motor_ctl-3/User/Src/tasks.c

#include "tasks.h"
#include "iwdg.h"
#include "gpio.h"
#include "can_process.h"
#include "uart_process.h"
#include "var.h"
#include "adc.h"
#include "hall_sensor.h"
#include "torque_sensor.h"
#include "gas_sensor.h"
#include "math_tools.h"
#include "remain_distance.h"
#include "protect_check.h"
#include "fault_check.h"

/************************全局变量************************/
TrueOrFalse_Flag_Struct_t IsInitFinish_Flag = FALSE;


/**************************局部函数定义*********************/


/**************************全局函数定义*********************/
//1ms任务处理函数
void HAL_SYSTICK_Callback(void)
{
	static uint16_t TimeCnt_10ms = 0;
	static uint16_t TimeCnt_100ms = 0;
	static uint16_t TimeCnt_1000ms = 0;
	static uint32_t FaultDelayTime = 0;
	
	if(IsInitFinish_Flag == FALSE)
	{
	  return;
	}
	
	//踏频传感器采集及计算
	CadenceSensor_Process(&MC_CadenceResult, MC_ConfigParam.StopTime);
	
	//根据电机工作模式(MC_WorkMode)、力矩传感器和指拨AD值(ADC_SensorData)、控制档位(MC_ControlCode.GearSt)计算控制FOC输入值(MC_CalParam)
	if(((uint8_t)(MC_WorkMode ^ MC_WorkMode_Back) != (uint8_t)~0) || 
		 ((uint8_t)(MC_ControlCode.GearSt ^ MC_ControlCode_Back.GearSt) != (uint8_t)~0) ||
	   ((uint8_t)(MC_ControlCode.LightSwitch ^ MC_ControlCode_Back.LightSwitch) != (uint8_t)~0))
  {
    if((HAL_GetTick() - FaultDelayTime) > 200)
		{
		  MC_ErrorCode.ERROR_Bit.Fault_MCU = 1;
		}
  }
	else
	{
	  FaultDelayTime = HAL_GetTick();
	}
	MC_CalParam_Cal(MC_WorkMode, ADC_SensorData, MC_ControlCode.GearSt, &MC_CalParam);
	
	//更新控制参数备份值
	Update_MC_CalParam_Back();
	
	//更新力矩传感器零点值
	TorqueOffSetData_Present_Update(&TorqueOffSetData.PresentData, ADC1_Result[ADC1_RANK_TORQUE_SENSOR], MC_TorqueCorrectParam.K, &MC_ErrorCode);
		
	//更新指拨零点值
	GasSensorOffSetData_Update(&GasSensor_OffSet, ADC1_Result[ADC1_RANK_GAS], &MC_ErrorCode);
	
	//10ms任务
	TimeCnt_10ms++;
	if(TimeCnt_10ms >= 10)
	{
	  TimeCnt_10ms = 0;

	}
	
	//100ms任务
	TimeCnt_100ms++;
	if(TimeCnt_100ms >= 100)
	{
	  TimeCnt_100ms = 0;
	  //踏频计算滑动均值滤波
	  MC_RunInfo.Cadence = MovingAverageFilter(MC_CadenceResult.Cadence_Data, MC_Cadence_Array, sizeof(MC_Cadence_Array) / 2);
    //车速计算滑动均值滤波
	  MC_RunInfo.BikeSpeed = MovingAverageFilter(MC_SpeedSensorData.Speed_Data, MC_Speed_Array, sizeof(MC_Speed_Array) / 2) / 10;//输入单位0.01km/h，输出0.1km/h
	}
	
	//1000ms任务
	TimeCnt_1000ms++;
	if(TimeCnt_1000ms >= 1000)
	{
	  TimeCnt_1000ms = 0;
		
	}
}

//CAN数据解析函数
void CanRx_Process(void)
{
  CAN_RxData_Process(&CAN_RxBuf_Struct_PBU, 500);
	CAN_RxData_Process(&CAN_RxBuf_Struct_BMS, 500);
	CAN_RxData_Process(&CAN_RxBuf_Struct_HMI, 500);
	CAN_RxData_Process(&CAN_RxBuf_Struct_CDL, 500);
}

//UART数据解析函数
void UartRx_Process(void)
{
  Uart_RxData_Process(&UART_RxBuff_Struct3, 500);
}

//MC运行信息更新
void MC_RunInfo_Update(void)
{
  static uint32_t PeriodTimeCnt = 0;
	 
	if((HAL_GetTick() - PeriodTimeCnt) >= 200)
	{
	    PeriodTimeCnt = HAL_GetTick();
		//计算电功率
		MC_RunInfo.Power = (uint16_t)((uint32_t)(MC_RunInfo.BusCurrent * MC_RunInfo.BusVoltage) / 1000000) / 2;
		MC_RunInfo.Power = (MC_RunInfo.Power < 20) ? 0 : MC_RunInfo.Power;
		//更新踏频方向
		MC_RunInfo.CadenceDir = MC_CadenceResult.Cadence_Dir;
		//计算力矩值
		MC_RunInfo.Torque = ADC_SensorData.TorqueSensor / 28;
		//当前助力档位
		MC_RunInfo.GearSt = MC_ControlCode.GearSt;
		//当前灯开关
		MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
		//剩余电量
		MC_RunInfo.SOC = (DeviceOnLine_Status.ERROR_Bit.BMS_OffLine == 1) ? Battery_SocCal(MC_RunInfo.BusVoltage, MC_RunInfo.BusCurrent)
	                                                                    : BMS_RunInfo.SOC;
		//续航里程
		MC_RunInfo.RemainDistance = RemainDis.remainDistance;
		//总里程
		MC_RunInfo.ODO_Km = MC_RunLog.ODO_Km + MC_SpeedSensorData.WheelTurnCount * MC_ConfigParam.WheelSize / 100000;
		//平均功耗
		MC_RunInfo.PowerPerKm = RemainDis.Power_per_km_result;
	}
}

//MC故障码发送
void MC_SendErrorCode_Process(MC_ErrorCode_Struct_t ErrorCode)
{
  static uint32_t PeriodTimeCnt = 0;
	
	if(ErrorCode.Code != 0x00000000)
	{
	  if((HAL_GetTick() - PeriodTimeCnt) > 500)
		{
		  PeriodTimeCnt = HAL_GetTick();
			SendData(ID_MC_BC, MODE_REPORT, 0x1104, (uint8_t*)&ErrorCode.Code);
		}
	}
	else
	{
	  PeriodTimeCnt = HAL_GetTick();
	}
}

//MC主动发送运行信息
void MC_SendRunInfo_Process(MC_WorkMode_Struct_t WorkMode)
{
  static uint32_t PeriodTimeCnt = 0;
	
	if(WorkMode == MC_WorkMode_Config)
	{
	  if((HAL_GetTick() - PeriodTimeCnt) >= 200)
		{
		  SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t*)&MC_RunInfo.BikeSpeed);
			PeriodTimeCnt = HAL_GetTick();
		}
	}
	else
	{
	  PeriodTimeCnt = HAL_GetTick();
	}
}

//发给TE的传感器数据处理
void MC_TE_SensorData_Process(uint16_t Speed, MC_TE_SensorData_Struct_t* p_MC_TE_SensorData)
{
  static uint32_t PeriodTimeCnt = 0;
	static GPIO_PinState Cadence_Hall_1;
	static GPIO_PinState Cadence_Hall_2;
	static GPIO_PinState Motor_Hall_A;
	static GPIO_PinState Motor_Hall_B;
	static GPIO_PinState Break;
	static GPIO_PinState SpeedSensor;
	static TrueOrFalse_Flag_Struct_t IsFirstEnterFalg = TRUE;
	GPIO_PinState GPIO_PinState_Temp;
	
	//初始化变量
	if(IsFirstEnterFalg == TRUE)
	{
	  Cadence_Hall_1 = HAL_GPIO_ReadPin(CADENCE_1_GPIO_Port, CADENCE_1_Pin);
		Cadence_Hall_2 = HAL_GPIO_ReadPin(CADENCE_2_GPIO_Port, CADENCE_2_Pin);
		Motor_Hall_A = HAL_GPIO_ReadPin(HALL_A_GPIO_Port, HALL_A_Pin);
		Motor_Hall_B = HAL_GPIO_ReadPin(HALL_B_GPIO_Port, HALL_B_Pin);
		Break = HAL_GPIO_ReadPin(BREAK_IN_GPIO_Port, BREAK_IN_Pin);
		SpeedSensor = HAL_GPIO_ReadPin(SPEED_SENSOR_GPIO_Port, SPEED_SENSOR_Pin);
		p_MC_TE_SensorData->CadenceHall_1_Cnt = 0;
		p_MC_TE_SensorData->CadenceHall_2_Cnt = 0;
		p_MC_TE_SensorData->MotorHall_A_Cnt = 0;
		p_MC_TE_SensorData->MotorHall_B_Cnt = 0;
		p_MC_TE_SensorData->BreakTrgiCnt = 0;
		p_MC_TE_SensorData->SpeedSensorTrigCnt = 0;
		IsFirstEnterFalg = FALSE;
	}
	
	//ADC数据更新采集
	p_MC_TE_SensorData->AD_BusCurrent = ADC1_Result_Filt[ADC1_RANK_CURRENT];
	p_MC_TE_SensorData->AD_RoilTemp = ADC1_Result_Filt[ADC1_RANK_NTC_ROIL];
	p_MC_TE_SensorData->AD_TE_Voltage = ADC1_Result_Filt[ADC1_RANK_3V3_TE];
	p_MC_TE_SensorData->AD_Torque = ADC1_Result_Filt[ADC1_RANK_TORQUE_SENSOR];
	
	//踏频霍尔1
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(CADENCE_1_GPIO_Port, CADENCE_1_Pin);
	if(Cadence_Hall_1 != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->CadenceHall_1_Cnt++;
	}
	Cadence_Hall_1 = GPIO_PinState_Temp;
	//踏频霍尔2
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(CADENCE_2_GPIO_Port, CADENCE_2_Pin);
	if(Cadence_Hall_2 != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->CadenceHall_2_Cnt++;
	}
	Cadence_Hall_2 = GPIO_PinState_Temp;
	//马达霍尔A
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(HALL_A_GPIO_Port, HALL_A_Pin);
	if(Motor_Hall_A != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->MotorHall_A_Cnt++;
	}
	Motor_Hall_A = GPIO_PinState_Temp;
	//马达霍尔B
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(HALL_B_GPIO_Port, HALL_B_Pin);
	if(Motor_Hall_B != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->MotorHall_B_Cnt++;
	}
	Motor_Hall_B = GPIO_PinState_Temp;
	//刹车
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(BREAK_IN_GPIO_Port, BREAK_IN_Pin);
	if(Break != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->BreakTrgiCnt++;
	}
	Break = GPIO_PinState_Temp;
	//速度传感器
	GPIO_PinState_Temp = HAL_GPIO_ReadPin(SPEED_SENSOR_GPIO_Port, SPEED_SENSOR_Pin);
	if(SpeedSensor != GPIO_PinState_Temp)
	{
	  p_MC_TE_SensorData->SpeedSensorTrigCnt++;
	}
	SpeedSensor = GPIO_PinState_Temp;
	//电机转速值
	p_MC_TE_SensorData->MotorSpeed = Speed;
	
	//数据发送
	if((HAL_GetTick() - PeriodTimeCnt) >= 500)
	{
	  SendCmdData(&UART_TxBuff_Struct3, MODE_REPORT, 0x1014, (uint8_t*)&p_MC_TE_SensorData->AD_Torque);
		IsComOK_TE = FALSE;
		PeriodTimeCnt = HAL_GetTick();
	}
}

//根据踏频和母线电流计算限流系数
uint8_t MC_CadenceLimit_Cal(uint8_t Cadence, uint16_t Current, uint8_t T_Roil)
{
  static uint32_t PeriodTimeCnt = 0;
	static uint32_t IdcFiltSum = 0;
	static uint8_t IdcFiltCnt = 0;  //滤波输入值计算
	static uint16_t IdcFilt = 0;    //滤波结果
	static uint16_t Limit_Cnt = 0;  //限流计时值
	static uint16_t OK_Cnt = 0;     //限流恢复计时值
	static FlagStatus LimitFlag = RESET;
	static uint8_t Result = 100;
	
	if((HAL_GetTick() - PeriodTimeCnt) >= 100)
	{
	  PeriodTimeCnt = HAL_GetTick();
		
		//母线电流滤波
		IdcFiltSum += Current;
		IdcFiltCnt++;
		if(IdcFiltCnt >= 8)
		{
			IdcFilt = IdcFiltSum >> 3;
			IdcFiltCnt = 0;
			IdcFiltSum = 0;
		}
		
		//限流保护计时
		if((Cadence < 70) && (IdcFilt > 6000))
		{
		  Limit_Cnt++;
		}
		else	
		{
		  Limit_Cnt = 0;
		}
		
		//限流恢复计时
		if(((Cadence > 70) || (IdcFilt < 5000)) && (T_Roil < 150))
		{
		  OK_Cnt++;
		}
		else
		{
		  OK_Cnt = 0;
		}
		
		//限流判断
		if(Limit_Cnt > 300)
		{
		  Limit_Cnt = 0;
			LimitFlag = SET;
		}
		
		//限流恢复判断
		if(OK_Cnt > 100)
		{
		  OK_Cnt = 0;
			LimitFlag = RESET;
		}
		
		//限流系数计算
		if(LimitFlag == SET)
		{
		  if(Cadence < 70)
			{
			  Result = 30 + Cadence;
				Result = (Result > 100) ? 100 : Result;
			}
			else
			{
			  Result = 100;
			}
		}
		else
		{
		  Result = 100;
		}
	}
	
	return Result;
}

//接收到关机指令处理
void PowerOff_Process(void)
{
  static uint32_t PeriodTimeCnt = 0;
	uint8_t Count = 0;
	
	while(Count < 5)
	{
	  //发送关机就绪指令
		if((HAL_GetTick() - PeriodTimeCnt) >= 200)
		{
		  Count++;
			SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t*)"READY");
			PeriodTimeCnt = HAL_GetTick();
		}
		
		//看门狗清零
		#if DEBUG
		HAL_IWDG_Refresh(&hiwdg);
		#endif		
	}
}


//CAN设备通信状态检测处理
void MC_CanRxCheck_Process(MC_GearSt_Struct_t* GearSt)
{
  if(MC_WorkMode == MC_WorkMode_Run)
	{
		//PBU通信状态检测
		if(IsComOK_PBU.IsOK_Flag == TRUE)
		{
			if((HAL_GetTick() - IsComOK_PBU.OK_TrigTime) > 1000)
			{  
				IsComOK_PBU.IsOK_Flag = FALSE;
				*GearSt = MC_GearSt_OFF;
				Update_MC_ControlCode_Back();
			}
		}	
	}
}
/**************************全局函数定义结束*****************/