motor_ctl-1/3.BasicFunction/Source/uart_Lidian2.c

/**
  ******************************************************************************
  * @file    uartSpecial.c
  * @author  
  * @version V1.0.0
  * @date    23-12-2015
  * @brief  uartSpecial function.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "uart_Lidian2.h"
#include "string.h"
#include "usart.h"
#include "canAppl.h"
#include "syspar.h"
#include "bikebrake.h"
#include "bikethrottle.h"

/******************************
 *
 *  Parameter
 *
 ******************************/
Lidian2_OBC2MCInfo_Struct_t Lidian2_stOBC2MCInfo;
Lidian2_MC2OBCInfo_Struct_t Lidian2_stMC2OBCInfo;

UBYTE ucWalk_cnt;
/******************************
 *
 *  Functions
 *
 ******************************/
/***************************************************************
 Function: SP_OBCSetPara;
 Description: OBC set MC parameter(轮径 电流阈值/功率阈值 低压阈值 限速值)
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lidian2_OBCSetPara(void)
{
    /*参数设定*/
    /*轮径*/
#if 0
    UWORD tmpdata;
    tmpdata = Lidian2_stOBC2MCInfo.uwWheelDiameter*8/10;
    if(MC_UpcInfo.stBikeInfo.uwWheelPerimeter != tmpdata)
    {
        MC_UpcInfo.stBikeInfo.uwWheelPerimeter = tmpdata;
        MC_UpcInfo.stBikeInfo.uwSaveFlg = 1;
        cp_stFlg.ParaSaveEEFlg = TRUE;
        cp_stFlg.ParaUpdateFlg = TRUE;
        cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
        cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
    }
    
    /*功率限幅阈值更新*/
    // #if (IPM_VOLTAGE_SEL == IPM_VOLTAGE_48V)
    //     UWORD uwVolt = 480;
    // #elif (IPM_VOLTAGE_SEL == IPM_VOLTAGE_36V)
    //     UWORD uwVolt = 360;
    // #else
    //     UWORD uwVolt = 360;
    // #endif
    UWORD uwVolt= cp_stMotorPara.swRUdcV;
    if(MC_UpcInfo.stTestParaInfo.uwPwrLimit != ((Lidian2_stOBC2MCInfo.ucCurrentLimiation*uwVolt) + 500))
    {
        MC_UpcInfo.stTestParaInfo.uwPwrLimit = (UWORD)((Lidian2_stOBC2MCInfo.ucCurrentLimiation*uwVolt) + 500);
        MC_UpcInfo.stTestParaInfo.uwSaveFlg = 1;
        cp_stFlg.ParaSaveEEFlg = TRUE;
        cp_stFlg.ParaUpdateFlg = TRUE;
        cp_stFlg.TestParaInfoUpdateFlg = TRUE;
        cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
    }
    
    /*低压保护阈值更新*/
    if(MC_UpcInfo.stMContorlInfo.uwAlamUVolV != Lidian2_stOBC2MCInfo.uwUnderVoltageLimiation)
    {
        MC_UpcInfo.stMContorlInfo.uwAlamUVolV = Lidian2_stOBC2MCInfo.uwUnderVoltageLimiation;
        MC_UpcInfo.stMContorlInfo.uwSaveFlg = 1;
        cp_stFlg.ParaSaveEEFlg = TRUE;
        cp_stFlg.ParaUpdateFlg = TRUE;
        cp_stFlg.ParaMCInfoUpdateFlg = TRUE;
        cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE;
    }
#endif
    
    /*限速阈值更新*/
    if(Lidian2_stOBC2MCInfo.ucSpeedLimiation != (MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart + MC_UpcInfo.stBikeInfo2.swDeltaBikeSpeedLimit))//有变化时更新
    {
        SWORD deltaSpeed = 0;
        deltaSpeed = (Lidian2_stOBC2MCInfo.ucSpeedLimiation - MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart);
        if(deltaSpeed > 0)
        {
            deltaSpeed = 0;
        }
        if(deltaSpeed != MC_UpcInfo.stBikeInfo2.swDeltaBikeSpeedLimit)
        {
            MC_UpcInfo.stBikeInfo2.swDeltaBikeSpeedLimit = deltaSpeed;
            ass_ParaCong.swDeltaBikeSpeedLimit = deltaSpeed;
            MC_UpcInfo.stBikeInfo2.uwSaveFlg = TRUE;
            cp_stFlg.ParaSaveEEFlg = TRUE;
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfo2UpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
        }
    }

    Lidian2_XinSiWeiLimitThrottleSpd(Lidian2_stOBC2MCInfo.stCtrlInfo2.Ctrl_Bit.ThrottleGearEnable,Lidian2_stOBC2MCInfo.uwThrottlePWM);
}
/***************************************************************
 Function: SP_USART_DataProcess;
 Description: Get OBC GearSt and LightControl information
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lidian2_USART_DataProcess(USART_Buf_TypeDef* ptUartTx, UBYTE* Data)
{   
    /*数据获取*/
    Lidian2_stOBC2MCInfo.ucPowerStyle = Data[3];
    Lidian2_stOBC2MCInfo.ucGearSt = Data[4];
    memcpy(&Lidian2_stOBC2MCInfo.stCtrlInfo1, &Data[5], 1);
    Lidian2_stOBC2MCInfo.ucSpeedMagnetSteel = Data[6];
    Lidian2_stOBC2MCInfo.uwWheelDiameter = (UWORD)((Data[7]<<8)+Data[8]);//0.1inch
    Lidian2_stOBC2MCInfo.ucAssistSensitivity = Data[9];
    Lidian2_stOBC2MCInfo.ucAssistPowerMode = Data[10];
    Lidian2_stOBC2MCInfo.ucInnerSpeedMagnetSteel = Data[11];
    Lidian2_stOBC2MCInfo.ucSpeedLimiation = Data[12];//km/h
    Lidian2_stOBC2MCInfo.ucCurrentLimiation = Data[13];
    Lidian2_stOBC2MCInfo.uwUnderVoltageLimiation = (UWORD)((Data[14]<<8)+Data[15]);
    Lidian2_stOBC2MCInfo.uwThrottlePWM = (UWORD)((Data[16]<<8)+Data[17]);
    memcpy(&Lidian2_stOBC2MCInfo.stCtrlInfo2, &Data[18], 1);

#if 0
        /*数据更新*/
        /*WALK挡位逻辑为：WALK优先级最高，仪表长按"-"进入WALK档或退出WALK档，每次长按发送10帧bit1为1*/
        if(Lidian2_stOBC2MCInfo.stCtrlInfo1.Ctrl_Bit.Walk == 1)
        {
            ucWalk_cnt++;
        }
        else
        {
            ucWalk_cnt = 0;
        }
        
        if(ucWalk_cnt >= 8)
        {
            ucWalk_cnt = 0;
            if(MC_ControlCode.GearSt == MC_GearSt_WALK)
            {
                MC_ControlCode.GearSt = MC_GearSt_OFF;
            }
            else
            {
                MC_ControlCode.GearSt = MC_GearSt_WALK;
            }
        }
#else
        //长按-键进入助推，松开退出
                if(Lidian2_stOBC2MCInfo.stCtrlInfo1.Ctrl_Bit.Walk == 1)
                {
                    MC_ControlCode.GearSt = MC_GearSt_WALK;
                }
                else
                {
                    MC_ControlCode.GearSt = MC_GearSt_OFF;
                }
        
#endif
        //0-OFF, 1<=GearSt<6:ECO,  6<=GearSt<9:NORM,  9<=GearSt<12:SPORT,  12<=GearSt<15:TURBO,  15==GearSt:SMART
        if(MC_ControlCode.GearSt != MC_GearSt_WALK)
        {
            if(Lidian2_stOBC2MCInfo.ucGearSt == 15)
            {
                MC_ControlCode.GearSt = MC_GearSt_SMART;
            }
            else if(Lidian2_stOBC2MCInfo.ucGearSt >= 12)
            {
                MC_ControlCode.GearSt = MC_GearSt_Torque_TURBO;
            }
            else if(Lidian2_stOBC2MCInfo.ucGearSt >= 9)
            {
                MC_ControlCode.GearSt = MC_GearSt_Torque_SPORT;
            }
            else if(Lidian2_stOBC2MCInfo.ucGearSt >= 6)
            {
                MC_ControlCode.GearSt = MC_GearSt_Torque_NORM;
            }
            else if(Lidian2_stOBC2MCInfo.ucGearSt >= 1)
            {
                MC_ControlCode.GearSt = MC_GearSt_Torque_ECO;
            }  
            else
            {
                MC_ControlCode.GearSt = MC_GearSt_OFF;
            }
        }
    

        if(Lidian2_stOBC2MCInfo.stCtrlInfo1.Ctrl_Bit.Light == 1)                           //大灯
        {
            MC_ControlCode.LightSwitch = MC_LightSwitch_ON;
        }
        else
        {
            MC_ControlCode.LightSwitch = MC_LightSwitch_OFF;
        }
        
        MC_RunInfo.GearSt = MC_ControlCode.GearSt;           //当前助力档位更新
        MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; //大灯状态更新
        ulOBC_ComTimeOutCount = cp_ulSystickCnt;
        
         Lidian2_OBCSetPara();//参数更新
        
        Lidian2_SendData_OBC(ptUartTx);//数据回传
}
/***************************************************************
 Function: SP_SendData_OBC;
 Description: Send Data to OBC
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lidian2_SendData_OBC(USART_Buf_TypeDef* ptUartTx)
{
    UBYTE i = 0;
    UBYTE sendlen = 14;
    UBYTE databuf[14] = {0};
  
    if(MC_ControlCode.GearSt == MC_GearSt_WALK)
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.Walk = 1;
    }
    else
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.Walk = 0;
    }
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.HallErr = MC_ErrorCode.ERROR_Bit.Fault_HallSensor;
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.ThrottleErr = MC_ErrorCode.ERROR_Bit.Fault_Throttle;
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.ControllerErr = MC_ErrorCode.ERROR_Bit.Fault_MCU;
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.UnderVoltageErr = MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage;
    if(bikeCruise.CruiseMode == 1)
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.Curise = 1;
    }
    else
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.Curise = 0;
    }
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.BrakeErr = 0;//暂未判断刹把故障
    Lidian2_stMC2OBCInfo.stMC_StatusInfo1.Status_Bit.RotorLock = MC_ErrorCode.ERROR_Bit.Fault_PhaseLine;
    
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.Horizontal = 1;//不实现
    if(cp_stFlg.RunModelSelect == CadAssist)
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.AssistSensorErr = alm_unBikeCode.bit.CadenceSen;
    }
    else if(cp_stFlg.RunModelSelect == TorqAssist)
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.AssistSensorErr = alm_unBikeCode.bit.TorqSen;
    }
    else
    {
        Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.AssistSensorErr = 0;
    }
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.Brake = BikeBrake_blGetstate();
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.CommErr = 0;//暂不判断通信故障
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.Charging = 0;//MC无法判断充电
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.SpeedLimited = 0;
    Lidian2_stMC2OBCInfo.stMC_StatusInfo2.Status_Bit.GearSt = Lidian2_stOBC2MCInfo.ucGearSt;
    
    Lidian2_stMC2OBCInfo.uwCurrent = (UWORD)abs(MC_RunInfo.BusCurrent/1000);
    Lidian2_stMC2OBCInfo.ucCurrentRatio = 0;//未知用途
    if(bikespeed_stFreGetOut.uwLPFFrequencyPu == 0)
    {
        Lidian2_stMC2OBCInfo.uwSpeed = 0;
    }
    else
    {
        Lidian2_stMC2OBCInfo.uwSpeed = (UWORD)((SQWORD)(1000 << 20) / bikespeed_stFreGetOut.uwLPFFrequencyPu / FBASE); //车轮转动一圈时间，ms
    }
    Lidian2_stMC2OBCInfo.SOC = MC_RunInfo.SOC;//由BMS实现
    Lidian2_stMC2OBCInfo.uwRemainDistance = 0;//由BMS实现

    databuf[0] = 0x02;
    databuf[1] = sendlen;
    databuf[2] = 0x01;
    
    memcpy(&databuf[3],&Lidian2_stMC2OBCInfo.stMC_StatusInfo1,4);
    databuf[4]=0;
    databuf[5] =(UBYTE)(Lidian2_stMC2OBCInfo.uwCurrent>>8);
    databuf[6] =(UBYTE)(Lidian2_stMC2OBCInfo.uwCurrent&0xff);
    databuf[7] = (UBYTE)(Lidian2_stMC2OBCInfo.ucCurrentRatio);
    databuf[8] = (UBYTE)(Lidian2_stMC2OBCInfo.uwSpeed>>8);
    databuf[9] = (UBYTE)(Lidian2_stMC2OBCInfo.uwSpeed&0xFF);
    databuf[10] = Lidian2_stMC2OBCInfo.SOC;
    databuf[11] = (UBYTE)(Lidian2_stMC2OBCInfo.uwRemainDistance>>8);
    databuf[12] = (UBYTE)(Lidian2_stMC2OBCInfo.uwRemainDistance&0xFF);
      
    databuf[sendlen-1] = 0;
    for(i=0; i<(sendlen-1); i++)
    {
        databuf[sendlen-1] ^= databuf[i];
    }
    
    for(i=0; i<sendlen; i++)
    {
        UART_PutChar(ptUartTx, databuf[i]);
    }
}
/***************************************************************
 Function: SP_USART_RxData_Process;
 Description: Get Uart Data following the protocol
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lidian2_USART_RxData_Process(USART_Buf_TypeDef* ptUartTx, UBYTE* buf, UWORD dataCount)
{
    static UBYTE Data[255];
    //UWORD Cmd, ID;
    UWORD i;
    UWORD CheckxorResult=0;
	
    if(dataCount >= 20)
    {
        if(buf[0] == 0x01)//地址
        {
            if(buf[1] == 20)//帧长
            {
                if(buf[2] == 0x01)//命令号
                {      
                    if(buf[1] == dataCount)
                    {                      
                        for(i=0; i<dataCount; i++)//数据
                        {
                            Data[i] = buf[i];
                            CheckxorResult ^= Data[i];
                        }
                        
                        if(CheckxorResult == 0)// 校验和正常
                        {                          
                            Lidian2_USART_DataProcess(ptUartTx, Data);
                        }
                    }
                }
            }
        }
    }
}

void Lidian2_XinSiWeiLimitThrottleSpd(UBYTE throttleGear, UWORD speedPWM)
{
#if(HEYBIKEXINSIWEI_ENABLE == 1)

    speedPWM = (speedPWM & 0xFF);//只取低字节

    //助力始终分档限速
    ass_CurLimCoef.uwBikeSpdThresHold1 = ((SQWORD)1000 << 20) * (ass_ParaSet.uwAssistLimitBikeSpdStart + ass_ParaCong.swDeltaBikeSpeedLimit) *speedPWM / 255 /
                                                 ((SQWORD)36 * (ass_ParaCong.uwWheelPerimeter + ass_ParaCong.swDeltPerimeter) * FBASE); // Q20    3216 = Q10(3.1415926)
    ass_CurLimCoef.uwBikeSpdThresHold2 = ((SQWORD)1000 << 20) * (ass_ParaSet.uwAssistLimitBikeSpdStop + ass_ParaCong.swDeltaBikeSpeedLimit) *speedPWM / 255 /
                                                 ((SQWORD)36 * (ass_ParaCong.uwWheelPerimeter + ass_ParaCong.swDeltPerimeter) * FBASE); // Q20    3216 = Q10(3.1415926)
    ass_CurLimCoef.ulBikeSpdDeltInv = (1 << 20) / (ass_CurLimCoef.uwBikeSpdThresHold2 - ass_CurLimCoef.uwBikeSpdThresHold1);

    //转把有分档和不分档
    if(throttleGear == 0)
    {
        speedPWM = 255;
    }

    ass_stCadAssCoef.uwThrottleMaxBikeSpeed = (((ass_ParaCong.uwThrottleMaxSpdKmH+ass_ParaCong.swDeltaBikeSpeedLimit)<<4) + 8)*speedPWM/255;
    ass_stCadAssCoef.swThrottleMaxspd = ass_stCadAssCoef.swKmhToMSpdPu*((SLONG) ass_stCadAssCoef.uwThrottleMaxBikeSpeed + ASS_SPD_LIMIT_ERR)  >> 4;

#endif
}
/************************ (C) END OF FILE *********************************/