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@@ -1,346 +1,348 @@
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-#include "enviolo_can.h"
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+锘�#include "enviolo_can.h"
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#include "can.h"
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#include "canAppl.h"
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#include "string.h"
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#include "CodePara.h"
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#include "AssistCurve.h"
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-/********全局变量定义********/
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+/********鍏ㄥ眬鍙橀噺瀹氫箟********/
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EnvioloGearInfo1_Struct_t EnvioloGearInfo1 = {0, 0, 0, 0, 0, 0, 0, 0};
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EnvioloGearInfo2_Struct_t EnvioloGearInfo2 = {0, 0, 0, 0, 0, 0, 0, 0};
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-EnvioloConfigParams_Struct_t EnvioloConfigParams = {43, 20, 30, 90, 0, 119, 5, 0}; //默认前牙盘43T，后牙盘20T，最低踏频30rpm，最高踏频90rpm，车轮周长219cm，自动关机时间5min
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-EnvioloControlParams_Struct_t EnvioloControlParams = {ENVIOLO_INACTIVE, 0, 0, 0, 0, 0}; //默认未激活，目标变速比0，目标踏频0
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-GearBox_CanData_Struct_t GearBox_CanData = {FALSE, 0, 0, {0, }}; //CAN报文数据
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-BOOL GearBox_ComIsOK_Flag = FALSE; //变速器通信状态
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-uint32_t GearBox_ComTrigTime = 0; //变速器通信超时计数
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-GearBox_OBC_SetMode_Struct_t GearBox_OBC_SetMode = {GEAR_MODE_NULL, 0, 0, 0, 0, 0, 0, 0}; //默认无效值，目标0
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-GearBox_OBC_SetParams_Struct_t GearBox_OBC_SetParams = {9, 30, 120, 0, 0, 0, 0, 0}; //默认9档，最低踏频30rpm，最高踏频90rpm
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-GearBox_Status_Struct_t GearBox_Status = GEAR_STATUS_OFFLINE; //变速器状态默认为初始化
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-GearBox_CalFlag_Struct_t GearBox_CalFlag = GEAR_CAL_SUCCESS; //变速器默认校准完成
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-uint16_t GearBox_RatioTable[24] = {500, 662, 824, 986, 1148, 1310, 1472, 1634, 1800, }; //变速器变速比与档位对照表，默认9速
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+EnvioloConfigParams_Struct_t EnvioloConfigParams = {43, 20, 30, 90, 0, 119, 5, 0}; //榛樿�鍓嶇墮鐩�43T锛屽悗鐗欑洏20T锛屾渶浣庤笍棰�30rpm锛屾渶楂樿笍棰�90rpm锛岃溅杞�懆闀�219cm锛岃嚜鍔ㄥ叧鏈烘椂闂�5min
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+EnvioloControlParams_Struct_t EnvioloControlParams = {ENVIOLO_INACTIVE, 0, 0, 0, 0, 0}; //榛樿�鏈�縺娲伙紝鐩�爣鍙橀€熸瘮0锛岀洰鏍囪笍棰�0
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+GearBox_CanData_Struct_t GearBox_CanData = {FALSE, 0, 0, {0, }}; //CAN鎶ユ枃鏁版嵁
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+BOOL GearBox_ComIsOK_Flag = FALSE; //鍙橀€熷櫒閫氫俊鐘舵€�
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+uint32_t GearBox_ComTrigTime = 0; //鍙橀€熷櫒閫氫俊瓒呮椂璁℃暟
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+GearBox_OBC_SetMode_Struct_t GearBox_OBC_SetMode = {GEAR_MODE_NULL, 0, 0, 0, 0, 0, 0, 0}; //榛樿�鏃犳晥鍊硷紝鐩�爣0
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+GearBox_OBC_SetParams_Struct_t GearBox_OBC_SetParams = {9, 30, 120, 0, 0, 0, 0, 0}; //榛樿�9妗ｏ紝鏈€浣庤笍棰�30rpm锛屾渶楂樿笍棰�90rpm
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+GearBox_Status_Struct_t GearBox_Status = GEAR_STATUS_OFFLINE; //鍙橀€熷櫒鐘舵€侀粯璁や负鍒濆�鍖�
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+GearBox_CalFlag_Struct_t GearBox_CalFlag = GEAR_CAL_SUCCESS; //鍙橀€熷櫒榛樿�鏍″噯瀹屾垚
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+uint16_t GearBox_RatioTable[24] = {500, 662, 824, 986, 1148, 1310, 1472, 1634, 1800, }; //鍙橀€熷櫒鍙橀€熸瘮涓庢。浣嶅�鐓ц〃锛岄粯璁�9閫�
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-/********局部函数定义********/
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-//发送Enviolo变速器配置参数
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+/********灞€閮ㄥ嚱鏁板畾涔�********/
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+//鍙戦€丒nviolo鍙橀€熷櫒閰嶇疆鍙傛暟
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void GearBox_Send_EnvioloConfigParams(EnvioloConfigParams_Struct_t* p_EnvioloConfigParams)
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{
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- uint8_t Data[8] = {0,};
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- memcpy(Data, (uint8_t*)&p_EnvioloConfigParams->FrontChain, 8);
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- CAN_SendData(ENVIOLO_CONFIG_ID, Data, 8);
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+ uint8_t Data[8] = {0,};
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+ memcpy(Data, (uint8_t*)&p_EnvioloConfigParams->FrontChain, 8);
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+ CAN_SendData(ENVIOLO_CONFIG_ID, Data, 8);
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}
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-//发送Enviolo变速器工作参数
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+//鍙戦€丒nviolo鍙橀€熷櫒宸ヤ綔鍙傛暟
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void GearBox_Send_EnvioloControlParams(EnvioloControlParams_Struct_t* p_EnvioloControlParams)
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{
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- uint8_t Data[8] = {0,};
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- //避免大小端和内存对齐问题，赋值处理
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- Data[0] = p_EnvioloControlParams->GearMode;
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- Data[1] = p_EnvioloControlParams->RatioMode_Data >> 8;
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- Data[2] = p_EnvioloControlParams->RatioMode_Data & 0xFF;
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- Data[3] = p_EnvioloControlParams->CadenceMode_Data >> 8;
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- Data[4] = p_EnvioloControlParams->CadenceMode_Data & 0xFF;
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- Data[5] = 0;
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- Data[6] = 0;
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- Data[7] = 0;
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- CAN_SendData(ENVIOLO_CONTROL_ID, Data, 8);
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+ uint8_t Data[8] = {0,};
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+ //閬垮厤澶у皬绔�拰鍐呭瓨瀵归綈闂��锛岃祴鍊煎�鐞�
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+ Data[0] = p_EnvioloControlParams->GearMode;
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+ Data[1] = p_EnvioloControlParams->RatioMode_Data >> 8;
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+ Data[2] = p_EnvioloControlParams->RatioMode_Data & 0xFF;
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+ Data[3] = p_EnvioloControlParams->CadenceMode_Data >> 8;
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+ Data[4] = p_EnvioloControlParams->CadenceMode_Data & 0xFF;
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+ Data[5] = 0;
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+ Data[6] = 0;
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+ Data[7] = 0;
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+ CAN_SendData(ENVIOLO_CONTROL_ID, Data, 8);
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}
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-//根据变速器的变速比计算档位
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+//鏍规嵁鍙橀€熷櫒鐨勫彉閫熸瘮璁＄畻妗ｄ綅
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uint8_t GearBox_CalGearSt(uint16_t Ratio, uint8_t Num)
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{
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- uint8_t Result = 0;
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- if(Ratio <= 500)
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- Result = 1;
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- else if(Ratio >= 1800)
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- Result = Num;
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- else
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- Result = (Ratio - 500) / (1300 / Num) + 1;
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- return Result;
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+ uint8_t Result = 0;
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+ if(Ratio <= 500)
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+ Result = 1;
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+ else if(Ratio >= 1800)
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+ Result = Num;
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+ else
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+ Result = (Ratio - 500) / (1300 / Num) + 1;
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+ return Result;
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}
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-/*************************全局函数定义*******************************/
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+/*************************鍏ㄥ眬鍑芥暟瀹氫箟*******************************/
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-//变速器CAN报文解析
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+//鍙橀€熷櫒CAN鎶ユ枃瑙ｆ瀽
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void GearBox_CanProcess(GearBox_CanData_Struct_t* CanData)
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{
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- if(CanData->RefreshFlag == TRUE)
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- {
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- //更新通信检测标志
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- GearBox_ComIsOK_Flag = TRUE;
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- GearBox_ComTrigTime = cp_ulSystickCnt;
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- //数据解析
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- if(CanData->ID == ID_ENVIOLO_TO_MC_1)
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- {
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- EnvioloGearInfo1.Pedal_Rpm = CanData->Data[0];
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- EnvioloGearInfo1.Actual_Ratio = CanData->Data[1];
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- EnvioloGearInfo1.Bike_Speed = CanData->Data[2];
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- EnvioloGearInfo1.Battery_Vol = CanData->Data[3];
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- EnvioloGearInfo1.Wheel_Rpm = (uint16_t)(CanData->Data[4] << 8) + CanData->Data[5];
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- EnvioloGearInfo1.StatusFlag.Flag = CanData->Data[6];
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- EnvioloGearInfo1.ErrorFlag.Flag = CanData->Data[7];
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- //变速器校准成功标志1
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- if(EnvioloGearInfo1.StatusFlag.StatusFlagBit.CaliSuccessFlag == 1)
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- {
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- GearBox_CalFlag = GEAR_CAL_SUCCESS;
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- }
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- //变速器校准成功标志0
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- else
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- {
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- GearBox_CalFlag = GEAR_CAL_NEED;
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- }
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- }
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- else if(CanData->ID == ID_ENVIOLO_TO_MC_2)
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- {
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- memcpy((uint8_t*)&EnvioloGearInfo2.PCB_Version_Major, (uint8_t*)CanData->Data, 8);
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- }
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- CanData->RefreshFlag = FALSE;
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- }
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+ if(CanData->RefreshFlag == TRUE)
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+ {
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+ //鏇存柊閫氫俊妫€娴嬫爣蹇�
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+ GearBox_ComIsOK_Flag = TRUE;
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+ GearBox_ComTrigTime = cp_ulSystickCnt;
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+ //鏁版嵁瑙ｆ瀽
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+ if(CanData->ID == ID_ENVIOLO_TO_MC_1)
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+ {
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+ EnvioloGearInfo1.Pedal_Rpm = CanData->Data[0];
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+ EnvioloGearInfo1.Actual_Ratio = CanData->Data[1];
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+ EnvioloGearInfo1.Bike_Speed = CanData->Data[2];
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+ EnvioloGearInfo1.Battery_Vol = CanData->Data[3];
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+ EnvioloGearInfo1.Wheel_Rpm = (uint16_t)(CanData->Data[4] << 8) + CanData->Data[5];
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+ EnvioloGearInfo1.StatusFlag.Flag = CanData->Data[6];
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+ EnvioloGearInfo1.ErrorFlag.Flag = CanData->Data[7];
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+ //鍙橀€熷櫒鏍″噯鎴愬姛鏍囧織1
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+ if(EnvioloGearInfo1.StatusFlag.StatusFlagBit.CaliSuccessFlag == 1)
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+ {
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+ GearBox_CalFlag = GEAR_CAL_SUCCESS;
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+ }
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+ //鍙橀€熷櫒鏍″噯鎴愬姛鏍囧織0
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+ else
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+ {
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+ GearBox_CalFlag = GEAR_CAL_NEED;
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+ }
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+ }
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+ else if(CanData->ID == ID_ENVIOLO_TO_MC_2)
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+ {
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+ memcpy((uint8_t*)&EnvioloGearInfo2.PCB_Version_Major, (uint8_t*)CanData->Data, 8);
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+ }
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+
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+ CanData->RefreshFlag = FALSE;
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+ }
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}
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-//发送仪表变速器参数
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+//鍙戦€佷华琛ㄥ彉閫熷櫒鍙傛暟
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void GearBox_Send_OBC_Params(GearBox_CalFlag_Struct_t CalFlag, GearBox_OBC_SetParams_Struct_t* p_GearBox_OBC_SetParams, uint8_t* p_EnvioloSoftVer)
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{
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- uint8_t Data[16] = {0,};
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- Data[0] = CalFlag;
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- memcpy(Data + 1, (uint8_t*)&p_GearBox_OBC_SetParams->GearNum, 3);
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- Data[5] = *p_EnvioloSoftVer;
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- SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5510, Data);
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+ uint8_t Data[16] = {0,};
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+ Data[0] = CalFlag;
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+ memcpy(Data + 1, (uint8_t*)&p_GearBox_OBC_SetParams->GearNum, 3);
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+ Data[5] = *p_EnvioloSoftVer;
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+ SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5510, Data);
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}
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-//初始化变速器工作参数
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+//鍒濆�鍖栧彉閫熷櫒宸ヤ綔鍙傛暟
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void GearBox_Init(void)
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{
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- //根据仪表配置的变速器档位数量初始化变速比与档位对照表
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- do
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- {
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- uint16_t K;
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- if(GearBox_OBC_SetParams.GearNum < 5)
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- GearBox_OBC_SetParams.GearNum = 5;
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- else if(GearBox_OBC_SetParams.GearNum > 24)
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- GearBox_OBC_SetParams.GearNum = 24;
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- K = (18000 - 5000) / (GearBox_OBC_SetParams.GearNum - 1);
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- for(uint8_t i = 0 ; i < (sizeof(GearBox_RatioTable) >> 1); i++)
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- GearBox_RatioTable[i] = 0;
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- for(uint8_t i = 0; i < (GearBox_OBC_SetParams.GearNum - 1); i++)
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- {
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- GearBox_RatioTable[i] = 500 + (i * K) / 10;
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- }
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- GearBox_RatioTable[GearBox_OBC_SetParams.GearNum - 1] = 1800;
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- }while(0);
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+ //鏍规嵁浠�〃閰嶇疆鐨勫彉閫熷櫒妗ｄ綅鏁伴噺鍒濆�鍖栧彉閫熸瘮涓庢。浣嶅�鐓ц〃
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+ do
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+ {
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+ uint16_t K;
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+ if(GearBox_OBC_SetParams.GearNum < 5)
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+ GearBox_OBC_SetParams.GearNum = 5;
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+ else if(GearBox_OBC_SetParams.GearNum > 24)
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+ GearBox_OBC_SetParams.GearNum = 24;
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+ K = (18000 - 5000) / (GearBox_OBC_SetParams.GearNum - 1);
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+ for(uint8_t i = 0 ; i < (sizeof(GearBox_RatioTable) >> 1); i++)
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+ GearBox_RatioTable[i] = 0;
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+ for(uint8_t i = 0; i < (GearBox_OBC_SetParams.GearNum - 1); i++)
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+ {
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+ GearBox_RatioTable[i] = 500 + (i * K) / 10;
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+ }
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+ GearBox_RatioTable[GearBox_OBC_SetParams.GearNum - 1] = 1800;
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+ }while(0);
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- //初始化变速器参数
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- do
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- {
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- EnvioloConfigParams.FrontChain = MC_UpcInfo.stBikeInfo.uwNmFrontChainring; //前牙盘，小牙盘升速比2.4
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- EnvioloConfigParams.RearTeeth = MC_UpcInfo.stBikeInfo.uwNmBackChainring; //后牙盘
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- EnvioloConfigParams.WheelSize = MC_UpcInfo.stBikeInfo.uwWheelPerimeter + MC_UpcInfo.stBikeInfo.swWheelSizeAdjust - 100; //周长，偏移100cm
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- EnvioloConfigParams.CadenceMin = GearBox_OBC_SetParams.CadenceMin; //最低踏频
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- EnvioloConfigParams.CadenceMax = GearBox_OBC_SetParams.CadenceMax; //最高踏频
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- }while(0);
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+ //鍒濆�鍖栧彉閫熷櫒鍙傛暟
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+ do
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+ {
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+ EnvioloConfigParams.FrontChain = MC_UpcInfo.stBikeInfo.uwNmFrontChainring; //鍓嶇墮鐩橈紝灏忕墮鐩樺崌閫熸瘮2.4
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+ EnvioloConfigParams.RearTeeth = MC_UpcInfo.stBikeInfo.uwNmBackChainring; //鍚庣墮鐩�
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+ EnvioloConfigParams.WheelSize = MC_UpcInfo.stBikeInfo.uwWheelPerimeter + MC_UpcInfo.stBikeInfo.swWheelSizeAdjust - 100; //鍛ㄩ暱锛屽亸绉�100cm
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+ EnvioloConfigParams.CadenceMin = GearBox_OBC_SetParams.CadenceMin; //鏈€浣庤笍棰�
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+ EnvioloConfigParams.CadenceMax = GearBox_OBC_SetParams.CadenceMax; //鏈€楂樿笍棰�
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+ }while(0);
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}
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-//变速器处理主函数
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+//鍙橀€熷櫒澶勭悊涓诲嚱鏁�
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void GearBox_Loop(void)
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{
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- //开机3s后变速器仍离线直接退出
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- if((cp_ulSystickCnt > 3000) && (GearBox_Status == GEAR_STATUS_OFFLINE))
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- {
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- MC_RunInfo.GearBoxInfo = GEAR_STATUS_OFFLINE;
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- return;
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- }
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-
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- //解析变速器CAN数据
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- GearBox_CanProcess(&GearBox_CanData);
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+ //寮€鏈�3s鍚庡彉閫熷櫒浠嶇�绾跨洿鎺ラ€€鍑�
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+ if((cp_ulSystickCnt > 3000) && (GearBox_Status == GEAR_STATUS_OFFLINE))
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+ {
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+ MC_RunInfo.GearBoxInfo = GEAR_STATUS_OFFLINE;
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+ return;
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+ }
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- //变速器在线检测
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- if(GearBox_ComIsOK_Flag == TRUE)
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- {
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|
|
- if((cp_ulSystickCnt - GearBox_ComTrigTime) > 1000) //变速器超时1s认为离线
|
|
|
- {
|
|
|
- GearBox_ComIsOK_Flag = FALSE;
|
|
|
- }
|
|
|
- }
|
|
|
+ //瑙ｆ瀽鍙橀€熷櫒CAN鏁版嵁
|
|
|
+ GearBox_CanProcess(&GearBox_CanData);
|
|
|
|
|
|
- //变速器状态更新
|
|
|
- switch(GearBox_Status)
|
|
|
- {
|
|
|
- case GEAR_STATUS_OFFLINE: //初始状态为离线模式，检测到变速器通讯正常，跳转为初始化模式
|
|
|
- {
|
|
|
- MC_RunInfo.GearBoxInfo = GearBox_Status;
|
|
|
- //发送指令，激活变速器
|
|
|
- do
|
|
|
- {
|
|
|
- static uint32_t SendPeriodCnt = 0;
|
|
|
- if((cp_ulSystickCnt - SendPeriodCnt) > 200)
|
|
|
- {
|
|
|
- EnvioloControlParams.GearMode = ENVIOLO_ACTIVE;
|
|
|
- GearBox_Send_EnvioloControlParams(&EnvioloControlParams);
|
|
|
- SendPeriodCnt = cp_ulSystickCnt;
|
|
|
- }
|
|
|
- }while(0);
|
|
|
+ //鍙橀€熷櫒鍦ㄧ嚎妫€娴�
|
|
|
+ if(GearBox_ComIsOK_Flag == TRUE)
|
|
|
+ {
|
|
|
+ if((cp_ulSystickCnt - GearBox_ComTrigTime) > 1000) //鍙橀€熷櫒瓒呮椂1s璁や负绂荤嚎
|
|
|
+ {
|
|
|
+ GearBox_ComIsOK_Flag = FALSE;
|
|
|
+ }
|
|
|
+ }
|
|
|
|
|
|
- //变速器通讯正常，跳转初始化模式
|
|
|
- if(GearBox_ComIsOK_Flag == TRUE)
|
|
|
- {
|
|
|
- GearBox_Status = GEAR_STATUS_INITIAL;
|
|
|
- }
|
|
|
- break;
|
|
|
- }
|
|
|
- case GEAR_STATUS_INITIAL: //初始化模式，发送变速器状态给仪表
|
|
|
- {
|
|
|
- MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + 0x00;
|
|
|
- //初始化完成，主动发送OBC变速器参数，发送5次。
|
|
|
- do
|
|
|
- {
|
|
|
- static uint32_t SendPeriodCnt = 0;
|
|
|
- static uint8_t SendCount = 0;
|
|
|
- if(SendCount >= 5)
|
|
|
- continue;
|
|
|
- if((cp_ulSystickCnt - SendPeriodCnt) > 200)
|
|
|
- {
|
|
|
- GearBox_Send_OBC_Params(GearBox_CalFlag, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
- SendPeriodCnt = cp_ulSystickCnt;
|
|
|
- SendCount++;
|
|
|
- }
|
|
|
- }while(0);
|
|
|
-
|
|
|
- //等待仪表设置变速器工作模式，跳转到对应的模式
|
|
|
- if(GearBox_OBC_SetMode.Mode != GEAR_MODE_NULL)
|
|
|
- {
|
|
|
- if(GearBox_OBC_SetMode.Mode == GEAR_MODE_MANUAL) //仪表设置变速器进入手动模式
|
|
|
- {
|
|
|
- GearBox_Status = GEAR_STATUS_MANUAL;
|
|
|
- }
|
|
|
- else if((GearBox_OBC_SetMode.Mode == GEAR_MODE_AUTO) || (GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL)) //仪表设置变速器进入自动模式或校准模式
|
|
|
- {
|
|
|
- GearBox_Status = GEAR_STATUS_AUTO;
|
|
|
- }
|
|
|
- }
|
|
|
- break;
|
|
|
- }
|
|
|
- case GEAR_STATUS_MANUAL: case GEAR_STATUS_AUTO: //手动、自动、校准，三种模式共用一个状态
|
|
|
- {
|
|
|
- //进入校准模式
|
|
|
- if(GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL)
|
|
|
- {
|
|
|
- EnvioloControlParams.GearMode = ENVIOLO_CAL_MODE;
|
|
|
- EnvioloControlParams.RatioMode_Data = 0;
|
|
|
- EnvioloControlParams.CadenceMode_Data = 0;
|
|
|
- }
|
|
|
- //进入手动模式
|
|
|
- else if(GearBox_OBC_SetMode.Mode == GEAR_MODE_MANUAL)
|
|
|
- {
|
|
|
- GearBox_Status = GEAR_STATUS_MANUAL;
|
|
|
- EnvioloControlParams.GearMode = ENVIOLO_MANUAL_MODE;
|
|
|
- if(GearBox_OBC_SetMode.Value < 1)
|
|
|
- EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[0];
|
|
|
- else if(GearBox_OBC_SetMode.Value > GearBox_OBC_SetParams.GearNum)
|
|
|
- EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[GearBox_OBC_SetParams.GearNum - 1];
|
|
|
- else
|
|
|
- EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[GearBox_OBC_SetMode.Value - 1];
|
|
|
- EnvioloControlParams.CadenceMode_Data = 0;
|
|
|
- }
|
|
|
- //进入自动模式
|
|
|
- else if(GearBox_OBC_SetMode.Mode == GEAR_MODE_AUTO)
|
|
|
- {
|
|
|
- GearBox_Status = GEAR_STATUS_AUTO;
|
|
|
- EnvioloControlParams.GearMode = ENVIOLO_AUTO_MODE;
|
|
|
- if(GearBox_OBC_SetMode.Value < GearBox_OBC_SetParams.CadenceMin)
|
|
|
- EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetParams.CadenceMin;
|
|
|
- else if(GearBox_OBC_SetMode.Value > GearBox_OBC_SetParams.CadenceMax)
|
|
|
- EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetParams.CadenceMax;
|
|
|
- else
|
|
|
- EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetMode.Value;
|
|
|
- EnvioloControlParams.RatioMode_Data = 0;
|
|
|
- }
|
|
|
- //更新变速器运行信息，高5位表示变速器状态，低5位表示变速器当前档位
|
|
|
- if(GearBox_ComIsOK_Flag == FALSE) //离线模式
|
|
|
- {
|
|
|
- MC_RunInfo.GearBoxInfo = GEAR_STATUS_OFFLINE;
|
|
|
- }
|
|
|
- else //在线时发送变速器信息
|
|
|
- {
|
|
|
- if(GearBox_Status == GEAR_STATUS_MANUAL) //手动模式低五位发送挡位
|
|
|
- {
|
|
|
- MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + (GearBox_CalGearSt(EnvioloGearInfo1.Actual_Ratio * 100, GearBox_OBC_SetParams.GearNum) & 0x1F);
|
|
|
- }
|
|
|
- else if(GearBox_Status == GEAR_STATUS_AUTO) //自动模式低五位发送变速比，单位0.1
|
|
|
- {
|
|
|
- MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + (EnvioloGearInfo1.Actual_Ratio & 0x1F);
|
|
|
- }
|
|
|
- }
|
|
|
- //定时发送变速器控制指令
|
|
|
- do
|
|
|
- {
|
|
|
- static uint32_t SendPeriodCnt = 0;
|
|
|
- static uint8_t SendPluseCnt = 0;
|
|
|
- static uint8_t SendCalCnt = 0;
|
|
|
+ //鍙橀€熷櫒鐘舵€佹洿鏂�
|
|
|
+ switch(GearBox_Status)
|
|
|
+ {
|
|
|
+ case GEAR_STATUS_OFFLINE: //鍒濆�鐘舵€佷负绂荤嚎妯″紡锛屾�娴嬪埌鍙橀€熷櫒閫氳�姝ｅ父锛岃烦杞�负鍒濆�鍖栨ā寮�
|
|
|
+ {
|
|
|
+ MC_RunInfo.GearBoxInfo = GearBox_Status;
|
|
|
+ //鍙戦€佹寚浠わ紝婵€娲诲彉閫熷櫒
|
|
|
+ do
|
|
|
+ {
|
|
|
+ static uint32_t SendPeriodCnt = 0;
|
|
|
+ if((cp_ulSystickCnt - SendPeriodCnt) > 200)
|
|
|
+ {
|
|
|
+ EnvioloControlParams.GearMode = ENVIOLO_ACTIVE;
|
|
|
+ GearBox_Send_EnvioloControlParams(&EnvioloControlParams);
|
|
|
+ SendPeriodCnt = cp_ulSystickCnt;
|
|
|
+ }
|
|
|
+ }while(0);
|
|
|
|
|
|
- if((cp_ulSystickCnt - SendPeriodCnt) > 1000)
|
|
|
- {
|
|
|
- if(GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL) //校准指令只发送5次
|
|
|
- {
|
|
|
- if(SendCalCnt < 5)
|
|
|
- {
|
|
|
- GearBox_Send_EnvioloControlParams(&EnvioloControlParams); //发送控制指令
|
|
|
- SendCalCnt++;
|
|
|
- }
|
|
|
- SendPluseCnt = 0;
|
|
|
- }
|
|
|
- else //手动和自动指令定时发送
|
|
|
- {
|
|
|
- if(SendPluseCnt < 1)
|
|
|
- {
|
|
|
- GearBox_Send_EnvioloConfigParams(&EnvioloConfigParams); //发送配置参数
|
|
|
- SendPluseCnt++;
|
|
|
- }
|
|
|
- else if(SendPluseCnt < 5)
|
|
|
- {
|
|
|
- GearBox_Send_EnvioloControlParams(&EnvioloControlParams); //发送控制指令
|
|
|
- SendPluseCnt++;
|
|
|
- if(SendPluseCnt >= 5)
|
|
|
- {
|
|
|
- SendPluseCnt = 0;
|
|
|
- }
|
|
|
- }
|
|
|
- SendCalCnt = 0;
|
|
|
- }
|
|
|
- SendPeriodCnt = cp_ulSystickCnt;
|
|
|
- }
|
|
|
- }while(0);
|
|
|
- //校准模式定时发送踩踏提示
|
|
|
- do
|
|
|
- {
|
|
|
- static uint32_t SendPeriodCnt = 0;
|
|
|
- static uint8_t SendCount = 0xFF;
|
|
|
- GearBox_CalFlag_Struct_t CalFlgTemp = GEAR_CAL_PEDAL;
|
|
|
-
|
|
|
- if((cp_ulSystickCnt - SendPeriodCnt) > 1000)
|
|
|
- {
|
|
|
- //校准中发送踩踏提示
|
|
|
- if(GearBox_CalFlag == GEAR_CAL_NEED)
|
|
|
- {
|
|
|
+ //鍙橀€熷櫒閫氳�姝ｅ父锛岃烦杞�垵濮嬪寲妯″紡
|
|
|
+ if(GearBox_ComIsOK_Flag == TRUE)
|
|
|
+ {
|
|
|
+ GearBox_Status = GEAR_STATUS_INITIAL;
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ case GEAR_STATUS_INITIAL: //鍒濆�鍖栨ā寮忥紝鍙戦€佸彉閫熷櫒鐘舵€佺粰浠�〃
|
|
|
+ {
|
|
|
+ MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + 0x00;
|
|
|
+ //鍒濆�鍖栧畬鎴愶紝涓诲姩鍙戦€丱BC鍙橀€熷櫒鍙傛暟锛屽彂閫�5娆°€�
|
|
|
+ do
|
|
|
+ {
|
|
|
+ static uint32_t SendPeriodCnt = 0;
|
|
|
+ static uint8_t SendCount = 0;
|
|
|
+ if(SendCount >= 5)
|
|
|
+ continue;
|
|
|
+ if((cp_ulSystickCnt - SendPeriodCnt) > 200)
|
|
|
+ {
|
|
|
+ GearBox_Send_OBC_Params(GearBox_CalFlag, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
+ SendPeriodCnt = cp_ulSystickCnt;
|
|
|
+ SendCount++;
|
|
|
+ }
|
|
|
+ }while(0);
|
|
|
+
|
|
|
+ //绛夊緟浠�〃璁剧疆鍙橀€熷櫒宸ヤ綔妯″紡锛岃烦杞�埌瀵瑰簲鐨勬ā寮�
|
|
|
+ if(GearBox_OBC_SetMode.Mode != GEAR_MODE_NULL)
|
|
|
+ {
|
|
|
+ if(GearBox_OBC_SetMode.Mode == GEAR_MODE_MANUAL) //浠�〃璁剧疆鍙橀€熷櫒杩涘叆鎵嬪姩妯″紡
|
|
|
+ {
|
|
|
+ GearBox_Status = GEAR_STATUS_MANUAL;
|
|
|
+ }
|
|
|
+ else if((GearBox_OBC_SetMode.Mode == GEAR_MODE_AUTO) || (GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL)) //浠�〃璁剧疆鍙橀€熷櫒杩涘叆鑷�姩妯″紡鎴栨牎鍑嗘ā寮�
|
|
|
+ {
|
|
|
+ GearBox_Status = GEAR_STATUS_AUTO;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ case GEAR_STATUS_MANUAL: case GEAR_STATUS_AUTO: //鎵嬪姩銆佽嚜鍔ㄣ€佹牎鍑嗭紝涓夌�妯″紡鍏辩敤涓€涓�姸鎬�
|
|
|
+ {
|
|
|
+ //杩涘叆鏍″噯妯″紡
|
|
|
+ if(GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL)
|
|
|
+ {
|
|
|
+ EnvioloControlParams.GearMode = ENVIOLO_CAL_MODE;
|
|
|
+ EnvioloControlParams.RatioMode_Data = 0;
|
|
|
+ EnvioloControlParams.CadenceMode_Data = 0;
|
|
|
+ }
|
|
|
+ //杩涘叆鎵嬪姩妯″紡
|
|
|
+ else if(GearBox_OBC_SetMode.Mode == GEAR_MODE_MANUAL)
|
|
|
+ {
|
|
|
+ GearBox_Status = GEAR_STATUS_MANUAL;
|
|
|
+ EnvioloControlParams.GearMode = ENVIOLO_MANUAL_MODE;
|
|
|
+ if(GearBox_OBC_SetMode.Value < 1)
|
|
|
+ EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[0];
|
|
|
+ else if(GearBox_OBC_SetMode.Value > GearBox_OBC_SetParams.GearNum)
|
|
|
+ EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[GearBox_OBC_SetParams.GearNum - 1];
|
|
|
+ else
|
|
|
+ EnvioloControlParams.RatioMode_Data = GearBox_RatioTable[GearBox_OBC_SetMode.Value - 1];
|
|
|
+ EnvioloControlParams.CadenceMode_Data = 0;
|
|
|
+ }
|
|
|
+ //杩涘叆鑷�姩妯″紡
|
|
|
+ else if(GearBox_OBC_SetMode.Mode == GEAR_MODE_AUTO)
|
|
|
+ {
|
|
|
+ GearBox_Status = GEAR_STATUS_AUTO;
|
|
|
+ EnvioloControlParams.GearMode = ENVIOLO_AUTO_MODE;
|
|
|
+ if(GearBox_OBC_SetMode.Value < GearBox_OBC_SetParams.CadenceMin)
|
|
|
+ EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetParams.CadenceMin;
|
|
|
+ else if(GearBox_OBC_SetMode.Value > GearBox_OBC_SetParams.CadenceMax)
|
|
|
+ EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetParams.CadenceMax;
|
|
|
+ else
|
|
|
+ EnvioloControlParams.CadenceMode_Data = GearBox_OBC_SetMode.Value;
|
|
|
+ EnvioloControlParams.RatioMode_Data = 0;
|
|
|
+ }
|
|
|
+ //鏇存柊鍙橀€熷櫒杩愯�淇℃伅锛岄珮5浣嶈〃绀哄彉閫熷櫒鐘舵€侊紝浣�5浣嶈〃绀哄彉閫熷櫒褰撳墠妗ｄ綅
|
|
|
+ if(GearBox_ComIsOK_Flag == FALSE) //绂荤嚎妯″紡
|
|
|
+ {
|
|
|
+ MC_RunInfo.GearBoxInfo = GEAR_STATUS_OFFLINE;
|
|
|
+ }
|
|
|
+ else //鍦ㄧ嚎鏃跺彂閫佸彉閫熷櫒淇℃伅
|
|
|
+ {
|
|
|
+ if(GearBox_Status == GEAR_STATUS_MANUAL) //鎵嬪姩妯″紡浣庝簲浣嶅彂閫佹尅浣�
|
|
|
+ {
|
|
|
+ MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + (GearBox_CalGearSt(EnvioloGearInfo1.Actual_Ratio * 100, GearBox_OBC_SetParams.GearNum) & 0x1F);
|
|
|
+ }
|
|
|
+ else if(GearBox_Status == GEAR_STATUS_AUTO) //鑷�姩妯″紡浣庝簲浣嶅彂閫佸彉閫熸瘮锛屽崟浣�0.1
|
|
|
+ {
|
|
|
+ MC_RunInfo.GearBoxInfo = (GearBox_Status & 0xE0) + (EnvioloGearInfo1.Actual_Ratio & 0x1F);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ //瀹氭椂鍙戦€佸彉閫熷櫒鎺у埗鎸囦护
|
|
|
+ do
|
|
|
+ {
|
|
|
+ static uint32_t SendPeriodCnt = 0;
|
|
|
+ static uint8_t SendPluseCnt = 0;
|
|
|
+ static uint8_t SendCalCnt = 0;
|
|
|
+
|
|
|
+ if((cp_ulSystickCnt - SendPeriodCnt) > 1000)
|
|
|
+ {
|
|
|
+ if(GearBox_OBC_SetMode.Mode == GEAR_MODE_CAL) //鏍″噯鎸囦护鍙�彂閫�5娆�
|
|
|
+ {
|
|
|
+ if(SendCalCnt < 5)
|
|
|
+ {
|
|
|
+ GearBox_Send_EnvioloControlParams(&EnvioloControlParams); //鍙戦€佹帶鍒舵寚浠�
|
|
|
+ SendCalCnt++;
|
|
|
+ }
|
|
|
+ SendPluseCnt = 0;
|
|
|
+ }
|
|
|
+ else //鎵嬪姩鍜岃嚜鍔ㄦ寚浠ゅ畾鏃跺彂閫�
|
|
|
+ {
|
|
|
+ if(SendPluseCnt < 1)
|
|
|
+ {
|
|
|
+ GearBox_Send_EnvioloConfigParams(&EnvioloConfigParams); //鍙戦€侀厤缃�弬鏁�
|
|
|
+ SendPluseCnt++;
|
|
|
+ }
|
|
|
+ else if(SendPluseCnt < 5)
|
|
|
+ {
|
|
|
+ GearBox_Send_EnvioloControlParams(&EnvioloControlParams); //鍙戦€佹帶鍒舵寚浠�
|
|
|
+ SendPluseCnt++;
|
|
|
+ if(SendPluseCnt >= 5)
|
|
|
+ {
|
|
|
+ SendPluseCnt = 0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ SendCalCnt = 0;
|
|
|
+ }
|
|
|
+
|
|
|
+ SendPeriodCnt = cp_ulSystickCnt;
|
|
|
+ }
|
|
|
+ }while(0);
|
|
|
+ //鏍″噯妯″紡瀹氭椂鍙戦€佽俯韪忔彁绀�
|
|
|
+ do
|
|
|
+ {
|
|
|
+ static uint32_t SendPeriodCnt = 0;
|
|
|
+ static uint8_t SendCount = 0xFF;
|
|
|
+ GearBox_CalFlag_Struct_t CalFlgTemp = GEAR_CAL_PEDAL;
|
|
|
+
|
|
|
+ if((cp_ulSystickCnt - SendPeriodCnt) > 1000)
|
|
|
+ {
|
|
|
+ //鏍″噯涓�彂閫佽俯韪忔彁绀�
|
|
|
+ if(GearBox_CalFlag == GEAR_CAL_NEED)
|
|
|
+ {
|
|
|
CalFlgTemp = GEAR_CAL_PEDAL;
|
|
|
- GearBox_Send_OBC_Params(CalFlgTemp, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
- SendCount = 0;
|
|
|
- }
|
|
|
- //校准成功发送校准完成，发送5次
|
|
|
- else if(GearBox_CalFlag == GEAR_CAL_SUCCESS)
|
|
|
- {
|
|
|
+ GearBox_Send_OBC_Params(CalFlgTemp, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
+ SendCount = 0;
|
|
|
+ }
|
|
|
+ //鏍″噯鎴愬姛鍙戦€佹牎鍑嗗畬鎴愶紝鍙戦€�5娆�
|
|
|
+ else if(GearBox_CalFlag == GEAR_CAL_SUCCESS)
|
|
|
+ {
|
|
|
CalFlgTemp = GEAR_CAL_SUCCESS;
|
|
|
- if(SendCount < 5)
|
|
|
- {
|
|
|
- GearBox_Send_OBC_Params(CalFlgTemp, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
- SendCount++;
|
|
|
- }
|
|
|
- }
|
|
|
- SendPeriodCnt = cp_ulSystickCnt;
|
|
|
- }
|
|
|
- }while(0);
|
|
|
- break;
|
|
|
- }
|
|
|
- default:
|
|
|
- break;
|
|
|
- }
|
|
|
-
|
|
|
+ if(SendCount < 5)
|
|
|
+ {
|
|
|
+ GearBox_Send_OBC_Params(CalFlgTemp, &GearBox_OBC_SetParams, &EnvioloGearInfo2.Soft_Version);
|
|
|
+ SendCount++;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ SendPeriodCnt = cp_ulSystickCnt;
|
|
|
+ }
|
|
|
+ }while(0);
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
}
|
|
|
|
Ye Jin