motor_ctl-2/User/Src/var.c

#include "var.h"
#include "torque_sensor.h"

MC_RunInfo_Struct_t MC_RunInfo;                           //MC运行信息
MC_ErrorCode_Struct_t MC_ErrorCode;                       //MC故障代码
MC_VerInfo_Struct_t MC_VerInfo;                           //MC版本信息
OnLine_Status_Struct_t DeviceOnLine_Status;               //设备在线检测结果
BMS_RunInfo_Struct_t BMS_RunInfo;                         //BMS运行信息
Device_CheckInfo_Struct_t BMS_CheckInfo;                  //BMS授权校验
BMS_DesignInfo_Struct_t BMS_DesignInfo;                   //BMS设计信息 
Device_CheckInfo_Struct_t PBU_CheckInfo;                  //PBU授权校验
PBU_ConfigParam_Struct_t PBU_ConfigParam;                 //PBU配置参数 
Device_CheckInfo_Struct_t HMI_CheckInfo;                  //HMI授权校验
MC_ConfigParam1_Struct_t MC_ConfigParam1;                 //MC配置参数1
MC_ConfigParam2_Struct_t MC_ConfigParam2;                 //MC配置参数1
MC_MotorParam_Struct_t MC_MotorParam;                     //马达参数
MC_RunLog1_Struct_t MC_RunLog1;                           //MC历史信息1
MC_RunLog2_Struct_t MC_RunLog2;                           //MC历史信息2
uint8_t Secret_Key[8];                                    //授权验证密钥
MC_MacInfo_Struct_t MC_MacInfo;                           //MC生产信息
uint8_t UserString1[16];                                  //MC自定义字符串1
uint8_t UserString2[16];                                  //MC自定义字符串2
uint8_t UserString3[16];                                  //MC自定义字符串3
MC_PowerOffBkp_Struct_t MC_PowerOffBkp;                   //MC关机时刻临时存储的数据
Device_CheckInfo_Struct_t MC_CheckInfo;                   //MC授权信息
MC_TE_SensorStatus_Struct_t MC_TE_SensorStatus;           //TE传回传感器状态			
MC_TE_SensorData_Struct_t MC_TE_SensorData;               //发给TE传感器结果
uint16_t MC_TE_SyncClockFreqScan;                         //TE同步时钟频率
TrueOrFalse_Flag_Struct_t TE_MCU_DataRefreshFlag = FALSE; //TE MCU数据更新标志
FlagStatus TE_CheckFlag = RESET;                          //检测TE标志
MC_AssistParam_Struct_t MC_AssisParam;		                //助力输出计算参数
uint8_t MC_WalkMode_Persent = 100;                        //推行模式最高转速百分比设置
ComOK_Check_Struct_t IsComOK_TE =  {FALSE, 0};            //TE通信状态标志
ComOK_Check_Struct_t IsComOK_PBU = {FALSE, 0};            //PBU通信状态标志
ComOK_Check_Struct_t IsComOK_HMI = {FALSE, 0};            //HMI通信状态标志
ComOK_Check_Struct_t IsComOK_BMS = {FALSE, 0};            //BMS通信状态标志
MC_AttitudeAngle_Struct_t MC_AttitudeAngle;               //姿态传感器数值
MC_RideLog_Struct_t MC_RideLog;                           //骑行历史
MC_AvgPower_Struct_t MC_AvgPower;                         //助力平均功耗

//BMS默认设计信息
const BMS_DesignInfo_Struct_t BMS_DesignInfo_Default =
{
	(uint16_t)10400,             //设计容量
	(uint8_t)36,                 //设计电压
	{0,0,0,0,0,0,0,0}            //电芯型号
};

//PBU默认配置
const PBU_ConfigParam_Struct_t PBU_ConfigParam_Default =
{
	4,                    //档位数量
	MC_SUPPORT_DISABLE,   //是否支持无PBU操作
};

//MC默认配置参数1，占用32bytes
const MC_ConfigParam1_Struct_t MC_ConfigParam1_Default = 
{
  (MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //支持指拨模式，0x55-不支持，0x-AA支持
	(MC_StarMode_Struct_t)MC_StarMode_NORM,          //启动模式 
	(uint16_t)100,                                   //停机时间 ms	
	(uint8_t)25,                                     //限速 km/h
	(uint8_t)3,                                      //下降速度
	(uint8_t)14,                                     //前齿数 T
	(uint8_t)9,                                      //后齿数 T
	(uint8_t)17,                                     //限流 A
	(uint8_t)135,                                    //高温预警值 +40℃
	(uint8_t)165,                                    //高温保护值 +40℃
  (MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //无码表支持，0x55-不支持，0x-AA支持	
  (uint8_t)219,                                    //轮胎周长 cm
  (uint8_t)0,                                      //系列号,
	{100,100},                                       //ECO
  {100,100},                                       //NORM
  {100,100},                                       //SPORT
  {100,100},                                       //TURBO
  {100,100},                                       //SMART
	(uint8_t)1,                                      //速度传感器极数
	(uint8_t)2,                                      //踏频启动信号个数
	(MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE,     //无速度传感器支持，0x55-不支持，0x-AA支持	
	(int8_t)0                                        //轮胎周长微调值                                        
};

//MC配置参数2，占用32bytes
const MC_ConfigParam2_Struct_t MC_ConfigParam2_Default = 
{
  (int16_t)0,
	(int16_t)0,
	(MC_SupportFlag_Struct_t)MC_SUPPORT_DISABLE     //0x55-不支持，0x-AA支持
};

//MC默认马达参数，占用16bytes
const MC_MotorParam_Struct_t MC_MotorParam_Default =
{
  (uint16_t)250,    //W
	(uint16_t)2000,   //rpm
	(uint16_t)200,    //mohm
	(uint16_t)10,     //mH
	(uint16_t)10,     //mH
	(uint16_t)36000,  //mV
	(uint8_t)36       //V
};

//MC默认历史信息，占用48bytes
const MC_RunLog1_Struct_t MC_RunLog1_Default =
{
  (uint32_t)1,    //开机次数
	(uint32_t)0,    //运行总时间 min
	(uint16_t)0,    //过流保次数 
	(uint16_t)0,    //低压保护次数
	(uint16_t)0,    //高压保护次数
	(uint16_t)0,    //堵转保护次数 
	(uint16_t)0,    //温度保护次数
	(uint16_t)0,    //速度传感器错误次数
	(uint16_t)0,    //力矩传感器错误次数 
	(uint16_t)0,    //霍尔传感器错误次数 
	(uint16_t)0,    //马达相线错误次数
	(uint16_t)0,    //NTC错误次数
	(uint16_t)0,    //BMS校验错误次数
	(uint16_t)0,    //HMI校验错误次数
	(uint16_t)0,    //PBU校验错误次数 
	(uint8_t)65,    //PCB历史最高温
	(uint8_t)65,    //PCB历史最低温	
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)0,     //空出预留
	(uint8_t)65,    //绕组历史最高温
	(uint8_t)65,	  //绕组历史最低温
	(uint8_t)65,    //MCU历史最高温
	(uint8_t)65     //MCU历史最低温
};

//MC默认历史信息，占用24bytes
const MC_RunLog2_Struct_t MC_RunLog2_Default =
{
	(uint16_t)0,    //MCU故障次数 
	(uint16_t)0,    //踏频传感器故障次数
	(uint16_t)0,    //指拨传感器故障次数
	(uint16_t)0,    //MOS短路次数 
	(uint16_t)0,    //电压异常次数
	(uint16_t)0,    //电路故障次数
	(uint16_t)0,    //TE MCU故障次数 
	(uint16_t)0,    //TE 电路故障次数 
};

//平均功耗默认值
const MC_AvgPower_Struct_t MC_AvgPower_Default =
{
	(uint16_t)100,
	(uint16_t)160,
	(uint16_t)190,
	(uint16_t)270,
	(uint16_t)180
};

//MC骑行历史信息，占用32bytes
const MC_RideLog_Struct_t MC_RideLog_Default = 
{
  (uint32_t)0,
	(uint32_t)0,
	(uint32_t)0,
	(uint32_t)0
};

//默认密钥，占用8bytes
const uint8_t Secret_Key_Default[8] = "AVONITOM";

/************Volans助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Volans =
{
  (uint16_t)327,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)800,
	(uint8_t)1,
	(uint8_t)1,
	(uint16_t)250
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Volans =
{
  (uint16_t)655,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1000,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)500
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Volans =
{
  (uint16_t)1024,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1300,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)750
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Volans =
{
  (uint16_t)1310,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1800,
	(uint8_t)5,
	(uint8_t)1,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Volans =
{
  (uint16_t)1000,
	(uint16_t)2000,
	(uint16_t)100,
	(uint16_t)1600,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

/************Volans Plus助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Volans_Plus =
{
  (uint16_t)377,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)840,
	(uint8_t)1,
	(uint8_t)1,
	(uint16_t)338
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Volans_Plus =
{
  (uint16_t)795,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1200,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)605
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Volans_Plus =
{
  (uint16_t)1504,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)1590,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)850
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Volans_Plus =
{
  (uint16_t)2354,
	(uint16_t)0,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)1,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Volans_Plus =
{
  (uint16_t)1000,
	(uint16_t)2000,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

/************Pegasi助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Pegasi =
{
  (uint16_t)476,
	(uint16_t)560,
	(uint16_t)100,
	(uint16_t)937,
	(uint8_t)1,
	(uint8_t)1,
	(uint16_t)338
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Pegasi =
{
  (uint16_t)1142,
	(uint16_t)700,
	(uint16_t)100,
	(uint16_t)1250,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)489
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Pegasi =
{
  (uint16_t)1903,
	(uint16_t)840,
	(uint16_t)100,
	(uint16_t)1459,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)686
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi =
{
  (uint16_t)2857,
	(uint16_t)980,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)2,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Pegasi =
{
  (uint16_t)0,
	(uint16_t)1850,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)4,
	(uint8_t)1,
	(uint16_t)1024
};

/************Pegasi Plus助力参数************/
//ECO档位助力参数
const nGearParam_Struct_t GearParam_Default_ECO_Pegasi_Plus =
{
  (uint16_t)419,
	(uint16_t)560,
	(uint16_t)100,
	(uint16_t)871,
	(uint8_t)1,
	(uint8_t)1,
	(uint16_t)235
};

//NORM档位助力参数
const nGearParam_Struct_t GearParam_Default_NORM_Pegasi_Plus =
{
  (uint16_t)959,
	(uint16_t)700,
	(uint16_t)100,
	(uint16_t)1055,
	(uint8_t)2,
	(uint8_t)1,
	(uint16_t)331
};

//SPORT档位助力参数
const nGearParam_Struct_t GearParam_Default_SPORT_Pegasi_Plus =
{
  (uint16_t)1370,
	(uint16_t)840,
	(uint16_t)100,
	(uint16_t)1464,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)512
};

//TURBO档位助力参数
const nGearParam_Struct_t GearParam_Default_TURBO_Pegasi_Plus =
{
  (uint16_t)2289,
	(uint16_t)980,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)5,
	(uint8_t)2,
	(uint16_t)1024
};

//SMART档位助力参数
const nGearParam_Struct_t GearParam_Default_SMART_Pegasi_Plus =
{
  (uint16_t)0,
	(uint16_t)2000,
	(uint16_t)100,
	(uint16_t)2100,
	(uint8_t)3,
	(uint8_t)1,
	(uint16_t)1024
};

//全局函数定义
//MC存储的参数初始化为默认值
void Var_SetToDefaultParam(void)
{
  //校验码
	strncpy((char*)MC_CheckInfo.CheckCode, (char*)"000000000000", 12);
	
	//力矩传感器还原为初始值
	TorqueSensor_ParamSetDefaultData_Init(&TorqueSensor_1_Param, ADC1_Result[ADC1_RANK_TORQUE_SENSOR_1]);
	TorqueSensor_ParamSetDefaultData_Init(&TorqueSensor_2_Param, ADC1_Result[ADC1_RANK_TORQUE_SENSOR_2]);
	TorqueSensor_ParamSetDefaultData_Init(&TorqueSensor_3_Param, ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3]);
	
	//校验密钥
	memcpy(Secret_Key, Secret_Key_Default, sizeof(Secret_Key_Default));
	
	//启动值设为默认值
	TorqueStartData = TORQUE_SENSOR_STARTDATA;
	
  //配置参数1
	memcpy((uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag, (uint8_t*)&MC_ConfigParam1_Default.GasCtrlMode_Flag, sizeof(MC_ConfigParam1_Default));
	
	//配置参数2
	memcpy((uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch, (uint8_t*)&MC_ConfigParam2_Default.ZeroAngle_Pitch, sizeof(MC_ConfigParam2_Default));
	
  //马达参数
	memcpy((uint8_t*)&MC_MotorParam.Rate_Power, (uint8_t*)&MC_MotorParam_Default.Rate_Power, sizeof(MC_MotorParam_Default));
}

//MC存储的记录初始化
void Var_SetToDefaultLog(void)
{
	//历史信息1
	memcpy((uint8_t*)&MC_RunLog1.PowerOnCnt, (uint8_t*)&MC_RunLog1_Default.PowerOnCnt, sizeof(MC_RunLog1_Default));
	
	//历史信息2
	memcpy((uint8_t*)&MC_RunLog2.MCU_FaultCnt, (uint8_t*)&MC_RunLog2_Default.MCU_FaultCnt, sizeof(MC_RunLog2_Default));
	
	//骑行历史信息
	memcpy((uint8_t*)&MC_RideLog.ODO_Km, (uint8_t*)&MC_RideLog_Default.ODO_Km, sizeof(MC_RideLog_Default));
	
	//平均功耗值 
	MC_AvgPower = MC_AvgPower_Default;
}

//变量初始化
void Var_Init(void)
{	
	//MC故障码初始化为0
	MC_ErrorCode.Code = 0;
	
	//TE故障码初始化为0
	MC_TE_SensorStatus.TE_ErrorCode.Code = 0;
	
	//设备在线检测结果初始化为离线
	DeviceOnLine_Status.Status = 0x07;
					
	//BMS校验信息初始化为0
	memset((uint8_t*)BMS_CheckInfo.MAC_ID, 0, sizeof(BMS_CheckInfo));
	
	//HMI校验信息初始化为0
	memset((uint8_t*)HMI_CheckInfo.MAC_ID, 0, sizeof(HMI_CheckInfo));
	
	//PBU校验信息初始化为0
	memset((uint8_t*)PBU_CheckInfo.MAC_ID, 0, sizeof(PBU_CheckInfo));
	
	//BMS设计信息初始化为默认值
	memcpy((uint8_t*)&BMS_DesignInfo.Capacity, (uint8_t*)&BMS_DesignInfo_Default.Capacity, sizeof(BMS_DesignInfo_Struct_t));
	
	//PBU配置参数初始化为默认值
	memcpy((uint8_t*)&PBU_ConfigParam.GearsNum, (uint8_t*)&PBU_ConfigParam_Default.GearsNum, sizeof(PBU_ConfigParam_Struct_t));
		
	//MC版本信息初始化，Mode和SN从EEPROM读取
  strncpy(MC_VerInfo.HW_Version, (char*)"TT_KZ_010A.     ", 16);//TT_KZ_010A
	strncpy(MC_VerInfo.FW_Version, (char*)"V3r0r5_20200316", 16);
	
	//电机型号
	strncpy(MC_VerInfo.Mode, (char*)"MOTINOVA PEGASI.", 16);
	
	//电机序列号
	strncpy(MC_VerInfo.SN_Num, (char*)"0000000000000000", 16);
	
	//生产信息
	strncpy(MC_MacInfo.Manufacturer, (char*)"MOTINOVA", 8);  //生产信息
	strncpy(MC_MacInfo.MacAddr, (char*)"WUHAN.  ", 8);
	strncpy(MC_MacInfo.MacDate, (char*)"20200114", 8);

	//MCU ID读取
	memcpy((uint8_t*)MC_CheckInfo.MAC_ID, (uint8_t*)(0x1FFFF7E8), 12);

  //MC存储数据初始化为默认值
	Var_SetToDefaultParam();
	Var_SetToDefaultLog();
}

//根据电机型号系列号调用不同的助力参数
void UpdateGearParam(uint8_t SerialNum)
{
  switch(SerialNum)
	{
	  case 1://Volans
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Volans.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		case 2://Volans Plus
		{
	  	//助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Volans_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		case 3://Pegasi
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Pegasi.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		case 4://Pegasi Plus
		{
		  //助力参数初始化
			memcpy((uint8_t*)&MC_AssisParam.Gear_ECO.Gain_K, (uint8_t*)&GearParam_Default_ECO_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_NORM.Gain_K, (uint8_t*)&GearParam_Default_NORM_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SPORT.Gain_K, (uint8_t*)&GearParam_Default_SPORT_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_TURBO.Gain_K, (uint8_t*)&GearParam_Default_TURBO_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			memcpy((uint8_t*)&MC_AssisParam.Gear_SMART.Gain_K, (uint8_t*)&GearParam_Default_SMART_Pegasi_Plus.Gain_K, sizeof(nGearParam_Struct_t));
			break;
		}
		default:
		{
			//默认处理
			
			break;
		}
	}
}