motor_ctl-3/User/Inc/var.h

#ifndef __VAR_H
#define __VAR_H

#include "stm32f1xx_hal.h"
#include "cadence_sensor.h"
#include "stdlib.h"
#include "string.h"

/******************************类型定义Begin*************************/
typedef enum
{
  MC_LightSwitch_OFF = 0xF0,
	MC_LightSwitch_ON = 0xF1
}MC_LightSwitch_Struct_t;

//电机运行信息，占用空间32bytes
typedef struct
{
  uint16_t BikeSpeed;         								 //车速 0.1km/h，地址偏移0
	int16_t MotorSpeed;                          //输出转速 1rpm，地址偏移2
	uint16_t Power;                              //电功率 1W，地址偏移4
	uint16_t BusVoltage;                         //母线电压 1mV，地址偏移6
	uint16_t BusCurrent;                         //母线电流 1mA，地址偏移8
	uint8_t Cadence;                             //踏频 1rpm，地址偏移10
	uint8_t Torque;                              //踩踏力矩 1Nm，地址偏移11
	MC_CadenceDir_Struct_t CadenceDir;           //踩踏方向 0-正,1-反,2-停止，地址偏移12
	uint8_t GearSt;                              //助力档位，地址偏移13
	MC_LightSwitch_Struct_t LightSwitch;         //灯开关 0xF0-关，0xF1-开，地址偏移14
	uint8_t SOC;                                 //剩余电量 1%，地址偏移15
	uint16_t RemainDistance;                     //续航里程 1km，地址偏移16
	uint16_t ODO_Km;                             //总里程 1km，地址偏移18
	uint8_t PowerPerKm;                          //平均功耗 0.01Ah/km ，地址偏移20
	uint8_t T_PCB;                               //PCB温度 +40℃，地址偏移21
	uint8_t T_Coil;                              //绕组温度 +40℃，地址偏移22
	uint8_t T_MCU;                               //MCU温度 +40℃，地址偏移23
	uint16_t Ride_Km;                            //开机后骑行里程 0.1km, 地址偏移24
	uint16_t Ride_Time;                          //开机后骑行时间 1s，地址偏移26
	uint8_t RS2[4];                              //预留 4bytes
}MC_RunInfo_Struct_t;

//电机故障码，占用空间4bytes
typedef union MC_ERRORCODE
{
  struct
	{
		uint32_t Protect_OverCurrent      :1;//过流保护
		uint32_t Protect_UnderVoltage     :1;//低压保护
		uint32_t Protect_OverVoltage      :1;//过压保护
		uint32_t Protect_LockRotor        :1;//堵转保护
		uint32_t Protect_OverTemp         :1;//过热保护
		uint32_t Fault_SpeedSensor        :1;//速度传感器故障
		uint32_t Fault_TorqueSensor       :1;//力矩传感器故障
		uint32_t Fault_HallSensor         :1;//霍尔传感器故障
		uint32_t Fault_PhaseLine          :1;//相线故障
		uint32_t Fault_NtcSensor          :1;//温度传感器故障
		uint32_t Fault_BMS_Check          :1;//BMS校验失败
		uint32_t Fault_HMI_Check          :1;//HMI校验失败
		uint32_t Fault_PBU_Check          :1;//PBU校验失败
		uint32_t Fault_MCU                :1;//MCU故障
		uint32_t Fault_CadenceSensor      :1;//踏频传感器故障
		uint32_t Fault_GasSensor          :1;//指拨故障
		uint32_t Fault_MOS                :1;//MOS短路
		uint32_t Protect_VoltageChange    :1;//电压波动异常
		uint32_t Fault_Circuit            :1;//电路故障
		uint32_t Fault_TE_MCU             :1;//TE MCU故障
		uint32_t Fault_TE_Circuit         :1;//TE 电路故障
		uint32_t Fault_MC_Check           :1;//MC校验失败
		uint32_t RS1 :1;
		uint32_t RS2 :1;
		uint32_t RS3 :1;
		uint32_t RS4 :1;
		uint32_t RS5 :1;
		uint32_t RS6 :1;
		uint32_t RS7 :1;
		uint32_t RS8 :1;
		uint32_t RS9 :1;
		uint32_t RS10 :1;
	}ERROR_Bit;
  uint32_t Code;	
}MC_ErrorCode_Struct_t;

//在线检测结果，占用空间1byte
typedef union ONLINE_STATUS
{
struct
	{
		uint8_t BMS_OffLine      :1;//BMS离线
		uint8_t PBU_OffLine      :1;//PBU离线
		uint8_t HMI_OffLine      :1;//HMI离线
		uint8_t RS1              :1;
		uint8_t RS2              :1;
		uint8_t RS3              :1;
		uint8_t RS4              :1;
		uint8_t RS5              :1;
	}Status_Bit;
  uint8_t Status;	
}OnLine_Status_Struct_t;

//授权校验，占用空间24bytes
typedef struct
{
  uint8_t MAC_ID[12];        //物理ID
	uint8_t CheckCode[12];     //校验码
}Device_CheckInfo_Struct_t;

//BMS设计信息，占用空间16bytes
typedef struct
{
	uint16_t Capacity;   //电池设计容量，地址偏移0
	uint8_t Voltage;     //电池设计电压，地址偏移2
	uint8_t CellMode[8]; //电芯型号，地址偏移3
	uint8_t RS[5];
}BMS_DesignInfo_Struct_t;

typedef enum STARMODE
{
  NC = 0U,
	MC_StarMode_SOFT,     //1
	MC_StarMode_NORM,     //2
	MC_StarMode_DYNAMIC,  //3
}MC_StarMode_Struct_t;

typedef struct
{
  uint8_t Assist_K_GAIN;  //0.01 50-150
	uint8_t StarModel_GAIN; //0.01 50-150
}UserAdjParam_Struct_t;

typedef enum MC_SUPPORTFLAG
{
  MC_SUPPORT_ENABLE = (uint8_t)0xAA,  //支持
	MC_SUPPORT_DISABLE = (uint8_t)0x55  //不支持
}MC_SupportFlag_Struct_t;

//用户配置参数1，占用空间32bytes
typedef struct
{
	MC_SupportFlag_Struct_t GasCtrlMode_Flag;    //指拨模式支持标志，地址偏移0
	MC_StarMode_Struct_t StarModel; //启动模式，地址偏移1
	uint16_t StopTime;              //停机时间 ms，地址偏移2
	uint8_t SpeedLimit;             //限速 km/h，地址偏移4
	uint8_t Deceleration;           //下降速度，地址偏移5
	uint8_t TeethNum_F;             //前齿数 T，地址偏移6
	uint8_t TeethNum_B;             //后齿数 T，地址偏移7
	uint8_t CurrentLimit;           //限流 A，地址偏移8
	uint8_t TempTH_Alarm;           //高温预警值 +40℃，地址偏移9
	uint8_t TempTH_Protect;         //高温保护值 +40℃，地址偏移10
	MC_SupportFlag_Struct_t NoPBU_Flag; //0x55-不支持，0x-AA支持，地址偏移11
  uint8_t WheelSize;              //轮胎周长 cm，地址偏移12
  uint8_t SerialNum;              //系列号，地址偏移13
  UserAdjParam_Struct_t UserAdjParam_ECO;      //用户微调助力比增益和加速度增益，地址偏移14
  UserAdjParam_Struct_t UserAdjParam_NORM;     //用户微调助力比增益和加速度增益，地址偏移16
	UserAdjParam_Struct_t UserAdjParam_SPORT;    //用户微调助力比增益和加速度增益，地址偏移18
	UserAdjParam_Struct_t UserAdjParam_TURBO;    //用户微调助力比增益和加速度增益，地址偏移20
	UserAdjParam_Struct_t UserAdjParam_SMART;    //用户微调助力比增益和加速度增益，地址偏移22
  uint8_t SpeedSensorPoles;                    //速度传感器极数，地址偏移24
	uint8_t CadenceStarNum;                      //踏频启动信号个数，地址偏移25
	MC_SupportFlag_Struct_t No_SpeedSensor_Flag; //0x55-不支持，0x-AA支持，地址偏移26
	int8_t WheelSizeAdj;                         //周长微调值，地址偏移27
	uint16_t UV_Protect_TH;                      //低压保护值，地址偏移28
	uint8_t WalkMode_SpeedLimit;                 //推行模式限速，地址偏移30
	uint8_t WalkMode_MotorSpeedSet;              //推行模式电机转速设置，地址偏移31
}MC_ConfigParam1_Struct_t;

//用户配置参数2，占用空间32bytes
typedef struct
{
  int16_t ZeroAngle_Pitch;         //俯仰角零度偏移，地址偏移0
	int16_t ZeroAngle_Roll;          //横滚角零度偏移，地址偏移2
	MC_SupportFlag_Struct_t UseAttitudeAngle_Flag; //支持姿态角度传感器标志，地址偏移4
	uint8_t RS2[27];//地址偏移5
}MC_ConfigParam2_Struct_t;

//姿态传感器数值
typedef struct
{
  int16_t Angle_Pitch_Absolute;    //俯仰角绝对角度
	int16_t Angle_Roll_Absolute;     //横滚角绝对角度
	int16_t Angle_Pitch_Relative;    //俯仰角相对角度
	int16_t Angle_Roll_Relative;     //横滚角相对角度
}MC_AttitudeAngle_Struct_t;

//力矩传感器校正信息
typedef struct
{
  uint16_t StarData;//启动值，地址偏移0
	uint8_t  K;       //校正系数，地址偏移2
	uint8_t  Rs;      //预留1byte，地址偏移3
}MC_TorqueCorrectParam_Struct_t;

//马达配置参数，占用空间16bytes
typedef struct
{
  uint16_t Rate_Power;   //W，地址偏移0
	uint16_t Rate_Speed;   //rpm，地址偏移2
	uint16_t Coil_R;       //mohm，地址偏移4
	uint16_t Coil_Lq;      //mH，地址偏移6
	uint16_t Coil_Ld;      //mH，地址偏移8
	uint16_t Back_EMF;     //mV，地址偏移10
	uint8_t Rate_Voltage;  //V，地址偏移12
	uint8_t RS[3];
}MC_MotorParam_Struct_t;

//MC运行历史，占用空间48bytes
typedef struct
{
  uint32_t PowerOnCnt;             //开机次数，地址偏移0
	uint32_t RunTime;                //运行总时间 min，地址偏移4
	uint16_t OC_ProtectCnt;          //过流保次数 ，地址偏移8
	uint16_t UV_ProtectCnt;          //低压保护次数，地址偏移10
	uint16_t OV_ProtectCnt;          //高压保护次数，地址偏移12
	uint16_t LockRotor_ProtectCnt;   //堵转保护次数 ，地址偏移14
	uint16_t OT_ProtectCnt;          //温度保护次数，地址偏移16
	uint16_t SPS_FaultCnt;           //速度传感器错误次数，地址偏移18
	uint16_t TQS_FaultCnt;           //力矩传感器错误次数 ，地址偏移20
	uint16_t Hall_FaultCnt;          //霍尔传感器错误次数 ，地址偏移22
	uint16_t PhaseLine_FaultCnt;     //马达相线错误次数，地址偏移24
	uint16_t NTC_FaultCnt;           //NTC错误次数，地址偏移26
	uint16_t BMS_Check_FaultCnt;     //BMS校验错误次数，地址偏移28
	uint16_t HMI_Check_FaultCnt;     //HMI校验错误次数，地址偏移30
	uint16_t PBU_Check_FaultCnt;     //PBU校验错误次数 ，地址偏移32
	uint8_t T_PCB_Max;               //PCB历史最高温，地址偏移34
	uint8_t T_PCB_Min;               //PCB历史最低温，地址偏移35
	uint8_t RS1[4];                  //预留，地址偏移36
	uint8_t T_Coil_Max;              //绕组历史最高温，地址偏移40
	uint8_t T_Coil_Min;	             //绕组历史最低温，地址偏移41
	uint8_t T_MCU_Max;               //MCU历史最高温，地址偏移42
	uint8_t T_MCU_Min;               //MCU历史最低温，地址偏移43
	uint8_t RS2[4];
}MC_RunLog1_Struct_t;

//MC运行历史，占用空间24bytes
typedef struct
{
  uint16_t MCU_FaultCnt;
	uint16_t CadenceSensor_FaultCnt;
	uint16_t GasSensor_FaultCnt;
	uint16_t MOS_ShortCircuit_FaultCnt;
	uint16_t VoltageChange_FaultCnt;
	uint16_t Circuit_FaultCnt;
	uint16_t TE_MCU_FaultCnt;
	uint16_t TE_Circuit_FaultCnt;
}MC_RunLog2_Struct_t;

//MC骑行历史信息，占用空间16bytes
typedef struct
{
  uint32_t ODO_Km;     //ODO里程，地址偏移0
	uint32_t ODO_Time;   //ODO时间，地址偏移4
	uint32_t TRIP_Km;    //TRIP里程，地址偏移8
	uint32_t TRIP_Time;  //TRIP时间，地址偏移12
}MC_RideLog_Struct_t;

//MC版本信息，占用空间64bytes
typedef struct
{
  char Mode[16];             //型号 ASCII，0x2E结束，无效填充0x20
	char SN_Num[16];           //序列号 ASCII，0x2E结束，无效填充0x20
	char HW_Version[16];       //硬件版本 ASCII，0x2E结束，无效填充0x20
	char FW_Version[16];       //软件版本 ASCII，0x2E结束，无效填充0x20
}MC_VerInfo_Struct_t;

//MC生产信息，占用空间32bytes
typedef struct
{
  char Manufacturer[8];       //生产厂商 ASCII，0x2E结束，无效填充0x20
	char MacAddr[8];            //生产地 ASCII，0x2E结束，无效填充0x20
	char MacDate[8];            //生产日期 ASCII，0x2E结束，无效填充0x20
	char RS[8];
}MC_MacInfo_Struct_t;

//MC掉电临时保存数据，占用40bytes
typedef struct
{
  uint32_t ODO_Km;
	uint32_t ODO_Time;
	uint32_t Trip_Km;
	uint32_t Trip_Time;
	uint32_t Run_Time;
	uint32_t RS[5];
}MC_PowerOffBkp_Struct_t;

//电池运行状态，占用空间1bytes
typedef union BMS_STATUS
{
  struct
	{
		uint8_t Charge      :1;//充电
		uint8_t Discharge   :1;//放电
		uint8_t RS1 :1;
		uint8_t RS2 :1;
		uint8_t RS3 :1;
		uint8_t RS4 :1;
		uint8_t RS5 :1;
		uint8_t RS6 :1;
	}Status_Bit;
  uint8_t Status;	
}BMS_STATUS_Struct_t;

//电池运行信息，占用空间16bytes
typedef struct
{
  uint16_t Voltage;              //电压 1mV，地址偏移0
	uint16_t Current;              //电流 1mA，地址偏移2
	uint16_t RC;                   //剩余容量 1mAh，地址偏移4
	uint16_t FCC;                  //满充容量 1mAh，地址偏移6
	uint8_t Cell_NTC;              //电芯温度 +40℃，地址偏移8
	uint8_t SOC;                  //剩余电量 1%，地址偏移9
	BMS_STATUS_Struct_t Status;    //运行状态，地址偏移10
	uint8_t RS[5];
}BMS_RunInfo_Struct_t;

//PBU配置的参数，占用空间8bytes
typedef struct
{
	uint8_t GearsNum;                   //助力档位数量
	MC_SupportFlag_Struct_t NoHMI_Flag; //支持无HMI标识,0x55-不支持，0x-AA支持
	uint8_t RS[6];
}PBU_ConfigParam_Struct_t;

typedef union TE_ERROR_CODE
{
  struct
	{
		uint16_t BikeSpeed        :1;//速度传感器，    电路故障
		uint16_t TorqueSensor     :1;//力矩传感器，    电路故障
		uint16_t Current          :1;//母线电流，      电路故障
		uint16_t T_Coil           :1;//绕组温度，      电路故障
		uint16_t HallSensor_A     :1;//霍尔传感器A，   电路故障
		uint16_t HallSensor_B     :1;//霍尔传感器A，   电路故障
		uint16_t CadenseSensor_1  :1;//踏频传感器1，   电路故障
		uint16_t CadenseSensor_2  :1;//踏频传感器2，   电路故障
		uint16_t StopBreak        :1;//刹车信号，      电路故障
		uint16_t VCC              :1;//3.3V异常，      电路故障
		uint16_t ClockFreq        :1;//系统时钟异常，  主控MCU故障
		uint16_t ComFault         :1;//串口通讯RX故障，主控MCU故障
		uint16_t MCUFault         :1;//MCU异常，       TE MCU故障
		uint16_t RS1              :1;
		uint16_t RS2              :1;
		uint16_t RS3              :1;
	}Status_Bit;
  uint16_t Code;
}TE_ErrorCode_Struct_t;

//TE传回传感器状态
typedef struct
{
	TE_ErrorCode_Struct_t TE_ErrorCode;
	uint16_t MCU_Voltage;
	uint16_t SyncClockFreq;
	uint16_t RS;
}MC_TE_SensorStatus_Struct_t;

//发给TE传感器结果
typedef struct
{
  uint16_t AD_Torque;           //力矩传感器AD值，地址偏移0
	uint16_t AD_BusCurrent;       //母线电流AD值，地址偏移2
	uint16_t AD_CoilTemp;         //绕组温度AD值，地址偏移4
	uint16_t AD_TE_Voltage;       //TE电压AD值，地址偏移6
	uint16_t CadenceHall_1_Cnt;   //踏频霍尔1计数，地址偏移8
	uint16_t CadenceHall_2_Cnt;   //踏频霍尔2计数，地址偏移10
	uint16_t MotorHall_A_Cnt;     //马达霍尔1计数，地址偏移12
	uint16_t MotorHall_B_Cnt;     //马达霍尔2计数，地址偏移14
	uint8_t BreakTrgiCnt;         //刹车计数，地址偏移16
	uint8_t SpeedSensorTrigCnt;   //速度传感器计数，地址偏移17
	uint16_t SynC_Clock_Freq;     //地址偏移18
}MC_TE_SensorData_Struct_t;

typedef enum _TO_TE_SENDSTEP
{
  HANDSHAKE = 0U,
  SENDSENSOR,
  SENDUPDATA,
}To_Te_SendStep;

//助力计算参数
typedef struct
{
  uint16_t Gain_K;        //助力比系数，放大100倍，偏移地址 0
	uint16_t TorqueApp_TH;    //i-Sport档位力矩阈值，偏移地址 2
  uint16_t Lower_Iq;      //助力输出下限值，偏移地址 4
	uint16_t Upper_Iq;      //助力输出上限值，偏移地址 6
	uint8_t  AccCnt;        //力矩控制ref加速斜率, 偏移地址 8
	uint8_t  DecCnt;        //力矩控制ref减速斜率, 偏移地址 9
	uint16_t CurrentMax_K;  //最大电流 / 限流值百分比, 偏移地址 10
}nGearParam_Struct_t;     //n档位控制参数结构体定义

typedef struct
{
	nGearParam_Struct_t    Gear_ECO;       //ECO档控制参数，偏移地址 0
	nGearParam_Struct_t    Gear_NORM;      //NORM档控制参数，偏移地址 12
	nGearParam_Struct_t    Gear_SPORT;     //SPORT档控制参数，偏移地址 24
	nGearParam_Struct_t    Gear_TURBO;     //TURBO档控制参数，偏移地址 36
	nGearParam_Struct_t    Gear_5;        //新增的5档控制参数，偏移地址 48
	nGearParam_Struct_t    Gear_SMART;     //SMART档控制参数，偏移地址 60
	nGearParam_Struct_t    Gear_SMART_T;   //新增的T控制参数，偏移地址 72
}MC_AssistParam_Struct_t;

typedef struct
{
  TrueOrFalse_Flag_Struct_t IsOK_Flag;
	uint32_t OK_TrigTime;
}ComOK_Check_Struct_t;

//各个助力档位平均功耗
typedef struct
{
  uint16_t GearSt_ECO;    //ECO平均功耗，单位mAh/km
	uint16_t GearSt_NORM;   //NORM平均功耗，单位mAh/km
	uint16_t GearSt_SPORT;  //SPORT平均功耗，单位mAh/km
	uint16_t GearSt_TURBO;  //TURBO平均功耗，单位mAh/km
	uint16_t GearSt_SMART;  //SMART平均功耗，单位mAh/km
	uint16_t GearSt_SMART_T;//SMART_T平均功耗，单位mAh/km
	uint16_t GearSt_5;      //新增的5档平均功耗，单位mAh/km
	uint16_t Rs[1];
}MC_AvgPower_Struct_t;

/******************************类型定义End***************************/

/**************************全局变量声明Begin*************************/
extern MC_RunInfo_Struct_t MC_RunInfo;
extern MC_ErrorCode_Struct_t MC_ErrorCode;
extern MC_VerInfo_Struct_t MC_VerInfo;
extern char Firmware_Special[32];
extern OnLine_Status_Struct_t DeviceOnLine_Status;
extern BMS_RunInfo_Struct_t BMS_RunInfo;
extern Device_CheckInfo_Struct_t BMS_CheckInfo;
extern BMS_DesignInfo_Struct_t BMS_DesignInfo;
extern Device_CheckInfo_Struct_t PBU_CheckInfo;
extern PBU_ConfigParam_Struct_t PBU_ConfigParam;
extern Device_CheckInfo_Struct_t HMI_CheckInfo;
extern MC_ConfigParam1_Struct_t MC_ConfigParam1;
extern MC_ConfigParam2_Struct_t MC_ConfigParam2;
extern MC_TorqueCorrectParam_Struct_t MC_TorqueCorrectParam;
extern MC_MotorParam_Struct_t MC_MotorParam;
extern MC_RunLog1_Struct_t MC_RunLog1;
extern MC_RunLog2_Struct_t MC_RunLog2;
extern uint8_t RunLogSaveIndex;
extern uint8_t Secret_Key[8];
extern MC_MacInfo_Struct_t MC_MacInfo;
extern uint8_t UserString1[16];
extern uint8_t UserString2[16];
extern uint8_t UserString3[16];
extern MC_PowerOffBkp_Struct_t MC_PowerOffBkp;
extern Device_CheckInfo_Struct_t MC_CheckInfo;
extern MC_TE_SensorStatus_Struct_t MC_TE_SensorStatus;
extern MC_TE_SensorData_Struct_t MC_TE_SensorData;
extern uint16_t MC_TE_SyncClockFreqScan;
extern TrueOrFalse_Flag_Struct_t TE_MCU_DataRefreshFlag;
extern FlagStatus TE_CheckFlag;
extern MC_AssistParam_Struct_t MC_AssisParam;
extern uint8_t MC_WalkMode_Persent;
extern ComOK_Check_Struct_t IsComOK_TE;
extern ComOK_Check_Struct_t IsComOK_PBU;
extern ComOK_Check_Struct_t IsComOK_HMI;
extern ComOK_Check_Struct_t IsComOK_BMS;
extern MC_AttitudeAngle_Struct_t MC_AttitudeAngle;
extern MC_RideLog_Struct_t MC_RideLog;
extern MC_AvgPower_Struct_t MC_AvgPower;

/**************************全局变量声明End***************************/

/**************************全局函数声明Begin*************************/
extern void Var_Init(void);
extern void UpdateGearParam(uint8_t SerialNum);
extern void Var_SetToDefaultParam(void);
extern void Var_SetToDefaultLog(void);
/**************************全局函数声明End***************************/


#endif