motor_ctl-1/3.BasicFunction/Include/canAppl.h

/**
 * @file canAppl.h
 * @author Zhang, Kai(zhangkai71@midea.com)
 * @brief
 * @version 0.1
 * @date 2022-03-02
 *
 * @copyright Copyright (c) 2022
 *
 */

#ifndef CANAPPL_H
#define CANAPPL_H

#include "typedefine.h"

#include "AssistCurve.h"
#include "bikeinformation.h"
#include "bikeRatioCal.h"
 
/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/
#define CAN_MC_ALARMCODE_DEFAULT \
    {                            \
        0x00000000               \
    }
#define CAN_MC_ALARMCODE_CNT_RECORD_DEFAULT                           \
    {                                                                 \
      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    }

#define ALAM_DETECT_CNT_IN_1ms  120000
#define ALAM_DISPLAY_CNT_0LEVEL 1
#define ALAM_DISPLAY_CNT_1LEVEL 3
#define ALAM_DISPLAY_CNT_2LEVEL 1
#define ALAM_DISPLAY_CNT_3LEVEL 30
/***************************************
 *
 *          Type  Definations
 *
 ***************************************/

typedef enum
{
    MC_Cadence_Forward = 0x00,
    MC_Cadence_Backward = 0x01,
    MC_Cadence_Stop = 0x02

} MC_CadenceDir_Struct_t;

typedef enum
{
    MC_LightSwitch_OFF = 0xF0,
    MC_LightSwitch_ON = 0xF1

} MC_LightSwitch_Struct_t;

/**
 * @brief 电机运行信息，占用空间32bytes
 *
 */
typedef struct
{
    UWORD                BikeSpeed;      ///>车速 0.1km/h，地址偏移0
    SWORD                 MotorSpeed;     ///>输出转速 1rpm，地址偏移2
    UWORD                Power;          ///>电功率 1W，地址偏移4
    UWORD                BusVoltage;     ///>母线电压 1mV，地址偏移6
    UWORD                BusCurrent;     ///>母线电流 1mA，地址偏移8
    UBYTE                 Cadence;        ///>踏频 1rpm，地址偏移10
    UBYTE                 Torque;         ///>踩踏力矩 1Nm，地址偏移11
    MC_CadenceDir_Struct_t  CadenceDir;     ///>踩踏方向 0-正,1-反,2-停止，地址偏移12
    UBYTE                 GearSt;         ///>助力档位，地址偏移13
    MC_LightSwitch_Struct_t LightSwitch;    ///>灯开关 0xF0-关，0xF1-开，地址偏移14
    UBYTE                 SOC;            ///>剩余电量 1%，地址偏移15
    UWORD                RemainDistance; ///>续航里程 1km，地址偏移16                                            
    UWORD TorqueReg;                        ///>力矩传感器AD值，地址偏移18   
    UBYTE  PowerPerKm;                    ///>平均功耗 0.01Ah/km ，地址偏移20
    UBYTE  T_PCB;                         ///>PCB温度 +40℃，地址偏移21
    UBYTE  T_Coil;                        ///>绕组温度 +40℃，地址偏移22
    UBYTE  T_MCU;                         ///>MCU温度 +40℃，地址偏移23
    UWORD Ride_Km;                       ///>开机后骑行里程 0.1km, 地址偏移24
    UWORD Ride_Time;                     ///>开机后骑行时间 1s，地址偏移26
    UBYTE TorqueSensorData1;              ///>力矩传感器 1 原始值27
    UBYTE TorqueSensorData2;              ///>力矩传感器 2 原始值28
    UBYTE TorqueSensorData3;              ///>力矩传感器 3 原始值29
    UBYTE  RS2;                           ///>预留 1bytes
} MC_RunInfo_Struct_t;

/**
 * @brief 电机调试信息，占用空间32bytes
 *
 */
typedef struct
{
    UBYTE SysFSM1;                    //系统功能状态机1，系统状态机
    UBYTE SysFSM2;                    //系统功能状态机2，二层状态机
    UBYTE SysFSM3;                    //系统功能状态机3，电机状态机
    UBYTE SysFSM4;                    //系统功能状态机4，助力状态机
    SWORD IdRef;                      //D轴参考电流
    SWORD IqRef;                      //Q轴参考电流
    SWORD UdRef;                      //D轴参考电压
    SWORD UqRef;                      //Q轴参考电压
    UWORD PedalTorquePer;            //踩踏瞬时力矩
    UWORD PedalTorqueAvg;            //踩踏时域滤波力矩
    UWORD PedalTorqueByCad;          //踩踏踏频滤波力矩
    SWORD IdFdb;                      //D轴反馈电流
    SWORD IqFdb;                      //Q轴反馈电流
    UWORD AssistOut;                 //助力输出值
    UBYTE RS[8];
}MC_DebugInfo_Struct_t;

/**
 * @brief 电机故障码
 *
 */
typedef union MC_ERRORCODE
{
    struct
    {
        ULONG Protect_OverCurrent : 1;  ///>过流保护
        ULONG Protect_UnderVoltage : 1; ///>低压保护
        ULONG Protect_OverVoltage : 1;  ///>过压保护
        ULONG Protect_LockRotor : 1;    ///>堵转保护
        ULONG Protect_OverTemp : 1;     ///>过热保护
        ULONG Fault_BikeSpdSensor : 1;    ///>速度传感器故障
        ULONG Fault_TorqueSensor : 1;   ///>力矩传感器故障
        ULONG Fault_HallSensor : 1;     ///>霍尔传感器故障
        ULONG Fault_PhaseLine : 1;      ///>相线故障
        ULONG Fault_PCBNTC : 1;      ///>PCB温度传感器故障
        ULONG Fault_BMS_Check : 1;      ///>BMS校验失败
        ULONG Protect_MotorOverTemp : 1; ///>电机过热保护
        ULONG Fault_PBU_Check : 1;       ///>PBU校验失败
        ULONG Fault_MCU : 1;             ///>MCU故障
        ULONG Fault_CadenceSensor : 1;   ///>踏频传感器故障
        ULONG Fault_GasSensor : 1;       ///>指拨故障
        ULONG Fault_MOS : 1;             ///>MOS短路
        ULONG Protect_VoltageChange : 1; ///>电压波动异常
        ULONG Fault_Circuit : 1;         ///>电路故障
        ULONG Fault_TE_MCU : 1;          ///>TE MCU故障
        ULONG Fault_TE_Circuit : 1;      ///>TE 电路故障
        ULONG Fault_MC_Check : 1;        ///>MC校验失败
        ULONG Fault_SpiPosSensor : 1;   ///>SPI位置故障
        ULONG Fault_Throttle : 1;         ///>转把故障
        ULONG RS3 : 1;
        ULONG RS4 : 1;
        ULONG RS5 : 1;
        ULONG RS6 : 1;
        ULONG RS7 : 1;
        ULONG RS8 : 1;
        ULONG RS9 : 1;
        ULONG RS10 : 1;
    } ERROR_Bit;
    ULONG Code;
} MC_ErrorCode_Struct_t;

/**
 * @brief 电机故障码
 *
 */
typedef struct MC_ERROR_CNT_RECORD
{
    ULONG ulAlamCntTimeCnt_1ms;

    UWORD Protect_OverCurrentCnt;  ///>过流保护
    UWORD Protect_UnderVoltageCnt; ///>低压保护
    UWORD Protect_OverVoltageCnt;  ///>过压保护
    UWORD Protect_LockRotorCnt;    ///>堵转保护
    UWORD Protect_OverTempCnt;     ///>过热保护
    UWORD Fault_SpeedSensorCnt;    ///>速度传感器故障
    UWORD Fault_TorqueSensorCnt;   ///>力矩传感器故障
    UWORD Fault_HallSensorCnt;     ///>霍尔传感器故障
    UWORD Fault_PhaseLineCnt;      ///>相线故障
    UWORD Fault_NtcSensorCnt;      ///>温度传感器故障
    UWORD Fault_BMS_CheckCnt;      ///>BMS校验失败
    UWORD Protect_MotorOverTempCnt; ///>电机过热保护
    UWORD Fault_PBU_CheckCnt;       ///>PBU校验失败
    UWORD Fault_MCUCnt;             ///>MCU故障
    UWORD Fault_CadenceSensorCnt;   ///>踏频传感器故障
    UWORD Fault_GasSensorCnt;       ///>指拨故障
    UWORD Fault_MOSCnt;             ///>MOS短路
    UWORD Protect_VoltageChangeCnt; ///>电压波动异常
    UWORD Fault_CircuitCnt;         ///>电路故障
    UWORD Fault_TE_MCUCnt;          ///>TE MCU故障
    UWORD Fault_TE_CircuitCnt;      ///>TE 电路故障
    UWORD Fault_MC_CheckCnt;        ///>MC校验失败
} MC_ErrorCode_CNT_RECORD_Struct_t;

/**
 * @brief 在线检测结果，占用空间1byte
 *
 */
typedef union ONLINE_STATUS
{
    struct
    {
        UBYTE BMS_OffLine : 1; // BMS离线
        UBYTE PBU_OffLine : 1; // PBU离线
        UBYTE HMI_OffLine : 1; // HMI离线
        UBYTE RS1 : 1;
        UBYTE RS2 : 1;
        UBYTE RS3 : 1;
        UBYTE RS4 : 1;
        UBYTE RS5 : 1;
    } Status_Bit;
    UBYTE Status;
} OnLine_Status_Struct_t;

/**
 * @brief MC版本信息，占用空间64bytes
 *
 */
typedef struct
{
    char Mode[16];       ///>型号 ASCII，0x2E结束，无效填充0x20
    char SN_Num[16];     ///>序列号 ASCII，0x2E结束，无效填充0x20
    char HW_Version[16]; ///>硬件版本 ASCII，0x2E结束，无效填充0x20
    char FW_Version[16]; ///>软件版本 ASCII，0x2E结束，无效填充0x20
    char ProductLabel[32]; ///>电机标签 ASCII，0x2E结束，无效填充0x20
} MC_VerInfo_Struct_t;

/**
 * @brief MC骑行历史信息，占用空间16bytes
 *
 */
typedef struct
{
    ULONG ODO_Km;    ///>ODO里程，地址偏移0
    ULONG ODO_Time;  ///>ODO时间，地址偏移4
    ULONG TRIP_Km;   ///>TRIP里程，地址偏移8
    ULONG TRIP_Time; ///>TRIP时间，地址偏移12
} MC_RideLog_Struct_t;

/**
 * @brief BMS状态信息，占用空间1byte
 *
 */
typedef union BMS_STATUS
{
    struct
    {
        UBYTE Charge : 1;    ///>充电
        UBYTE Discharge : 1; ///>放电
        UBYTE RS1 : 1;
        UBYTE RS2 : 1;
        UBYTE RS3 : 1;
        UBYTE RS4 : 1;
        UBYTE RS5 : 1;
        UBYTE RS6 : 1;

    } Status_Bit;

    UBYTE Status;

} BMS_STATUS_Struct_t;

/**
 * @brief 电池运行信息，占用空间16bytes
 *
 */
typedef struct
{
    UWORD             Voltage;  ///>电压 1mV，地址偏移0
    UWORD             Current;  ///>电流 1mA，地址偏移2
    UWORD             RC;       ///>剩余容量 1mAh，地址偏移4
    UWORD             FCC;      ///>满充容量 1mAh，地址偏移6
    UBYTE             Cell_NTC; ///>电芯温度 +40℃，地址偏移8
    UBYTE             SOC;      ///>剩余电量 1%，地址偏移9
    BMS_STATUS_Struct_t Status;   ///>运行状态，地址偏移10
    UBYTE             SOH;      ///>电池健康电量，地址偏移11
    UWORD             RecyclNm; ///>循环次数，地址偏移12
    UBYTE             RS[2];
} BMS_RunInfo_Struct_t;

/**
 * @brief 助力档位信息
 *
 */
typedef enum
{
    MC_GearSt_OFF = 0x00,
    MC_GearSt_Torque_ECO = 0x01,
    MC_GearSt_Torque_NORM = 0x02,
    MC_GearSt_Torque_SPORT = 0x03,
    MC_GearSt_Torque_TURBO = 0x04,
    MC_GearSt_SMART = 0x33,
    MC_GearSt_WALK = 0x22

} MC_GearSt_Struct_t;

/**
 * @brief 电机控制指令，占用空间2bytes
 *
 */
typedef struct
{
    MC_GearSt_Struct_t      GearSt;      ///>助力档位
    MC_LightSwitch_Struct_t LightSwitch; ///>灯开关 0xF0-关，0xF1-开
} MC_ControlCode_Struct_t;

/**
 * @brief 电机运行信息，占用空间32bytes
 *
 */
typedef struct
{
    UBYTE                Torque;     ///>踩踏力矩 1Nm，地址偏移0
    MC_CadenceDir_Struct_t CadenceDir; ///>踩踏方向 0-正,1-反,2-停止，地址偏移1
    UBYTE                Cadence;    ///>踏频 1rpm，地址偏移2
    UBYTE                GearSt;     ///>助力档位，地址偏移3
    UBYTE                T_PCB;      ///>PCB温度 +40℃，地址偏移4
    UBYTE                T_Coil;     ///>绕组温度 +40℃，地址偏移5
    UWORD                BusVoltage; ///>母线电压 1mV，地址偏移6
    UWORD                BusCurrent; ///>母线电流 1mA，地址偏移8
    SWORD                MotorSpeed; ///>输出转速 1rpm，地址偏移10
    UWORD                BikeSpeed;  ///>车速 0.1km/h，地址偏移12
    SWORD                IqCurrent;  ///> Iq电流反馈 1mA 地址偏移14
    UBYTE                AlarmCode;  ///> 故障码最多8个故障 地址偏移16
    UBYTE                RS2;        ///> 预留 地址偏移17

} MC_RunInfoToCDL_Struct_t;

/**
 * @brief 小牙盘原协议
 *
 */
typedef struct
{
    UBYTE Assist_K_GAIN;  //0.01 50-150
    UBYTE StarModel_GAIN; //0.01 50-150
}UserAdjParam1_Struct_t;

typedef struct
{
    UBYTE MaxCurrent_K_GAIN;  //0.01 50-150
    UBYTE MaxTorque_K_GAIN;   //0.01 50-150
}UserAdjParam2_Struct_t;

//用户配置参数1，占用空间32bytes
typedef struct
{
    UBYTE GasCtrlMode_Param;      //指拨模式参数，地址偏移0
    UBYTE StarModel;              //启动模式，地址偏移1
    UWORD StopTime;              //停机时间 ms，地址偏移2
    UBYTE SpeedLimit;             //限速 km/h，地址偏移4
    UBYTE Deceleration;           //下降速度，地址偏移5
    UBYTE TeethNum_F;             //前齿数 T，地址偏移6
    UBYTE TeethNum_B;             //后齿数 T，地址偏移7
    UBYTE CurrentLimit;           //限流 A，地址偏移8
    UBYTE TempTH_Alarm;           //高温预警值 +40℃，地址偏移9
    UBYTE TempTH_Protect;         //高温保护值 +40℃，地址偏移10
    UBYTE NoPBU_Flag;             //0x55-不支持，0x-AA支持，地址偏移11
    UBYTE WheelSize;              //轮胎周长 cm，地址偏移12
    UBYTE SerialNum;              //系列号，地址偏移13
    UserAdjParam1_Struct_t UserAdjParam1_ECO;    //用户微调助力比增益和加速度增益，地址偏移14
    UserAdjParam1_Struct_t UserAdjParam1_NORM;   //用户微调助力比增益和加速度增益，地址偏移16
    UserAdjParam1_Struct_t UserAdjParam1_SPORT;  //用户微调助力比增益和加速度增益，地址偏移18
    UserAdjParam1_Struct_t UserAdjParam1_TURBO;  //用户微调助力比增益和加速度增益，地址偏移20
    UserAdjParam1_Struct_t UserAdjParam1_SMART;  //用户微调助力比增益和加速度增益，地址偏移22
    UBYTE SpeedSensorPoles;                    //速度传感器极数，地址偏移24
    UBYTE CadenceStarNum;                      //踏频启动信号个数，地址偏移25
    UBYTE SpeedSignal;         //0x55-车轮触发，0x-AA踏频计算，0xEE-通讯获取车轮旋转周期，地址偏移26
    SBYTE WheelSizeAdj;                         //周长微调值，地址偏移27
    UWORD UV_Protect_TH;                      //低压保护值，地址偏移28
    UBYTE WalkMode_SpeedLimit;                 //推行模式限速，地址偏移30
    UBYTE WalkMode_MotorSpeedSet;              //推行模式电机转速设置，地址偏移31
}MC_ConfigParam1_Struct_t;

//用户配置参数2，占用空间32bytes
typedef struct
{
    SWORD ZeroAngle_Pitch;         //俯仰角零度偏移，地址偏移0
    SWORD ZeroAngle_Roll;          //横滚角零度偏移，地址偏移2
    UBYTE UseAttitudeAngle_Flag;   //支持姿态角度传感器标志，地址偏移4
    UBYTE MC_Light_Mode;                         //前后灯功能，地址偏移5
    UBYTE HeadLightVol;                          //前灯电压
    UBYTE TailLightVol;                          //后灯电压
    UWORD u16OverspeedWarnVal;                  //超速告警值
    UWORD u16EffectVal;                         //尾灯亮起有效值
    UWORD u16Prediv;                            //尾灯亮起时间的分频系数
    SBYTE   SpeedLimitStartAdj;
    SBYTE   SpeedLimitEndAdj;
    SBYTE SpeedLimitAdj;                           //限速微调，默认0，与限速值相同，地址偏移15
    UBYTE RS1;                                    //预留，0x00，地址偏移16
    UserAdjParam2_Struct_t UserAdjParam2_ECO;       //用户微调最大电流增益和最大力矩增益，地址偏移14，地址偏移18
    UserAdjParam2_Struct_t UserAdjParam2_NORM;       //用户微调最大电流增益和最大力矩增益，地址偏移14，地址偏移20
    UserAdjParam2_Struct_t UserAdjParam2_SPORT;     //用户微调最大电流增益和最大力矩增益，地址偏移14，地址偏移22
    UserAdjParam2_Struct_t UserAdjParam2_TURBO;     //用户微调最大电流增益和最大力矩增益，地址偏移14，地址偏移24
    UserAdjParam2_Struct_t UserAdjParam2_SMART;     //用户微调最大电流增益和最大力矩增益，地址偏移14，地址偏移26
    UBYTE RS2[4];
}MC_ConfigParam2_Struct_t;

//马达配置参数，占用空间16bytes
typedef struct
{
    UWORD Rate_Power;   //W，地址偏移0
    UWORD Rate_Speed;   //rpm，地址偏移2
    UWORD Coil_R;       //mOhm，地址偏移4
    UWORD Coil_Lq;      //mH，地址偏移6
    UWORD Coil_Ld;      //mH，地址偏移8
    UWORD Back_EMF;     //Peak Voltage, mV@1000rpm，地址偏移10
    UBYTE  Rate_Voltage; //Rate Voltage, V，地址偏移12
    UBYTE  Pole;         //极对数
    UBYTE  RS[2];
}MC_MotorParam_Struct_t;

//MC运行历史，占用空间48bytes
typedef struct
{
    uint32_t PowerOnCnt;             //开机次数，地址偏移0
	uint32_t RunTime;                //运行总时间 min，地址偏移4
	uint16_t OC_ProtectCnt;          //过流保次数 ，地址偏移8
	uint16_t UV_ProtectCnt;          //低压保护次数，地址偏移10
	uint16_t OV_ProtectCnt;          //高压保护次数，地址偏移12
	uint16_t LockRotor_ProtectCnt;   //堵转保护次数 ，地址偏移14
	uint16_t OT_ProtectCnt;          //温度保护次数，地址偏移16
	uint16_t SPS_FaultCnt;           //速度传感器错误次数，地址偏移18
	uint16_t TQS_FaultCnt;           //力矩传感器错误次数 ，地址偏移20
	uint16_t Hall_FaultCnt;          //霍尔传感器错误次数 ，地址偏移22
	uint16_t PhaseLine_FaultCnt;     //马达相线错误次数，地址偏移24
	uint16_t NTC_FaultCnt;           //NTC错误次数，地址偏移26
	uint16_t BMS_Check_FaultCnt;     //BMS校验错误次数，地址偏移28
	uint16_t HMI_Check_FaultCnt;     //HMI校验错误次数，地址偏移30
	uint16_t PBU_Check_FaultCnt;     //PBU校验错误次数 ，地址偏移32
	uint8_t T_PCB_Max;               //PCB历史最高温，地址偏移34
	uint8_t T_PCB_Min;               //PCB历史最低温，地址偏移35
	uint32_t ODO_Km;                 //出厂后ODO里程，地址偏移36
	uint8_t T_Coil_Max;              //绕组历史最高温，地址偏移40
	uint8_t T_Coil_Min;	             //绕组历史最低温，地址偏移41
	uint8_t T_MCU_Max;               //MCU历史最高温，地址偏移42
	uint8_t T_MCU_Min;               //MCU历史最低温，地址偏移43
	uint32_t ODO_Time;               //出厂后ODO时间，地址偏移44
}MC_RunLog1_Struct_t;

//MC运行历史，占用空间24bytes
typedef struct
{
    uint16_t MCU_FaultCnt;
	uint16_t CadenceSensor_FaultCnt;
	uint16_t GasSensor_FaultCnt;
	uint16_t MOS_ShortCircuit_FaultCnt;
	uint16_t VoltageChangeOrOverSpeed_FaultCnt;
	uint16_t Circuit_FaultCnt;
	uint16_t TE_MCU_FaultCnt;
	uint16_t TE_Circuit_FaultCnt;
}MC_RunLog2_Struct_t;

/***************************************
 *
 *   Host computer Type  Definations
 *
 ***************************************/
typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwPolePairs;
    UWORD uwRsmOhm;
    UWORD uwLduH;
    UWORD uwLquH;
    UWORD uwFluxmWb;
    UWORD uwIdMaxA;
    UWORD uwIdMinA;
    UWORD uwRSpdRpm;
    UWORD uwRPwrWt;
    UWORD uwRCurA;
    UWORD uwRVolV;
    UWORD uwJD;
    UWORD uwTorMaxNm;
    UWORD reserve1;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;
    UWORD reserve5;
    UWORD reserve6;
    UWORD reserve7;
    UWORD reserve8;

} UPC_MotorInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwWheelPerimeter;       //轮胎周长 cm
    UWORD uwMechRationMotor;    //传动比 0.001
    UWORD uwThrottleMaxSpdKmH;     //限速 1km/h
    UWORD uwCartSpdKmH;   //推行模式限速 1km/h
    UWORD uwNmFrontChainring;    //前牙盘 T
    UWORD uwNmBackChainring;     //后牙盘 T
    UWORD uwAssistSelect1;       //助力方案1
    UWORD uwAssistSelect2;       //助力方案2
    UWORD uwLightConfig;        //灯压配置  6/12V
    SWORD swWheelSizeAdjust;     //周长微调  ±10cm
    UWORD uwStartMode;           //启动模式 1-柔和，2-正常，3-强劲
    UWORD uwAutoPowerOffTime;    //自动关机时间 1min，0-不自动关机
    UWORD reserve1;
} UPC_BikeInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwSPIPosOffsetOrigin;
    UWORD uwSPIPosOffsetNow;
    UWORD uwIPeakMaxA;
    UWORD uwAlamOCurA;
    UWORD uwAlamOVolV;
    UWORD uwAlamUVolV;
    UWORD uwAlamOverSpdRpm;
    UWORD uwAlamOverHeatCe;
    UWORD uwAlamRecHeatCe;
    UWORD uwPwrLimitStartCe;
    UWORD uwAlamMotorOverHeatCe;
    UWORD uwAlamMotorRecHeatCe;
    UWORD uwPwrLimitMotorStartCe;
    UWORD uwControlFunEN;
    UWORD reserve1;
    UWORD reserve2;
} UPC_MControlInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwTorSensorOffsetOrigin;
    UWORD uwTorSensorOffsetNow1;
    UWORD uwTorSensorOffsetNow2;
    UWORD uwTorSensorOffsetNow3;
    UWORD uwTorSensorOffsetNow4;
    UWORD uwBikeTorMaxNm;
    UWORD uwBikeTor1StepRealNm;
    UWORD uwBikeTor1StepADC;
    UWORD uwBikeTor2StepRealNm;
    UWORD uwBikeTor2StepADC;
    UWORD uwBikeTor3StepRealNm;
    UWORD uwBikeTor3StepADC;
    UWORD uwBikeTor4StepRealNm;
    UWORD uwBikeTor4StepADC;
    UWORD uwTorque_SensorPulseNm;//uwCadSensorPulseNm;
    UWORD uwBikeSpdSensorPulseNm;
    UWORD uwCad_SensorPulseNm;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;

} UPC_SensorInfo_Struct_t;

typedef struct
{
    UWORD uwTorqueCurveNum;
    UWORD uwCadenceCurveNum;
} UPC_CurveOrderInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD reserve0;
    UWORD swStartupGain;
    UWORD swStartcruiseGain;

    UPC_CurveOrderInfo_Struct_t stCurveOrderInfo;

    SLONG slTorquePolyA;
    SLONG slTorquePolyB;
    SLONG slTorquePolyC;
    SLONG slTorquePolyD;

    SLONG slCadencePolyA;
    SLONG slCadencePolyB;
    SLONG slCadencePolyC;
    SLONG slCadencePolyD;

    UWORD uwAssistStartNm;
    UWORD uwAssistStopNm;
    UWORD uwStartUpGainStep;
    UWORD uwStartUpCadNm;
    UWORD uwTorLPFCadNm;
    UWORD uwSpeedAssistSpdRpm;
    UWORD uwSpeedAssistIMaxA;
    UWORD uwAssistLimitBikeSpdStart;
    UWORD uwAssistLimitBikeSpdStop;
    UWORD uwCadenceAssistWeight;
    UWORD uwCadAssPidKp;            //踏频助力控制比例系数
    SWORD swCadAssPidLimMax;        //踏频助力加速限制
    SWORD swCadAssPidVolDec;        //踏频助力退保和步进量
    SWORD swCadAssTargetAssCurAcc;  //踏频助力电流步进量
    UWORD uwMaxCadRpm;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;

} UPC_AssistInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwOpenTimes;
    UWORD uwUsedTimeH;
    UWORD uwUsedTimeL;
    SWORD swNTCTempMaxCe;
    SWORD swNTCTempMinCe;

    UWORD uwAlamHOcurTimes;
    UWORD uwAlamSOcurTimes;
    UWORD uwAlamOHeatTimes;
    UWORD uwAlamRotorLockTimes;
    UWORD uwAlamPhsLossTimes;
    UWORD uwAlamOVolTimes;
    UWORD uwAlamUVolTimes;
    UWORD uwAlamComOTimeTimes;

    UWORD uwG1AvgPwrConsumption;
    UWORD uwG2AvgPwrConsumption;
    UWORD uwG3AvgPwrConsumption;
    UWORD uwG4AvgPwrConsumption;
    UWORD uwG5AvgPwrConsumption;

    UWORD uwODOTripH;
    UWORD uwODOTripL;
    UWORD uwODOTimeH;
    UWORD uwODOTimeL;

    UWORD uwTripSumH;
    UWORD uwTripSumL;
    UWORD uwTripSumTimeH;
    UWORD uwTripSumTimeL;

    UWORD uwTorSensorAlamTimes;
    UWORD uwCadSensorAlamTimes;
    UWORD uwBikeSpdSensorAlamTimes;
    UWORD uwPosSensorAlamTimes;

    UWORD uwRealODOTripH;//不可清除
    UWORD uwRealODOTripL;
    UWORD uwRealODOTimeH;
    UWORD uwRealODOTimeL;
    UWORD reserve1;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;

} UPC_HistoryInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD Coeff1;
    UWORD Coeff2;
    UWORD Coeff3;
    SWORD Coeff4;
    SWORD Coeff5;
    
    UWORD reserve1;
    UWORD reserve2;
    UWORD reserve3;
    
} UPC_ResistanceCalib_Struct_t;
typedef struct
{
    UWORD uwSaveFlg;
    UBYTE ucAssistRatioGain1;           //1%
    UBYTE ucAssistAccelerationGain1;    //1%
    UBYTE ucAssistRatioGain2;           //1%
    UBYTE ucAssistAccelerationGain2;    //1%
    UBYTE ucAssistRatioGain3;           //1%
    UBYTE ucAssistAccelerationGain3;    //1%
    UBYTE ucAssistRatioGain4;           //1%
    UBYTE ucAssistAccelerationGain4;    //1%
    UBYTE ucAssistRatioGain5;           //1%
    UBYTE ucAssistAccelerationGain5;    //1%

    UBYTE ucMaxCurrentGain1;           //1%
    UBYTE ucMaxTorqueGain1;            //1%
    UBYTE ucMaxCurrentGain2;           //1%
    UBYTE ucMaxTorqueGain2;            //1%
    UBYTE ucMaxCurrentGain3;           //1%
    UBYTE ucMaxTorqueGain3;            //1%
    UBYTE ucMaxCurrentGain4;           //1%
    UBYTE ucMaxTorqueGain4;            //1%
    UBYTE ucMaxCurrentGain5;           //1%
    UBYTE ucMaxTorqueGain5;            //1%
    
    UBYTE reserve1;
    UBYTE reserve2;
    UBYTE reserve3;
    UBYTE reserve4;
    UBYTE reserve5;
    UBYTE reserve6;
    UBYTE reserve7;
    UBYTE reserve8;
    UBYTE reserve9;
    UBYTE reserve10;
    UBYTE reserve11;
    UBYTE reserve12;

} UPC_RideParaInfo_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD uwNoneOBCEnable;
    UWORD uwRearLightCycle;
    UWORD uwRearLightDuty;
    SWORD swDeltaBikeSpeedLimit;

    UWORD reserve1;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;
    UWORD reserve5;
    UWORD reserve6;
    UWORD reserve7;
    UWORD reserve8;
    UWORD reserve9;
    UWORD reserve10;
    UWORD reserve11;
    UWORD reserve12;

} UPC_BikeInfo2_Struct_t;

typedef struct
{
    UWORD uwSaveFlg;
    UWORD MOSResA;
    UWORD MOSResB;
    UWORD MOSResC;
    UWORD Coeff1;
    UWORD Coeff2;
    UWORD Coeff3;
    SWORD Coeff4;
    SWORD Coeff5;
    
    UWORD reserve1;
    UWORD reserve2;
    UWORD reserve3;
    UWORD reserve4;
    UWORD reserve5;
    UWORD reserve6;
    UWORD reserve7;
    UWORD reserve8;

} UPC_WriteResistanceCalib_Struct_t;

typedef struct
{

    UPC_MotorInfo_Struct_t      stMotorInfo;
    UPC_BikeInfo_Struct_t       stBikeInfo;
    UPC_MControlInfo_Struct_t   stMContorlInfo;
    UPC_SensorInfo_Struct_t     stSensorInfo;
    UPC_CurveOrderInfo_Struct_t stCurveOrderInfo;
    UPC_AssistInfo_Struct_t     stAssistInfo;
    UPC_HistoryInfo_Struct_t    stHistoryInfo;
    UPC_TestParaInfo_Struct_t   stTestParaInfo;
    UPC_RideParaInfo_Struct_t   stRideParaInfo;
    UPC_BikeInfo2_Struct_t      stBikeInfo2;
    UPC_ResistanceCalib_Struct_t stResistanceCalibInfo;
    UPC_WriteResistanceCalib_Struct_t stWriteResistanceCalibInfo;

} MC_UpperPCInfo_Struct_t;

typedef struct
{
    UBYTE uwWheelPerimeter; ///>车轮默认长度 1cm
    UBYTE StartUpMod;      ///>1-柔和，2-正常，3-强劲，地址偏移1
    UBYTE BikeSpeedLimit;  /// km/h
    SBYTE  DeltDiameter;    ///>有符型，单位1cm，±10.0cm  1Nm，地址偏移0
    UBYTE AssistMod;       ///>助力模式1-2，地址偏移2
    UBYTE AutoPowerOffTime;
    UBYTE scDeltaBikeSpeedLimit;
    UBYTE ubControlFunCruise;//0xaa-巡航
} OBC_SetCustomPara_Struct_t;

//仪表按键状态
typedef union OBC_BUTTON_STATU
{
    struct
    {
        UBYTE Set : 1;
        UBYTE Light : 1;
        UBYTE Walk : 1;
        UBYTE Dec : 1;
        UBYTE Acc : 1;
        UBYTE Power : 1;
        UBYTE RS1 : 1;
        UBYTE RS2 : 1;
    } Status_Bit;
    UBYTE KeyStatus;
} OBC_ButtonStatu_Struct_t;

typedef struct
{
    UBYTE Reserver;
    OBC_ButtonStatu_Struct_t ButtonStatu;
    ULONG ulButtonSetTimeCnt;
    BOOL blOBCbuttonPress;
} OBC_ButtonStatus_Struct_t;


typedef struct
{
    SWORD swIdcPu;
    UWORD uwInterResistpu;
    UWORD uwVdcCompPu;
} BMS_VoltEstimat_Struct_t;

typedef struct
{
    SWORD  swMaxpower;
    SWORD  swPowerFdb;
    SWORD  PowerPoit;

}POWER_STRUCT;

typedef struct
{
    UBYTE  ubControlFunCruise;
    UBYTE  ubControlSta;
}CONTORLFUN_STRUCT;
typedef struct
{
    ULONG ulErrAStart_Address;
    ULONG ulErrEnd_Address;
} MC_Error_Address_Struct;

/****************************************
 *
 *           Exported variable
 *
 ****************************************/
extern MC_RunInfo_Struct_t              MC_RunInfo;
extern MC_DebugInfo_Struct_t            MC_DebugInfo;
extern MC_ErrorCode_Struct_t            MC_ErrorCode;
extern MC_ErrorCode_CNT_RECORD_Struct_t MC_ErrorCntRecord;
extern MC_VerInfo_Struct_t              MC_VerInfo;
extern char                             Firmware_Special[32];//软件版本标识，包含客户定制化信息
extern MC_MacInfo_Struct_t              MC_MacInfo;
extern MC_RideLog_Struct_t              MC_RideLog;
extern BMS_RunInfo_Struct_t             BMS_RunInfo;
extern MC_ControlCode_Struct_t          MC_ControlCode;
extern MC_RunInfoToCDL_Struct_t         MC_RunInfoToCDL;
extern MC_RS_ASCII_Struct_t             MC_RsASSCII;
extern MC_UpperPCInfo_Struct_t          MC_UpcInfo;
extern BMS_VoltEstimat_Struct_t         BMS_VoltEstimat;
extern MC_Error_Address_Struct          ManageError_Address;
extern CONTORLFUN_STRUCT                OBC_ControlFUN;

extern OBC_SetCustomPara_Struct_t OBC_SetCustomPara;
extern OBC_ButtonStatus_Struct_t OBC_ButtonStatus;

extern ULONG ulOBC_ComTimeOutCount;
extern ULONG ulBMS_ComTimeOutCount;
extern UBYTE MC_MotorSPD_rpm_Percent;
extern UBYTE MC_WorkMode;
extern BOOL blBMSCommFault;

extern UWORD LightSwitch;
extern ULONG ODO_T, TRIP_T;
extern BOOL  blFlashSaveflg;
/************************************************************************
 Ram Allocation
*************************************************************************/

/***************************************
 *
 *          Function  Definations
 *
 ***************************************/
/**
 * @brief MC_UpcInfo上电初始化
 *
 */
void Can_voUpdateMC_UpcInfo(void);

/**
 * @brief MC运行状态初始化
 *
 */
void Can_voInitMC_Run(void);

/**
 * @brief 1ms中的MC运行状态更新
 *
 */
void Can_voMC_Run_1ms(void);

/**
 * @brief 5ms中的MC运行状态更新
 *
 */
void Can_voMC_Run_5ms(void);

/**
 * @brief 200ms中的MCMC运行状态更新
 *
 */
void Can_voMC_Run_200ms(void);

/**
 * @brief 接收挡位指令
 *
 */
void Can_GearSt_switch(void);

/**
 * @brief 接收开关灯指令
 *
 */
void Can_Light_switch(void);

/**
 * @brief 里程计算
 *
 */
void Can_Trip_Cal(void);

/**
 * @brief 根据电池反馈计算续航里程
 *
 */
void Can_RemainTrip_Cal(void);

/**
 * @brief 根据电压估算电量
 *
 */
UWORD Can_SOC_Cal(void);

/**
 * @brief 根据协议显示助力曲线
 *
 */
void Can_AssistCoef_Read(UPC_CurveOrderInfo_Struct_t *order);

/**
 * @brief 根据协议写入助力曲线
 *
 */
void Can_AssistCoef_Write(UPC_CurveOrderInfo_Struct_t *order);

/**
 * @brief 历史最高最低温度计算
 *
 */
void Can_MaxMinTempHistory(void);
/**
 * @brief 更新error_log
 *
 */
void ErrorLog_Updata(void);

#endif