motor_ctl-1/3.BasicFunction/Source/canAppl.c

/**
 * @file canAppl.c
 * @author Zhang, Kai(zhangkai71@midea.com)
 * @brief
 * @version 0.1
 * @date 2022-03-02
 *
 * @copyright Copyright (c) 2022
 *
 */
#include "canAppl.h"
#include "CodePara.h"
#include "FuncLayerAPI.h"
#include "adc.h"
#include "alarm.h"
#include "usart.h"
#include "can.h"
#include "flash_master.h"
#include "glbcof.h"
#include "spdctrmode.h"
#include "string.h"
#include "syspar.h"
#include "AssistCurve.h"
#include "hwsetup.h"
#include "spi_master.h"
//#include "fp.def"
#include "CadAssist.h"
#include "bikeinformation.h"
#include "FSM_1st.h"
#include "FSM_2nd.h"
#include "TimeTask_Event.h"
/******************************
 *
 *  Parameter
 *
 ******************************/
typedef _Bool  BOOL;
MC_RunInfo_Struct_t              MC_RunInfo;
MC_DebugInfo_Struct_t            MC_DebugInfo;
MC_ErrorCode_Struct_t            MC_ErrorCode = CAN_MC_ALARMCODE_DEFAULT;
MC_ErrorCode_CNT_RECORD_Struct_t MC_ErrorCntRecord = CAN_MC_ALARMCODE_CNT_RECORD_DEFAULT;
MC_VerInfo_Struct_t              MC_VerInfo;
char                             Firmware_Special[32];
MC_MacInfo_Struct_t              MC_MacInfo;
MC_RideLog_Struct_t              MC_RideLog;
BMS_RunInfo_Struct_t             BMS_RunInfo;
MC_ControlCode_Struct_t          MC_ControlCode;
MC_RunInfoToCDL_Struct_t         MC_RunInfoToCDL;
MC_RS_ASCII_Struct_t             MC_RsASSCII;
MC_UpperPCInfo_Struct_t          MC_UpcInfo;
BMS_VoltEstimat_Struct_t         BMS_VoltEstimat;
CONTORLFUN_STRUCT                OBC_ControlFUN;
MC_Error_Address_Struct         ManageError_Address;

OBC_SetCustomPara_Struct_t OBC_SetCustomPara;
OBC_ButtonStatus_Struct_t OBC_ButtonStatus = {0,0,0,FALSE};


ULONG                      ulOBC_ComTimeOutCount = 0;
ULONG                      ulBMS_ComTimeOutCount = 0;
uint8_t                    MC_MotorSPD_rpm_Percent = 0;
uint8_t                    MC_WorkMode;
LPF_OUT                    BMS_swCurIdcLpf;
  BOOL  blBMSCommFault = FALSE;
static UWORD uwRemainDistanceCal;
POWER_STRUCT  Powercal;
void Power_Cal(void);
void Can_voUpdateMC_UpcInfo(void)
{
    MC_UpcInfo.stMotorInfo.uwPolePairs = cp_stMotorPara.swMotrPolePairs;
    MC_UpcInfo.stMotorInfo.uwRsmOhm = cp_stMotorPara.swRsOhm;
    MC_UpcInfo.stMotorInfo.uwLduH = cp_stMotorPara.uwLdmH;
    MC_UpcInfo.stMotorInfo.uwLquH = cp_stMotorPara.uwLqmH;
    MC_UpcInfo.stMotorInfo.uwFluxmWb = cp_stMotorPara.swFluxWb;
    MC_UpcInfo.stMotorInfo.uwIdMaxA = cp_stMotorPara.swIdMaxA;
    MC_UpcInfo.stMotorInfo.uwIdMinA = cp_stMotorPara.swIdMinA;
    MC_UpcInfo.stMotorInfo.uwRSpdRpm = cp_stMotorPara.swRSpeedRpm;
    MC_UpcInfo.stMotorInfo.uwRPwrWt = cp_stMotorPara.swRPwrWt;
    MC_UpcInfo.stMotorInfo.uwRCurA = cp_stMotorPara.swRIarmsA;
    MC_UpcInfo.stMotorInfo.uwRVolV = cp_stMotorPara.swRUdcV;
    MC_UpcInfo.stMotorInfo.uwJD = cp_stMotorPara.swJD;
    MC_UpcInfo.stMotorInfo.uwTorMaxNm = cp_stMotorPara.swTorMax;

    MC_UpcInfo.stBikeInfo.uwWheelPerimeter = ass_ParaCong.uwWheelPerimeter;
    MC_UpcInfo.stBikeInfo.uwMechRationMotor = ass_ParaCong.uwMechRationMotorEEPROM;//(UWORD)(((ULONG)ass_ParaCong.uwMechRationMotor*1000)/1024);
    MC_UpcInfo.stBikeInfo.uwThrottleMaxSpdKmH = ass_ParaCong.uwThrottleMaxSpdKmH;
    MC_UpcInfo.stBikeInfo.uwCartSpdKmH = ass_ParaCong.uwCartSpdKmH;
    MC_UpcInfo.stBikeInfo.uwNmFrontChainring = ass_ParaCong.uwNmFrontChainring;
    MC_UpcInfo.stBikeInfo.uwNmBackChainring = ass_ParaCong.uwNmBackChainring;
    MC_UpcInfo.stBikeInfo.uwAssistSelect1 = ass_ParaCong.uwAssistSelect1;
    MC_UpcInfo.stBikeInfo.uwAssistSelect2 = ass_ParaCong.uwAssistSelect2;
    MC_UpcInfo.stBikeInfo.uwLightConfig = ass_ParaCong.uwLightConfig;
    MC_UpcInfo.stBikeInfo.swWheelSizeAdjust = ass_ParaCong.swDeltPerimeter;
    MC_UpcInfo.stBikeInfo.uwStartMode = ass_ParaCong.uwStartMode;
    MC_UpcInfo.stBikeInfo.uwAutoPowerOffTime = ass_ParaCong.uwAutoPowerOffTime;

    MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin =0;// spi_stResolverOut.swSpiThetaOffsetOrignPu;
    MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetNow = 0;//spi_stResolverOut.swSpiThetaOffsetPu;
    MC_UpcInfo.stMContorlInfo.uwIPeakMaxA = cp_stMotorPara.swIpeakMaxA;
    MC_UpcInfo.stMContorlInfo.uwAlamOCurA = cp_stControlPara.swAlmOverCurrentVal;
    MC_UpcInfo.stMContorlInfo.uwAlamOVolV = cp_stControlPara.swAlmOverVolVal1;
    MC_UpcInfo.stMContorlInfo.uwAlamUVolV = cp_stControlPara.swAlmUnderVolVal1;
    MC_UpcInfo.stMContorlInfo.uwAlamOverSpdRpm = cp_stControlPara.swAlmOverSpdVal;
    MC_UpcInfo.stMContorlInfo.uwAlamOverHeatCe = cp_stControlPara.swAlmOverHeatCeVal;
    MC_UpcInfo.stMContorlInfo.uwAlamRecHeatCe = cp_stControlPara.swAlmRecOHeatVal;
    MC_UpcInfo.stMContorlInfo.uwPwrLimitStartCe = cp_stControlPara.swAlmPwrLimitStartTempVal;
    MC_UpcInfo.stMContorlInfo.uwAlamMotorOverHeatCe = cp_stControlPara.swAlmMotorOverHeatCeVal;
    MC_UpcInfo.stMContorlInfo.uwAlamMotorRecHeatCe = cp_stControlPara.swAlmMotorRecOHeatVal;
    MC_UpcInfo.stMContorlInfo.uwPwrLimitMotorStartCe = cp_stControlPara.swAlmPwrLimitMotorStartTempVal;
    MC_UpcInfo.stMContorlInfo.uwControlFunEN= cp_stControlPara.uwControlFunEN;

    MC_UpcInfo.stSensorInfo.uwTorSensorOffsetOrigin = torsensor_stTorSensorCof.uwTorqueOffsetOrign;
    MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow1 = torsensor_stTorSensorCof.uwTorqueOffsetNow1;
    MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow2 = torsensor_stTorSensorCof.uwTorqueOffsetNow2;
    MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow3 = torsensor_stTorSensorCof.uwTorqueOffsetNow3;
    MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow4 = torsensor_stTorSensorCof.uwTorqueOffsetNow4;
    MC_UpcInfo.stSensorInfo.uwBikeTorMaxNm = torsensor_stTorSensorCof.uwMaxSensorTorquePu;
    MC_UpcInfo.stSensorInfo.uwBikeTor1StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep1RealNm;
    MC_UpcInfo.stSensorInfo.uwBikeTor1StepADC = torsensor_stTorSensorCof.uwBikeTorStep1ADC;
    MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep2RealNm;
    MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = torsensor_stTorSensorCof.uwBikeTorStep2ADC;
    MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep3RealNm;
    MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = torsensor_stTorSensorCof.uwBikeTorStep3ADC;
    MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep4RealNm;
    MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = torsensor_stTorSensorCof.uwBikeTorStep4ADC;
    MC_UpcInfo.stSensorInfo.uwTorque_SensorPulseNm = cadence_stFreGetCof.uwTorque_NumbersPulses;
    MC_UpcInfo.stSensorInfo.uwBikeSpdSensorPulseNm = bikespeed_stFreGetCof.uwNumbersPulses;
    MC_UpcInfo.stSensorInfo.uwCad_SensorPulseNm= cadence_stFreGetCof.uwCad_NumbersPulses;

    MC_UpcInfo.stAssistInfo.swStartupGain = ass_ParaSet.uwStartupCoef;
    MC_UpcInfo.stAssistInfo.swStartcruiseGain = ass_ParaSet.uwStartupCruiseCoef;
    MC_UpcInfo.stAssistInfo.uwAssistStartNm = ass_ParaSet.uwAssistStartNm;
    MC_UpcInfo.stAssistInfo.uwAssistStopNm = ass_ParaSet.uwAssistStopNm;
    MC_UpcInfo.stAssistInfo.uwStartUpGainStep = ass_ParaSet.uwStartUpGainStep;
    MC_UpcInfo.stAssistInfo.uwStartUpCadNm = ass_ParaSet.uwStartUpCadNm;
    MC_UpcInfo.stAssistInfo.uwTorLPFCadNm = ass_ParaSet.uwTorLPFCadNm;
    MC_UpcInfo.stAssistInfo.uwSpeedAssistSpdRpm = ass_ParaSet.uwSpeedAssistSpdRpm;
    MC_UpcInfo.stAssistInfo.uwSpeedAssistIMaxA = ass_ParaSet.uwSpeedAssistIMaxA;
    MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart = ass_ParaSet.uwAssistLimitBikeSpdStart;
    MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStop = ass_ParaSet.uwAssistLimitBikeSpdStop;
    MC_UpcInfo.stAssistInfo.uwCadenceAssistWeight = ass_ParaSet.uwCadenceWeight;
    
    MC_UpcInfo.stAssistInfo.uwCadAssPidKp = ass_stCadAssSpdCtl.uwPidKp;
    MC_UpcInfo.stAssistInfo.swCadAssPidLimMax = ass_stCadAssSpdCtl.swPidLimMax;
    MC_UpcInfo.stAssistInfo.swCadAssPidVolDec = ass_stCadAssSpdCtl.swPidVolDec;
    MC_UpcInfo.stAssistInfo.swCadAssTargetAssCurAcc = ass_stCadAssParaPro.swTargetAssCurAcc;
    MC_UpcInfo.stAssistInfo.uwMaxCadRpm = ass_stCadAssCoef.uwMaxCadRpm;
    MC_UpcInfo.stAssistInfo.reserve2 = ass_stReservePara.uwReserve2;
    MC_UpcInfo.stAssistInfo.reserve3 = ass_stReservePara.uwReserve3;
    MC_UpcInfo.stAssistInfo.reserve4 = ass_stReservePara.uwReserve4;
    
    MC_UpcInfo.stRideParaInfo.ucAssistRatioGain1 = ass_stCalCoef.ucAssistRatioGain[0];
    MC_UpcInfo.stRideParaInfo.ucAssistRatioGain2 = ass_stCalCoef.ucAssistRatioGain[1];
    MC_UpcInfo.stRideParaInfo.ucAssistRatioGain3 = ass_stCalCoef.ucAssistRatioGain[2];
    MC_UpcInfo.stRideParaInfo.ucAssistRatioGain4 = ass_stCalCoef.ucAssistRatioGain[3];
    MC_UpcInfo.stRideParaInfo.ucAssistRatioGain5 = ass_stCalCoef.ucAssistRatioGain[4];
    
    MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain1 = ass_stCalCoef.ucAssistAccelerationGain[0];
    MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain2 = ass_stCalCoef.ucAssistAccelerationGain[1];
    MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain3 = ass_stCalCoef.ucAssistAccelerationGain[2];
    MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain4 = ass_stCalCoef.ucAssistAccelerationGain[3];
    MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain5 = ass_stCalCoef.ucAssistAccelerationGain[4];
    
    MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain1 = ass_stCalCoef.ucMaxCurrentGain[0];
    MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain2 = ass_stCalCoef.ucMaxCurrentGain[1];
    MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain3 = ass_stCalCoef.ucMaxCurrentGain[2];
    MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain4 = ass_stCalCoef.ucMaxCurrentGain[3];
    MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain5 = ass_stCalCoef.ucMaxCurrentGain[4];
    
    MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain1 = ass_stCalCoef.ucMaxTorqueGain[0];
    MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain2 = ass_stCalCoef.ucMaxTorqueGain[1];
    MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain3 = ass_stCalCoef.ucMaxTorqueGain[2];
    MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain4 = ass_stCalCoef.ucMaxTorqueGain[3];
    MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain5 = ass_stCalCoef.ucMaxTorqueGain[4];
    
    MC_UpcInfo.stBikeInfo2.uwNoneOBCEnable = ass_ParaCong.uwNoneOBCEnable;
    MC_UpcInfo.stBikeInfo2.uwRearLightCycle = ass_ParaCong.uwRearLightCycle;
    MC_UpcInfo.stBikeInfo2.uwRearLightDuty = ass_ParaCong.uwRearLightDuty;
    MC_UpcInfo.stBikeInfo2.swDeltaBikeSpeedLimit = ass_ParaCong.swDeltaBikeSpeedLimit;

    MC_UpcInfo.stHistoryInfo.uwOpenTimes = cp_stHistoryPara.uwOpenTimes;
    MC_UpcInfo.stHistoryInfo.uwUsedTimeH = (UWORD)(cp_stHistoryPara.ulUsedTime >> 16);
    MC_UpcInfo.stHistoryInfo.uwUsedTimeL = (UWORD)(cp_stHistoryPara.ulUsedTime);
    MC_UpcInfo.stHistoryInfo.swNTCTempMaxCe = cp_stHistoryPara.swNTCTempMaxCe;
    MC_UpcInfo.stHistoryInfo.swNTCTempMinCe = cp_stHistoryPara.swNTCTempMinCe;
    ;

    MC_UpcInfo.stHistoryInfo.uwAlamHOcurTimes = cp_stHistoryPara.uwAlamHOcurTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamSOcurTimes = cp_stHistoryPara.uwAlamSOcurTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamOHeatTimes = cp_stHistoryPara.uwAlamOHeatTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamRotorLockTimes = cp_stHistoryPara.uwAlamRotorLockTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamPhsLossTimes = cp_stHistoryPara.uwAlamPhsLossTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamOVolTimes = cp_stHistoryPara.uwAlamOVolTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamUVolTimes = cp_stHistoryPara.uwAlamUVolTimes;
    MC_UpcInfo.stHistoryInfo.uwAlamComOTimeTimes = cp_stHistoryPara.uwAlamComOTimeTimes;

    MC_UpcInfo.stHistoryInfo.uwG1AvgPwrConsumption = cp_stHistoryPara.uwG1AvgPwrConsumption;
    MC_UpcInfo.stHistoryInfo.uwG2AvgPwrConsumption = cp_stHistoryPara.uwG2AvgPwrConsumption;
    MC_UpcInfo.stHistoryInfo.uwG3AvgPwrConsumption = cp_stHistoryPara.uwG3AvgPwrConsumption;
    MC_UpcInfo.stHistoryInfo.uwG4AvgPwrConsumption = cp_stHistoryPara.uwG4AvgPwrConsumption;
    MC_UpcInfo.stHistoryInfo.uwG5AvgPwrConsumption = cp_stHistoryPara.uwG5AvgPwrConsumption;

    MC_UpcInfo.stHistoryInfo.uwODOTripH = (UWORD)(cp_stHistoryPara.ulODOTrip >> 16);
    MC_UpcInfo.stHistoryInfo.uwODOTripL = (UWORD)cp_stHistoryPara.ulODOTrip;
    MC_UpcInfo.stHistoryInfo.uwODOTimeH = (UWORD)(cp_stHistoryPara.ulODOTime >> 16);
    MC_UpcInfo.stHistoryInfo.uwODOTimeL = (UWORD)cp_stHistoryPara.ulODOTime;

    MC_UpcInfo.stHistoryInfo.uwTripSumH = (UWORD)(cp_stHistoryPara.ulTripSum >> 16);
    MC_UpcInfo.stHistoryInfo.uwTripSumL = (UWORD)cp_stHistoryPara.ulTripSum;
    MC_UpcInfo.stHistoryInfo.uwTripSumTimeH = (UWORD)(cp_stHistoryPara.ulTripSumTime >> 16);
    MC_UpcInfo.stHistoryInfo.uwTripSumTimeL = (UWORD)cp_stHistoryPara.ulTripSumTime;

    MC_UpcInfo.stHistoryInfo.uwTorSensorAlamTimes = cp_stHistoryPara.uwTorSensorAlamTimes;
    MC_UpcInfo.stHistoryInfo.uwCadSensorAlamTimes = cp_stHistoryPara.uwCadSensorAlamTimes;
    MC_UpcInfo.stHistoryInfo.uwBikeSpdSensorAlamTimes = cp_stHistoryPara.uwBikeSpdSensorAlamTimes;
    MC_UpcInfo.stHistoryInfo.uwPosSensorAlamTimes = cp_stHistoryPara.uwPosSensorAlamTimes;

    MC_UpcInfo.stHistoryInfo.uwRealODOTripH = (UWORD)(cp_stHistoryPara.ulRealODOTrip >> 16);
    MC_UpcInfo.stHistoryInfo.uwRealODOTripL = (UWORD)cp_stHistoryPara.ulRealODOTrip;
    MC_UpcInfo.stHistoryInfo.uwRealODOTimeH = (UWORD)(cp_stHistoryPara.ulRealODOTime >> 16);
    MC_UpcInfo.stHistoryInfo.uwRealODOTimeL = (UWORD)cp_stHistoryPara.ulRealODOTime;

    MC_UpcInfo.stTestParaInfo.uwEEFirstDefaultSetFlg = cp_stFlg.ParaFirstSetFlg;
    // MC_UpcInfo.stTestParaInfo.uwSPIOffsetFirstSetFlg = cp_stFlg.SpiOffsetFirstSetFlg;

    MC_UpcInfo.stTestParaInfo.RunModelSelect = cp_stFlg.RunModelSelect;
    MC_UpcInfo.stTestParaInfo.ThetaGetModelSelect = cp_stFlg.ThetaGetModelSelect;
    MC_UpcInfo.stTestParaInfo.CurrentSampleModelSelect = cp_stFlg.CurrentSampleModelSelect;
    MC_UpcInfo.stTestParaInfo.RotateDirectionSelect = cp_stFlg.RotateDirectionSelect;

    MC_UpcInfo.stTestParaInfo.uwInitPosCurAmp = cp_stControlPara.swAlignCurAp;
    MC_UpcInfo.stTestParaInfo.uwVFControlVolAmp = cp_stControlPara.swDragVolAp;
    MC_UpcInfo.stTestParaInfo.uwIFControlCurAmp = cp_stControlPara.swDragCurAp;
    MC_UpcInfo.stTestParaInfo.uwVFIFTargetFreHz = cp_stControlPara.swDragSpdHz;

    MC_UpcInfo.stTestParaInfo.uwSpeedLoopAccRate = 500;
    MC_UpcInfo.stTestParaInfo.uwSpeedLoopDecRate = 100;
    MC_UpcInfo.stTestParaInfo.uwSpeedLoopBandWidthHz = cp_stControlPara.swAsrPIBandwidth;
    MC_UpcInfo.stTestParaInfo.uwSpeedLoopCoefM = cp_stControlPara.swAsrPIM;

    MC_UpcInfo.stTestParaInfo.uwCuerrentLoopBandWidthHz = cp_stControlPara.swAcrPIBandwidth;
    MC_UpcInfo.stTestParaInfo.uwCurrentLoopCoefM = cp_stControlPara.swAcrRaCoef;

    MC_UpcInfo.stTestParaInfo.uwFluxObsBandWidthHz = cp_stControlPara.swObsFluxPICrossfreHz;
    MC_UpcInfo.stTestParaInfo.uwFluxObsCoefM = cp_stControlPara.swObsFluxPIDampratio;
    MC_UpcInfo.stTestParaInfo.uwThetaObsPLLBandWidthHz = cp_stControlPara.swObsSpdPLLBandWidthHz;
    MC_UpcInfo.stTestParaInfo.uwThetaObsPLLCoefM = cp_stControlPara.swObsSpdPLLM;

    MC_UpcInfo.stTestParaInfo.uwJm = cp_stMotorPara.swJD ;
    MC_UpcInfo.stTestParaInfo.uwPWMMaxDuty = cp_stControlPara.swPWMMaxDuty;
    MC_UpcInfo.stTestParaInfo.uwPWM7to5Duty = cp_stControlPara.swPWM7to5Duty;
    MC_UpcInfo.stTestParaInfo.uwPwrLimit = cp_stControlPara.swPwrLimitValWt;
    MC_UpcInfo.stTestParaInfo.uwPwrLimitError = cp_stControlPara.swPwrLimitErrWt;
    MC_UpcInfo.stTestParaInfo.uwPwrLimitKp = cp_stControlPara.swPwrLimitKpPu;
    MC_UpcInfo.stTestParaInfo.uwPwrLimitKi = cp_stControlPara.swPwrLimitKiPu;

    OBC_SetCustomPara.uwWheelPerimeter = ass_ParaCong.uwWheelPerimeter + ass_ParaCong.swDeltPerimeter;
    OBC_SetCustomPara.StartUpMod = 1;
    OBC_SetCustomPara.BikeSpeedLimit = ass_ParaSet.uwAssistLimitBikeSpdStart;
    OBC_SetCustomPara.DeltDiameter = ass_ParaCong.swDeltPerimeter;
    OBC_SetCustomPara.AssistMod = ass_ParaSet.uwAsssistSelectNum;
    OBC_SetCustomPara.AutoPowerOffTime = ass_ParaCong.uwAutoPowerOffTime;
    OBC_SetCustomPara.scDeltaBikeSpeedLimit =  (SBYTE)ass_ParaCong.swDeltaBikeSpeedLimit;
}

UWORD SizeMCUP;
void  Can_voInitMC_Run(void)
{
   // flash_voVerRead();
   // flash_voErrorRead();

    // MC版本信息初始化，Mode和SN从EEPROM读取
    strncpy(MC_VerInfo.HW_Version, (char *)"SC20100101V1    ", 16); //长度不超过16

    // Software version
    char chFwVersion[16]="V1r0r0_20250226";
 //   strncat(chFwVersion,COMPLIE_TIME,9); // Commit time COMPLIE_TIME
   // strncat(chFwVersion,(char *)"20250103 08:55:00",9);
    strncpy(MC_VerInfo.FW_Version, (char *)chFwVersion, 16);
    
    // Firmware Special Info
    char chFrimware[32]="NC2025X000-MS0000-V0r0.  ";

//    strncat(chFrimware,FINGER_PRINT,8); // Git Version
  //  strncat(chFrimware,(char *)"12345678",8); // Git Version
    if(cp_stFlg.RunModelSelect == CadAssist)
    {
        strncat(chFrimware,"C",1);  // Cadance assist end with "C"  Torque assist end with "T"
    }
    else if(cp_stFlg.RunModelSelect == TorqAssist)
    {
        strncat(chFrimware,"T",1); // Torque Assist end with "T", Cadence Assist end with "C"
    }
    else
    {
        /* 不做处理*/
    }
    strncpy(Firmware_Special, (char *)chFrimware, 32);


    //电机型号
//    memcpy(MC_VerInfo.Mode, Syspara2.flash_stPara.ubMotorVersion, sizeof(Syspara2.flash_stPara.ubMotorVersion));
//    memcpy(MC_VerInfo.SN_Num, Syspara2.flash_stPara.ubSN, sizeof(Syspara2.flash_stPara.ubSN));

    memcpy(MC_VerInfo.Mode, Productionpara.ubMotorVersion, sizeof(Productionpara.ubMotorVersion));
    memcpy(MC_VerInfo.SN_Num, Productionpara.ubSN, sizeof(Productionpara.ubSN));

    // MC生产信息
    memcpy(MC_MacInfo.Manufacturer, Productionpara.ubProdInfo.Manufacturer, sizeof(Productionpara.ubProdInfo));

    //自定义字符串
    memcpy(MC_RsASSCII.CustomASCII1, Syspara2.flash_stPara.ubRsASSCII.CustomASCII1, sizeof(MC_RsASSCII.CustomASCII1));
    memcpy(MC_RsASSCII.CustomASCII2, Syspara2.flash_stPara.ubRsASSCII.CustomASCII2, sizeof(MC_RsASSCII.CustomASCII2));
    memcpy(MC_RsASSCII.CustomASCII3, Syspara2.flash_stPara.ubRsASSCII.CustomASCII3, sizeof(MC_RsASSCII.CustomASCII3));
   
    //控制参数
    memcpy(&MC_UpcInfo.stTestParaInfo.uwTestParaSaveFlg, &Syspara2.flash_stPara.stTestParaInfo.uwTestParaSaveFlg, sizeof(MC_UpcInfo.stTestParaInfo));

    BMS_VoltEstimat.uwInterResistpu = ((ULONG)1700 << 15) / cof_uwRbOm; //Q15 0.1mOhm BMS internal resistance 150mOhm + 20mOhm
    mth_voLPFilterCoef(1000000 / 100, EVENT_1MS_HZ, &BMS_swCurIdcLpf.uwKx); //100Hz
    
    uwRemainDistanceCal = 0xffff;                           // init invalid value
}

void Can_voMC_Run_1ms(void)
{
    static UWORD time_s=0;
    if (cp_stBikeRunInfoPara.BikeSpeedKmH > 30)
    {
        cp_stBikeRunInfoPara.ulRiTime++;

    }
    else
    {}

    if(++time_s>60000)
    {
    cp_stHistoryPara.ulUsedTime++;
    time_s=0;
    }
    // Error Cnt record and Error Display Set
    MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms ++;
    UART_RxBuff_Struct_OBC.ul_UartComTimeOutCount++;
    UART_RxBuff_Struct_BMS.ul_UartComTimeOutCount++;

    if(MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms == ALAM_DETECT_CNT_IN_1ms && MC_ErrorCode.Code == 0)
    {
        MC_ErrorCntRecord.Protect_OverCurrentCnt = 0;
        MC_ErrorCntRecord.Protect_OverVoltageCnt = 0;
        MC_ErrorCntRecord.Protect_UnderVoltageCnt = 0;
        MC_ErrorCntRecord.Protect_LockRotorCnt = 0;
        MC_ErrorCntRecord.Protect_OverTempCnt = 0;
        MC_ErrorCntRecord.Fault_PhaseLineCnt = 0;

        MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms = 0;
    }
    else
    {}
    //故障日志获取故障状态
    if (alm_blAlmOccrFlg == TRUE)
    {
     if (alm_blAlmSingleRecordDoneFlg == FALSE)// 
     {
        if (alm_unCode.bit.IPMFlt == 1)  //硬件过流
        {
            MC_ErrorCntRecord.Protect_OverCurrentCnt++;
            cp_stHistoryPara.uwAlamHOcurTimes++;
            if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
            {
                if(MC_ErrorCode.ERROR_Bit.Protect_OverCurrent==0)
                {
                MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.OvrCur == 1) //软件过流
        {
            MC_ErrorCntRecord.Protect_OverCurrentCnt++;
            cp_stHistoryPara.uwAlamSOcurTimes++;
            if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
            {
               if(MC_ErrorCode.ERROR_Bit.Protect_OverCurrent==0)
               {
                MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.OvrVlt == 1) //过压
        {
            MC_ErrorCntRecord.Protect_OverVoltageCnt++;
            cp_stHistoryPara.uwAlamOVolTimes++;
            if (MC_ErrorCntRecord.Protect_OverVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
            {
                if(MC_ErrorCode.ERROR_Bit.Protect_OverVoltage==0)
                {
                MC_ErrorCode.ERROR_Bit.Protect_OverVoltage = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.UndrVlt == 1) //欠压
        {
            MC_ErrorCntRecord.Protect_UnderVoltageCnt++;
            cp_stHistoryPara.uwAlamUVolTimes++;
            if (MC_ErrorCntRecord.Protect_UnderVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
            {
                if(MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage==0)
                {
                MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.RotorLock == 1) //堵转
        {
            MC_ErrorCntRecord.Protect_LockRotorCnt++;
            cp_stHistoryPara.uwAlamRotorLockTimes++;
            if (MC_ErrorCntRecord.Protect_LockRotorCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
            {
              if(MC_ErrorCode.ERROR_Bit.Protect_LockRotor==0)
              {
                MC_ErrorCode.ERROR_Bit.Protect_LockRotor = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.IPMOvrHeat == 1)//PCB过热
        {
            MC_ErrorCntRecord.Protect_OverTempCnt++;
            cp_stHistoryPara.uwAlamOHeatTimes++;
            if (MC_ErrorCntRecord.Protect_OverTempCnt == ALAM_DISPLAY_CNT_0LEVEL)
            {
              if(MC_ErrorCode.ERROR_Bit.Protect_OverTemp==0)
              {
                MC_ErrorCode.ERROR_Bit.Protect_OverTemp = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        if (alm_unCode.bit.PhsLoss == 1) //缺相
        {
            MC_ErrorCntRecord.Fault_PhaseLineCnt++;
            cp_stHistoryPara.uwAlamPhsLossTimes++;
            if (MC_ErrorCntRecord.Fault_PhaseLineCnt == ALAM_DISPLAY_CNT_0LEVEL)
            {
               if(MC_ErrorCode.ERROR_Bit.Fault_PhaseLine==0)
               {
                MC_ErrorCode.ERROR_Bit.Fault_PhaseLine = 1;
                /*error log updata*/
                ErrorLog_Updata();
                que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        }

        // if(alm_unCode.bit.CommOvrTm)
        // {
        //     cp_stHistoryPara.uwAlamComOTimeTimes++;
        // }

//        if (alm_unCode.bit.SpiThetaFlt == 1) //位置传感器故障
//        {
//            MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 1;
//            /*error log updata*/
//            ErrorLog_Updata();
//            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
//        }

        if (alm_unBikeCode.bit.BikeSpdSen == 1) //速度传感器故障
        {
          if(MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor==0)
          {
            MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 1;
            cp_stHistoryPara.uwBikeSpdSensorAlamTimes++;
            /*error log updata*/
            ErrorLog_Updata();
            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
        }
        }

        if (alm_unBikeCode.bit.CadenceSen == 1) //踏频传感器故障
        {
            cp_stHistoryPara.uwCadSensorAlamTimes++;
          if(MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor==0)
          {
            MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 1;
            /*error log updata*/
            ErrorLog_Updata();
            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
        }
        }

        if (alm_unBikeCode.bit.PCBNTC == 1) //PCB温度
        {
            if(MC_ErrorCode.ERROR_Bit.Fault_PCBNTC==0)
            {
            MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 1;
            /*error log updata*/
            ErrorLog_Updata();
            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
        }
        }

//        if (alm_unBikeCode.bit.Throttle == 1) //油门故障
//        {
//            MC_ErrorCode.ERROR_Bit.Fault_Throttle = 1;
//            /*error log updata*/
//            ErrorLog_Updata();
//            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
//        }

        if (alm_unBikeCode.bit.TorqSen == 1) //力矩传感器故障
        {
            if(MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor==0)
            {
            MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 1;
            /*error log updata*/
                cp_stHistoryPara.uwTorSensorAlamTimes++;
            ErrorLog_Updata();
            que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
            }
        }
        // 电机霍尔故障
        if (alm_unCode.bit.HallLoss == 1)
        {
            MC_ErrorCntRecord.Fault_HallSensorCnt++;
            if (MC_ErrorCntRecord.Fault_HallSensorCnt >= ALAM_DISPLAY_CNT_0LEVEL)
            {
                MC_ErrorCntRecord.Fault_HallSensorCnt = ALAM_DISPLAY_CNT_0LEVEL+1;
                if(MC_ErrorCode.ERROR_Bit.Fault_HallSensor == 0)
                {
                    cp_stHistoryPara.uwPosSensorAlamTimes++;
                    MC_ErrorCode.ERROR_Bit.Fault_HallSensor = 1;
                    /*error log updata*/
                    ErrorLog_Updata();
                    que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
                }
            }
        }
        //电机温度过热
         if (alm_unCode.bit.MotorOvrHeat == 1)
        {
            MC_ErrorCntRecord.Protect_MotorOverTempCnt++;
            if (MC_ErrorCntRecord.Protect_MotorOverTempCnt >= ALAM_DISPLAY_CNT_0LEVEL)
            {
                MC_ErrorCntRecord.Protect_MotorOverTempCnt = ALAM_DISPLAY_CNT_0LEVEL+1;
                if(MC_ErrorCode.ERROR_Bit.Protect_MotorOverTemp == 0)
                {
                    cp_stHistoryPara.uwAlamOHeatTimes++;
                    MC_ErrorCode.ERROR_Bit.Protect_MotorOverTemp = 1;
                    /*error log updata*/
                    ErrorLog_Updata();
                    que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1);
                }
            }
        }


            alm_blAlmSingleRecordDoneFlg = TRUE;
        }
    }

    // Claear error Display
       if (MC_ErrorCode.ERROR_Bit.Protect_OverCurrent == 1)
       {
           if (alm_unCode.bit.IPMFlt != 1 && alm_unCode.bit.OvrCur != 1)
           {
               MC_ErrorCntRecord.Protect_OverCurrentCnt = 0;
               MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 0;
           }
       }


       if (MC_ErrorCode.ERROR_Bit.Protect_OverVoltage == 1)
       {
           if (alm_unCode.bit.OvrVlt != 1)
           {
               MC_ErrorCntRecord.Protect_OverVoltageCnt = 0;
               MC_ErrorCode.ERROR_Bit.Protect_OverVoltage = 0;
           }
       }


       if (MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage == 1)
       {
           if (alm_unCode.bit.UndrVlt != 1)
           {
               MC_ErrorCntRecord.Protect_UnderVoltageCnt = 0;
               MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage = 0;
           }
       }


       if (MC_ErrorCode.ERROR_Bit.Protect_LockRotor == 1)
       {
           if (alm_unCode.bit.RotorLock != 1)
           {
               MC_ErrorCntRecord.Protect_LockRotorCnt = 0;
               MC_ErrorCode.ERROR_Bit.Protect_LockRotor = 0;
           }
       }


       if (MC_ErrorCode.ERROR_Bit.Protect_OverTemp == 1)
       {
           if (alm_unCode.bit.IPMOvrHeat != 1)
           {
               MC_ErrorCntRecord.Protect_OverTempCnt = 0;
               MC_ErrorCode.ERROR_Bit.Protect_OverTemp = 0;
           }
       }


       if (MC_ErrorCode.ERROR_Bit.Fault_PhaseLine == 1)
       {
           if (alm_unCode.bit.PhsLoss != 1)
           {
               MC_ErrorCntRecord.Fault_PhaseLineCnt = 0;
               MC_ErrorCode.ERROR_Bit.Fault_PhaseLine = 0;
           }
       }


//       if (MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor == 1)
//       {
//           if (alm_unCode.bit.SpiThetaFlt != 1)
//           {
//               MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 0;
//           }
//       }

       if (MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor == 1)
       {
           if (alm_unBikeCode.bit.BikeSpdSen != 1)
           {
               MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 0;
           }
       }

       if (MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor == 1)
       {
           if (alm_unBikeCode.bit.CadenceSen != 1)
           {
               MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 0;
           }
       }

       if (MC_ErrorCode.ERROR_Bit.Fault_PCBNTC == 1)
       {
           if (alm_unBikeCode.bit.PCBNTC != 1)
           {
               MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 0;
           }
       }

       if (MC_ErrorCode.ERROR_Bit.Fault_Throttle == 1)
       {
           if (alm_unBikeCode.bit.Throttle != 1)
           {
               MC_ErrorCode.ERROR_Bit.Fault_Throttle = 0;
           }
       }

       if (MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor == 1)
       {
           if (alm_unBikeCode.bit.TorqSen != 1)
           {
               MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 0;
           }
       }

   if (MC_ErrorCode.ERROR_Bit.Fault_HallSensor == 1)
    {
        if (alm_unCode.bit.HallLoss != 1)
        {
            MC_ErrorCntRecord.Fault_HallSensorCnt = 0;
            MC_ErrorCode.ERROR_Bit.Fault_HallSensor = 0;
        }
    }

   if (MC_ErrorCode.ERROR_Bit.Protect_MotorOverTemp == 1)
    {
        if (alm_unCode.bit.MotorOvrHeat != 1)
        {
            MC_ErrorCntRecord.Protect_MotorOverTempCnt = 0;
            MC_ErrorCode.ERROR_Bit.Protect_MotorOverTemp = 0;
        }
    }


	
    SWORD TempPower;
       if (FSM2nd_Run_state.state == Exit)
       {
           TempPower = 0;
       }
       else
       {
           TempPower = scm_stMotoPwrInLpf.slY.sw.hi;
       }

       BMS_VoltEstimat.swIdcPu = (SWORD)(((SLONG)TempPower << 13) / (SLONG)adc_stUpOut.uwVdcLpfPu); // Q15+Q13-Q14=Q14  Calculated dc current
       if (BMS_VoltEstimat.swIdcPu < 0)
       {
         BMS_VoltEstimat.swIdcPu = 0;
       }

    mth_voLPFilter(BMS_VoltEstimat.swIdcPu, &BMS_swCurIdcLpf); 
    BMS_VoltEstimat.uwVdcCompPu = (ULONG)BMS_swCurIdcLpf.slY.sw.hi * BMS_VoltEstimat.uwInterResistpu >> 15; //Q14+Q15-Q15=Q14
}

void Can_voMC_Run_5ms(void)
{
    cp_stBikeRunInfoPara.BikeSpeedKmH =
        (((SQWORD)bikespeed_stFreGetOut.uwLPFFrequencyPu * FBASE * (ass_ParaCong.uwWheelPerimeter + ass_ParaCong.swDeltPerimeter) * 36 >> 20) * 1048 * 10) >>20; //    1048 = Q20(1/1000)    0.1 km/h
    MC_RunInfo.BusVoltage = ((SLONG)adc_stUpOut.uwVdcPu * cof_uwUbVt >> 14) * 100;
    MC_RunInfo.MotorSpeed = (SLONG)scm_uwSpdFbkLpfAbsPu * cof_uwVbRpm >> 15;
    MC_RunInfo.BikeSpeed = cp_stBikeRunInfoPara.BikeSpeedKmH;//cp_stBikeRunInfoPara.BikeSpeedKmH; // MC_RunInfo.MotorSpeed / 10 ;
}

void Can_voMC_Run_200ms(void)
{
    // UWORD TempPower;
    
    // 电池通讯异常采用控制器计算电量
    if((cp_ulSystickCnt - ulBMS_ComTimeOutCount) > 3000)
    {
        blBMSCommFault = TRUE;    // communication abnormal 
    }
        else
    {
        blBMSCommFault = FALSE;       // communication normal
    }
    
    //温度最值记录
    Can_MaxMinTempHistory();

    //挡位切换
    Can_GearSt_switch();
    SizeMCUP = sizeof(MC_UpcInfo.stAssistInfo);

    //更新电机运行信息
    MC_RunInfo.BikeSpeed = cp_stBikeRunInfoPara.BikeSpeedKmH;                                   //车速 0.1km/h，地址偏移0
    if(cp_stFlg.ThetaGetModelSelect == ANG_SWITCHHALL)
    {
        MC_RunInfo.MotorSpeed = (SLONG)abs(switchhall_stOut.swLowSpdLpfPu) * cof_uwVbRpm >> 15; //电机输出转速 1rpm，地址偏移2 if(scm_swMotorPwrInLpfWt > 5000)
    }
    else
    {
        MC_RunInfo.MotorSpeed = (SLONG)abs(scm_stSpdFbkLpf.slY.sw.hi)* cof_uwVbRpm >> 15; 
    } 
    if(scm_swMotorPwrInLpfWt > 5000)
    {
        scm_swMotorPwrInLpfWt = 5000;
    }
    if(scm_swMotorPwrInLpfWt < 0 )
    {
        scm_swMotorPwrInLpfWt = 0;
    }
    if(hw_blPWMOnFlg == FALSE)
    {
        scm_swMotorPwrInLpfWt = 0;
    }
    else
    {
    }
    Power_Cal();
    MC_RunInfo.Power= Powercal.PowerPoit;                                                //功率
    MC_RunInfo.BusVoltage = ((ULONG)adc_stUpOut.uwVdcLpfPu * cof_uwUbVt * 100) >> 14;    //母线电压 1mV，地址偏移6
    MC_RunInfo.BusCurrent = ((ULONG)adc_stUpOut.uwIbusAvgLpfPu) * cof_uwIbAp * 10 >> 14; //母线电流 1mA，地址偏移8
    MC_RunInfo.Cadence = (cadence_stFreGetOut.uwLPFFrequencyPu * cof_uwFbHz * 60) >> 20; //踏频 1rpm，地址偏移10
    MC_RunInfo.Torque = ((ULONG)torsensor_stTorSensorOut.uwTorquePu * cof_uwTorqNm / 10) >> 14;        //踩踏力矩 1Nm，地址偏移11
    MC_RunInfo.CadenceDir = (MC_CadenceDir_Struct_t)cadence_stFreGetOut.cadence_dir;     //踩踏方向 0-正,1-反,2-停止，地址偏移12
    MC_RunInfo.GearSt = MC_ControlCode.GearSt;                                           //助力档位，地址偏移13
    MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;                                 //灯开关 0xF0-关，0xF1-开，地址偏移14
    MC_RunInfo.TorqueReg = torsensor_stTorSensorOut.uwTorqueReg;                         //力矩Reg
    MC_RunInfo.SOC = Can_SOC_Cal();                                                     //剩余电量 1%，地址偏移15
    if(hw_blPWMOnFlg == FALSE)
    {
        MC_RunInfo.BusCurrent=0;
    }
    Can_Trip_Cal();
    if (cp_stBikeRunInfoPara.blGearStUpdate)
    {  
        if(cp_stBikeRunInfoPara.uwBikeGear > 0 &&(cp_stBikeRunInfoPara.uwBikeGear <=5))
        {
            MC_RunInfo.PowerPerKm =
              *(&cp_stHistoryPara.uwG1AvgPwrConsumption + (cp_stBikeRunInfoPara.uwBikeGear - 1)) / 10; //平均功耗 0.01Ah/km ，地址偏移20
            uwRemainDistanceCal = BMS_RunInfo.RC / MC_RunInfo.PowerPerKm / 10;
        }
        else
        {
            MC_RunInfo.PowerPerKm = 0;
            uwRemainDistanceCal = 0xffff;                           //invalid value
        }
        cp_stBikeRunInfoPara.BMSRestChargeLast = BMS_RunInfo.RC;
        cp_stBikeRunInfoPara.uwPowerPerKm = 0;
        cp_stBikeRunInfoPara.uwAvePowerPerKm = 0;
        cp_stBikeRunInfoPara.uwPowerPerKmSum = 0;
        memset(cp_stBikeRunInfoPara.uwPowerPerKmBuf, 0, sizeof(cp_stBikeRunInfoPara.uwPowerPerKmBuf));
        cp_stBikeRunInfoPara.uwAvePowerCNT = 0;
        cp_stBikeRunInfoPara.uwCruisDis = 0;
    }
    if(blBMSCommFault == TRUE)
    {
        MC_RunInfo.RemainDistance = 0xeeee;             /* no bms info*/
    }
    else
    {
        MC_RunInfo.RemainDistance = uwRemainDistanceCal;
    }
    MC_RunInfo.T_PCB = adc_stUpOut.PCBTemp + 40;                ///>PCB温度 +40℃，地址偏移21
    MC_RunInfo.T_Coil = adc_stUpOut.MotorTemp + 40;               ///>绕组温度 +40℃，地址偏移22
    MC_RunInfo.T_MCU = adc_stUpOut.PCBTemp + 40;                ///>MCU温度 +40℃，地址偏移23
    MC_RunInfo.Ride_Time = cp_stBikeRunInfoPara.ulRiTime >> 10; ///>开机后骑行时间 1s，地址偏移26
    MC_RunInfo.TorqueSensorData1=(UBYTE)(TorqueSensorRegFlt.SensorPer1 >> 4);
    MC_RunInfo.TorqueSensorData2=(UBYTE)(TorqueSensorRegFlt.SensorPer2 >> 4);
    MC_RunInfo.TorqueSensorData3=(UBYTE)(TorqueSensorRegFlt.SensorPer3 >> 4);

    //更新调试信息
    MC_DebugInfo.SysFSM1 = FSM1st_Sys_state.state;                    //一层状态机
    MC_DebugInfo.SysFSM2 = FSM2nd_Run_state.state;                    //二层状态机
    MC_DebugInfo.SysFSM3 = curSpeed_state.state;                      //电流环状态机
    MC_DebugInfo.SysFSM4 = event_enMode << 4;                         //助力模式
    if(event_enMode == TorqAss)
        MC_DebugInfo.SysFSM4 |= Ass_FSM;                              //力矩模式助力状态机
    else if(event_enMode == SpdAss)
        MC_DebugInfo.SysFSM4 |= ass_enCadAssStatus;                   //速度模式助力状态机
    else
        MC_DebugInfo.SysFSM4 |= 0xF;
    MC_DebugInfo.IdRef = scm_swIdRefPu;                               //IdRef
    MC_DebugInfo.IqRef = scm_swIqRefPu;                               //IqRef
    MC_DebugInfo.UdRef = scm_swUdRefPu;                               //UdRef
    MC_DebugInfo.UqRef = scm_swUqRefPu;                               //UqRef
    MC_DebugInfo.PedalTorquePer = torsensor_stTorSensorOut.uwTorqueReg;        //力矩AD
    MC_DebugInfo.PedalTorqueAvg = torsensor_stTorSensorOut.uwTorqueLPFPu;      //力矩滤波AD
    MC_DebugInfo.PedalTorqueByCad = maf_torque.AverValue;             //力矩踏频滤波AD
    MC_DebugInfo.IdFdb = scm_swIdFdbLpfPu;                            //IdFdb
    MC_DebugInfo.IqFdb = scm_swIqFdbLpfPu;                            //IqFdb
    MC_DebugInfo.AssistOut = uart_swTorqRefNm;                        //助力输出

    //发送数据
    if(MC_WorkMode == 1) //配置模式，定时发送运行信息
    {
        SendData(&UART_TxBuff_Struct_OBC, ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed);
    }
    else if(MC_WorkMode == 2) //调试模式，定时发送调试信息和运行信息
    {
        SendData(&UART_TxBuff_Struct_OBC, ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed);
        SendData(&UART_TxBuff_Struct_OBC, ID_MC_BC, MODE_REPORT, 0xBA20, (uint8_t *)&MC_DebugInfo.SysFSM1);
    }
}

void Can_Trip_Cal(void)
{
    if (bikespeed_stFreGetOut.blUpdateTripCntFlg == TRUE)
    {
        MC_RunInfo.Ride_Km++;
        cp_stHistoryPara.ulODOTrip++; // Unit: 0.1km
        cp_stHistoryPara.ulRealODOTrip++; // Unit: 0.1km
        cp_stHistoryPara.ulTripSum++;
        Can_RemainTrip_Cal();
        bikespeed_stFreGetOut.blUpdateTripCntFlg = FALSE;
    }

    MC_RideLog.ODO_Km = cp_stHistoryPara.ulODOTrip;
    MC_RideLog.TRIP_Km = cp_stHistoryPara.ulTripSum;

    MC_RideLog.ODO_Time = cp_stHistoryPara.ulODOTime + (cp_stBikeRunInfoPara.ulRiTime >> 10) / 60;      // min
    MC_RideLog.TRIP_Time = cp_stHistoryPara.ulTripSumTime + (cp_stBikeRunInfoPara.ulRiTirpTime >> 10) / 60; // min
}

void Can_RemainTrip_Cal(void)
{
    if(blBMSCommFault == FALSE)
    {
        UWORD uwCruisCoef;                        //功耗系数 Q12
        cp_stBikeRunInfoPara.uwCruisDis++;        // 0.1 km
        if (cp_stBikeRunInfoPara.uwCruisDis >= 5) // 5 = 0.5km
        {
            cp_stBikeRunInfoPara.uwCruisDis = 0;
            cp_stBikeRunInfoPara.BMSRestChargeNow = BMS_RunInfo.RC;
            cp_stBikeRunInfoPara.uwPowerPerKm = (cp_stBikeRunInfoPara.BMSRestChargeLast - cp_stBikeRunInfoPara.BMSRestChargeNow)
                                                << 1; // BMS_RunInfo.RC   (BMSRestChargeLast - BMSRestChargeNow) /0.5 km
            cp_stBikeRunInfoPara.BMSRestChargeLast = cp_stBikeRunInfoPara.BMSRestChargeNow;
            cp_stBikeRunInfoPara.uwPowerPerKmSum -= cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT];
            cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT] = cp_stBikeRunInfoPara.uwPowerPerKm;
            cp_stBikeRunInfoPara.uwPowerPerKmSum += cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT];
            if (cp_stBikeRunInfoPara.uwPowerPerKmBuf[31] == 0)
            {
                cp_stBikeRunInfoPara.uwAvePowerPerKm = cp_stBikeRunInfoPara.uwPowerPerKmSum / (cp_stBikeRunInfoPara.uwAvePowerCNT + 1);
            }
            else
            {
                cp_stBikeRunInfoPara.uwAvePowerPerKm = cp_stBikeRunInfoPara.uwPowerPerKmSum >> 5;
            }
            cp_stBikeRunInfoPara.uwAvePowerCNT++;
            if (cp_stBikeRunInfoPara.uwAvePowerCNT >= 32)
            {
                cp_stBikeRunInfoPara.uwAvePowerCNT = 0;
            }
            if(cp_stBikeRunInfoPara.uwAvePowerPerKm > 0)
            {
                if (cp_stBikeRunInfoPara.uwBikeGear == 1)
                {
                    uwCruisCoef = ((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG1AvgPwrConsumption;
                    cp_stHistoryPara.uwG1AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG2AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG3AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG4AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG5AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12;
                    MC_RunInfo.PowerPerKm = cp_stHistoryPara.uwG1AvgPwrConsumption / 10;
                }
                else if (cp_stBikeRunInfoPara.uwBikeGear == 2)
                {
                    uwCruisCoef = ((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG2AvgPwrConsumption;
                    cp_stHistoryPara.uwG1AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG2AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG3AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG4AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG5AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12;
                    MC_RunInfo.PowerPerKm = cp_stHistoryPara.uwG2AvgPwrConsumption / 10;
                }
                else if (cp_stBikeRunInfoPara.uwBikeGear == 3)
                {
                    uwCruisCoef = ((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG3AvgPwrConsumption;
                    cp_stHistoryPara.uwG1AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG2AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG3AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG4AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG5AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12;
                    MC_RunInfo.PowerPerKm = cp_stHistoryPara.uwG3AvgPwrConsumption / 10;
                }
                else if (cp_stBikeRunInfoPara.uwBikeGear == 4)
                {
                    uwCruisCoef = ((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG4AvgPwrConsumption;
                    cp_stHistoryPara.uwG1AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG2AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG3AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG4AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG5AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12;
                    MC_RunInfo.PowerPerKm = cp_stHistoryPara.uwG4AvgPwrConsumption / 10;
                }
                else if (cp_stBikeRunInfoPara.uwBikeGear == 5)
                {
                    uwCruisCoef = ((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG5AvgPwrConsumption;
                    cp_stHistoryPara.uwG1AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG2AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG3AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG4AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12;
                    cp_stHistoryPara.uwG5AvgPwrConsumption = (ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12;
                    MC_RunInfo.PowerPerKm = cp_stHistoryPara.uwG5AvgPwrConsumption / 10;
                }
                else
                {
                    uwCruisCoef = 4096;
                }
                uwRemainDistanceCal = BMS_RunInfo.RC / MC_RunInfo.PowerPerKm / 10;
            }
        }
    }
}

#if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
    SLONG slBMSMaxVol = 54000;
    SLONG slBMSMinVol = 40500;
#elif (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V)
    SLONG slBMSMaxVol = 41500;
    SLONG slBMSMinVol = 31000;
#else
    SLONG slBMSMaxVol = 41500;
    SLONG slBMSMinVol = 31000;
#endif

SWORD SOC_Cnt, SOC_Value;
SWORD SOC_MIN=50;
SLONG Voltage_Sum;
static BOOL  blSOCfirstSet = FALSE;
UWORD Can_SOC_Cal(void)
{
    UWORD templenght, VoltageAvg = 0;
    // 开机1s等待电压稳定后初始化电量
    if (cp_ulSystickCnt < 500)
    {       
        return (UWORD)0;
    }
         
    if(blBMSCommFault == FALSE)
    {
        SOC_Value = BMS_RunInfo.SOC;
        if((blSOCfirstSet == FALSE) && ( ulBMS_ComTimeOutCount !=0) )// 开机初始化一次电量
         {
            SOC_MIN = BMS_RunInfo.SOC;
            blSOCfirstSet = TRUE;
         }
    }
    else if(blSOCfirstSet == FALSE)// 开机初始化一次电量
    {
        if(0 == ulBMS_ComTimeOutCount)
        {
            if (MC_RunInfo.BusVoltage >= slBMSMaxVol) 
            {
                SOC_Value = 100;
            }
            else if (MC_RunInfo.BusVoltage <= slBMSMinVol)
            {
                SOC_Value = 0;
            }
            else
            {
                SOC_Value = (SWORD)(((SLONG)MC_RunInfo.BusVoltage - slBMSMinVol) * 100 / (slBMSMaxVol - slBMSMinVol));
            }
            SOC_MIN = SOC_Value;
        }
        else
        {
            SOC_MIN = BMS_RunInfo.SOC;
        }
        blSOCfirstSet = TRUE;
    }
    // 1min更新一次电量
    else
    {
        templenght = 300; // 60s in 200ms time task
        SOC_Cnt++;
        Voltage_Sum += MC_RunInfo.BusVoltage;
        if (SOC_Cnt >= templenght) // 60s
        {
            VoltageAvg = (UWORD)(Voltage_Sum / templenght);
            if (VoltageAvg <= slBMSMinVol)
            {
                SOC_Value = 0;
            }
            else
            {
                SOC_Value = (SWORD)(((SLONG)VoltageAvg - (SLONG)slBMSMinVol) * 100 / ((SLONG)slBMSMaxVol - (SLONG)slBMSMinVol));
            }
            
            if (SOC_Value < SOC_MIN)
            {
                SOC_MIN = SOC_Value;
            }
            else
            {
            }
            SOC_Cnt = 0;
            Voltage_Sum = 0;
        }
    // 电量仅递减
    if (SOC_Value > SOC_MIN)
    {
        SOC_Value = SOC_MIN;
    }
    else if (SOC_Value < 0)
    {
        SOC_Value = 0;
    }
    else
    {
        // do noting
    }
    }

    return (UWORD)SOC_Value;
}

void Can_MaxMinTempHistory(void)
{
    if (adc_stUpOut.PCBTemp > ((SWORD)cp_stHistoryPara.swNTCTempMaxCe))
    {
        cp_stHistoryPara.swNTCTempMaxCe = adc_stUpOut.PCBTemp;
    }
    else
    {}

    if (adc_stUpOut.PCBTemp < ((SWORD)cp_stHistoryPara.swNTCTempMinCe))
    {
        cp_stHistoryPara.swNTCTempMinCe = adc_stUpOut.PCBTemp;
    }
    else
    {}
}
    

void Can_GearSt_switch(void)
{
    cp_stBikeRunInfoPara.uwBikeGearLast = cp_stBikeRunInfoPara.uwBikeGear;
    
    if (MC_WorkMode == 1) // 配置模式不自动关闭助力
    {
        ulOBC_ComTimeOutCount = cp_ulSystickCnt;
    }
     
    if ((cp_ulSystickCnt - ulOBC_ComTimeOutCount) < 3000) // 控制器与仪表通信中断超过3s，关闭助力
    {
        if (MC_ControlCode.GearSt <= 0x05)
        {
            cp_stBikeRunInfoPara.uwBikeGear = MC_ControlCode.GearSt;
        }
        else if (MC_ControlCode.GearSt == 0x33)
        {
            cp_stBikeRunInfoPara.uwBikeGear = 5;
        }
        else if(MC_ControlCode.GearSt == 0x22)
        {
            cp_stBikeRunInfoPara.uwBikeGear = 0x22;
        }
        else
        {
            cp_stBikeRunInfoPara.uwBikeGear = 0;
        }
    }
#if(BIKE_OXFORD_EN==0)
    else
    {
        MC_ControlCode.GearSt = MC_GearSt_OFF;
        MC_RunInfo.GearSt = 0x00;
        cp_stBikeRunInfoPara.uwBikeGear = 0x00;
    }
#endif
    
    if (cp_stBikeRunInfoPara.uwBikeGear != cp_stBikeRunInfoPara.uwBikeGearLast)
    {
        cp_stBikeRunInfoPara.blGearStUpdate = TRUE;
    }
    else
    {
        cp_stBikeRunInfoPara.blGearStUpdate = FALSE;
    }
}

void Can_Light_switch(void)
{
    /* light switch*/
    if (MC_ControlCode.LightSwitch == 0xF0)
    {
        cp_stBikeRunInfoPara.uwLightSwitch = 0;
    }
    else if (MC_ControlCode.LightSwitch == 0xF1)
    {
        cp_stBikeRunInfoPara.uwLightSwitch = 1;
    }
}

void Can_AssistCoef_Read(UPC_CurveOrderInfo_Struct_t *order)
{
    MC_UpcInfo.stAssistInfo.stCurveOrderInfo = *order;
    memcpy(&MC_UpcInfo.stAssistInfo.slTorquePolyA, &Syspara2.flash_stPara.slTorqAssGain[order->uwTorqueCurveNum - 1], sizeof(POLY_COEF));
    memcpy(&MC_UpcInfo.stAssistInfo.slCadencePolyA, &Syspara2.flash_stPara.slCadAssGain[order->uwCadenceCurveNum - 1], sizeof(POLY_COEF));
}

void Can_AssistCoef_Write(UPC_CurveOrderInfo_Struct_t *order)
{
    memcpy(&Syspara2.flash_stPara.slTorqAssGain[order->uwTorqueCurveNum - 1], &MC_UpcInfo.stAssistInfo.slTorquePolyA, sizeof(POLY_COEF));
    memcpy(&Syspara2.flash_stPara.slCadAssGain[order->uwCadenceCurveNum - 1], &MC_UpcInfo.stAssistInfo.slCadencePolyA, sizeof(POLY_COEF));
}

void ErrorLog_Updata(void)
{
    que_stErrorLog.ErrorCode = MC_ErrorCode.Code;
    que_stErrorLog.RunTime = cp_stHistoryPara.ulUsedTime;//MC_RunInfo.Ride_Time;
    que_stErrorLog.RunInfo = MC_RunInfo;
    //memcpy((uint8_t*)&que_stErrorLog.RunInfo, (uint8_t*)&MC_RunInfo.BikeSpeed, sizeof(MC_RunInfo_Struct_t));
    que_stErrorLog.IqCurrentPu = scm_swIqFdbLpfPu;
    que_stErrorLog.IqVoltagePu = scm_swUqRefPu;
    que_stErrorLog.IdCurrentPu = scm_swIdFdbLpfPu;
    que_stErrorLog.IdVoltagePu = scm_swUdRefPu;
}

void Power_Cal(void)
{
    SWORD V_temp;
    UWORD Poit_temp;
    UWORD Power_temp;
    SLONG  Power_clac;
    Poit_temp= (cp_stMotorPara.swRPwrWt)>>11;
    Power_temp=cp_stMotorPara.swRPwrWt & 0x07ff;
    if(cp_stControlPara.swPwrLimitValWt>700)
    {
    Powercal.swMaxpower=cp_stControlPara.swPwrLimitValWt-600;
    }

    V_temp=MC_RunInfo.BusVoltage/100;
    Powercal.swPowerFdb=(SWORD) ((SLONG)(V_temp) * (SLONG)MC_RunInfo.BusCurrent/1000);

if(Poit_temp==0)
{
   Powercal.PowerPoit=(SWORD)((SLONG)Powercal.swPowerFdb*250/((SLONG)Powercal.swMaxpower));
   if(Powercal.PowerPoit > 250)
    {
    Powercal.PowerPoit = 250;
    }
   else if(Powercal.PowerPoit < 0 )
    {
        Powercal.PowerPoit = 0;
    }

}
else
{
    Power_clac=(SLONG)Powercal.swPowerFdb*(Poit_temp+1)  ;
    Powercal.PowerPoit=(SWORD)((Power_clac/10) >>5);
}

if(hw_blPWMOnFlg == FALSE)
   {
       Powercal.PowerPoit = 0;
   }

}