motor_ctl-1/3.BasicFunction/Source/uart_lanfeng9.c

/**
  ******************************************************************************
  * @file    uart_lanfeng9.c
  * @author  
  * @version V1.0.0
  * @date    23-12-2015
  * @brief  uart_lanfeng9 V9.0.
  ******************************************************************************
  *
  * 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_lanfeng9.h"
#include "string.h"
#include "usart.h"
#include "canAppl.h"
#include "syspar.h"
#include "bikebrake.h"
#include "bikethrottle.h"

/******************************
 *
 *  Parameter
 *
 ******************************/
Lanfeng9_OBC2MCInfo_Struct_t Lanfeng9_stOBC2MCInfo;
Lanfeng9_OBC2MCConfig_Struct_t Lanfeng9_stOBC2MCConfig;
/******************************
 *
 *  Functions
 *
 ******************************/
/***************************************************************
 Function: 
 Description: OBC set MC parameter(车轮周长 限速值)
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lanfeng9_OBCSetPara(Lanfeng9OBC_SetInfo1_Struct_t obc_setinfo1, Lanfeng9_OBC2MCConfig_Struct_t obc2mcconfig, UBYTE FrameBegin)
{
    UWORD SpeedLimitation = 0;
    UWORD WheelPerimeter = 0;
    /*参数设定*/
    
    if(FrameBegin == 0x41)
    {
        /*限速阈值更新*/
        SpeedLimitation = (UWORD)(obc_setinfo1.Set_Bit.ucSpeedLimitation + 10);
        if(MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart != SpeedLimitation)
        {
            MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart = SpeedLimitation;
            MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStop = SpeedLimitation + 2;
            MC_UpcInfo.stBikeInfo.uwThrottleMaxSpdKmH = SpeedLimitation;
            MC_UpcInfo.stBikeInfo.uwSaveFlg = 1;
            MC_UpcInfo.stAssistInfo.uwSaveFlg = 1;
            cp_stFlg.ParaSaveEEFlg = TRUE;
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaAInfoUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
        }
        
        /*轮径*/
        /*轮径更新*/
        if(obc_setinfo1.Set_Bit.ucWheelDiameterCode <= 5)
        {
            WheelPerimeter = (obc_setinfo1.Set_Bit.ucWheelDiameterCode*2 + 16) * 8;    //3.14*2.54=7.9756=8
        }
        else if(obc_setinfo1.Set_Bit.ucWheelDiameterCode == 6)
        {
            WheelPerimeter = 219;    //3.14*700mm=2198mm
        }
        else
        {
            WheelPerimeter = 223;    //3.14*2.54*28
        }
        if(MC_UpcInfo.stBikeInfo.uwWheelPerimeter != WheelPerimeter)
        {
            MC_UpcInfo.stBikeInfo.uwWheelPerimeter = WheelPerimeter;
            MC_UpcInfo.stBikeInfo.uwSaveFlg = 1;
            cp_stFlg.ParaSaveEEFlg = TRUE;
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
        }
    }
    else if(FrameBegin == 0x42)
    {
        /*限速阈值更新*/
        if(obc2mcconfig.stSetInfo2.Set_Bit.AssistSpeedLimitMode == 0)
        {
            SpeedLimitation = 45;
        }
        else
        {
            SpeedLimitation = 32;
        }
        if(MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart != SpeedLimitation)
        {
            MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart = SpeedLimitation;
            MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStop = SpeedLimitation + 2;
            MC_UpcInfo.stBikeInfo.uwThrottleMaxSpdKmH = SpeedLimitation;
            MC_UpcInfo.stBikeInfo.uwSaveFlg = 1;
            MC_UpcInfo.stAssistInfo.uwSaveFlg = 1;
            cp_stFlg.ParaSaveEEFlg = TRUE;
            cp_stFlg.ParaUpdateFlg = TRUE;
            cp_stFlg.ParaAInfoUpdateFlg = TRUE;
            cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
            cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
        }
        
        /*灯闪更新*/
        if(obc2mcconfig.stSetInfo2.Set_Bit.LightMode == 0)
        {
            
        }
        else if(obc2mcconfig.stSetInfo2.Set_Bit.LightMode == 1)
        {
            
        }
        else if(obc2mcconfig.stSetInfo2.Set_Bit.LightMode == 2)
        {
            
        }
        else if(obc2mcconfig.stSetInfo2.Set_Bit.LightMode == 3)
        {
            
        }
        
        /*轮径更新*/
        if((obc2mcconfig.ucWheelPerimeter > 0) && (obc2mcconfig.ucWheelPerimeter < 255))//数据有效
        {
            WheelPerimeter = obc2mcconfig.ucWheelPerimeter;
            if(MC_UpcInfo.stBikeInfo.uwWheelPerimeter != WheelPerimeter)
            {
                MC_UpcInfo.stBikeInfo.uwWheelPerimeter = WheelPerimeter;
                MC_UpcInfo.stBikeInfo.uwSaveFlg = 1;
                cp_stFlg.ParaSaveEEFlg = TRUE;
                cp_stFlg.ParaUpdateFlg = TRUE;
                cp_stFlg.ParaBikeInfoUpdateFlg = TRUE;
                cp_stFlg.ParaAssistUpdateFinishFlg = TRUE;
            }
        }
    }
}
/***************************************************************
 Function: ;
 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 Lanfeng9_USART_DataProcess(USART_Buf_TypeDef* ptUartTx, UBYTE FrameBegin, UBYTE* Data)
{
    if(FrameBegin == 0x41)
    {
        /*数据获取*/
        memcpy(&Lanfeng9_stOBC2MCInfo.stCtrlInfo, &Data[1], 1);
        memcpy(&Lanfeng9_stOBC2MCInfo.stSetInfo1, &Data[2], 1);
        
        /*数据更新*/
        if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 10)
        {
            MC_ControlCode.GearSt = MC_GearSt_WALK;
        }
        else if((Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 5) || (Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 6))
        {
            MC_ControlCode.GearSt = MC_GearSt_SMART;
        }
        else if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 4)               
        {
            MC_ControlCode.GearSt = MC_GearSt_Torque_TURBO;
        }
        else if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 3)
        {
            MC_ControlCode.GearSt = MC_GearSt_Torque_SPORT;
        }
        else if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 2)
        {
            MC_ControlCode.GearSt = MC_GearSt_Torque_NORM;
        }
        else if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.Ctrl_Bit.ucGearSt == 1)
        {
            MC_ControlCode.GearSt = MC_GearSt_Torque_ECO;
        }  
        else
        {
            MC_ControlCode.GearSt = MC_GearSt_OFF;
        }
        
        if(Lanfeng9_stOBC2MCInfo.stCtrlInfo.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;
        
//        Lanfeng9_OBCSetPara(Lanfeng9_stOBC2MCInfo.stSetInfo1, Lanfeng9_stOBC2MCConfig, FrameBegin);//参数更新
        
        Lanfeng9_SendData_OBC(ptUartTx,FrameBegin);
    }
    else if(FrameBegin == 0x42)        //读取控制器版本
    {
        memcpy(&Lanfeng9_stOBC2MCConfig.stSetInfo2, &Data[1], 1);
        memcpy(&Lanfeng9_stOBC2MCConfig.ucWheelPerimeter, &Data[2], 1);
        
//        Lanfeng9_OBCSetPara(Lanfeng9_stOBC2MCInfo.stSetInfo1, Lanfeng9_stOBC2MCConfig, FrameBegin);//参数更新
    }
    else if(FrameBegin == 0x43)        //读取控制器版本
    {
        if((Data[1] == 0x56) && (Data[2] == 0x45))
        {
            Lanfeng9_SendData_OBC(ptUartTx,FrameBegin);
        }
    }
    else if(FrameBegin == 0x44)        //读取控制器版本2
    {
        if((Data[1] == 0x56) && (Data[2] == 0x32))
        {
            Lanfeng9_SendData_OBC(ptUartTx,FrameBegin);
        }
    }
}
/***************************************************************
 Function: 
 Description: Send Data to OBC
 Call by: 
 Input Variables: N/A
 Output/Return Variables: N/A
 Subroutine Call: N/A;
 Reference: N/A
****************************************************************/
void Lanfeng9_SendData_OBC(USART_Buf_TypeDef* ptUartTx, UBYTE FrameBegin)
{
    UBYTE i = 0;
    UBYTE databuf[10] = {0};
    UWORD checkxor = 0;
    UBYTE datalen = 10;
    UWORD Speed = 0;
    UBYTE Current = 0;
    
    /*数据发送*/
    databuf[0] = FrameBegin;
    if(FrameBegin == 0x41)
    {
        datalen = 7;
        if(1 == MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage)
        {
            databuf[1] = 0x01;//欠压
        }
        else
        {
            databuf[1] = 0x00;
        }
        
        Current = (UBYTE)(abs(MC_RunInfo.BusCurrent/1000)*3);//电流
        
        if(bikespeed_stFreGetOut.uwLPFFrequencyPu == 0)
        {
            Speed = 0;
        }
        else
        {
            Speed = (UWORD)((SQWORD)(1000 << 20) / bikespeed_stFreGetOut.uwLPFFrequencyPu / FBASE); //车轮转动一圈时间，ms
        }
        databuf[2] = Current;
        databuf[3] = (UBYTE)((Speed & 0xFF00)>>8);
        databuf[4] = (UBYTE)(Speed & 0xFF);
        
        if(1 == MC_ErrorCode.ERROR_Bit.Protect_OverCurrent)
        {
            databuf[5] = 0x01;//电流异常
        }
        else if(1 == MC_ErrorCode.ERROR_Bit.Fault_Throttle)
        {
            databuf[5] = 0x02;//转把异常
        }
        else if(1 == MC_ErrorCode.ERROR_Bit.Fault_PhaseLine)
        {
            databuf[5] = 0x03;//电机缺相
        }
        else if(1 == MC_ErrorCode.ERROR_Bit.Fault_HallSensor)
        {
            databuf[5] = 0x04;//电机霍尔异常
        }
        /*else if(0)
        {
            databuf[5] = 0x05;//刹车异常
        }*/
        else if(1 == MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage)
        {
            databuf[5] = 0x06;//欠压
        }
        else if(1 == MC_ErrorCode.ERROR_Bit.Protect_LockRotor)
        {
            databuf[5] = 0x07;//电机堵转
        }
        /*else if(0)
        {
            databuf[5] = 0x08;//通讯故障
        }*/
    }
    else if(FrameBegin == 0x43)
    {
        datalen = 7;
        databuf[1] = MC_VerInfo.FW_Version[1] - 48;
        databuf[2] = MC_VerInfo.FW_Version[3] - 48;
        databuf[3] = MC_VerInfo.FW_Version[5] - 48;
        databuf[4] = 0xff;
        databuf[5] = 0xff;
    }
    else if(FrameBegin == 0x44)
    {
        datalen = 10;
        for(i=0;i<8;i++)
        {
            databuf[i+1] = MC_VerInfo.FW_Version[7+i];
        }
    }
 
    for(i=1; i<(datalen-1); i++)
    {
        checkxor ^= databuf[i];
    }
 
    databuf[datalen-1] = checkxor;
    
    for(i=0; i<datalen; i++)
    {
        UART_PutChar(ptUartTx, databuf[i]);
    }
}
/***************************************************************
 Function: 
 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 Lanfeng9_USART_RxData_Process(USART_Buf_TypeDef* ptUartTx, UBYTE* buf, UWORD dataCount)
{
    static UBYTE Data[255];
    UWORD i;
    UBYTE CheckXorResult=0, CheckXorData=0;
    UBYTE FrameBegin, FrameEnd;
	
    if(dataCount == 5)
    {
        //帧头
        FrameBegin = buf[0];
        if((FrameBegin == 0x41) || (FrameBegin == 0x42) || (FrameBegin == 0x43) || (FrameBegin == 0x44))
        {
            for(i=0; i<dataCount; i++)//数据
            {
                Data[i] = buf[i];
            }
            CheckXorData = Data[dataCount-2];
            for(i = 1; i<(dataCount-2); i++)
            {
                CheckXorResult ^= Data[i];
            }
                
            FrameEnd = Data[dataCount-1];
                        
            if((CheckXorData == CheckXorResult) && (FrameEnd == 0x0E))// 校验和帧尾正常
            {                          
                Lanfeng9_USART_DataProcess(ptUartTx, FrameBegin, &Data[0]);
            }
        }
    }
}

/************************ (C) END OF FILE *********************************/