控制模式</span></span>
<select id="modeSelect" aria-label="控制模式">
<option value="0">0 — Disable 关闭</option>
<option value="1">1 — Angle 位置控制</option>
<option value="2">2 — Velocity 速度控制</option>
<option value="3" selected>3 — Velocity_Angle 速度+位置</option>
<option value="4">4 — MIT Mode</option>
<option value="5">5 — Current 电流/力矩</option>
<option value="6">6 — 开环速度</option>
<option value="7">7 — 开环速度 (2)</option>
</select>
<span class="mode-desc" id="modeDesc">速度+位置环联合控制,目标速度与目标角度同时生效</span>
</div>
<div class="field">
<span class="field-label">Limit_Voltage <span class="field-unit">V · 0~65.535</span></span>
<input type="number" id="inVoltage" value="24.000" step="0.5" min="0" max="65.535" aria-label="电压限制" />
</div>
<div class="field" id="fldCurrent">
<span class="field-label">Target_Current <span class="field-unit">mA</span></span>
<input type="number" id="inCurrent" value="0" step="100" aria-label="目标电流" />
</div>
<div class="field" id="fldVelocity">
<span class="field-label">Target_Velocity <span class="field-unit">deg/s</span></span>
<input type="number" id="inVelocity" value="360" step="10" aria-label="目标速度" />
</div>
<div class="field" id="fldAngle">
<span class="field-label">Target_Angle <span class="field-unit">deg</span></span>
<input type="number" id="inAngle" value="180.0" step="1" aria-label="目标角度" />
</div>
</div>
<div class="field" style="margin-top:var(--sp-4)">
<span class="field-label">PID 增益 <span class="field-unit">P × 3 环</span></span>
<div class="pid-group">
<div class="field"><span class="field-label" style="font-size:.62rem">电流环 P</span><input type="number" id="pidCurP" value="100" step="1" /></div>
<div class="field"><span class="field-label" style="font-size:.62rem">速度环 P</span><input type="number" id="pidVelP" value="100" step="1" /></div>
<div class="field"><span class="field-label" style="font-size:.62rem">角度环 P</span><input type="number" id="pidAngP" value="100" step="1" /></div>
</div>
</div>
<div class="quick-run" id="quickRun" title="把值写入当前模式的主目标字段并立即发送 CMD">
<span class="qr-label">快捷运行 <span class="qr-target" id="qrTargetHint">→ 目标角度 deg</span></span>
<div class="qr-btns">
<button class="qr-btn" data-val="-9999">-9999</button>
<button class="qr-btn" data-val="-200">-200</button>
<button class="qr-btn" data-val="-100">-100</button>
<button class="qr-btn" data-val="0">0</button>
<button class="qr-btn" data-val="50">50</button>
<button class="qr-btn" data-val="100">100</button>
<button class="qr-btn" data-val="200">200</button>
<button class="qr-btn" data-val="1000">1000</button>
<button class="qr-btn" data-val="9999">9999</button>
</div>
</div>
<div class="cmd-actions">
<button class="btn btn-primary" id="sendCmdBtn">
<svg width="14" height="14" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M1.5 7h9M8 3.5L11.5 7 8 10.5" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
发送 CMD
</button>
<button class="btn" id="sendRepeatBtn">周期发送</button>
<label class="repeat-period" title="周期发送间隔(最小 80ms)">
<input type="number" id="repeatPeriod" value="100" min="80" max="10000" step="10" />
<span>ms</span>
</label>
<span class="send-hint" id="sendHint">POST /can/send_batch · CH0</span>
</div>
</div>
<!-- TABS -->
<nav class="tabs-bar" aria-label="辅助功能">
<button class="tab-btn active" data-tab="config">配置操作</button>
<button class="tab-btn" data-tab="version">版本信息</button>
<button class="tab-btn" data-tab="nodeid">节点 ID</button>
<button class="tab-btn" data-tab="ota">电机 OTA</button>
<button class="tab-btn" data-tab="seq">命令序列</button>
</nav>
<div class="tab-content">
<!-- CONFIG TAB -->
<div class="tab-page active" id="tab-config">
<div class="config-grid">
<button class="config-btn danger-action" data-action="motReset">
<svg width="22" height="22" viewBox="0 0 22 22" fill="none" aria-hidden="true"><path d="M4 11a7 7 0 1 1 2 4.9M4 16v-5h5" stroke="var(--danger)" stroke-width="1.6" stroke-linecap="round" stroke-linejoin="round"/></svg>
<span class="cb-name">电机复位</span><span class="cb-sig">motReset · bit0</span>
</button>
<button class="config-btn" data-action="saveConfig">
<svg width="22" height="22" viewBox="0 0 22 22" fill="none" aria-hidden="true"><path d="M5 3h9l4 4v12H5V3z" stroke="var(--primary)" stroke-width="1.6" stroke-linejoin="round"/><path d="M8 3v5h6V3M8 18v-5h7v5" stroke="var(--primary)" stroke-width="1.4"/></svg>
<span class="cb-name">保存配置</span><span class="cb-sig">saveConfig · bit2</span>
</button>
<button class="config-btn" data-action="angleReset">
<svg width="22" height="22" viewBox="0 0 22 22" fill="none" aria-hidden="true"><circle cx="11" cy="11" r="7.5" stroke="var(--primary)" stroke-width="1.6"/><path d="M11 6v5l3.5 2" stroke="var(--primary)" stroke-width="1.5" stroke-linecap="round"/></svg>
<span class="cb-name">角度置零</span><span class="cb-sig">angle_reset · bit3</span>
</button>
<button class="config-btn" data-action="zeroCalib">
<svg width="22" height="22" viewBox="0 0 22 22" fill="none" aria-hidden="true"><circle cx="11" cy="11" r="7" stroke="var(--primary)" stroke-width="1.6"/><path d="M11 2v4M11 16v4M2 11h4M16 11h4" stroke="var(--primary)" stroke-width="1.5" stroke-linecap="round"/><circle cx="11" cy="11" r="1.5" fill="var(--primary)"/></svg>
<span class="cb-name">零点校准</span><span class="cb-sig">zero_calibration · bit5</span>
</button>
<button class="config-btn" data-action="sleep">
<svg width="22" height="22" viewBox="0 0 22 22" fill="none" aria-hidden="true"><path d="M17 13.5A7 7 0 0 1 8.5 5a7 7 0 1 0 8.5 8.5z" stroke="var(--warn)" stroke-width="1.6" stroke-linejoin="round"/></svg>
<span class="cb-name">休眠</span><span class="cb-sig">SLEEP · bit56</span>
</button>
</div>
<p style="margin-top:var(--sp-4);font-size:.72rem;color:var(--fg-dim);line-height:1.6">
CMD_CONFIG (0x000<span class="cfgNodeNibble">-</span>0301) · DLC 24 · 每个操作发送单帧脉冲信号,操作前需确认
</p>
</div>
<!-- VERSION TAB -->
<div class="tab-page" id="tab-version">
<button class="btn btn-sm" id="queryVerBtn">
<svg width="13" height="13" viewBox="0 0 13 13" fill="none" aria-hidden="true"><circle cx="6.5" cy="6.5" r="5" stroke="currentColor" stroke-width="1.3"/><path d="M6.5 4.2v.1M6.5 6v3" stroke="currentColor" stroke-width="1.4" stroke-linecap="round"/></svg>
查询版本 (GET_VERSION)
</button>
<div class="version-grid" style="margin-top:var(--sp-4)" id="versionGrid">
<div class="ver-card"><div class="ver-type">软件版本</div><div class="ver-date ver-empty" id="verSoft">--</div></div>
<div class="ver-card"><div class="ver-type">硬件版本</div><div class="ver-date ver-empty" id="verHard">--</div></div>
<div class="ver-card"><div class="ver-type">Bootloader</div><div class="ver-date ver-empty" id="verBoot">--</div></div>
</div>
<p style="margin-top:var(--sp-3);font-size:.72rem;color:var(--fg-dim)">请求/回报共用 0x000<span class="cfgNodeNibble">-</span>00FF(同 ID)· DLC 24 · major.minor.patch.build ×3 (soft/hard/boot,DBC v0.71) · GD32 解析后 0xC6 同步</p>
</div>
<!-- NODE ID TAB -->
<div class="tab-page" id="tab-nodeid">
<div class="nodeid-row">
<div class="field" style="min-width:140px">
<span class="field-label">目标 Node ID</span>
<input type="number" id="nodeIdInput" min="1" max="9" value="3" />
</div>
<button class="btn btn-primary btn-sm" id="setNodeIdBtn">设置 ID (0xN0400)</button>
<button class="btn btn-sm" id="getNodeIdBtn">读取 ID (0xN0401)</button>
</div>
<div class="nodeid-result" id="nodeIdResult">连接设备后读取节点 ID</div>
<p style="margin-top:var(--sp-3);font-size:.72rem;color:var(--fg-dim);line-height:1.6">
SET_NODE_ID (0x000N0400 DLC2) / GET_NODE_ID (0x000N0401 DLC2,选择器 0x0000)。写入后 CAN ID 前缀变为 0x000Nxxxx。
</p>
<!-- 反馈刷新率:界面单位 Hz,协议值是周期 ms(=1000÷Hz,电机 1ms 节拍分频)。
配置值以「读取」回读电机为准(0x0401),「写入」经 0x0400 下发并掉电保存 -->
<div class="nodeid-row" style="margin-top:var(--sp-4)">
<span class="field-label">反馈刷新率 <span class="field-unit">Hz · 0=停发 · 写入掉电保存</span></span>
</div>
<div class="nodeid-row">
<div class="field" style="min-width:140px">
<span class="field-label">STATUS 帧 <span class="field-unit">默认 1000 Hz</span></span>
<input type="number" id="periodStatusInput" min="0" max="1000" value="1000" aria-label="STATUS 帧刷新率(赫兹,0=停发)" />
</div>
<button class="btn btn-sm" id="getPeriodStatusBtn">读取</button>
<button class="btn btn-primary btn-sm" id="setPeriodStatusBtn">写入</button>
</div>
<div class="nodeid-row">
<div class="field" style="min-width:140px">
<span class="field-label">CONFIG 帧 <span class="field-unit">默认 250 Hz</span></span>
<input type="number" id="periodConfigInput" min="0" max="1000" value="250" aria-label="CONFIG 帧刷新率(赫兹,0=停发)" />
</div>
<button class="btn btn-sm" id="getPeriodConfigBtn">读取</button>
<button class="btn btn-primary btn-sm" id="setPeriodConfigBtn">写入</button>
</div>
<div class="nodeid-result" id="periodResult">连接设备后读取当前刷新率</div>
<p style="margin-top:var(--sp-3);font-size:.72rem;color:var(--fg-dim);line-height:1.6">
输入为频率(Hz),协议按 周期(ms) = 1000 ÷ Hz 换算下发:0x000N0400 DLC4 [选择器][周期] /
0x000N0401 DLC2 [选择器](选择器 0x0100=STATUS · 0x0101=CONFIG)。当前值以「读取」回读为准。
停发 STATUS 后状态面板会显示离线,电机仍可控可刷写。
</p>
</div>
<!-- OTA TAB -->
<div class="tab-page" id="tab-ota">
<div class="ota-stages" id="otaStages" aria-label="OTA阶段">
<div class="ota-stage" data-stage="upload"><span class="st-dot">1</span>上传固件</div>
<div class="ota-stage" data-stage="boot"><span class="st-dot">2</span>进入BOOT</div>
<div class="ota-stage" data-stage="handshake"><span class="st-dot">3</span>转发握手</div>
<div class="ota-stage" data-stage="erase"><span class="st-dot">4</span>擦除Flash</div>
<div class="ota-stage" data-stage="transfer"><span class="st-dot">5</span>数据传输</div>
<div class="ota-stage" data-stage="app"><span class="st-dot">6</span>完成</div>
</div>
<div class="ota-file-row">
<button class="btn btn-sm" id="otaFileBtn">选择固件 (.bin)</button>
<input type="file" id="otaFileInput" accept=".bin" hidden />
<span class="ota-file-name" id="otaFileName">未选择固件</span>
<button class="btn btn-primary btn-sm" id="otaStartBtn">开始 OTA</button>
<button class="btn btn-danger btn-sm" id="otaCancelBtn" disabled>取消</button>
</div>
<div class="ota-progress-wrap">
<div class="ota-progress-bar"><div class="ota-progress-fill" id="otaProgressFill"></div></div>
<div class="ota-stats">
<span>包 <span class="hl" id="otaPktNum">0</span> / <span id="otaPktTotal">0</span></span>
<span>速率 <span class="hl" id="otaSpeed">—</span></span>
<span>状态 <span id="otaCrc">—</span></span>
</div>
</div>
<div class="ota-log-toolbar">
<button id="otaLogCopyBtn" title="复制全部日志">复制</button>
<button id="otaLogClearBtn" title="清空日志">清空</button>
</div>
<div class="ota-log" id="otaLog" aria-live="polite">
<div class="log-info">[就绪] 电机 Bootloader OTA · 先上传固件到 ESP32 → 发 0x000N0000 进 BOOT → 触发转发 → GD32 本地 relay(AES-128 + CAN stop-and-wait)</div>
<div>[信息] 选固件 → 上传并比对 flash SHA-256(失败重传≤2次)→ 发进BOOT命令 → 触发 /motor/ota/relay → GD32 完成握手/加密/传输 · 每包 48 B · 48 KB 上限</div>
</div>
</div>
<!-- 命令序列 TAB -->
<div class="tab-page" id="tab-seq">
<div class="seq-toolbar">
<label class="repeat-period" title="整序列循环次数,0 = 无限循环">
<span>循环</span>
<input type="number" id="seqLoops" value="0" min="0" max="9999" step="1" />
<span>次(0=无限)</span>
</label>
<button class="btn btn-sm" id="seqAddBtn">+ 添加步骤</button>
<button class="btn btn-sm" id="seqClearBtn">清空</button>
<button class="btn" id="seqStartBtn">▶ 开始序列</button>
<span class="seq-status" id="seqStatus">未运行</span>
</div>
<div class="seq-list" id="seqList"></div>
<p class="seq-hint">
命令序列:每步为一个「同步动作组」,组内每个动作 = 一台电机目标(通道/节点/模式/电压/电流/速度/角度/PID);
执行本步时组内全部动作经一次突发请求近同时下发(同组偏差微秒级;超过单次容量自动分组,组间约 1-2ms),
发送成功后保持「保持 ms」再进入下一步。每步可「+」添加多个电机动作,支持多通道、多电机混合搭配,独立于左侧选中节点。
每步的绿色「▶」按钮为单发:只把该步全部动作下发一次,不循环、不推进步骤、不等待保持时间。
循环 0 = 无限循环,与「周期发送」互斥。「+ 添加步骤」会复制当前 CMD 表单已提交的值及当前通道/选中节点。
按住每步左侧「⠿」把手即可上下拖动排序(点选把手后用 ↑/↓ 同样可移);点「▸」折叠本步,只留一行功能摘要(通道·节点 / 模式 / 目标值);拖动过程中全部步骤自动折叠,方便看清插入位置。
</p>
</div>
</div>
</section>
<!-- RIGHT: STATUS FEEDBACK -->
<section class="panel status-panel">
<div class="panel-head">
<span class="panel-title">STATUS 实时反馈</span>
<span style="font-size:.68rem;color:var(--fg-dim);font-family:var(--font-mono);margin-left:auto" id="statusIdLabel">0x000-0100 · 1 Hz</span>
</div>
<div class="panel-body">
<div class="offline-overlay show" id="offlineOverlay">
<svg class="off-icon" width="40" height="40" viewBox="0 0 40 40" fill="none" aria-hidden="true"><circle cx="20" cy="20" r="16" stroke="var(--fg-dim)" stroke-width="1.5" stroke-dasharray="4 4"/><path d="M14 26l12-12M26 26L14 14" stroke="var(--fg-dim)" stroke-width="1.5" stroke-linecap="round"/></svg>
<span style="font-size:.85rem" id="offlineTitle">节点离线 — 未收到 STATUS 帧</span>
<span style="font-size:.72rem" id="offlineSub">检查电机供电与 CAN 总线连接</span>
</div>
<div class="status-live hide" id="statusLive">
<div class="big-readings">
<div class="big-reading" data-signal="angle" title="点击展开/收起角度波形">
<div class="br-val" id="rtAngle">--</div>
<div class="br-unit">deg</div>
<div class="br-lbl">RT_Angle <span class="br-toggle">▾ 波形</span></div>
<div class="br-target">目标 <span id="tgtAngle">--</span> deg</div>
<div class="br-scope"><canvas id="miniAngle" aria-label="角度波形" role="img"></canvas></div>
</div>
<div class="big-reading" data-signal="velocity" title="点击展开/收起速度波形">
<div class="br-val" id="rtVelocity">--</div>
<div class="br-unit">deg/s</div>
<div class="br-lbl">RT_Velocity <span class="br-toggle">▾ 波形</span></div>
<div class="br-target">目标 <span id="tgtVelocity">--</span> deg/s</div>
<div class="br-scope"><canvas id="miniVelocity" aria-label="速度波形" role="img"></canvas></div>
</div>
<div class="big-reading" data-signal="current" title="点击展开/收起电流波形">
<div class="br-val" id="rtCurrent">--</div>
<div class="br-unit">mA</div>
<div class="br-lbl">RT_Current <span class="br-toggle">▾ 波形</span></div>
<div class="br-target">目标 <span id="tgtCurrent">--</span> mA</div>
<div class="br-scope"><canvas id="miniCurrent" aria-label="电流波形" role="img"></canvas></div>
</div>
</div>
<div class="status-row">
<div class="temp-block" data-signal="mcuTemp" title="点击展开/收起 MCU 温度曲线">
<div class="temp-head"><span class="temp-name">MCU_Temp<span class="temp-toggle">▾ 曲线</span></span><span class="temp-val" id="mcuTemp">-- °C</span></div>
<div class="temp-bar"><div class="temp-fill" id="mcuTempBar" style="width:0%"></div></div>
<div class="br-scope"><canvas id="miniMcuTemp" aria-label="MCU温度曲线" role="img"></canvas></div>
</div>
<div class="temp-block" data-signal="motTemp" title="点击展开/收起电机温度曲线">
<div class="temp-head"><span class="temp-name">Motor_Temp<span class="temp-toggle">▾ 曲线</span></span><span class="temp-val" id="motTemp">-- °C</span></div>
<div class="temp-bar"><div class="temp-fill" id="motTempBar" style="width:0%"></div></div>
<div class="br-scope"><canvas id="miniMotTemp" aria-label="电机温度曲线" role="img"></canvas></div>
</div>
</div>
<div class="phase-currents">
<div class="pc-head">
<span class="pc-title">三相电流 U / V / W</span>
<div class="pc-live-vals">
<span class="pc-chip" style="--ch-color:var(--primary)">U <b id="valU">+0</b> mA</span>
<span class="pc-chip" style="--ch-color:var(--ok)">V <b id="valV">+0</b> mA</span>
<span class="pc-chip" style="--ch-color:var(--warn)">W <b id="valW">+0</b> mA</span>
</div>
</div>
<div class="scope-wrap">
<canvas id="scopeCanvas" aria-label="三相电流实时波形" role="img"></canvas>
<div class="scope-grid-labels"><span>+5A</span><span>0</span><span>-5A</span></div>
</div>
</div>
<div class="misc-grid">
<div class="misc-item"><span class="mi-lbl">Power_Voltage</span><span class="mi-val" id="pwrVolt">-- V</span></div>
<div class="misc-item"><span class="mi-lbl">test_float</span><span class="mi-val" id="testFloat">--</span></div>
<div class="misc-item"><span class="mi-lbl">test_U16</span><span class="mi-val" id="testU16">--</span></div>
<div class="cpu-ring-wrap" style="grid-column:2;grid-row:2">
<div class="cpu-ring">
<svg width="52" height="52" viewBox="0 0 52 52" role="img" aria-label="CPU占用率">
<circle class="ring-bg" cx="26" cy="26" r="21"/>
<circle class="ring-fg" id="cpuRingFg" cx="26" cy="26" r="21" stroke-dasharray="131.9" stroke-dashoffset="131.9"/>
</svg>
<span class="cpu-pct" id="cpuPct">--%</span>
</div>
<div class="cpu-info"><span class="mi-lbl">CPU_Usage</span><span class="mi-sub" id="cpuSub">-- </span></div>
</div>
</div>
<div class="flag-lights">
<div class="flag-item" id="flagItemMot"><span class="flag-led" id="flagMot"></span>motStatus 使能<span class="flag-state" id="flagMotState">—</span></div>
<div class="flag-item" id="flagItemMag"><span class="flag-led" id="flagMag"></span>magStatus 磁编码<span class="flag-state" id="flagMagState">—</span></div>
<div class="flag-item" id="flagItemThermal"><span class="flag-led" id="flagThermal"></span>thermal 过温<span class="flag-state" id="flagThermalState">—</span></div>
<div class="flag-item" id="flagItemEeprom"><span class="flag-led" id="flagEeprom"></span>EEPROM 存储<span class="flag-state" id="flagEepromState">—</span></div>
<div class="flag-item" id="flagItemInit"><span class="flag-led" id="flagInit"></span>InitStatus 初始化<span class="flag-state" id="flagInitState">—</span></div>
</div>
</div>
</div>
</section>
</main>
<!-- ═══════════ STATUS BAR ═══════════ -->
<footer class="statusbar">
<div class="sb-item"><span class="led" id="sbLed" style="width:7px;height:7px"></span> <span id="sbCh">CH0</span> <span class="sb-val" id="sbRx">RX --</span></div>
<div class="sb-sep"></div>
<div class="sb-item">TX <span class="sb-val" id="sbTx">--</span></div>
<div class="sb-sep"></div>
<div class="sb-item">ERR <span class="sb-val" id="sbErr">--</span> · TEC <span id="sbTec">--</span> / REC <span id="sbRec">--</span></div>
<div class="sb-sep"></div>
<div class="sb-item">BUS <span class="sb-val" id="sbBus">--</span></div>
<span class="sb-last-send" id="sbLastSend">尚未发送</span>
</footer>
<!-- TOAST & MODAL -->
<div class="toast-container" id="toastContainer" aria-live="polite"></div>
<div class="modal-mask" id="modalMask" role="dialog" aria-modal="true">
<div class="modal-box">
<div class="modal-title" id="modalTitle">确认操作</div>
<div class="modal-desc" id="modalDesc"></div>
<div class="modal-actions">
<button class="btn" id="modalCancel">取消</button>
<button class="btn btn-primary" id="modalConfirm">确认执行</button>
</div>
</div>
</div>
<script type="module" src="../js/motor/main.js?v=20260912b"></script>
<!-- 单独打开本页(不在标签外壳里)时, 由本页自己持有 app 租约 -->
<script src="../js/common/app-lease.js"></script>
</body>
</html>