motor_ctl-3/User/Src/enviolo_can.c

#include "enviolo_can.h"
#include "can.h"
#include "speed_sensor.h"
#include "motor_control.h"
#include "log_save.h"
#include "can_process.h"


Enviolo_Struct_t CanEnvioloData = {0};
Enviolo_SetVal_Struct_t EnvioloSetData = {0};
Calibration_Struct_t Enviolo_Calibration = {0};


//计算1~9档位对应的变速比,范围为500~1800
const uint16_t Ratio_Table[9] = 
{
	500,
	662,
	824,
	986,
	1148,
	1310,
	1472,
	1634,
	1800
};

/******************************************************************************
* @Function:  解析CAN报文，提取OBC发送的报文信息提取需要设置的目标踏频值和档位比例值
* @Discrible: 查看协议文档ID(0X731)-->0X4008的报文
* @Param:  		Data:需要分析的报文   RetVal:需要设置的值
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211025      V1.0.0          leechard          create
* 
*******************************************************************************/
void GetWorkSetVal(uint8_t* Data, Enviolo_SetVal_Struct_t *RetVal, Calibration_Struct_t *Calib)
{
	static uint8_t u8Temp = 0;
	if(Data[2] == NOTNEED_CALIB)//无需校准
	{
		if(Data[0] == WORKMODE_AUTO)//自动模式
		{
			RetVal->u8DesiredGearBoxMode = WORKMODE_AUTO;
			RetVal->u16DesiredGearRatio = 0;
			RetVal->u16DesiredCanence = Data[1];
		}
		else if(Data[0] == WORKMODE_MANUAL)//手动模式
		{
			RetVal->u8DesiredGearBoxMode = WORKMODE_MANUAL;
			//根据手动设置的档位计算需要设置的变速比例值
			RetVal->u16DesiredGearRatio = (Data[1] == 0)?Ratio_Table[0]:((Data[1]>8)?Ratio_Table[8]:Ratio_Table[Data[1]-1]);
			RetVal->u16DesiredCanence = 0;
		}
		u8Temp = 0;
		
	}
	else if(Data[2] == NEED_CALIB)//需要校准
	{
		RetVal->u8DesiredGearBoxMode = WORKMODE_CALIB;
		if(u8Temp == 0)
		{
			Calib->u8CalibrationCmdToEnviolo = 1;
			u8Temp = 1;
		}	
	}
}

/******************************************************************************
* @Function:  200MS发送报文到enviolo,默认5min不发送报文则enviolo自动休眠
* @Discrible: 通过工作模式设置相应的值到enviolo
* @Param:  		
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211025      V1.0.0          leechard          create
* 
*******************************************************************************/
void sendDataToEnviolo(Enviolo_SetVal_Struct_t *st_SendData, Calibration_Struct_t *st_Calib)
{
	uint8_t sendbuf[8]={0};
	//参数配置只发送一次
	if((st_SendData->u8DesiredGearBoxMode == WORKMODE_MANUAL)||(st_SendData->u8DesiredGearBoxMode == WORKMODE_AUTO))
	{
		if(CanEnvioloData.u8SendConfigDataToEnviolo == 0)
		{
			sendbuf[0] = DU_FRONT_CHAINRING;	//DU_Front_Chainring
			sendbuf[1] = DU_REARSPROCKET;			//DU_RearSprocket
			sendbuf[2] = DU_CADENCE_LOWLIMIT;	//DU_Cadence_LowLimit
			sendbuf[3] = DU_CADENCE_HIGHLIMIT;//DU_Cadence_HighLimit
			sendbuf[4] = 0x00;								//Reserved
			sendbuf[5] = (MC_ConfigParam1.WheelSize > 100)?(MC_ConfigParam1.WheelSize - 100):0;//
			sendbuf[6] = DU_SLEEPTIME;				//DU_SleepTime
			sendbuf[7] = 0x00;								//Reserved
			CAN_SendData(ID_ENVIOLO_CONFIG, sendbuf, sizeof(sendbuf));
			CanEnvioloData.u8SendConfigDataToEnviolo = 1;
		}
	}
	if((MC_ControlCode.GearSt == MC_GearSt_WALK)||(MC_ControlCode.GearSt == MC_GearSt_OFF))//推行模式和0档位将档位设置为最低档
	{
		sendbuf[0] = WORKMODE_MANUAL;
		sendbuf[1] = (uint8_t)(Ratio_Table[0]>>8);
		sendbuf[2] = (uint8_t)(Ratio_Table[0]);
		sendbuf[3] = 0X00;
		sendbuf[4] = 0X00;
		CAN_SendData(ID_ENVIOLO_CONTROL, sendbuf, sizeof(sendbuf));
	}
//	else if(MC_ControlCode.GearSt == MC_GearSt_OFF)//关机状态 关闭自动变速器
//	{
//		CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
//	}
	else
	{
		if(st_SendData->u8DesiredGearBoxMode == WORKMODE_MANUAL)//如果是手动模式
		{
			sendbuf[0] = st_SendData->u8DesiredGearBoxMode;
			sendbuf[1] = (uint8_t)(st_SendData->u16DesiredGearRatio>>8);
			sendbuf[2] = (uint8_t)(st_SendData->u16DesiredGearRatio);
			sendbuf[3] = 0X00;
			sendbuf[4] = 0X00;
			CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
		}
		else if(st_SendData->u8DesiredGearBoxMode == WORKMODE_AUTO)//如果是自动模式
		{
			sendbuf[0] = st_SendData->u8DesiredGearBoxMode;
			sendbuf[1] = 0X00;
			sendbuf[2] = 0X00;
			sendbuf[3] = (uint8_t)(st_SendData->u16DesiredCanence>>8);
			sendbuf[4] = (uint8_t)(st_SendData->u16DesiredCanence);
			CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
		}
		else if(st_SendData->u8DesiredGearBoxMode == WORKMODE_CALIB)//校准模式
		{
			if(st_Calib->u8CalibrationCmdToEnviolo == 1)//第一次关闭自动变速器
			{
				sendbuf[0] = 0X00;
				CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
				st_Calib->u8CalibrationCmdToEnviolo++;
			}
			else if(st_Calib->u8CalibrationCmdToEnviolo == 2)//第二次让enviolo进入到校准指令中
			{
				sendbuf[0] = 0X08;
				CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
				st_Calib->u8CalibrationCmdToEnviolo++;
			}
			else if(st_Calib->u8CalibrationCmdToEnviolo == 3)//第三次使能enviolo的ACTIVE模式
			{
				sendbuf[0] = 0X01;//开启变速器的数据报文模式做监听 Active
				CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
				st_Calib->u8CalibrationCmdToEnviolo++;
				st_Calib->u8CalibrationCmdToOBC = DIS_PEDALLING;//让ui显示校准中
			}
		}
		else
		{
			sendbuf[0] = WORKMODE_OFF; //关闭
			sendbuf[1] = 0X00;
			sendbuf[2] = 0X00;
			sendbuf[3] = 0X00;
			sendbuf[4] = 0X00;
			CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
		}
	}
}

/******************************************************************************
* @Function:  200MS发送报文到OBC
* @Discrible: 通过报文的设置让enviolo进入到不同的UI界面
* @Param:  		
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211025      V1.0.0          leechard          create
* 
*******************************************************************************/
void sendDataToOBC(uint8_t u8Step)
{
	static uint8_t u8OldStep = 0;
	
	uint8_t sendbuf[8]={MC_ConfigParam1.WheelSize,MC_ConfigParam1.StarModel,MC_ConfigParam1.SpeedLimit,MC_ConfigParam1.WheelSizeAdj,0X00,0X00,0X00,0X00};//轮胎默认周长,启动模式,限速值,轮胎微调值
	if(u8OldStep != u8Step)
	{
		switch(u8Step)
		{
			case 1:
			{
				sendbuf[4] = 0x01;//UI界面提示需要校准
				break;
			}
			case 2:
			{
				sendbuf[4] = 0x02;//UI界面显示校准中
				break;
			}
			case 3:
			{
				sendbuf[4] = 0x00;//UI界面显示校准完成
				
				break;
			}
			default:
			{
				break;
			}
		}
		u8OldStep = u8Step;
		SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5408, sendbuf);
	}
}

/******************************************************************************
* @Function:  收到关机指令则发送关闭enviolo的报文
* @Discrible: 关机前最后一帧报文
* @Param:  		
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211025      V1.0.0          leechard          create
* 
*******************************************************************************/
void sendDataToEnvioloPwroff(void)
{
	uint8_t sendbuf[8]={0};
	CAN_SendData(ID_ENVIOLO_CONTROL,sendbuf,sizeof(sendbuf));
}

/******************************************************************************
* @Function:  解析enviolo发过来的报文
* @Discrible: 解析8字节报文数据
* @Param:  		8字节报文数据
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211203      V1.0.0          leechard          create
* 
*******************************************************************************/
void Slot_EnvioloData(uint8_t *u8Data, Calibration_Struct_t *Calib)
{
	CanEnvioloData.u8Get_Gear_Pedal_RPM = u8Data[0];																				//反馈的踏频值 cadence
	CanEnvioloData.u8Get_Gear_CVP_Actuel_Ratio = u8Data[1];																	//实际的档位值  1bit = 0.1ratio
	CanEnvioloData.u16Get_Gear_Vehicle_Speed = (u8Data[2])*5;																//当前速度 乘以0.5   eg:50=25km/h  文档协议单位为0.1,故乘以5
	CanEnvioloData.flGet_Gear_Battery_Voltage = (u8Data[3])*0.25;														//当前电压值 乘以0.25  eg:102=25.5km/h
	CanEnvioloData.u16Get_Gear_Wheel_RPM = (uint16_t)(u8Data[4]<<8)|(uint16_t)(u8Data[5]);	//车轮转速  需要设置车子周长
	CanEnvioloData.u16CalibrationVal = (uint16_t)(u8Data[6]<<8)|(uint16_t)(u8Data[7]);			//获取是否需要校准
	
	
	//以下为校准信息的判断
	if((CanEnvioloData.u16CalibrationVal&0X1000) == 0X1000)    //bit51:Calibration Needed 
	{
		Calib->u8CalibrationCmdToOBC = DIS_PEDAL;//需要校准
	}
	else if((CanEnvioloData.u16CalibrationVal&0X2000) == 0X2000)//校准完成  //bit50:Calibration Success
	{
		Calib->u8CalibrationCmdToOBC = DIS_SUCCESS;//校准成功并完成
		Calib->u8CalibrationCmdToEnviolo = 0;
		Calib->u8CalibrationCmdToOBC = 0;
	}
	if(MC_SpeedSensorData.IsStopFlag == TRUE)
	{
		MC_SpeedSensorData.IsStopFlag = FALSE;
	}
	
	CanEnvioloData.u16Timeout_Communication = 0;
}

/******************************************************************************
* @Function:  enviolo通信检测,超时则报错
* @Discrible: 
* @Param:  		
* @Return: 		void
* @Others:    
******************************************************************************
* @Recode    date       version	        author             modify 
*          ------------------------------------------------------------------
*          20211203      V1.0.0          leechard          create
* 
*******************************************************************************/
void MC_Fault_Enviolo_SpeedSensor_Process(MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
	if(p_MC_ErrorCode->ERROR_Bit.Fault_SpeedSensor == 0)
	{
		if(CanEnvioloData.u16Timeout_Communication >= COMMUNICATION_TIMEOUT)
		{
			p_MC_ErrorCode->ERROR_Bit.Fault_SpeedSensor = 1;
			//记录故障日志
			MC_ErrorLogSaveInfo.NotesInfo1 = 1;
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.SPS_FaultCnt++;
			RunLogSaveIndex = 1;
		}
	}
}