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<h1 id="%E7%94%B5%E6%9C%BA%E6%95%85%E9%9A%9C%E6%97%A5%E5%BF%97%E7%BB%93%E6%9E%84%E5%AE%9A%E4%B9%89">电机故障日志结构定义</h1>
<h2 id="1%E7%9B%AE%E7%9A%84">1.目的</h2>
<ul>
<li>电机出现故障时，及时记录故障发生时刻的故障码、电机运行信息等；</li>
<li>通过上位机导出故障日志，便于对故障进行分析。</li>
</ul>
<h2 id="2%E6%96%B9%E6%B3%95">2.方法</h2>
<ul>
<li>控制器在单片机Flash中设计1024Bytes用于存储故障日志；</li>
<li>每条故障日志大小为64bytes；</li>
<li>16条日志循环存储，即始终存储最近的16条故障日志；</li>
<li>上位机发送指令给控制器，控制器及时返回Flash中保存的故障日志。</li>
</ul>
<h2 id="3%E9%80%9A%E4%BF%A1%E5%8D%8F%E8%AE%AE">3.通信协议</h2>
<ul>
<li>上位机采用下列指令读取故障日志：</li>
</ul>
<table>
<thead>
<tr>
<th style="text-align:center">CAN ID</th>
<th style="text-align:center">帧模式</th>
<th style="text-align:center">命令字</th>
<th>数据段</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align:center">0x751</td>
<td style="text-align:center">0x11</td>
<td style="text-align:center">0x2D08</td>
<td>读取存储器指定地址数据：起始地址：4bytes，结束地址:4bytes，读取数据大小≤128Bytes</td>
</tr>
</tbody>
</table>
<ul>
<li>控制器接收到上位机读取指令时，按照下列协议返回Flash中保存的数据：</li>
</ul>
<table>
<thead>
<tr>
<th style="text-align:center">CAN ID</th>
<th style="text-align:center">帧模式</th>
<th style="text-align:center">命令字</th>
<th>数据段</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align:center">0x715</td>
<td style="text-align:center">0x0C</td>
<td style="text-align:center">0xAB88</td>
<td>返回存储器指定起始和结束地址的数据：起始地址4bytes，结束地址:4bytes，数据:128bytes	结束地址-起始地址＜128时，填充0xFF</td>
</tr>
</tbody>
</table>
<p>示例如下：</p>
<pre class="hljs"><code><div><span class="hljs-keyword">case</span> <span class="hljs-number">0x2D08</span>:<span class="hljs-comment">//读取Flash存储器指定地址数据</span>
{
    <span class="hljs-keyword">do</span>
    {
        <span class="hljs-keyword">uint32_t</span> DataLength;
        DataLength = (<span class="hljs-keyword">uint32_t</span>)((Data[<span class="hljs-number">4</span>] &lt;&lt; <span class="hljs-number">24</span>) + (Data[<span class="hljs-number">5</span>] &lt;&lt; <span class="hljs-number">16</span>) + (Data[<span class="hljs-number">6</span>] &lt;&lt; <span class="hljs-number">8</span>) + (Data[<span class="hljs-number">7</span>])) - (<span class="hljs-keyword">uint32_t</span>)((Data[<span class="hljs-number">0</span>] &lt;&lt; <span class="hljs-number">24</span>) + (Data[<span class="hljs-number">1</span>] &lt;&lt; <span class="hljs-number">16</span>) + (Data[<span class="hljs-number">2</span>] &lt;&lt; <span class="hljs-number">8</span>) + (Data[<span class="hljs-number">3</span>])) + <span class="hljs-number">1</span>;
        <span class="hljs-built_in">memcpy</span>((<span class="hljs-keyword">uint8_t</span>*)(Data + <span class="hljs-number">8</span>), (<span class="hljs-keyword">uint8_t</span>*)((Data[<span class="hljs-number">0</span>] &lt;&lt; <span class="hljs-number">24</span>) + (Data[<span class="hljs-number">1</span>] &lt;&lt; <span class="hljs-number">16</span>) + (Data[<span class="hljs-number">2</span>] &lt;&lt; <span class="hljs-number">8</span>) + (Data[<span class="hljs-number">3</span>])), DataLength);
        SendData(ID_MC_TO_CDL, MODE_REPORT, (<span class="hljs-number">0xAB08</span> + DataLength), (<span class="hljs-keyword">uint8_t</span>*)Data);	
    }<span class="hljs-keyword">while</span>(<span class="hljs-number">0</span>);
    <span class="hljs-keyword">break</span>;
}
</div></code></pre>
<h2 id="4%E6%95%B0%E6%8D%AE%E7%BB%93%E6%9E%84">4.数据结构</h2>
<h3 id="41-%E5%B0%8F%E7%89%99%E7%9B%98%E4%B8%AD%E7%BD%AE%E7%94%B5%E6%9C%BA%E6%95%85%E9%9A%9C%E6%97%A5%E5%BF%97%E7%BB%93%E6%9E%84%E4%BD%93%E5%AE%9A%E4%B9%89">4.1 小牙盘中置电机故障日志结构体定义</h3>
<pre class="hljs"><code><div><span class="hljs-comment">//故障日志记录信息 64 bytes，1K空间可以保存最近16条故障记录</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
	<span class="hljs-keyword">uint16_t</span> Error_Index;                    <span class="hljs-comment">//故障列表索引 2 bytes, 地址偏移 0</span>
	<span class="hljs-keyword">uint16_t</span> NotesInfo1;                     <span class="hljs-comment">//备注信息1，地址偏移 2</span>
	<span class="hljs-keyword">uint16_t</span> NotesInfo2;                     <span class="hljs-comment">//备注信息2，地址偏移 4</span>
	<span class="hljs-keyword">uint16_t</span> NotesInfo3;                     <span class="hljs-comment">//备注信息3，地址偏移 6</span>
	<span class="hljs-keyword">uint32_t</span> ErrorCode;                      <span class="hljs-comment">//故障码 4 bytes, 地址偏移 8</span>
	<span class="hljs-keyword">uint32_t</span> RunTime;                        <span class="hljs-comment">//运行时间 4bytes, 地址偏移 12</span>
	MC_RunInfo_Struct_t RunInfo;             <span class="hljs-comment">//运行信息 32bytes, 地址偏移 16</span>
	MC_AttitudeAngle_Struct_t AttitudeAngle; <span class="hljs-comment">//车辆姿态角度 8bytes, 地址偏移 48</span>
	MC_CalParam_Struct_t MC_CalParam;        <span class="hljs-comment">//马达控制参数 8bytes , 地址偏移 56</span>
}MC_ErrorLogSaveInfo_Struct_t;

<span class="hljs-comment">//电机运行信息，占用空间32bytes</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
    <span class="hljs-keyword">uint16_t</span> BikeSpeed;         				 <span class="hljs-comment">//车速 0.1km/h，地址偏移0</span>
	<span class="hljs-keyword">int16_t</span> MotorSpeed;                          <span class="hljs-comment">//输出转速 1rpm，地址偏移2</span>
	<span class="hljs-keyword">uint16_t</span> Power;                              <span class="hljs-comment">//电功率 1W，地址偏移4</span>
	<span class="hljs-keyword">uint16_t</span> BusVoltage;                         <span class="hljs-comment">//母线电压 1mV，地址偏移6</span>
	<span class="hljs-keyword">uint16_t</span> BusCurrent;                         <span class="hljs-comment">//母线电流 1mA，地址偏移8</span>
	<span class="hljs-keyword">uint8_t</span> Cadence;                             <span class="hljs-comment">//踏频 1rpm，地址偏移10</span>
	<span class="hljs-keyword">uint8_t</span> Torque;                              <span class="hljs-comment">//踩踏力矩 1Nm，地址偏移11</span>
	MC_CadenceDir_Struct_t CadenceDir;           <span class="hljs-comment">//踩踏方向 0-正,1-反,2-停止，地址偏移12</span>
	<span class="hljs-keyword">uint8_t</span> GearSt;                              <span class="hljs-comment">//助力档位，地址偏移13</span>
	MC_LightSwitch_Struct_t LightSwitch;         <span class="hljs-comment">//灯开关 0xF0-关，0xF1-开，地址偏移14</span>
	<span class="hljs-keyword">uint8_t</span> SOC;                                 <span class="hljs-comment">//剩余电量 1%，地址偏移15</span>
	<span class="hljs-keyword">uint16_t</span> RemainDistance;                     <span class="hljs-comment">//续航里程 1km，地址偏移16</span>
	<span class="hljs-keyword">uint16_t</span> ODO_Km;                             <span class="hljs-comment">//总里程 1km，地址偏移18</span>
	<span class="hljs-keyword">uint8_t</span> PowerPerKm;                          <span class="hljs-comment">//平均功耗 0.01Ah/km ，地址偏移20</span>
	<span class="hljs-keyword">uint8_t</span> T_PCB;                               <span class="hljs-comment">//PCB温度 +40℃，地址偏移21</span>
	<span class="hljs-keyword">uint8_t</span> T_Coil;                              <span class="hljs-comment">//绕组温度 +40℃，地址偏移22</span>
	<span class="hljs-keyword">uint8_t</span> T_MCU;                               <span class="hljs-comment">//MCU温度 +40℃，地址偏移23</span>
	<span class="hljs-keyword">uint16_t</span> Ride_Km;                            <span class="hljs-comment">//开机后骑行里程 0.1km, 地址偏移24</span>
	<span class="hljs-keyword">uint16_t</span> Ride_Time;                          <span class="hljs-comment">//开机后骑行时间 1s，地址偏移26</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData1;                   <span class="hljs-comment">//力矩传感器1原始值</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData2;                   <span class="hljs-comment">//力矩传感器2原始值</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData3;                   <span class="hljs-comment">//力矩传感器3原始值</span>
	<span class="hljs-keyword">uint8_t</span> RS   ;                               <span class="hljs-comment">//预留 1byte</span>
}MC_RunInfo_Struct_t;

<span class="hljs-comment">//姿态传感器数值</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
    <span class="hljs-keyword">int16_t</span> Angle_Pitch_Absolute;    <span class="hljs-comment">//俯仰角绝对角度</span>
	<span class="hljs-keyword">int16_t</span> Angle_Roll_Absolute;     <span class="hljs-comment">//横滚角绝对角度</span>
	<span class="hljs-keyword">int16_t</span> Angle_Pitch_Relative;    <span class="hljs-comment">//俯仰角相对角度</span>
	<span class="hljs-keyword">int16_t</span> Angle_Roll_Relative;     <span class="hljs-comment">//横滚角相对角度</span>
}MC_AttitudeAngle_Struct_t;

<span class="hljs-comment">//电机控制参数</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
    MC_AssistRunMode_Struct_t AssistRunMode;  <span class="hljs-comment">//助力模式</span>
	<span class="hljs-keyword">int16_t</span> Ref_Torque;                       <span class="hljs-comment">//力矩模式输入FOC值</span>
	<span class="hljs-keyword">int16_t</span> Ref_Speed;                        <span class="hljs-comment">//速度模式输入FOC值</span>
	FlagStatus Foc_Flag;                      <span class="hljs-comment">//FCO运算标志</span>
}MC_CalParam_Struct_t;
</div></code></pre>
<h3 id="42-%E5%A4%A7%E7%89%99%E7%9B%98%E4%B8%AD%E7%BD%AE%E7%94%B5%E6%9C%BA%E6%95%85%E9%9A%9C%E6%97%A5%E5%BF%97%E7%BB%93%E6%9E%84%E4%BD%93%E5%AE%9A%E4%B9%89">4.2 大牙盘中置电机故障日志结构体定义</h3>
<pre class="hljs"><code><div><span class="hljs-comment">//故障日志记录信息 64 bytes，1K空间可以保存最近16条故障记录</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
    UWORD               ErrorIndex;  <span class="hljs-comment">// 故障序列号，2bytes，地址偏移 0</span>
    UWORD               NotesInfo1;  <span class="hljs-comment">// 备注信息1，2bytes，地址偏移 2</span>
    UWORD               NotesInfo2;  <span class="hljs-comment">// 备注信息2，2bytes，地址偏移 4</span>
    UWORD               NotesInfo3;  <span class="hljs-comment">// 备注信息3，2bytes，地址偏移 6</span>
    ULONG               ErrorCode;   <span class="hljs-comment">// 故障码，4 bytes, 地址偏移 8</span>
    ULONG               RunTime;     <span class="hljs-comment">// 运行时间，4bytes, 地址偏移 12</span>
    MC_RunInfo_Struct_t RunInfo;     <span class="hljs-comment">// 运行信息 32bytes, 地址偏移 16</span>
    SWORD               IqCurrentPu; <span class="hljs-comment">// Iq电流，2bytes，地址偏移 48</span>
    SWORD               IqVoltagePu; <span class="hljs-comment">// Iq电压，2bytes，地址偏移 50</span>
    SWORD               IdCurrentPu; <span class="hljs-comment">// Id电流，2bytes，地址偏移 52</span>
    SWORD               IdVoltagePu; <span class="hljs-comment">// Id电压，2bytes，地址偏移 54</span>
    UWORD               RS1;         <span class="hljs-comment">// 预留信息1，2bytes，地址偏移 56</span>
    UWORD               RS2;         <span class="hljs-comment">// 预留信息1，2bytes，地址偏移 58</span>
    UWORD               RS3;         <span class="hljs-comment">// 预留信息1，2bytes，地址偏移 60</span>
    UWORD               RS4;         <span class="hljs-comment">// 预留信息1，2bytes，地址偏移 62</span>
} ERROR_LOG;                         <span class="hljs-comment">//共64字节</span>

<span class="hljs-comment">//电机运行信息，占用空间32bytes</span>
<span class="hljs-keyword">typedef</span> <span class="hljs-class"><span class="hljs-keyword">struct</span>
{</span>
    <span class="hljs-keyword">uint16_t</span> BikeSpeed;         				 <span class="hljs-comment">//车速 0.1km/h，地址偏移0</span>
	<span class="hljs-keyword">int16_t</span> MotorSpeed;                          <span class="hljs-comment">//输出转速 1rpm，地址偏移2</span>
	<span class="hljs-keyword">uint16_t</span> Power;                              <span class="hljs-comment">//电功率 1W，地址偏移4</span>
	<span class="hljs-keyword">uint16_t</span> BusVoltage;                         <span class="hljs-comment">//母线电压 1mV，地址偏移6</span>
	<span class="hljs-keyword">uint16_t</span> BusCurrent;                         <span class="hljs-comment">//母线电流 1mA，地址偏移8</span>
	<span class="hljs-keyword">uint8_t</span> Cadence;                             <span class="hljs-comment">//踏频 1rpm，地址偏移10</span>
	<span class="hljs-keyword">uint8_t</span> Torque;                              <span class="hljs-comment">//踩踏力矩 1Nm，地址偏移11</span>
	MC_CadenceDir_Struct_t CadenceDir;           <span class="hljs-comment">//踩踏方向 0-正,1-反,2-停止，地址偏移12</span>
	<span class="hljs-keyword">uint8_t</span> GearSt;                              <span class="hljs-comment">//助力档位，地址偏移13</span>
	MC_LightSwitch_Struct_t LightSwitch;         <span class="hljs-comment">//灯开关 0xF0-关，0xF1-开，地址偏移14</span>
	<span class="hljs-keyword">uint8_t</span> SOC;                                 <span class="hljs-comment">//剩余电量 1%，地址偏移15</span>
	<span class="hljs-keyword">uint16_t</span> RemainDistance;                     <span class="hljs-comment">//续航里程 1km，地址偏移16</span>
	<span class="hljs-keyword">uint16_t</span> ODO_Km;                             <span class="hljs-comment">//总里程 1km，地址偏移18</span>
	<span class="hljs-keyword">uint8_t</span> PowerPerKm;                          <span class="hljs-comment">//平均功耗 0.01Ah/km ，地址偏移20</span>
	<span class="hljs-keyword">uint8_t</span> T_PCB;                               <span class="hljs-comment">//PCB温度 +40℃，地址偏移21</span>
	<span class="hljs-keyword">uint8_t</span> T_Coil;                              <span class="hljs-comment">//绕组温度 +40℃，地址偏移22</span>
	<span class="hljs-keyword">uint8_t</span> T_MCU;                               <span class="hljs-comment">//MCU温度 +40℃，地址偏移23</span>
	<span class="hljs-keyword">uint16_t</span> Ride_Km;                            <span class="hljs-comment">//开机后骑行里程 0.1km, 地址偏移24</span>
	<span class="hljs-keyword">uint16_t</span> Ride_Time;                          <span class="hljs-comment">//开机后骑行时间 1s，地址偏移26</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData1;                   <span class="hljs-comment">//力矩传感器1原始值</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData2;                   <span class="hljs-comment">//力矩传感器2原始值</span>
	<span class="hljs-keyword">uint8_t</span> TorqueSensorData3;                   <span class="hljs-comment">//力矩传感器3原始值</span>
	<span class="hljs-keyword">uint8_t</span> RS   ;                               <span class="hljs-comment">//预留 1byte</span>
}MC_RunInfo_Struct_t;
</div></code></pre>
<h2 id="5-%E6%95%88%E6%9E%9C">5. 效果</h2>
<p>售后软件从小牙盘电机导出的故障日志示例如下：</p>
<p><strong>电机错误信息：</strong></p>
<p>1, 备注1:0, 备注2:0, 备注3:0, 历史信息代码:10 , 原始故障码:0x00000001, 故障详情:过流保护 , 运行时间:10089min, 车速:12.4km/h, 电机转速:1297rpm, 功率:40w, 电压:38614mV, 电流:6130mA, 踏频:34rpm, 力矩:87N.m, 方向:0, 档位:0x02, 灯开关:0xF0, 电量:62%, 续航:---km, 总里程:2339km, 功耗:160mAh/km, PCB温度:22DegreeC, 绕组温度:19DegreeC, MCU温度:18DegreeC, 单次里程:2.1km, 单次时间:353s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:624, 速度环给定:0, FOC_Flag:1,</p>
<p>2, 备注1:0, 备注2:0, 备注3:0, 历史信息代码:10 , 原始故障码:0x00000001, 故障详情:过流保护 , 运行时间:10091min, 车速:9.4km/h, 电机转速:1162rpm, 功率:0w, 电压:39146mV, 电流:13159mA, 踏频:46rpm, 力矩:53N.m, 方向:0, 档位:0x02, 灯开关:0xF0, 电量:61%, 续航:---km, 总里程:2339km, 功耗:160mAh/km, PCB温度:23DegreeC, 绕组温度:23DegreeC, MCU温度:19DegreeC, 单次里程:2.8km, 单次时间:470s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:378, 速度环给定:0, FOC_Flag:1,</p>
<p>3, 备注1:1, 备注2:1331, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:11041min, 车速:16.3km/h, 电机转速:1800rpm, 功率:0w, 电压:39905mV, 电流:1155mA, 踏频:73rpm, 力矩:16N.m, 方向:0, 档位:0x01, 灯开关:0xF0, 电量:79%, 续航:---km, 总里程:2521km, 功耗:110mAh/km, PCB温度:41DegreeC, 绕组温度:50DegreeC, MCU温度:43DegreeC, 单次里程:7.6km, 单次时间:1644s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:298, 速度环给定:0, FOC_Flag:1,</p>
<p>4, 备注1:1, 备注2:399, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:12181min, 车速:23.1km/h, 电机转速:1687rpm, 功率:0w, 电压:38780mV, 电流:1130mA, 踏频:53rpm, 力矩:20N.m, 方向:0, 档位:0x03, 灯开关:0xF0, 电量:68%, 续航:---km, 总里程:2753km, 功耗:190mAh/km, PCB温度:40DegreeC, 绕组温度:46DegreeC, MCU温度:42DegreeC, 单次里程:1km, 单次时间:168s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:457, 速度环给定:0, FOC_Flag:1,</p>
<p>5, 备注1:1, 备注2:489, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:12222min, 车速:12.1km/h, 电机转速:1650rpm, 功率:0w, 电压:38080mV, 电流:1127mA, 踏频:32rpm, 力矩:10N.m, 方向:0, 档位:0x02, 灯开关:0xF0, 电量:62%, 续航:---km, 总里程:2761km, 功耗:150mAh/km, PCB温度:43DegreeC, 绕组温度:47DegreeC, MCU温度:46DegreeC, 单次里程:2.9km, 单次时间:767s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:460, 速度环给定:0, FOC_Flag:1,</p>
<p>6, 备注1:1, 备注2:622, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:12279min, 车速:16.4km/h, 电机转速:1755rpm, 功率:0w, 电压:40803mV, 电流:1256mA, 踏频:52rpm, 力矩:39N.m, 方向:0, 档位:0x01, 灯开关:0xF0, 电量:95%, 续航:---km, 总里程:2769km, 功耗:90mAh/km, PCB温度:34DegreeC, 绕组温度:39DegreeC, MCU温度:36DegreeC, 单次里程:1.3km, 单次时间:225s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:239, 速度环给定:0, FOC_Flag:1,</p>
<p>7, 备注1:1, 备注2:975, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:13600min, 车速:12.9km/h, 电机转速:1777rpm, 功率:0w, 电压:40928mV, 电流:1228mA, 踏频:40rpm, 力矩:29N.m, 方向:0, 档位:0x01, 灯开关:0xF0, 电量:98%, 续航:---km, 总里程:3062km, 功耗:100mAh/km, PCB温度:31DegreeC, 绕组温度:37DegreeC, MCU温度:33DegreeC, 单次里程:0km, 单次时间:10s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:224, 速度环给定:0, FOC_Flag:1,</p>
<p>8, 备注1:1, 备注2:727, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:13600min, 车速:15.2km/h, 电机转速:1762rpm, 功率:0w, 电压:40893mV, 电流:1166mA, 踏频:48rpm, 力矩:27N.m, 方向:0, 档位:0x33, 灯开关:0xF0, 电量:97%, 续航:---km, 总里程:3062km, 功耗:180mAh/km, PCB温度:32DegreeC, 绕组温度:38DegreeC, MCU温度:34DegreeC, 单次里程:0km, 单次时间:9s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:409, 速度环给定:0, FOC_Flag:1,</p>
<p>9, 备注1:1, 备注2:1257, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:13861min, 车速:24km/h, 电机转速:1740rpm, 功率:0w, 电压:40163mV, 电流:1105mA, 踏频:76rpm, 力矩:44N.m, 方向:0, 档位:0x01, 灯开关:0xF0, 电量:83%, 续航:---km, 总里程:3126km, 功耗:100mAh/km, PCB温度:41DegreeC, 绕组温度:50DegreeC, MCU温度:41DegreeC, 单次里程:11.4km, 单次时间:1692s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:212, 速度环给定:0, FOC_Flag:1,</p>
<p>10, 备注1:1, 备注2:797, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:13861min, 车速:27.7km/h, 电机转速:1785rpm, 功率:0w, 电压:40234mV, 电流:1150mA, 踏频:76rpm, 力矩:18N.m, 方向:0, 档位:0x02, 灯开关:0xF0, 电量:85%, 续航:---km, 总里程:3126km, 功耗:160mAh/km, PCB温度:41DegreeC, 绕组温度:48DegreeC, MCU温度:43DegreeC, 单次里程:0.1km, 单次时间:27s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:448, 速度环给定:0, FOC_Flag:1,</p>
<p>11, 备注1:1, 备注2:458, 备注3:0, 历史信息代码: , 原始故障码:0x00400000, 故障详情: , 运行时间:14082min, 车速:20.5km/h, 电机转速:1612rpm, 功率:0w, 电压:35824mV, 电流:1006mA, 踏频:64rpm, 力矩:41N.m, 方向:0, 档位:0x01, 灯开关:0xF0, 电量:34%, 续航:---km, 总里程:3177km, 功耗:90mAh/km, PCB温度:43DegreeC, 绕组温度:48DegreeC, MCU温度:46DegreeC, 单次里程:4km, 单次时间:600s, 俯仰绝对角度:0Degree, 横滚绝对角度:0Degree, 俯仰相对角度:0Degree, 横滚相对角度:0Degree, 运行模式:2, 力矩环给定:226, 速度环给定:0, FOC_Flag:1,</p>

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