motor_ctl-3/User/Inc/enviolo_can.h

#ifndef __ENVIOLO_CAN_H_
#define __ENVIOLO_CAN_H_

#include <stdint.h>
#include "can.h"
#include "var.h"


#define ID_ENVIOLO_CONFIG    		0x300
#define ID_ENVIOLO_CONTROL    	0x301

#define COMMUNICATION_TIMEOUT		50		//200MS*50=10000=10S


//0X300默认的参数  参考enviolo出厂默认值
#define DU_FRONT_CHAINRING			43
#define DU_REARSPROCKET					20
#define DU_CADENCE_LOWLIMIT			30
#define DU_CADENCE_HIGHLIMIT		85
#define DU_SLEEPTIME						 5

typedef enum
{
	DIS_PEDAL=0X01,
	DIS_PEDALLING,
	DIS_SUCCESS
}DisUI_Struct_t;

typedef enum
{
	WORKMODE_OFF=0X00,
	WORKMODE_MANUAL=0X03,//手动模式
	WORKMODE_AUTO=0X04,//自动调节模式
	WORKMODE_CALIB=0X05,//校准模式
}WorkMode_Struct_t;

typedef enum
{
	NOTNEED_CALIB=0,
	NEED_CALIB=1,
}ENUM_CALIBRATION;

typedef struct 
{
	uint8_t u8Get_Gear_Pedal_RPM;									//反馈的踏频值
	uint8_t	u8Get_Gear_CVP_Actuel_Ratio;					//反馈实际的输出比
	uint16_t u16Get_Gear_Vehicle_Speed;						//当前速度
	float flGet_Gear_Battery_Voltage;							//电压
	uint16_t u16Get_Gear_Wheel_RPM;								//转速
	uint16_t u16CalibrationVal;										//需要校准bit
	uint16_t u16Timeout_Communication;						//3S的计时,开机3S没有enviolo的通信则报错
	uint8_t u8SendConfigDataToEnviolo;						//默认开机送一次配置信息或者参数修改后发送一次配置信息
}Enviolo_Struct_t;

typedef struct 
{
	uint8_t u8DesiredGearBoxMode;									//工作模式
	uint16_t u16DesiredCanence;  									//期望的目标踏频值
	uint16_t u16DesiredGearRatio;									//期望的比例控制值
}Enviolo_SetVal_Struct_t;

typedef struct
{
	uint8_t u8CalibrationCmdToOBC;									//变速器校准指令:0X00-->校准完成或无需校准 0X01-->需要校准 0X02-->OBC提示用户将车轮转动
	uint8_t u8CalibrationCmdToEnviolo;							//发送完了校准信息马上切换为0X01模式
}Calibration_Struct_t;

extern Enviolo_Struct_t CanEnvioloData;
extern Enviolo_SetVal_Struct_t EnvioloSetData;
extern Calibration_Struct_t Enviolo_Calibration;

void GetWorkSetVal(uint8_t* Data, Enviolo_SetVal_Struct_t *RetVal, Calibration_Struct_t *Calib);
void sendDataToEnviolo(Enviolo_SetVal_Struct_t *st_SendData, Calibration_Struct_t *st_Calib);
void Slot_EnvioloData(uint8_t *u8Data, Calibration_Struct_t *Calib);
void sendDataToOBC(uint8_t u8Step);
void sendDataToEnvioloPwroff(void);
void MC_Fault_Enviolo_SpeedSensor_Process(MC_ErrorCode_Struct_t* p_MC_ErrorCode);
#endif