can_process.c 19 KB

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  1. #include "can_process.h"
  2. #include "uart_process.h"
  3. #include "motor_control.h"
  4. #include "crc_cal.h"
  5. #include "var.h"
  6. #include "eeprom_24c02.h"
  7. #include "eeprom_flash.h"
  8. #include "tasks.h"
  9. /**********局部函数定义**********/
  10. uint8_t cd_ReadChar(CAN_Buf_TypeDef * ptCANRx, uint8_t ucNum)
  11. {
  12. uint8_t ucData;
  13. uint16_t i;
  14. i = ucNum;
  15. if ((*ptCANRx).ucBufCnt >= ucNum)
  16. {
  17. i += (*ptCANRx).ucBufRdInde;
  18. if (i >= (*ptCANRx).ucBufSize)
  19. {
  20. i -=((*ptCANRx).ucBufSize);
  21. }
  22. }
  23. else
  24. {
  25. i=0;
  26. }
  27. ucData = *((*ptCANRx).pcBufAddr + i);
  28. return ucData;
  29. }
  30. void cd_DelChar(CAN_Buf_TypeDef * ptCANRx, uint8_t ucNum)
  31. {
  32. uint16_t i;
  33. if ((*ptCANRx).ucBufCnt >= ucNum)
  34. {
  35. __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
  36. (*ptCANRx).ucBufCnt -= ucNum;
  37. __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
  38. i = ucNum;
  39. i += (*ptCANRx).ucBufRdInde;
  40. if (i >= (*ptCANRx).ucBufSize)
  41. {
  42. i -= (*ptCANRx).ucBufSize;
  43. }
  44. (*ptCANRx).ucBufRdInde = i;
  45. }
  46. else
  47. {
  48. __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
  49. i = (*ptCANRx).ucBufCnt;
  50. (*ptCANRx).ucBufCnt = 0;
  51. __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
  52. i += (*ptCANRx).ucBufRdInde;
  53. if (i >= (*ptCANRx).ucBufSize)
  54. {
  55. i -= (*ptCANRx).ucBufSize;
  56. }
  57. (*ptCANRx).ucBufRdInde = i;
  58. }
  59. }
  60. //数据解析处理
  61. void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
  62. {
  63. uint8_t DataLength;
  64. DataLength = (uint8_t)(Cmd &0x00FF);
  65. switch(ID)
  66. {
  67. //处理BMS发送的指令
  68. case ID_BMS_BC: case ID_BMS_TO_MC:
  69. {
  70. switch(Cmd)
  71. {
  72. //BMS广播的指令
  73. case 0x1010://BMS运行信息
  74. {
  75. //更新电池运行信息
  76. memcpy(&BMS_RunInfo.Voltage, Data, DataLength);
  77. //电池通信正常标志置位,用于续航计算
  78. RemainDis.IsBMS_ComOK_Flag = TRUE;
  79. RemainDis.BMS_Com_DelayTimeCnt = HAL_GetTick();
  80. //BMS通信正常标志置位
  81. IsComOK_BMS.IsOK_Flag = TRUE;
  82. IsComOK_BMS.OK_TrigTime = HAL_GetTick();
  83. break;
  84. }
  85. case 0x1308://关机指令
  86. {
  87. PowerOff_Process();
  88. break;
  89. }
  90. case 0x1410://电池设计信息
  91. {
  92. memcpy(&BMS_DesignInfo.Capacity, Data, DataLength);
  93. break;
  94. }
  95. case 0x160C://电池物理ID
  96. {
  97. memcpy(BMS_CheckInfo.MAC_ID, Data, DataLength);
  98. break;
  99. }
  100. case 0x170C://电池存储的校验码
  101. {
  102. memcpy(BMS_CheckInfo.CheckCode, Data, DataLength);
  103. break;
  104. }
  105. //BMS发送给MC的指令
  106. case 0x3005://电池在线检测反馈
  107. {
  108. if(strncmp("READY", (char*)Data, DataLength) == 0)
  109. {
  110. DeviceOnLine_Status.Status_Bit.BMS_OffLine = 0;
  111. }
  112. break;
  113. }
  114. default:break;
  115. }
  116. break;
  117. }
  118. //处理PBU发送的指令
  119. case ID_PBU_BC: case ID_PBU_TO_MC:
  120. {
  121. switch(Cmd)
  122. {
  123. //PBU广播的指令
  124. case 0x1008://PBU关机指令
  125. {
  126. PowerOff_Process();
  127. break;
  128. }
  129. case 0x120C://PBU物理ID
  130. {
  131. memcpy(PBU_CheckInfo.MAC_ID, Data, DataLength);
  132. break;
  133. }
  134. case 0x130C://PBU存储的校验码
  135. {
  136. memcpy(PBU_CheckInfo.CheckCode, Data, DataLength);
  137. break;
  138. }
  139. //PBU发送给MC的指令
  140. case 0x3002://控制电机指令
  141. {
  142. if(MC_WorkMode == MC_WorkMode_Run)
  143. {
  144. memcpy(&MC_ControlCode.GearSt, Data, DataLength);
  145. Update_MC_ControlCode_Back();
  146. }
  147. MC_RunInfo.GearSt = MC_ControlCode.GearSt;//当前助力档位更新
  148. MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
  149. SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t*)&MC_RunInfo.BikeSpeed);
  150. //PBU通信正常标志置位
  151. IsComOK_PBU.IsOK_Flag = TRUE;
  152. IsComOK_PBU.OK_TrigTime = HAL_GetTick();
  153. break;
  154. }
  155. case 0x3105://PBU在线检测反馈
  156. {
  157. if(strncmp("READY", (char*)Data, DataLength) == 0)
  158. {
  159. DeviceOnLine_Status.Status_Bit.PBU_OffLine = 0;
  160. }
  161. break;
  162. }
  163. case 0x3208://控制参数配置
  164. {
  165. memcpy(&PBU_ConfigParam.GearsNum, Data, DataLength);
  166. SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t*)"ACK");
  167. break;
  168. }
  169. default:break;
  170. }
  171. break;
  172. }
  173. //处理HMI发送的指令
  174. case ID_HMI_BC: case ID_HMI_TO_MC:
  175. {
  176. switch(Cmd)
  177. {
  178. //HMI广播的指令
  179. case 0x110C://HMI物理ID
  180. {
  181. memcpy(HMI_CheckInfo.MAC_ID, Data, DataLength);
  182. break;
  183. }
  184. case 0x120C://HMI存储的校验码
  185. {
  186. memcpy(HMI_CheckInfo.CheckCode, Data, DataLength);
  187. break;
  188. }
  189. case 0x1508://HMI运行信息
  190. {
  191. //HMI通信正常标志置位
  192. IsComOK_HMI.IsOK_Flag = TRUE;
  193. IsComOK_HMI.OK_TrigTime = HAL_GetTick();
  194. break;
  195. }
  196. //HMI发送MC的指令
  197. case 0x3000://查询电机版本信息
  198. {
  199. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MODE, (uint8_t*)MC_VerInfo.Mode, 16);
  200. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_SN, (uint8_t*)MC_VerInfo.SN_Num, 16);
  201. SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t*)MC_VerInfo.Mode);
  202. break;
  203. }
  204. case 0x3100://查询电机配置参数
  205. {
  206. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
  207. Data[0] = MC_ConfigParam1.WheelSize; //轮胎默认周长
  208. Data[1] = MC_ConfigParam1.StarModel; //启动模式
  209. Data[2] = MC_ConfigParam1.SpeedLimit; //限速值
  210. Data[3] = MC_ConfigParam1.WheelSizeAdj;//轮胎微调值
  211. SendData(ID_MC_TO_HMI, MODE_REPORT, 0x7308, Data);
  212. break;
  213. }
  214. case 0x3208://设置电机配置参数
  215. {
  216. MC_ConfigParam1.WheelSizeAdj = (int8_t)Data[0];
  217. MC_ConfigParam1.StarModel = (MC_StarMode_Struct_t)Data[1];
  218. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
  219. SendData(ID_MC_TO_HMI, MODE_REPORT, 0x7403, (uint8_t*)"ACK");
  220. break;
  221. }
  222. case 0x3305://HMI在线检测反馈
  223. {
  224. if(strncmp("READY", (char*)Data, DataLength) == 0)
  225. {
  226. DeviceOnLine_Status.Status_Bit.HMI_OffLine = 0;
  227. }
  228. break;
  229. }
  230. case 0x3400://查询电机骑行历史信息
  231. {
  232. SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t*)&MC_RideLog.ODO_Km);
  233. break;
  234. }
  235. case 0x3505://清除TRIP信息
  236. {
  237. if(strncmp("CLEAR", (char*)Data, DataLength) == 0)
  238. {
  239. MC_RideLog.TRIP_Km = 0;
  240. MC_RideLog.TRIP_Time = 0;
  241. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_RIDE_LOG, sizeof(MC_RideLog_Struct_t), (uint8_t*)&MC_RideLog.ODO_Km);
  242. SendData(ID_MC_TO_HMI, MODE_REPORT, 0x7403, (uint8_t*)"ACK");
  243. MC_RunInfo.Ride_Km = 0;
  244. MC_RunInfo.Ride_Time = 0;
  245. }
  246. }
  247. default:break;
  248. }
  249. break;
  250. }
  251. //处理CDL发送的指令
  252. case ID_CDL_BC: case ID_CDL_TO_MC:
  253. {
  254. switch(Cmd)
  255. {
  256. case 0x1000://查询校验密钥
  257. {
  258. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_SECRET_KEY, sizeof(Secret_Key), Secret_Key);
  259. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA408, Secret_Key);
  260. break;
  261. }
  262. case 0x1108://写入校验密钥
  263. {
  264. memcpy(Secret_Key, Data, DataLength);
  265. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_SECRET_KEY, sizeof(Secret_Key), Secret_Key);
  266. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  267. break;
  268. }
  269. case 0x1200://查询电机版本信息
  270. {
  271. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MODE, (uint8_t*)MC_VerInfo.Mode, 16);
  272. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_SN, (uint8_t*)MC_VerInfo.SN_Num, 16);
  273. SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t*)MC_VerInfo.Mode);
  274. break;
  275. }
  276. case 0x1300://查询自定义字符串1
  277. {
  278. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_USER_INFO1, UserString1, 16);
  279. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA610, UserString1);
  280. break;
  281. }
  282. case 0x1410://写入自定义字符串1
  283. {
  284. memcpy(UserString1, Data, DataLength);
  285. EEPROM_Flash_DataUpdate();
  286. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  287. break;
  288. }
  289. case 0x1500://查询自定义字符串2
  290. {
  291. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_USER_INFO2, UserString2, 16);
  292. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA710, UserString2);
  293. break;
  294. }
  295. case 0x1610://写入自定义字符串2
  296. {
  297. memcpy(UserString2, Data, DataLength);
  298. EEPROM_Flash_DataUpdate();
  299. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  300. break;
  301. }
  302. case 0x1700://查询自定义字符串3
  303. {
  304. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_USER_INFO3, UserString3, 16);
  305. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA810, UserString3);
  306. break;
  307. }
  308. case 0x1810://写入自定义字符串3
  309. {
  310. memcpy(UserString3, Data, DataLength);
  311. EEPROM_Flash_DataUpdate();
  312. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  313. break;
  314. }
  315. case 0x1901://写入电机工作模式
  316. {
  317. MC_WorkMode = (MC_WorkMode_Struct_t)*Data;
  318. MC_WorkMode_Back = (MC_WorkMode_Struct_t)~MC_WorkMode;
  319. break;
  320. }
  321. case 0x1A00://查询电机控制参数1
  322. {
  323. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
  324. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA020, (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
  325. break;
  326. }
  327. case 0x1B20://写入电机控制参数1
  328. {
  329. memcpy((uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag, Data, DataLength);
  330. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM1, sizeof(MC_ConfigParam1), (uint8_t*)&MC_ConfigParam1.GasCtrlMode_Flag);
  331. //助力参数初始化
  332. UpdateGearParam(MC_ConfigParam1.SerialNum);
  333. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  334. break;
  335. }
  336. case 0x1C00://查询马达参数
  337. {
  338. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_MOTOR_PARAM, sizeof(MC_MotorParam), (uint8_t*)&MC_MotorParam.Rate_Power);
  339. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA110, (uint8_t*)&MC_MotorParam.Rate_Power);
  340. break;
  341. }
  342. case 0x1D10://写入马达参数
  343. {
  344. memcpy((uint8_t*)&MC_MotorParam.Rate_Power, Data, DataLength);
  345. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_MOTOR_PARAM, sizeof(MC_MotorParam), (uint8_t*)&MC_MotorParam.Rate_Power);
  346. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  347. break;
  348. }
  349. case 0x1E00://查询电机历史信息
  350. {
  351. //历史信息1
  352. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA230, (uint8_t*)&MC_RunLog1.PowerOnCnt); // 发送历史信息1
  353. //历史信息2
  354. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xAC10, (uint8_t*)&MC_RunLog2.MCU_FaultCnt); // 发送历史信息2
  355. break;
  356. }
  357. case 0x1F00://查询电机生产信息
  358. {
  359. ReadDataFromEEPROM_Flash(EEPROM_FLASH_ADDR_MAC_INFO, (uint8_t*)MC_MacInfo.Manufacturer, 32);
  360. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA520, (uint8_t*)MC_MacInfo.Manufacturer);
  361. break;
  362. }
  363. case 0x2000://查询力矩传感器零偏数据
  364. {
  365. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_TORQUE_OFFSET, sizeof(TorqueOffSetData), (uint8_t*)TorqueOffSetData.Data);
  366. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA318, (uint8_t*)TorqueOffSetData.Data);
  367. break;
  368. }
  369. case 0x2100://查询设备在线结果
  370. {
  371. SendData(ID_MC_BC, MODE_REPORT, 0x1401, &DeviceOnLine_Status.Status);
  372. break;
  373. }
  374. case 0x2210://写入电机Mode
  375. {
  376. memcpy(MC_VerInfo.Mode, Data, DataLength);
  377. EEPROM_Flash_DataUpdate();
  378. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  379. break;
  380. }
  381. case 0x2310://写入电机SN
  382. {
  383. memcpy(MC_VerInfo.SN_Num, Data, DataLength);
  384. EEPROM_Flash_DataUpdate();
  385. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  386. break;
  387. }
  388. case 0x2420://写入电机生产信息
  389. {
  390. memcpy(MC_MacInfo.Manufacturer, Data, DataLength);
  391. EEPROM_Flash_DataUpdate();
  392. SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  393. break;
  394. }
  395. case 0x2505://复位指令
  396. {
  397. if(strncmp("RESET", (char*)Data, DataLength) == 0)
  398. {
  399. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  400. PowerOff_Process();
  401. HAL_Delay(100);
  402. __set_FAULTMASK(1);//关闭所有中断
  403. HAL_NVIC_SystemReset();
  404. }
  405. break;
  406. }
  407. case 0x2605://数据清除
  408. {
  409. if(strncmp("CLEAR", (char*)Data, DataLength) == 0)
  410. {
  411. EEPROM_24C02_ClearData(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_FLAG, EEPROM_24C02_ADDR_END, 0xFF);
  412. EEPROM_Flash_Erase();
  413. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  414. __set_FAULTMASK(1);//关闭所有中断
  415. HAL_NVIC_SystemReset();
  416. }
  417. break;
  418. }
  419. case 0x2708://系统还原
  420. {
  421. if(strncmp("RECOVERY", (char*)Data, DataLength) == 0)
  422. {
  423. //...
  424. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  425. __set_FAULTMASK(1);//关闭所有中断
  426. HAL_NVIC_SystemReset();
  427. }
  428. break;
  429. }
  430. case 0x2802://控制指令
  431. {
  432. memcpy(&MC_ControlCode.GearSt, Data, DataLength);
  433. Update_MC_ControlCode_Back();
  434. //PBU通信正常标志置位,避免上位機測試時認爲PBU失聯而關閉助力
  435. IsComOK_PBU.IsOK_Flag = TRUE;
  436. IsComOK_PBU.OK_TrigTime = HAL_GetTick();
  437. //運行信息助力档位更新
  438. MC_RunInfo.GearSt = MC_ControlCode.GearSt;//当前助力档位更新
  439. MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;
  440. SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t*)&MC_RunInfo.BikeSpeed);
  441. break;
  442. }
  443. case 0x2900://查询力矩传感器校正信息
  444. {
  445. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xAA04, (uint8_t*)&MC_TorqueCorrectParam.StarData);
  446. break;
  447. }
  448. case 0x2A01://写入力矩传感器标定系数
  449. {
  450. memcpy((uint8_t*)&MC_TorqueCorrectParam.K, Data, DataLength);
  451. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_TORQUE_PARAM, sizeof(MC_TorqueCorrectParam_Struct_t), (uint8_t*)&MC_TorqueCorrectParam.StarData);
  452. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  453. break;
  454. }
  455. case 0x2B02://写入力矩传感器启动值
  456. {
  457. memcpy((uint8_t*)&MC_TorqueCorrectParam.StarData, Data, DataLength);
  458. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_TORQUE_PARAM, sizeof(MC_TorqueCorrectParam_Struct_t), (uint8_t*)&MC_TorqueCorrectParam.StarData);
  459. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  460. break;
  461. }
  462. case 0x2C01://设置推行模式最高转速百分比
  463. {
  464. MC_WalkMode_Persent = Data[0];
  465. break;
  466. }
  467. case 0x2D08://读取存储器指定地址数据
  468. {
  469. break;
  470. }
  471. case 0x2E00://查询骑行历史信息
  472. {
  473. SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t*)&MC_RideLog.ODO_Km);
  474. break;
  475. }
  476. case 0x2F00://读取姿态传感器数值
  477. {
  478. SendData(ID_MC_BC, MODE_REPORT, 0x1608, (uint8_t*)&MC_AttitudeAngle.Angle_Pitch_Absolute);
  479. break;
  480. }
  481. case 0x3000://查询电机控制参数2
  482. {
  483. GetParamFromEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM2, sizeof(MC_ConfigParam2), (uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch);
  484. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xAD20, (uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch);
  485. break;
  486. }
  487. case 0x3120://写入电机控制参数2
  488. {
  489. memcpy((uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch, Data, DataLength);
  490. SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_CONFIG_PARAM2, sizeof(MC_ConfigParam2), (uint8_t*)&MC_ConfigParam2.ZeroAngle_Pitch);
  491. SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t*)"ACK");
  492. break;
  493. }
  494. default:break;
  495. }
  496. break;
  497. }
  498. case ID_CDL_TO_MC_TE://0X651
  499. {
  500. switch(Cmd)
  501. {
  502. case 0x2505: case 0xA10B: //TE复位指令和TE升级指令,让主控进入TE升级状态
  503. IsSendDataToTE_Step = SENDUPDATA;
  504. break;
  505. default:
  506. break;
  507. }
  508. SendUartDataToTE(&UART_TxBuff_Struct3,ID_CDL_TO_MC_TE,Mode,Cmd, Data);//直接透传所有的0X651指令
  509. break;
  510. }
  511. default:break;
  512. }
  513. }
  514. /*********************End*******************/
  515. /************全局函数定义*******************/
  516. //CAN数据解析,严格按照协议格式
  517. uint8_t CAN_RevData[150], CAN_RevData_CRC_Buf[150];
  518. void CAN_RxData_Process(CAN_Buf_TypeDef* ptCANRx, uint16_t TimeOutCnt)
  519. {
  520. uint8_t Mode, CmdLength, DataLength;
  521. uint16_t Cmd, i;
  522. uint32_t CrcResult, CrcData;
  523. uint8_t FrameBegin1, FrameBegin2;
  524. if(ptCANRx->ucBufCnt >= 11)
  525. {
  526. //读取帧头
  527. FrameBegin1 = cd_ReadChar(ptCANRx, 0);
  528. CAN_RevData_CRC_Buf[0] = FrameBegin1;
  529. FrameBegin2 = cd_ReadChar(ptCANRx, 1);
  530. CAN_RevData_CRC_Buf[1] = FrameBegin2;
  531. if((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
  532. {
  533. CAN_RevData_CRC_Buf[2] = (uint8_t)((ptCANRx->ucBufID >> 8) & 0xFF);
  534. CAN_RevData_CRC_Buf[3] = (uint8_t)(ptCANRx->ucBufID & 0xFF);
  535. //读取帧模式
  536. Mode = cd_ReadChar(ptCANRx, 2);
  537. CAN_RevData_CRC_Buf[4] = Mode;
  538. if((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
  539. {
  540. //读取命令段长度和命令字
  541. CmdLength = cd_ReadChar(ptCANRx, 3);
  542. CAN_RevData_CRC_Buf[5] = CmdLength;
  543. Cmd = (cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5);
  544. CAN_RevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
  545. CAN_RevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
  546. DataLength = cd_ReadChar(ptCANRx, 5);
  547. if((CmdLength - DataLength) == 2)
  548. {
  549. if(ptCANRx->ucBufCnt < (CmdLength + 9))//帧头2bytes + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
  550. {
  551. if(ptCANRx->IsWaitRX_Flag == FALSE)
  552. {
  553. ptCANRx->DelayTimeCnt = HAL_GetTick();
  554. ptCANRx->IsWaitRX_Flag = TRUE;
  555. }
  556. if((HAL_GetTick() - ptCANRx->DelayTimeCnt) > TimeOutCnt)//超时,单位ms
  557. {
  558. cd_DelChar(ptCANRx, ptCANRx->ucBufCnt);
  559. ptCANRx->IsWaitRX_Flag = FALSE;
  560. }
  561. return;
  562. }
  563. else
  564. {
  565. ptCANRx->IsWaitRX_Flag = FALSE;
  566. //接收到完整正确数据包
  567. for(i=0; i<DataLength; i++)//读取数据段
  568. {
  569. CAN_RevData[i] = cd_ReadChar(ptCANRx, 6 + i);
  570. CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i];
  571. }
  572. CrcData = (cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + \
  573. (cd_ReadChar(ptCANRx, 7 + DataLength) << 16) + \
  574. (cd_ReadChar(ptCANRx, 8 + DataLength) << 8) + \
  575. cd_ReadChar(ptCANRx, 9 + DataLength);
  576. CrcResult = CRC32_Calculate(CAN_RevData_CRC_Buf, 8 + DataLength);
  577. if((CrcData - CrcResult) == 0) // 比较校验
  578. {
  579. //数据处理
  580. DataProcess(ptCANRx->ucBufID, Mode, Cmd, CAN_RevData);//Mode为帧模式,Cmd为命令字,Data为数据段
  581. cd_DelChar(ptCANRx, CmdLength + 9);
  582. return;
  583. }
  584. cd_DelChar(ptCANRx, 1);
  585. }
  586. }
  587. else
  588. {
  589. cd_DelChar(ptCANRx, 1);
  590. }
  591. }
  592. else
  593. {
  594. cd_DelChar(ptCANRx, 1);
  595. }
  596. }
  597. else
  598. {
  599. cd_DelChar(ptCANRx, 1);
  600. }
  601. }
  602. }
  603. void SendData(uint16_t ID, uint8_t Mode, uint16_t Command, uint8_t* Data)
  604. {
  605. uint8_t SendBuf[96] = {0};
  606. uint8_t CRC_Buf[98] = {0};
  607. uint32_t CRC_Result = 0x00000000;
  608. uint8_t DataLength;
  609. DataLength = (uint8_t)(Command & 0xFF);
  610. SendBuf[0] = FRAME_BEGIN1;
  611. SendBuf[1] = FRAME_BEGIN2;
  612. SendBuf[2] = Mode;
  613. SendBuf[3] = DataLength + 2;
  614. SendBuf[4] = (uint8_t)((Command >> 8) & 0xFF);
  615. SendBuf[5] = DataLength;
  616. memcpy(SendBuf + 6, Data, DataLength);
  617. CRC_Buf[0] = FRAME_BEGIN1;
  618. CRC_Buf[1] = FRAME_BEGIN2;
  619. CRC_Buf[2] = (uint8_t)(ID >> 8);
  620. CRC_Buf[3] = (uint8_t)(ID & 0xFF);
  621. memcpy(CRC_Buf + 4, SendBuf + 2, DataLength + 4);
  622. CRC_Result = CRC32_Calculate(CRC_Buf, DataLength + 8);//帧头 2bytes + ID 2bytes + 模式 1byte + 命令段长度 1byte + 命令字 2bytes
  623. SendBuf[6 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF);
  624. SendBuf[7 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF);
  625. SendBuf[8 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF);
  626. SendBuf[9 + DataLength] = (uint8_t)(CRC_Result & 0xFF);
  627. SendBuf[10 + DataLength] = FRAME_END;
  628. CAN_SendData(ID, SendBuf, DataLength + 11);
  629. }
  630. /********************End********************/