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 ENVIOLO_CONFIG_ID    0x7AC
#define ENVIOLO_CONTROL_ID   0x7AD

/*********************************Enviolo自动变速器通信协议内容******************************/
//变速器运行信息
typedef struct GEAR_INFO1
{
	uint8_t Pedal_Rpm;                      //踏频 1bit = 1rpm
	uint8_t Actual_Ratio;                   //变速比 1bit = 0.1ratio
	uint8_t Bike_Speed;                     //车速 1bit = 0.5km/h
	uint8_t Battery_Vol;                    //电池电压 1bit = 0.25V
	uint16_t Wheel_Rpm;                     //车轮转速 1bit = 1rpm
	union STATUS_FLAG                       //状态标志
	{
		struct
		{
			uint8_t RS1                :1;
			uint8_t RS2                :1;
			uint8_t RS3                :1;
			uint8_t ShiftActiveFlag    :1;  //档位切换
			uint8_t CaliNeedFlag       :1;  //需要校准
			uint8_t CaliSuccessFlag    :1;  //校准成功
			uint8_t PowerOnFlag        :1;  //开机
			uint8_t InitialFlag        :1;  //初始化完成			
		}StatusFlagBit;
		uint8_t Flag;
	}StatusFlag;
	union ERROR_FLAG                        //错误标志
	{
	    struct
		{
			uint8_t OverCurrentFlag    :1;  //过流
			uint8_t CaliFailFlag       :1;  //校准失败
			uint8_t RS1                :1;
			uint8_t StallFlag          :1;  //工作异常
			uint8_t RS2                :1;
			uint8_t RS3                :1;
			uint8_t RS4                :1;
			uint8_t RS5                :1;
		}ErrorFlagBit;
		uint8_t Flag;
	}ErrorFlag;
	uint8_t RS1;
}EnvioloGearInfo1_Struct_t;

//变速器运行参数
typedef struct GEAR_INFO2
{
	uint8_t PCB_Version_Major;
	uint8_t PCB_Version_Mino;
	uint8_t PCB_Version_BugFix;
	uint8_t RS1;
	uint8_t Soft_Version;
	uint8_t RS2;
	uint8_t RS3;
	uint8_t RS4;
}EnvioloGearInfo2_Struct_t;

//变速器配置参数
typedef struct CONFIG_PARAMS
{
    uint8_t FrontChain;                      //前牙盘 1bit = 1tooth
	uint8_t RearTeeth;                       //后牙盘 1bit = 1tooth
	uint8_t CadenceMin;                      //自动模式最低踏频 1bit = 1rpm
	uint8_t CadenceMax;                      //自动模式最高踏频 1bit = 1rpm
	uint8_t RS1;
	uint8_t WheelSize;                       //轮胎周长 1bit = 1cm, offset = 100cm
	uint8_t SleepTime;                       //自动关机时间 1bit = 1min
	uint8_t RS2;
}EnvioloConfigParams_Struct_t;

//变速器模式枚举
typedef enum GEAR_MODE
{
	ENVIOLO_INACTIVE = 0x00,
	ENVIOLO_ACTIVE = 0x01,
	ENVIOLO_MANUAL_MODE = 0x03,
	ENVIOLO_AUTO_MODE = 0x04,
	ENVIOLO_CAL_MODE = 0x08
}GearMode_Struct_t;

//变速器控制参数
typedef struct CONTROL_PARAMS
{
	GearMode_Struct_t GearMode;
	uint16_t RatioMode_Data;
	uint16_t CadenceMode_Data;
	uint8_t RS1;
	uint8_t RS2;
	uint8_t RS3;
}EnvioloControlParams_Struct_t;

/**********************************End******************************/

//变速器CAN报文数据
typedef struct GEARBOX_CAN_DATA
{
	TrueOrFalse_Flag_Struct_t RefreshFlag;
	uint8_t RS;
	uint16_t ID;
	uint8_t Data[8];
}GearBox_CanData_Struct_t;

/******************************仪表与变速器通信协议内容*******************************/
//发送仪表运行信息变速器运行状态
typedef enum GEAR_BOX_STATUS
{
    GEAR_STATUS_INITIAL = (uint8_t)(1 << 5),    //初始化模式
	GEAR_STATUS_MANUAL = (uint8_t)(2 << 5),     //手动模式
	GEAR_STATUS_AUTO = (uint8_t)(4 << 5),       //自动模式
    GEAR_STATUS_OFFLINE = (uint8_t)0xF0         //离线模式
}GearBox_Status_Struct_t;

//仪表发送变速器工作模式
typedef enum GEAR_BOX_MODE
{
    GEAR_MODE_NULL = (uint8_t)0x00,    //初始化模式位无效值
	GEAR_MODE_MANUAL = (uint8_t)0x03,  //自动模式
	GEAR_MODE_AUTO = (uint8_t)0x04,    //手动模式
    GEAR_MODE_CAL = (uint8_t)0x08      //校准模式
}GearBox_Mode_Struct_t;

//发送仪表校准状态
typedef enum GEAR_BOX_CAL_FLAG
{
	GEAR_CAL_SUCCESS = 0X00,           //无需校准或校准成功
	GEAR_CAL_NEED = 0x01,              //需要校准
	GEAR_CAL_PEDAL = 0x02              //提示踩踏
}GearBox_CalFlag_Struct_t;

//仪表设置变速器模式 0x4008
typedef struct OBC_SET_MODE
{
  GearBox_Mode_Struct_t Mode;      //变速器工作模式，手动、自动、校准
	uint8_t Value;                     //手动模式变速比或自动模式目标踏频
	uint8_t RS[6];
}GearBox_OBC_SetMode_Struct_t;

//仪表配置变速器参数 0x4208
typedef struct OBC_SET_PARAMS
{
    uint8_t GearNum;                 //手动模式档位数量
 	uint8_t CadenceMin;                //自动模式最低踏频
	uint8_t CadenceMax;                //自动模式最高踏频
	uint8_t RS[5];
}GearBox_OBC_SetParams_Struct_t;

/*************************************End*************************************/

//全局变量定义
extern EnvioloGearInfo1_Struct_t EnvioloGearInfo1;            //Enviolo变速器运行信息，踏频、传动比、车速、电压、车轮转速、状态、错误码等
extern EnvioloGearInfo2_Struct_t EnvioloGearInfo2;            //Enviolo变速器版本信息
extern EnvioloConfigParams_Struct_t EnvioloConfigParams;      //Enviolo变速器配置参数，前牙盘、后牙盘、最低踏频、最高踏频、周长、自动关机时间等
extern EnvioloControlParams_Struct_t EnvioloControlParams;    //Enviolo变速器控制参数，运行模式（手动、自动、校准）、目标传动比或目标踏频

extern GearBox_CanData_Struct_t GearBox_CanData;              //变速器CAN报文
extern ComOK_Check_Struct_t GearBox_OnlineFlag;               //变速器通信状态检测

extern GearBox_OBC_SetMode_Struct_t GearBox_OBC_SetMode;      //仪表设置变速器配置参数，手动或自动或校准、手动变速比或自动踏频
extern GearBox_OBC_SetParams_Struct_t GearBox_OBC_SetParams;  //仪表设置变速器工作参数，手动档位数量、自动最低踏频、自动最高踏频
extern GearBox_Status_Struct_t GearBox_Status;                //变速器当前状态，初始化、手动、自动、离线
extern GearBox_CalFlag_Struct_t GearBox_CalFlag;              //变速器校准标志，无需校准或校准成功、需要校准、提示踩踏
extern uint16_t GearBox_RatioTable[24];                       //变速器变速比与档位对照表

//全局函数定义
extern void GearBox_CanProcess(GearBox_CanData_Struct_t* CanData);
extern void GearBox_Send_OBC_Params(GearBox_CalFlag_Struct_t CalFlag, GearBox_OBC_SetParams_Struct_t* p_GearBox_OBC_SetParams, uint8_t* p_EnvioloSoftVer);
extern void GearBox_Init(void);//根据Enviolo的通信状态确定变速器是否在线，初始化变速器工作参数
extern void GearBox_Loop(void);//变速器数据处理主函数

#endif