/************************************************************************ 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: *************************************************************************/ #ifdef RUN_ARCH_SIM #include "can.h" void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, UBYTE ucLength) {} void CAN_SendData(UWORD ID, const UBYTE Data[], UWORD Length) {} void SendData(UWORD ID, UBYTE Mode, UWORD Command, const UBYTE *Data) {} UBYTE cd_ReadChar(const CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum) {} void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum) {} void CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, UWORD TimeOutCnt) {} void CanRx_Process(void) {} void DataProcess(UWORD ID, UBYTE Mode, UWORD Cmd, UBYTE Data[]) {} ULONG CRC32_Calculate(const UBYTE pData[], UWORD Length) {} #else #include "stdlib.h" #include "string.h" #include "gd32f30x.h" #include "can.h" #include "canAppl.h" #include "CodePara.h" #include "flash_master.h" #include "i2c_master.h" #include "power.h" #include "torquesensor.h" #include "api.h" #include "api.h" static const ULONG Crc32Table[256] = { 0x00000000U, 0x04C11DB7U, 0x09823B6EU, 0x0D4326D9U, 0x130476DCU, 0x17C56B6BU, 0x1A864DB2U, 0x1E475005U, 0x2608EDB8U, 0x22C9F00FU, 0x2F8AD6D6U, 0x2B4BCB61U, 0x350C9B64U, 0x31CD86D3U, 0x3C8EA00AU, 0x384FBDBDU, 0x4C11DB70U, 0x48D0C6C7U, 0x4593E01EU, 0x4152FDA9U, 0x5F15ADACU, 0x5BD4B01BU, 0x569796C2U, 0x52568B75U, 0x6A1936C8U, 0x6ED82B7FU, 0x639B0DA6U, 0x675A1011U, 0x791D4014U, 0x7DDC5DA3U, 0x709F7B7AU, 0x745E66CDU, 0x9823B6E0U, 0x9CE2AB57U, 0x91A18D8EU, 0x95609039U, 0x8B27C03CU, 0x8FE6DD8BU, 0x82A5FB52U, 0x8664E6E5U, 0xBE2B5B58U, 0xBAEA46EFU, 0xB7A96036U, 0xB3687D81U, 0xAD2F2D84U, 0xA9EE3033U, 0xA4AD16EAU, 0xA06C0B5DU, 0xD4326D90U, 0xD0F37027U, 0xDDB056FEU, 0xD9714B49U, 0xC7361B4CU, 0xC3F706FBU, 0xCEB42022U, 0xCA753D95U, 0xF23A8028U, 0xF6FB9D9FU, 0xFBB8BB46U, 0xFF79A6F1U, 0xE13EF6F4U, 0xE5FFEB43U, 0xE8BCCD9AU, 0xEC7DD02DU, 0x34867077U, 0x30476DC0U, 0x3D044B19U, 0x39C556AEU, 0x278206ABU, 0x23431B1CU, 0x2E003DC5U, 0x2AC12072U, 0x128E9DCFU, 0x164F8078U, 0x1B0CA6A1U, 0x1FCDBB16U, 0x018AEB13U, 0x054BF6A4U, 0x0808D07DU, 0x0CC9CDCAU, 0x7897AB07U, 0x7C56B6B0U, 0x71159069U, 0x75D48DDEU, 0x6B93DDDBU, 0x6F52C06CU, 0x6211E6B5U, 0x66D0FB02U, 0x5E9F46BFU, 0x5A5E5B08U, 0x571D7DD1U, 0x53DC6066U, 0x4D9B3063U, 0x495A2DD4U, 0x44190B0DU, 0x40D816BAU, 0xACA5C697U, 0xA864DB20U, 0xA527FDF9U, 0xA1E6E04EU, 0xBFA1B04BU, 0xBB60ADFCU, 0xB6238B25U, 0xB2E29692U, 0x8AAD2B2FU, 0x8E6C3698U, 0x832F1041U, 0x87EE0DF6U, 0x99A95DF3U, 0x9D684044U, 0x902B669DU, 0x94EA7B2AU, 0xE0B41DE7U, 0xE4750050U, 0xE9362689U, 0xEDF73B3EU, 0xF3B06B3BU, 0xF771768CU, 0xFA325055U, 0xFEF34DE2U, 0xC6BCF05FU, 0xC27DEDE8U, 0xCF3ECB31U, 0xCBFFD686U, 0xD5B88683U, 0xD1799B34U, 0xDC3ABDEDU, 0xD8FBA05AU, 0x690CE0EEU, 0x6DCDFD59U, 0x608EDB80U, 0x644FC637U, 0x7A089632U, 0x7EC98B85U, 0x738AAD5CU, 0x774BB0EBU, 0x4F040D56U, 0x4BC510E1U, 0x46863638U, 0x42472B8FU, 0x5C007B8AU, 0x58C1663DU, 0x558240E4U, 0x51435D53U, 0x251D3B9EU, 0x21DC2629U, 0x2C9F00F0U, 0x285E1D47U, 0x36194D42U, 0x32D850F5U, 0x3F9B762CU, 0x3B5A6B9BU, 0x0315D626U, 0x07D4CB91U, 0x0A97ED48U, 0x0E56F0FFU, 0x1011A0FAU, 0x14D0BD4DU, 0x19939B94U, 0x1D528623U, 0xF12F560EU, 0xF5EE4BB9U, 0xF8AD6D60U, 0xFC6C70D7U, 0xE22B20D2U, 0xE6EA3D65U, 0xEBA91BBCU, 0xEF68060BU, 0xD727BBB6U, 0xD3E6A601U, 0xDEA580D8U, 0xDA649D6FU, 0xC423CD6AU, 0xC0E2D0DDU, 0xCDA1F604U, 0xC960EBB3U, 0xBD3E8D7EU, 0xB9FF90C9U, 0xB4BCB610U, 0xB07DABA7U, 0xAE3AFBA2U, 0xAAFBE615U, 0xA7B8C0CCU, 0xA379DD7BU, 0x9B3660C6U, 0x9FF77D71U, 0x92B45BA8U, 0x9675461FU, 0x8832161AU, 0x8CF30BADU, 0x81B02D74U, 0x857130C3U, 0x5D8A9099U, 0x594B8D2EU, 0x5408ABF7U, 0x50C9B640U, 0x4E8EE645U, 0x4A4FFBF2U, 0x470CDD2BU, 0x43CDC09CU, 0x7B827D21U, 0x7F436096U, 0x7200464FU, 0x76C15BF8U, 0x68860BFDU, 0x6C47164AU, 0x61043093U, 0x65C52D24U, 0x119B4BE9U, 0x155A565EU, 0x18197087U, 0x1CD86D30U, 0x029F3D35U, 0x065E2082U, 0x0B1D065BU, 0x0FDC1BECU, 0x3793A651U, 0x3352BBE6U, 0x3E119D3FU, 0x3AD08088U, 0x2497D08DU, 0x2056CD3AU, 0x2D15EBE3U, 0x29D4F654U, 0xC5A92679U, 0xC1683BCEU, 0xCC2B1D17U, 0xC8EA00A0U, 0xD6AD50A5U, 0xD26C4D12U, 0xDF2F6BCBU, 0xDBEE767CU, 0xE3A1CBC1U, 0xE760D676U, 0xEA23F0AFU, 0xEEE2ED18U, 0xF0A5BD1DU, 0xF464A0AAU, 0xF9278673U, 0xFDE69BC4U, 0x89B8FD09U, 0x8D79E0BEU, 0x803AC667U, 0x84FBDBD0U, 0x9ABC8BD5U, 0x9E7D9662U, 0x933EB0BBU, 0x97FFAD0CU, 0xAFB010B1U, 0xAB710D06U, 0xA6322BDFU, 0xA2F33668U, 0xBCB4666DU, 0xB8757BDAU, 0xB5365D03U, 0xB1F740B4U}; //中断服务函数 void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, UBYTE ucLength) { for (UBYTE i = 0; i < ucLength; i++) { *((*ptCANRx).pcBufAddr + (*ptCANRx).ucBufWrInde) = pRxMsg->rx_data[i]; /* parasoft-suppress MISRA2004-17_4 "本项目无法更改，后续避免非数组索引指针运算" */ ++((*ptCANRx).ucBufWrInde); if ((*ptCANRx).ucBufWrInde >= (*ptCANRx).ucBufSize) { (*ptCANRx).ucBufWrInde = 0; } ++((*ptCANRx).ucBufCnt); if ((*ptCANRx).ucBufCnt > (*ptCANRx).ucBufSize) { (*ptCANRx).ucBufCnt = (*ptCANRx).ucBufSize; (*ptCANRx).ucBufOvf = 1; } } } static UWORD LastPacketLen, PacketNum; static ULONG OVtim; void CAN_SendData(UWORD ID, const UBYTE Data[], UWORD Length) { UBYTE i, j; 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 if (OVtim >= 0XFFF) { return; } } //发送最后一个数据包 pTxMsg->tx_dlen = (UBYTE)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++; } if (OVtim >= 0XFFF) { return; } } } static UBYTE CanSendData[255], CanSendData_CRC_Buf[255]; void SendData(UWORD ID, UBYTE Mode, UWORD Command, const UBYTE *Data) { ULONG CRC_Result = 0x00000000U; UBYTE DataLength; DataLength = (UBYTE)(Command & 0xFF); CanSendData[0] = FRAME_BEGIN1; CanSendData[1] = FRAME_BEGIN2; CanSendData[2] = Mode; CanSendData[3] = DataLength + 2; CanSendData[4] = (UBYTE)((Command >> 8) & 0xFF); CanSendData[5] = DataLength; if((DataLength)> (255 - 6)) { DataLength = 255 - 6; } memcpy(CanSendData + 6, Data, DataLength); CanSendData_CRC_Buf[0] = FRAME_BEGIN1; CanSendData_CRC_Buf[1] = FRAME_BEGIN2; CanSendData_CRC_Buf[2] = (UBYTE)(ID >> 8); CanSendData_CRC_Buf[3] = (UBYTE)(ID & 0xFF); if((DataLength + 4 )> (255 - 4)) { DataLength = 251 - 4 - 4; } memcpy(CanSendData_CRC_Buf + 4, CanSendData + 2, DataLength + 4); CRC_Result = CRC32_Calculate(CanSendData_CRC_Buf, DataLength + 8); //֡ͷ2bytes + ID 2bytes + ģʽ 1byte + ����γ��� 1byte + ������ 2bytes CanSendData[6 + DataLength] = (UBYTE)((CRC_Result >> 24) & 0xFF); CanSendData[7 + DataLength] = (UBYTE)((CRC_Result >> 16) & 0xFF); CanSendData[8 + DataLength] = (UBYTE)((CRC_Result >> 8) & 0xFF); CanSendData[9 + DataLength] = (UBYTE)(CRC_Result & 0xFF); CanSendData[10 + DataLength] = FRAME_END; CAN_SendData(ID, CanSendData, DataLength + 11); } UBYTE cd_ReadChar(const CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum) { UBYTE ucData; UWORD i; i = ucNum; if ((*ptCANRx).ucBufCnt >= ucNum) { i += (*ptCANRx).ucBufRdInde; if (i >= (*ptCANRx).ucBufSize) { i -= (*ptCANRx).ucBufSize; } } else { i = 0; } ucData = *((*ptCANRx).pcBufAddr + i); /* parasoft-suppress MISRA2004-17_4 "本项目无法更改，后续避免非数组索引指针运算" */ return ucData; } //从队列删除一个字节 void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, UBYTE ucNum) { UWORD 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 = (UBYTE)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 = (UBYTE)i; } } //解析队列数据，严格按照通信协议格式 static UBYTE CAN_RevData[255], CAN_RevData_CRC_Buf[255]; void CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, UWORD TimeOutCnt) { UBYTE Mode, CmdLength, DataLength; UWORD Cmd, i; ULONG CrcResult, CrcData; UBYTE 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] = (UBYTE)((ptCANRx->ucBufID >> 8) & 0xFF); CAN_RevData_CRC_Buf[3] = (UBYTE)(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 =(UWORD)((UWORD)cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5); CAN_RevData_CRC_Buf[6] = (UBYTE)((Cmd >> 8) & 0xFF); CAN_RevData_CRC_Buf[7] = (UBYTE)(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, (UBYTE)(6 + i)); CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i]; } CrcData = ((ULONG)cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + ((ULONG)cd_ReadChar(ptCANRx, 7 + DataLength) << 16) + ((ULONG)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(UWORD ID, UBYTE Mode, UWORD Cmd, UBYTE Data[]) /* parasoft-suppress METRICS-28 "本项目圈复杂度无法更改，后续避免" */ { /* parasoft-suppress GJB5369-4_2_2_2 "本项目函数行数无法更改，后续应避免" */ UBYTE DataLength; DataLength = (UBYTE)(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, (UBYTE *)"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, (UBYTE *)"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 = (UBYTE)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, (UBYTE *)&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, (UBYTE *)"READY"); } break; } case 0x3300: // OBC设置用户参数 { OBC_SetCustomPara.uwWheelPerimeter = (UBYTE)ass_stParaCong.uwWheelPerimeter; OBC_SetCustomPara.StartUpMod = (UBYTE)ass_stParaCong.uwStartMode; OBC_SetCustomPara.BikeSpeedLimit = (UBYTE)ass_stParaCong.uwAssistMaxSpdKmH; OBC_SetCustomPara.DeltDiameter =(SBYTE) ass_stParaCong.swDeltPerimeter; OBC_SetCustomPara.AssistMod = (UBYTE)ass_stParaSet.uwAsssistSelectNum; OBC_SetCustomPara.AutoPowerOffTime = (UBYTE)ass_stParaCong.uwAutoPowerOffTime; SendData(ID_MC_TO_PBU, MODE_REPORT, 0x5408, (UBYTE *)&OBC_SetCustomPara.uwWheelPerimeter); break; } case 0x3408: // OBC设置用户参数 { OBC_SetCustomPara.DeltDiameter = (SBYTE)Data[0]; OBC_SetCustomPara.StartUpMod = Data[1]; OBC_SetCustomPara.AssistMod = Data[2]; OBC_SetCustomPara.AutoPowerOffTime = Data[3]; ass_stParaCong.swDeltPerimeter = OBC_SetCustomPara.DeltDiameter; ass_stParaCong.uwStartMode = OBC_SetCustomPara.StartUpMod; ass_stParaSet.uwAsssistSelectNum = OBC_SetCustomPara.AssistMod; ass_stParaCong.uwAutoPowerOffTime = OBC_SetCustomPara.AutoPowerOffTime; MC_UpcInfo.stBikeInfo.uwSaveFlg = 1; 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, (UBYTE *)"ACK"); break; } case 0x3500: //查询骑行历史 { SendData(ID_MC_BC, MODE_REPORT, 0x1510, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)MC_VerInfo.Mode); SendData(ID_MC_BC, MODE_REPORT, 0x1720, (UBYTE*)Firmware_Special); 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, (UBYTE *)0); break; } case 0x1200: //查询电机版本信息 { SendData(ID_MC_BC, MODE_REPORT, 0x1240, (UBYTE *)MC_VerInfo.Mode); SendData(ID_MC_BC, MODE_REPORT, 0x1720, (UBYTE*)Firmware_Special); break; } case 0x1300: //查询自定义字符串1 { SendData(ID_MC_BC, MODE_REPORT, 0xA610, (UBYTE *)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, (UBYTE *)"ACK"); break; } case 0x1500: //查询自定义字符串2 { SendData(ID_MC_BC, MODE_REPORT, 0xA710, (UBYTE *)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, (UBYTE *)"ACK"); break; } case 0x1700: //查询自定义字符串3 { SendData(ID_MC_BC, MODE_REPORT, 0xA810, (UBYTE *)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, (UBYTE *)"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, (UBYTE *)&MC_UpcInfo.stHistoryInfo.uwOpenTimes); break; } case 0x1F00: //查询电机生产信息 { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xA520, (UBYTE *)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, (UBYTE *)"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, (UBYTE *)"ACK"); break; } case 0x2420: //写入电机生产信息 { memcpy(&MC_MacInfo, 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, (UBYTE *)"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, (UBYTE *)"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, (UBYTE *)"ACK"); } iGpio_Write(HW_GPIO_POWERLOCK_PIN,ApiGpio_LowLevel); } 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, (UBYTE *)"ACK"); } iGpio_Write(HW_GPIO_POWERLOCK_PIN,ApiGpio_LowLevel); } break; } case 0x2802: //控制指令 { memcpy(&MC_ControlCode.GearSt, Data, DataLength); MC_RunInfo.GearSt = (UBYTE)MC_ControlCode.GearSt; //当前助力档位更新 MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; SendData(ID_MC_BC, MODE_REPORT, 0x1020, (UBYTE *)&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 { ULONG DataLength, AddressBegin, AddressEnd; AddressBegin = ((ULONG)Data[0] << 24) + ((ULONG)Data[1] << 16) + ((ULONG)Data[2] << 8) + ((ULONG)Data[3]); AddressEnd = ((ULONG)Data[4] << 24) + ((ULONG)Data[5] << 16) + ((ULONG)Data[6] << 8) + ((ULONG)Data[7]); if(AddressBegin <= AddressEnd) { DataLength = AddressEnd - AddressBegin+ 1; memcpy((UBYTE*)(Data + 8), (UBYTE*)(AddressBegin), (uint32_t)DataLength); /* parasoft-suppress MISRA2004-17_1 "本项目无法更改，后续避免未指向数组的指针运算" */ SendData((UWORD)ID_MC_TO_CDL, (UBYTE)MODE_REPORT, (UWORD)(0xAB08 + DataLength), (UBYTE*)Data); } }while(0); break; } case 0x2E00: //查询骑行历史信息 { SendData(ID_MC_BC, MODE_REPORT, 0x1510, (UBYTE *)&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, (UBYTE *)"ACK"); } iGpio_Write(HW_GPIO_POWERLOCK_PIN,ApiGpio_LowLevel); } break; } //////////////////////////////////////// case 0x3A00: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB226, (UBYTE *)&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, (UBYTE *)"ACK"); break; } case 0x3C00: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB31A, (UBYTE *)&MC_UpcInfo.stBikeInfo.uwWheelPerimeter); 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, (UBYTE *)"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, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)&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 = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK"); } else if (SAVETemp[0] == 2) { MC_UpcInfo.stSensorInfo.uwBikeTor2StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor2StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK"); } else if (SAVETemp[0] == 3) { MC_UpcInfo.stSensorInfo.uwBikeTor3StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor3StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK"); } else if (SAVETemp[0] == 4) { MC_UpcInfo.stSensorInfo.uwBikeTor4StepRealNm = SAVETemp[1]; MC_UpcInfo.stSensorInfo.uwBikeTor4StepADC = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH]; SendData(ID_MC_BC, MODE_REPORT, 0xA903, (UBYTE *)"ACK"); } else { //do noting } 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); /* parasoft-suppress MISRA2004-17_1 "本项目无法更改，后续避免未指向数组的指针运算" */ 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, (UBYTE *)"ACK"); break; } case 0x4304: { memcpy(&MC_UpcInfo.stCurveOrderInfo, Data, DataLength); Can_AssistCoef_Read(&MC_UpcInfo.stCurveOrderInfo); SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB64C, (UBYTE *)&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, (UBYTE *)"ACK"); break; } case 0x4500: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB83A, (UBYTE *)&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, (UBYTE *)"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, (UBYTE *)"ACK"); break; } case 0x4800: { SendData(ID_MC_TO_CDL, MODE_REPORT, 0xB904, (UBYTE *)&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, (UBYTE *)"ACK"); break; } default: break; } break; } default: break; } } ULONG CRC32_Calculate(const UBYTE pData[], UWORD Length) { ULONG nReg; ULONG nTemp = 0; UWORD i, n; nReg = 0xFFFFFFFFU; for (n = 0; n < Length; n++) { nReg ^= (ULONG)pData[n]; for (i = 0; i < 4; i++) { nTemp = Crc32Table[(UBYTE)((nReg >> 24) & 0xFF)]; nReg <<= 8; nReg ^= nTemp; } } return nReg; } #endif /************************************************************************ Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. *************************************************************************/ #ifdef _CAN_C_ #undef _CAN_C_ /* parasoft-suppress MISRA2004-19_6 "本项目中无法更改，后续避免使用" */ #endif /************************************************************************* End of this File (EOF): !!!!!!Do not put anything after this part!!!!!!!!!!! *************************************************************************/