/************************************************************************ Project: Welling Motor Control Paltform Filename: asr.c Partner Filename: asr.h Description: Automatic speed regulator Complier: IAR Embedded Workbench for ARM 7.80, IAR Systems. CPU TYPE : STM32F30x ************************************************************************* Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. ************************************************************************* ************************************************************************* Revising History (ECL of this file): ************************************************************************/ /************************************************************************ Beginning of File, do not put anything above here except notes Compiler Directives: *************************************************************************/ #ifndef _CAN_C_ #define _CAN_C_ #endif /************************************************************************ Included File: *************************************************************************/ #include "stdlib.h" #include "string.h" #include "gd32f30x.h" #include "torquesensor.h" #include "FuncLayerAPI.h" #include "can.h" #include "canAppl.h" #include "CodePara.h" #include "flash_master.h" #include "i2c_master.h" #include "power.h" const uint32_t Crc32Table[256] = { 0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B, 0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61, 0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7, 0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75, 0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3, 0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039, 0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF, 0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D, 0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB, 0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1, 0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0, 0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072, 0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4, 0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE, 0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08, 0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA, 0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC, 0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6, 0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050, 0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2, 0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34, 0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637, 0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1, 0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53, 0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5, 0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF, 0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9, 0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B, 0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD, 0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7, 0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71, 0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3, 0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2, 0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8, 0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E, 0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC, 0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A, 0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0, 0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676, 0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4, 0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662, 0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668, 0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4}; //中断服务函数 void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, uint8_t ucLength) { for (uint8_t i = 0; i < ucLength; i++) { *((*ptCANRx).pcBufAddr + (*ptCANRx).ucBufWrInde) = pRxMsg->rx_data[i]; if (++(*ptCANRx).ucBufWrInde >= (*ptCANRx).ucBufSize) { (*ptCANRx).ucBufWrInde = 0; } if (++(*ptCANRx).ucBufCnt > (*ptCANRx).ucBufSize) { (*ptCANRx).ucBufCnt = (*ptCANRx).ucBufSize; (*ptCANRx).ucBufOvf = 1; } } } uint16_t LastPacketLen, PacketNum; uint8_t i, j; uint32_t OVtim; UWORD CAN_DELYA; UWORD MailState; void CAN_SendData(uint16_t ID, uint8_t *Data, uint16_t Length) { if (Length > 0) { //计算分包个数 LastPacketLen = Length % 8; //最后一个数据包长度 if (LastPacketLen == 0) { LastPacketLen = 8; PacketNum = Length / 8; } else { PacketNum = Length / 8 + 1; } //开始发送数据 pTxMsg->tx_sfid = ID; pTxMsg->tx_ft = CAN_FT_DATA; pTxMsg->tx_ff = CAN_FF_STANDARD; //发送前（PacketNum - 1）个数据包 for (i = 0; i < (PacketNum - 1); i++) { pTxMsg->tx_dlen = 8; for (j = 0; j < 8; j++) { pTxMsg->tx_data[j] = Data[8 * i + j]; } can_ubMbox = can_message_transmit(CAN0, pTxMsg); OVtim = 0; while((can_transmit_states(CAN0,can_ubMbox) != CAN_TRANSMIT_OK) && (OVtim < 0XFFF)) { OVtim++; } //等待发送结束 MailState = can_transmit_states(CAN0,can_ubMbox); if (OVtim >= 0XFFF) return; } //发送最后一个数据包 pTxMsg->tx_dlen = LastPacketLen; for (j = 0; j < LastPacketLen; j++) { pTxMsg->tx_data[j] = Data[8 * i + j]; } can_ubMbox = can_message_transmit(CAN0, pTxMsg); OVtim = 0; while((can_transmit_states(CAN0,can_ubMbox) != CAN_TRANSMIT_OK) && (OVtim < 0XFFF)) OVtim++; //等待发送结束 if (OVtim >= 0XFFF) return; } } uint8_t CanSendData[255], CanSendData_CRC_Buf[255]; void SendData(uint16_t ID, uint8_t Mode, uint16_t Command, uint8_t *Data) { uint32_t CRC_Result = 0x00000000; uint8_t DataLength; DataLength = (uint8_t)(Command & 0xFF); CanSendData[0] = FRAME_BEGIN1; CanSendData[1] = FRAME_BEGIN2; CanSendData[2] = Mode; CanSendData[3] = DataLength + 2; CanSendData[4] = (uint8_t)((Command >> 8) & 0xFF); CanSendData[5] = DataLength; memcpy(CanSendData + 6, Data, DataLength); CanSendData_CRC_Buf[0] = FRAME_BEGIN1; CanSendData_CRC_Buf[1] = FRAME_BEGIN2; CanSendData_CRC_Buf[2] = (uint8_t)(ID >> 8); CanSendData_CRC_Buf[3] = (uint8_t)(ID & 0xFF); memcpy(CanSendData_CRC_Buf + 4, CanSendData + 2, DataLength + 4); CRC_Result = CRC32_Calculate(CanSendData_CRC_Buf, DataLength + 8); //帧头2bytes + ID 2bytes + 模式 1byte + 命令段长度 1byte + 命令字 2bytes CanSendData[6 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF); CanSendData[7 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF); CanSendData[8 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF); CanSendData[9 + DataLength] = (uint8_t)(CRC_Result & 0xFF); CanSendData[10 + DataLength] = FRAME_END; CAN_SendData(ID, CanSendData, DataLength + 11); } //从队列读取一个字节 uint8_t cd_ReadChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum) { uint8_t ucData; uint16_t i; i = ucNum; if ((*ptCANRx).ucBufCnt >= ucNum) { i += (*ptCANRx).ucBufRdInde; if (i >= (*ptCANRx).ucBufSize) { i -= ((*ptCANRx).ucBufSize); } } else { i = 0; } ucData = *((*ptCANRx).pcBufAddr + i); return ucData; } //从队列删除一个字节 void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum) { uint16_t i; if ((*ptCANRx).ucBufCnt >= ucNum) { // __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断 can_interrupt_disable(CAN0, CAN_INT_RFNE0); // CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE); (*ptCANRx).ucBufCnt -= ucNum; // __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断 can_interrupt_enable(CAN0, CAN_INT_RFNE0); // CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); i = ucNum; i += (*ptCANRx).ucBufRdInde; if (i >= (*ptCANRx).ucBufSize) { i -= (*ptCANRx).ucBufSize; } (*ptCANRx).ucBufRdInde = i; } else { // __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断 can_interrupt_disable(CAN0, CAN_INT_RFNE0); // CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE); i = (*ptCANRx).ucBufCnt; (*ptCANRx).ucBufCnt = 0; // __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断 can_interrupt_enable(CAN0, CAN_INT_RFNE0); // CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); i += (*ptCANRx).ucBufRdInde; if (i >= (*ptCANRx).ucBufSize) { i -= (*ptCANRx).ucBufSize; } (*ptCANRx).ucBufRdInde = i; } } //解析队列数据，严格按照通信协议格式 uint8_t CAN_RevData[255], CAN_RevData_CRC_Buf[255]; void CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, uint16_t TimeOutCnt) { uint8_t Mode, CmdLength, DataLength; uint16_t Cmd, i; uint32_t CrcResult, CrcData; uint8_t FrameBegin1, FrameBegin2; if (ptCANRx->ucBufCnt >= 11) { //读取帧头 FrameBegin1 = cd_ReadChar(ptCANRx, 0); CAN_RevData_CRC_Buf[0] = FrameBegin1; FrameBegin2 = cd_ReadChar(ptCANRx, 1); CAN_RevData_CRC_Buf[1] = FrameBegin2; if ((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2)) { CAN_RevData_CRC_Buf[2] = (uint8_t)((ptCANRx->ucBufID >> 8) & 0xFF); CAN_RevData_CRC_Buf[3] = (uint8_t)(ptCANRx->ucBufID & 0xFF); //读取帧模式 Mode = cd_ReadChar(ptCANRx, 2); CAN_RevData_CRC_Buf[4] = Mode; if ((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT)) { //读取命令段长度和命令字 CmdLength = cd_ReadChar(ptCANRx, 3); CAN_RevData_CRC_Buf[5] = CmdLength; Cmd = (cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5); CAN_RevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF); CAN_RevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF); DataLength = cd_ReadChar(ptCANRx, 5); if ((CmdLength - DataLength) == 2) { if (ptCANRx->ucBufCnt < (CmdLength + 9)) //帧头2bytes + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte { if (ptCANRx->IsWaitRX_Flag == FALSE) { ptCANRx->DelayTimeCnt = cp_ulSystickCnt; // SysTick_GetCounter() ptCANRx->IsWaitRX_Flag = TRUE; } if ((cp_ulSystickCnt - ptCANRx->DelayTimeCnt) > TimeOutCnt) //超时，单位ms { cd_DelChar(ptCANRx, ptCANRx->ucBufCnt); ptCANRx->IsWaitRX_Flag = FALSE; } return; } else { ptCANRx->IsWaitRX_Flag = FALSE; //接收到完整正确数据包 for (i = 0; i < DataLength; i++) //读取数据段 { CAN_RevData[i] = cd_ReadChar(ptCANRx, 6 + i); CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i]; } CrcData = (cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + (cd_ReadChar(ptCANRx, 7 + DataLength) << 16) + (cd_ReadChar(ptCANRx, 8 + DataLength) << 8) + cd_ReadChar(ptCANRx, 9 + DataLength); CrcResult = CRC32_Calculate(CAN_RevData_CRC_Buf, 8 + DataLength); if ((CrcData - CrcResult) == 0) // 比较校验 { //数据处理 DataProcess(ptCANRx->ucBufID, Mode, Cmd, CAN_RevData); // Mode为帧模式，Cmd为命令字，Data为数据段 cd_DelChar(ptCANRx, CmdLength + 9); return; } cd_DelChar(ptCANRx, 1); } } else { cd_DelChar(ptCANRx, 1); } } else { cd_DelChar(ptCANRx, 1); } } else { cd_DelChar(ptCANRx, 1); } } } // CAN数据解任务，定时执行 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); } void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t *Data) { uint8_t DataLength; DataLength = (uint8_t)(Cmd & 0x00FF); switch (ID) { //处理BMS发送的指令 case ID_BMS_BC: case ID_BMS_TO_MC: { switch (Cmd) { case 0x1010: // BMS运行信息 { //更新电池运行信息 memcpy(&BMS_RunInfo.Voltage, Data, DataLength); MC_RunInfo.SOC = BMS_RunInfo.SOC; break; } case 0x1308: //关机指令 { //电池关闭电源前控制器存储数据 power_stPowStateOut.powerstate = POWER_OFF; power_stPowStateOut.blPowerStartupFlg = FALSE; //发送关机就绪信号 SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t *)"READY"); break; } default: break; } break; } //处理OBC发送的指令 case ID_PBU_BC: case ID_PBU_TO_MC: { switch (Cmd) { case 0x1008: // OBC关机指令 { //仪表关闭电源前控制器存储数据 power_stPowStateOut.powerstate = POWER_OFF; power_stPowStateOut.blPowerStartupFlg = FALSE; //发送关机就绪信号 SendData(ID_MC_BC, MODE_REPORT, 0x1305, (uint8_t *)"READY"); break; } // OBC发送给MC的指令 case 0x3002: //控制电机指令 { memcpy(&MC_ControlCode.GearSt, Data, DataLength); MC_RunInfo.GearSt = MC_ControlCode.GearSt; //当前助力档位更新 MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; //大灯状态更新 SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed); ulOBC_ComTimeOutCount = cp_ulSystickCnt; break; } case 0x3105: { if (power_stPowStateOut.powerstate == POWER_ON_END) { SendData(ID_MC_TO_PBU, MODE_REPORT, 0x1305, (uint8_t *)"READY"); } break; } case 0x3300: // OBC设置用户参数 { OBC_SetCustomPara.uwWheelDiameter = ass_ParaCong.uwWheelDiameter; OBC_SetCustomPara.StartUpMod = ass_ParaCong.uwStartMode; OBC_SetCustomPara.BikeSpeedLimit = ass_ParaCong.uwAssistMaxSpdKmH; OBC_SetCustomPara.DeltDiameter = ass_ParaCong.swDeltDiameter; OBC_SetCustomPara.AssistMod = ass_ParaSet.uwAsssistSelectNum; OBC_SetCustomPara.AutoPowerOffTime = ass_ParaCong.uwAutoPowerOffTime; SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5408, (uint8_t *)&OBC_SetCustomPara.uwWheelDiameter); break; } case 0x3408: // OBC设置用户参数 { OBC_SetCustomPara.DeltDiameter = Data[0]; OBC_SetCustomPara.StartUpMod = Data[1]; OBC_SetCustomPara.AssistMod = Data[2]; OBC_SetCustomPara.AutoPowerOffTime = Data[3]; ass_ParaCong.swDeltDiameter = OBC_SetCustomPara.DeltDiameter; ass_ParaCong.uwStartMode = OBC_SetCustomPara.StartUpMod; ass_ParaSet.uwAsssistSelectNum = OBC_SetCustomPara.AssistMod; ass_ParaCong.uwAutoPowerOffTime = OBC_SetCustomPara.AutoPowerOffTime; MC_UpcInfo.stBikeInfo.uwSaveFlg = TRUE; MC_UpcInfo.stBikeInfo.swWheelSizeAdjust = OBC_SetCustomPara.DeltDiameter; MC_UpcInfo.stBikeInfo.uwStartMode = OBC_SetCustomPara.StartUpMod; MC_UpcInfo.stBikeInfo.uwAutoPowerOffTime = OBC_SetCustomPara.AutoPowerOffTime; cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaBikeInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; cp_stFlg.ParaSaveEEFlg = TRUE; SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t *)"ACK"); break; } case 0x3500: //查询骑行历史 { SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t *)&MC_RideLog.ODO_Km); break; } case 0x3605: // OBC清除TRIP信息 { if (strncmp("CLEAR", (char *)Data, DataLength) == 0) { MC_RideLog.TRIP_Km = 0; MC_RideLog.TRIP_Time = 0; SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5303, (uint8_t *)"ACK"); MC_RunInfo.Ride_Km = 0; MC_RunInfo.Ride_Time = 0; cp_stHistoryPara.ulTripSum=0; cp_stHistoryPara.ulTripSumTime=0; } break; } case 0x3900: //返回电机版本信息 { SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t *)MC_VerInfo.Mode); break; } case 0x3A02: //OBC按键状态 { OBC_ButtonStatus.Reserver = Data[0]; OBC_ButtonStatus.ButtonStatu.KeyStatus = Data[1]; OBC_ButtonStatus.ulButtonSetTimeCnt = cp_ulSystickCnt; break; } default: break; } break; } //处理上位机发送的指令 case ID_CDL_BC: case ID_CDL_TO_MC: { switch (Cmd) { case 0xF000: // 上位机握手指令 返回应答指令 { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xF000, (uint8_t *)0); break; } case 0x1200: //查询电机版本信息 { SendData(ID_MC_BC, MODE_REPORT, 0x1240, (uint8_t *)MC_VerInfo.Mode); break; } case 0x1300: //查询自定义字符串1 { SendData(ID_MC_BC, MODE_REPORT, 0xA610, (uint8_t *)MC_RsASSCII.CustomASCII1); break; } case 0x1410: //写入自定义字符串1 { memcpy(MC_RsASSCII.CustomASCII1, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubRsASSCII.CustomASCII1, MC_RsASSCII.CustomASCII1, sizeof(MC_RsASSCII.CustomASCII1)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x1500: //查询自定义字符串2 { SendData(ID_MC_BC, MODE_REPORT, 0xA710, (uint8_t *)MC_RsASSCII.CustomASCII2); break; } case 0x1610: //写入自定义字符串2 { memcpy(MC_RsASSCII.CustomASCII2, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubRsASSCII.CustomASCII2, MC_RsASSCII.CustomASCII2, sizeof(MC_RsASSCII.CustomASCII2)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x1700: //查询自定义字符串3 { SendData(ID_MC_BC, MODE_REPORT, 0xA810, (uint8_t *)MC_RsASSCII.CustomASCII3); break; } case 0x1810: //写入自定义字符串3 { memcpy(MC_RsASSCII.CustomASCII3, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubRsASSCII.CustomASCII3, MC_RsASSCII.CustomASCII3, sizeof(MC_RsASSCII.CustomASCII3)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x1901: //写入电机工作模式 { MC_WorkMode = *Data; // 0-关闭定时发送，1-开启定时发送 break; } case 0x1E00: //查询历史信息 { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB74C, (uint8_t *)&MC_UpcInfo.stHistoryInfo.uwOpenTimes); break; } case 0x1F00: //查询电机生产信息 { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA520, (uint8_t *)MC_MacInfo.Manufacturer); break; } case 0x2210: //写入电机型号 { memcpy(MC_VerInfo.Mode, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubMotorVersion, MC_VerInfo.Mode, sizeof(flash_stPara.ubMotorVersion)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x2310: //写入电机SN { memcpy(MC_VerInfo.SN_Num, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubSN, MC_VerInfo.SN_Num, sizeof(flash_stPara.ubSN)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x2420: //写入电机生产信息 { memcpy(MC_MacInfo.Manufacturer, Data, DataLength); //执行存储操作 memcpy(flash_stPara.ubProdInfo.Manufacturer, MC_MacInfo.Manufacturer, sizeof(flash_stPara.ubProdInfo)); SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x2505: //复位指令 { if (strncmp("RESET", (char *)Data, DataLength) == 0) { //执行关机，需硬件重启 power_stPowStateOut.powerstate = POWER_OFF; power_stPowStateOut.blPowerStartupFlg = FALSE; PowerOffDTimeOut = cp_ulSystickCnt; SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } break; } case 0x2605: //系统清除 { if (strncmp("CLEAR", (char *)Data, DataLength) == 0) { flash_voParaInit(); DISABLE_IRQ; /* Parameter default value write*/ i2c_voDefaultWriteBuffer(); i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut); CodeHistoryParaDelete(); mn_voEEHistoryParaUpdate(); i2c_voHistoryWriteBuffer(); i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut); ENABLE_IRQ; if (I2C_EE_ComuFltFlg != TRUE) { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } IO_POWERLOCK_OFF; // GPIOC->ODR &= ~(1 << POWER_LOCK_PORT); } break; } case 0x2708: //参数还原 { if (strncmp("RECOVERY", (char *)Data, DataLength) == 0) { flash_voParaInit(); DISABLE_IRQ; /* Parameter default value write*/ i2c_voDefaultWriteBuffer(); i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut); cp_stFlg.ParaSaveEEFlg = FALSE; ENABLE_IRQ; if (I2C_EE_ComuFltFlg != TRUE) { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } IO_POWERLOCK_OFF; // GPIOC->ODR &= ~(1 << POWER_LOCK_PORT); } break; } case 0x2802: //控制指令 { memcpy(&MC_ControlCode.GearSt, Data, DataLength); MC_RunInfo.GearSt = MC_ControlCode.GearSt; //当前助力档位更新 MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; SendData(ID_MC_BC, MODE_REPORT, 0x1020, (uint8_t *)&MC_RunInfo.BikeSpeed); break; } case 0x2C01: //控制指令 { MC_MotorSPD_rpm_Percent = *Data; break; } case 0x2D08: //读取存储器指定地址数据 { do { uint32_t DataLength, AddressBegin, AddressEnd; AddressBegin = (uint32_t)((Data[0] << 24) + (Data[1] << 16) + (Data[2] << 8) + (Data[3])); AddressEnd = (uint32_t)((Data[4] << 24) + (Data[5] << 16) + (Data[6] << 8) + (Data[7])); if(AddressBegin <= AddressEnd) { DataLength = AddressEnd - AddressBegin+ 1; memcpy((uint8_t*)(Data + 8), (uint8_t*)(AddressBegin), DataLength); SendData(ID_MC_TO_CDL, MODE_REPORT, (0xAB08 + DataLength), (uint8_t*)Data); } }while(0); break; } case 0x2E00: //查询骑行历史信息 { SendData(ID_MC_BC, MODE_REPORT, 0x1510, (uint8_t *)&MC_RideLog.ODO_Km); break; } case 0x3909: { if (strncmp("LOG CLEAR", (char *)Data, DataLength) == 0) { CodeHistoryParaDelete(); MC_RideLog.TRIP_Km = 0; MC_RideLog.TRIP_Time = 0; MC_RideLog.ODO_Km = 0; MC_RideLog.ODO_Time = 0; cp_stHistoryPara.ulTripSum=0; cp_stHistoryPara.ulTripSumTime=0; cp_stHistoryPara.ulODOTrip = 0; cp_stHistoryPara.ulODOTime = 0; DISABLE_IRQ; mn_voEEHistoryParaUpdate(); i2c_voHistoryWriteBuffer(); i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut); ENABLE_IRQ; if (I2C_EE_ComuFltFlg != TRUE) { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } IO_POWERLOCK_OFF; // GPIOC->ODR &= ~(1 << POWER_LOCK_PORT); } break; } //////////////////////////////////////// case 0x3A00: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB226, (uint8_t *)&MC_UpcInfo.stMotorInfo.uwPolePairs); break; } case 0x3B28: { memcpy(&MC_UpcInfo.stMotorInfo, Data, DataLength); if (MC_UpcInfo.stMotorInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; cp_stFlg.ParaMInfoUpdateFlg = TRUE; cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x3C00: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB31A, (uint8_t *)&MC_UpcInfo.stBikeInfo.uwWheelDiameter); break; } case 0x3D1C: //写入整车参数 { memcpy(&MC_UpcInfo.stBikeInfo, Data, DataLength); if (MC_UpcInfo.stBikeInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaBikeInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x3E00: { MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin = spi_stResolverOut.swSpiThetaOffsetOrignPu; MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetNow = spi_stResolverOut.swSpiThetaOffsetPu; SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB420, (uint8_t *)&MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin); break; } case 0x3F22: { memcpy(&MC_UpcInfo.stMContorlInfo, Data, DataLength); if (MC_UpcInfo.stMContorlInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaMCInfoUpdateFlg = TRUE; cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x4000: { MC_UpcInfo.stSensorInfo.uwTorSensorOffsetOrigin = torsensor_stTorSensorCof.uwTorqueOffsetOrign; MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow1 = torsensor_stTorSensorCof.uwTorqueOffsetNow1; MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow2 = torsensor_stTorSensorCof.uwTorqueOffsetNow2; MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow3 = torsensor_stTorSensorCof.uwTorqueOffsetNow3; MC_UpcInfo.stSensorInfo.uwTorSensorOffsetNow4 = torsensor_stTorSensorCof.uwTorqueOffsetNow4; MC_UpcInfo.stSensorInfo.uwBikeTorMaxNm = torsensor_stTorSensorCof.uwMaxSensorTorquePu; MC_UpcInfo.stSensorInfo.uwBikeTor1StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep1RealNm; MC_UpcInfo.stSensorInfo.uwBikeTor1StepADC = torsensor_stTorSensorCof.uwBikeTorStep1ADC; MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep2RealNm; MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = torsensor_stTorSensorCof.uwBikeTorStep2ADC; MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep3RealNm; MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = torsensor_stTorSensorCof.uwBikeTorStep3ADC; MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = torsensor_stTorSensorCof.uwBikeTorStep4RealNm; MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = torsensor_stTorSensorCof.uwBikeTorStep4ADC; MC_UpcInfo.stSensorInfo.uwCadSensorPulseNm = cadence_stFreGetCof.uwNumbersPulses; MC_UpcInfo.stSensorInfo.uwBikeSpdSensorPulseNm = bikespeed_stFreGetCof.uwNumbersPulses; SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB528, (uint8_t *)&MC_UpcInfo.stSensorInfo.uwTorSensorOffsetOrigin); break; } case 0x4104: { UWORD SAVETemp[2]; memcpy(&SAVETemp, Data, DataLength); if (SAVETemp[0] == 1) { MC_UpcInfo.stSensorInfo.uwBikeTor1StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor1StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } else if (SAVETemp[0] == 2) { MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = hw_uwADC0[7];//hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } else if (SAVETemp[0] == 3) { MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } else if (SAVETemp[0] == 4) { MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = hw_uwADC0[7]; //hw_uwADC1[0];//torsensor_stTorSensorOut.uwTorqueReg; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); } else {} cp_stFlg.ParaSaveEEFlg = TRUE; cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaSensorInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; break; } case 0x420E: { memcpy(&MC_UpcInfo.stSensorInfo.uwSaveFlg, Data, 2); memcpy(&MC_UpcInfo.stSensorInfo.uwCadSensorPulseNm, Data + 2, DataLength - 2); if (MC_UpcInfo.stSensorInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaSensorInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x4304: { memcpy(&MC_UpcInfo.stCurveOrderInfo, Data, DataLength); Can_AssistCoef_Read(&MC_UpcInfo.stCurveOrderInfo); SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB64C, (uint8_t *)&MC_UpcInfo.stAssistInfo.swStartupGain); break; } case 0x4450: { memcpy(&MC_UpcInfo.stAssistInfo, Data, DataLength); Can_AssistCoef_Write(&MC_UpcInfo.stAssistInfo.stCurveOrderInfo); if (MC_UpcInfo.stAssistInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaAInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x4500: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB83A, (uint8_t *)&MC_UpcInfo.stTestParaInfo.RunModelSelect); break; } case 0x463C: { memcpy(&MC_UpcInfo.stTestParaInfo.uwTestParaSaveFlg, Data, DataLength); cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.TestParaInfoUpdateFlg = TRUE; cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x472E: { memcpy(&MC_UpcInfo.stSensorInfo.uwSaveFlg, Data, 30); if (MC_UpcInfo.stSensorInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaSensorInfoUpdateFlg = TRUE; cp_stFlg.ParaAssistUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } case 0x4800: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB904, (uint8_t *)&MC_UpcInfo.stTestParaInfo.uwEEFirstDefaultSetFlg); break; } case 0x4906: { memcpy(&MC_UpcInfo.stTestParaInfo.uwSaveFlg, Data, DataLength); if(MC_UpcInfo.stTestParaInfo.uwSaveFlg == 1) { cp_stFlg.ParaSaveEEFlg = TRUE; } cp_stFlg.ParaUpdateFlg = TRUE; cp_stFlg.ParaMCInfoUpdateFlg = TRUE; cp_stFlg.ParaMotorDriveUpdateFinishFlg = TRUE; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (uint8_t *)"ACK"); break; } default: break; } break; } default: break; } } uint32_t CRC32_Calculate(uint8_t *pData, uint16_t Length) { uint32_t nReg; uint32_t nTemp = 0; uint16_t i, n; nReg = 0xFFFFFFFF; for (n = 0; n < Length; n++) { nReg ^= (uint32_t)pData[n]; for (i = 0; i < 4; i++) { nTemp = Crc32Table[(uint8_t)((nReg >> 24) & 0xFF)]; nReg <<= 8; nReg ^= nTemp; } } return nReg; } /************************************************************************ Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. *************************************************************************/ #ifdef _CAN_C_ #undef _CAN_C_ #endif /************************************************************************* End of this File (EOF): !!!!!!Do not put anything after this part!!!!!!!!!!! *************************************************************************/