/** * @file canAppl.c * @author Zhang, Kai(zhangkai71@midea.com) * @brief * @version 0.1 * @date 2022-03-02 * * @copyright Copyright (c) 2022 * */ /****************************** * * Include Files * ******************************/ #include "canAppl.h" #include "syspar.h" #include "user.h" #include "CodePara.h" #include "can.h" #include "flash_master.h" #include "AssistCurve.h" #include "spi_master.h" #include "torquesensor.h" #include "FSM_1st.h" #include "FSM_2nd.h" #include "sys_ctrl.h" #include "string.h" //#include "hwsetup.h" #include "fp.def" #include "queue.h" #include "api.h" #include "bikethrottle.h" /****************************** * * Parameter * ******************************/ MC_RunInfo_Struct_t MC_RunInfo; MC_ErrorCode_Struct_t MC_ErrorCode = CAN_MC_ALARMCODE_DEFAULT; MC_ErrorCode_CNT_RECORD_Struct_t MC_ErrorCntRecord = CAN_MC_ALARMCODE_CNT_RECORD_DEFAULT; MC_VerInfo_Struct_t MC_VerInfo; char Firmware_Special[32]; MC_MacInfo_Struct_t MC_MacInfo; MC_RideLog_Struct_t MC_RideLog; BMS_RunInfo_Struct_t BMS_RunInfo; MC_ControlCode_Struct_t MC_ControlCode; MC_RunInfoToCDL_Struct_t MC_RunInfoToCDL; MC_RS_ASCII_Struct_t MC_RsASSCII; MC_UpperPCInfo_Struct_t MC_UpcInfo; BMS_VoltEstimat_Struct_t BMS_VoltEstimat; OBC_SetCustomPara_Struct_t OBC_SetCustomPara; OBC_ButtonStatus_Struct_t OBC_ButtonStatus = {0, 0, 0}; ULONG ulOBC_ComTimeOutCount = 0; ULONG ulBMS_ComTimeOutCount = 0; UBYTE MC_MotorSPD_rpm_Percent = 0; UBYTE MC_WorkMode; UBYTE MC_BC_COM = 0; static LPF_OUT BMS_swCurIdcLpf; BOOL blBMSCommFault = FALSE; static UWORD uwRemainDistanceCal; UWORD ulPowerOnUsedTime = 0; BOOL AngleTest = FALSE; static SLONG slBMSMaxVol = 42000; static SLONG slBMSMinVol = 32000; void Can_voUpdateMC_UpcInfo(void) { MC_UpcInfo.stMotorInfo.uwPolePairs = cp_stMotorPara.swMotrPolePairs; MC_UpcInfo.stMotorInfo.uwRsmOhm = cp_stMotorPara.swRsOhm; MC_UpcInfo.stMotorInfo.uwLduH = cp_stMotorPara.swLdmH; MC_UpcInfo.stMotorInfo.uwLquH = cp_stMotorPara.swLqmH; MC_UpcInfo.stMotorInfo.uwFluxmWb = cp_stMotorPara.swFluxWb; MC_UpcInfo.stMotorInfo.uwIdMaxA = cp_stMotorPara.swIdMaxA; MC_UpcInfo.stMotorInfo.uwIdMinA = cp_stMotorPara.swIdMinA; MC_UpcInfo.stMotorInfo.uwRSpdRpm = cp_stMotorPara.swRSpeedRpm; MC_UpcInfo.stMotorInfo.uwRPwrWt = cp_stMotorPara.swRPwrWt; MC_UpcInfo.stMotorInfo.uwRCurA = cp_stMotorPara.swRIarmsA; MC_UpcInfo.stMotorInfo.uwRVolV = cp_stMotorPara.swRUdcV; MC_UpcInfo.stMotorInfo.uwJD = cp_stMotorPara.swJD; MC_UpcInfo.stMotorInfo.uwTorMaxNm = cp_stMotorPara.swTorMax; MC_UpcInfo.stBikeInfo.uwWheelPerimeter = ass_stParaCong.uwWheelPerimeter; MC_UpcInfo.stBikeInfo.uwMechRationMotor = ass_stParaCong.uwMechRationMotor; MC_UpcInfo.stBikeInfo.uwThrottleMaxSpdKmH = ass_stParaCong.uwThrottleMaxSpdKmH; MC_UpcInfo.stBikeInfo.uwCartSpdKmH = ass_stParaCong.uwCartSpdKmH; MC_UpcInfo.stBikeInfo.uwNmFrontChainring = ass_stParaCong.uwNmFrontChainring; MC_UpcInfo.stBikeInfo.uwNmBackChainring = ass_stParaCong.uwNmBackChainring; MC_UpcInfo.stBikeInfo.uwAssistSelect1 = ass_stParaCong.uwAssistSelect1; MC_UpcInfo.stBikeInfo.uwAssistSelect2 = ass_stParaCong.uwAssistSelect2; MC_UpcInfo.stBikeInfo.uwLightVoltage = ass_stParaCong.uwLightVoltage; MC_UpcInfo.stBikeInfo.swWheelSizeAdjust = ass_stParaCong.swDeltPerimeter; MC_UpcInfo.stBikeInfo.uwStartMode = ass_stParaCong.uwStartMode; MC_UpcInfo.stBikeInfo.uwAutoPowerOffTime = ass_stParaCong.uwAutoPowerOffTime; MC_UpcInfo.stBikeInfo.uwThrottleSmooth = ass_stParaCong.uwThrottleSmooth; MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetOrigin = spi_stResolverOut.swSpiThetaOffsetOrignPu; MC_UpcInfo.stMContorlInfo.uwSPIPosOffsetNow = spi_stResolverOut.swSpiThetaOffsetPu; MC_UpcInfo.stMContorlInfo.uwIPeakMaxA = cp_stMotorPara.swIpeakMaxA; MC_UpcInfo.stMContorlInfo.uwAlamOCurA = cp_stControlPara.swAlmOverCurrentVal; MC_UpcInfo.stMContorlInfo.uwAlamOVolV = cp_stControlPara.swAlmOverVolVal1; MC_UpcInfo.stMContorlInfo.uwAlamUVolV = cp_stControlPara.swAlmUnderVolVal1; MC_UpcInfo.stMContorlInfo.uwAlamOverSpdRpm = cp_stControlPara.swAlmOverSpdVal; MC_UpcInfo.stMContorlInfo.uwAlamOverHeatCe = cp_stControlPara.swAlmOverHeatCeVal; MC_UpcInfo.stMContorlInfo.uwAlamRecHeatCe = cp_stControlPara.swAlmRecOHeatVal; MC_UpcInfo.stMContorlInfo.uwPwrLimitStartCe = cp_stControlPara.swAlmPwrLimitStartTempVal; // MC_UpcInfo.stMContorlInfo.uwAlamMotorOverHeatCe = cp_stControlPara.swAlmMotorOverHeatCeVal; // MC_UpcInfo.stMContorlInfo.uwAlamMotorRecHeatCe = cp_stControlPara.swAlmMotorRecOHeatVal; // MC_UpcInfo.stMContorlInfo.uwPwrLimitMotorStartCe = cp_stControlPara.swAlmPwrLimitMotorStartTempVal; MC_UpcInfo.stMContorlInfo.uwControlFunEN = ass_stParaCong.uwControlFunEN; MC_UpcInfo.stMContorlInfo.uwThrottleGearEN = ass_stParaCong.uwThrottleGearEN; 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; MC_UpcInfo.stAssistInfo.swStartupGain = ass_stParaSet.uwStartupCoef; MC_UpcInfo.stAssistInfo.swStartcruiseGain = ass_stParaSet.uwStartupCruiseCoef; MC_UpcInfo.stAssistInfo.uwAssistStartNm = ass_stParaSet.uwAssistStartNm; MC_UpcInfo.stAssistInfo.uwAssistStopNm = ass_stParaSet.uwAssistStopNm; MC_UpcInfo.stAssistInfo.uwStartUpGainStep = ass_stParaSet.uwStartUpGainStep; MC_UpcInfo.stAssistInfo.uwStartUpCadNm = ass_stParaSet.uwStartUpCadNm; MC_UpcInfo.stAssistInfo.uwTorLPFCadNm = ass_stParaSet.uwTorLPFCadNm; MC_UpcInfo.stAssistInfo.uwSpeedAssistSpdRpm = ass_stParaSet.uwSpeedAssistSpdRpm; MC_UpcInfo.stAssistInfo.uwSpeedAssistIMaxA = ass_stParaSet.uwSpeedAssistIMaxA; MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStart = ass_stParaSet.uwAssistLimitBikeSpdStart; MC_UpcInfo.stAssistInfo.uwAssistLimitBikeSpdStop = ass_stParaSet.uwAssistLimitBikeSpdStop; MC_UpcInfo.stAssistInfo.uwCadenceAssistWeight = ass_stParaSet.uwCadenceWeight; MC_UpcInfo.stRideParaInfo.ucAssistRatioGain1 = ass_stCalCoef.ucAssistRatioGain[0]; MC_UpcInfo.stRideParaInfo.ucAssistRatioGain2 = ass_stCalCoef.ucAssistRatioGain[1]; MC_UpcInfo.stRideParaInfo.ucAssistRatioGain3 = ass_stCalCoef.ucAssistRatioGain[2]; MC_UpcInfo.stRideParaInfo.ucAssistRatioGain4 = ass_stCalCoef.ucAssistRatioGain[3]; MC_UpcInfo.stRideParaInfo.ucAssistRatioGain5 = ass_stCalCoef.ucAssistRatioGain[4]; MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain1 = ass_stCalCoef.ucAssistAccelerationGain[0]; MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain2 = ass_stCalCoef.ucAssistAccelerationGain[1]; MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain3 = ass_stCalCoef.ucAssistAccelerationGain[2]; MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain4 = ass_stCalCoef.ucAssistAccelerationGain[3]; MC_UpcInfo.stRideParaInfo.ucAssistAccelerationGain5 = ass_stCalCoef.ucAssistAccelerationGain[4]; MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain1 = ass_stCalCoef.ucMaxCurrentGain[0]; MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain2 = ass_stCalCoef.ucMaxCurrentGain[1]; MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain3 = ass_stCalCoef.ucMaxCurrentGain[2]; MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain4 = ass_stCalCoef.ucMaxCurrentGain[3]; MC_UpcInfo.stRideParaInfo.ucMaxCurrentGain5 = ass_stCalCoef.ucMaxCurrentGain[4]; MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain1 = ass_stCalCoef.ucMaxTorqueGain[0]; MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain2 = ass_stCalCoef.ucMaxTorqueGain[1]; MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain3 = ass_stCalCoef.ucMaxTorqueGain[2]; MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain4 = ass_stCalCoef.ucMaxTorqueGain[3]; MC_UpcInfo.stRideParaInfo.ucMaxTorqueGain5 = ass_stCalCoef.ucMaxTorqueGain[4]; MC_UpcInfo.stBikeInfo2.uwNoneOBCEnable = ass_stParaCong.uwNoneOBCEnable; MC_UpcInfo.stBikeInfo2.uwRearLightCycle = ass_stParaCong.uwRearLightCycle; MC_UpcInfo.stBikeInfo2.uwRearLightDuty = ass_stParaCong.uwRearLightDuty; MC_UpcInfo.stBikeInfo2.swDeltaBikeSpeedLimit = ass_stParaCong.swDeltaBikeSpeedLimit; MC_UpcInfo.stHistoryInfo.uwOpenTimes = cp_stHistoryPara.uwOpenTimes; MC_UpcInfo.stHistoryInfo.uwUsedTimeH = (UWORD)(cp_stHistoryPara.ulUsedTime >> 16); MC_UpcInfo.stHistoryInfo.uwUsedTimeL = (UWORD)(cp_stHistoryPara.ulUsedTime); MC_UpcInfo.stHistoryInfo.uwNTCTempMaxCe = cp_stHistoryPara.uwNTCTempMaxCe; MC_UpcInfo.stHistoryInfo.uwNTCTempMinCe = cp_stHistoryPara.uwNTCTempMinCe; MC_UpcInfo.stHistoryInfo.uwAlamHOcurTimes = cp_stHistoryPara.uwAlamHOcurTimes; MC_UpcInfo.stHistoryInfo.uwAlamSOcurTimes = cp_stHistoryPara.uwAlamSOcurTimes; MC_UpcInfo.stHistoryInfo.uwAlamOHeatTimes = cp_stHistoryPara.uwAlamOHeatTimes; MC_UpcInfo.stHistoryInfo.uwAlamRotorLockTimes = cp_stHistoryPara.uwAlamRotorLockTimes; MC_UpcInfo.stHistoryInfo.uwAlamPhsLossTimes = cp_stHistoryPara.uwAlamPhsLossTimes; MC_UpcInfo.stHistoryInfo.uwAlamOVolTimes = cp_stHistoryPara.uwAlamOVolTimes; MC_UpcInfo.stHistoryInfo.uwAlamUVolTimes = cp_stHistoryPara.uwAlamUVolTimes; MC_UpcInfo.stHistoryInfo.uwAlamComOTimeTimes = cp_stHistoryPara.uwAlamComOTimeTimes; MC_UpcInfo.stHistoryInfo.uwG1AvgPwrConsumption = cp_stHistoryPara.uwG1AvgPwrConsumption; MC_UpcInfo.stHistoryInfo.uwG2AvgPwrConsumption = cp_stHistoryPara.uwG2AvgPwrConsumption; MC_UpcInfo.stHistoryInfo.uwG3AvgPwrConsumption = cp_stHistoryPara.uwG3AvgPwrConsumption; MC_UpcInfo.stHistoryInfo.uwG4AvgPwrConsumption = cp_stHistoryPara.uwG4AvgPwrConsumption; MC_UpcInfo.stHistoryInfo.uwG5AvgPwrConsumption = cp_stHistoryPara.uwG5AvgPwrConsumption; MC_UpcInfo.stHistoryInfo.uwODOTripH = (UWORD)(cp_stHistoryPara.ulODOTrip >> 16); MC_UpcInfo.stHistoryInfo.uwODOTripL = (UWORD)cp_stHistoryPara.ulODOTrip; MC_UpcInfo.stHistoryInfo.uwODOTimeH = (UWORD)(cp_stHistoryPara.ulODOTime >> 16); MC_UpcInfo.stHistoryInfo.uwODOTimeL = (UWORD)cp_stHistoryPara.ulODOTime; MC_UpcInfo.stHistoryInfo.uwTripSumH = (UWORD)(cp_stHistoryPara.ulTripSum >> 16); MC_UpcInfo.stHistoryInfo.uwTripSumL = (UWORD)cp_stHistoryPara.ulTripSum; MC_UpcInfo.stHistoryInfo.uwTripSumTimeH = (UWORD)(cp_stHistoryPara.ulTripSumTime >> 16); MC_UpcInfo.stHistoryInfo.uwTripSumTimeL = (UWORD)cp_stHistoryPara.ulTripSumTime; MC_UpcInfo.stHistoryInfo.uwTorSensorAlamTimes = cp_stHistoryPara.uwTorSensorAlamTimes; MC_UpcInfo.stHistoryInfo.uwCadSensorAlamTimes = cp_stHistoryPara.uwCadSensorAlamTimes; MC_UpcInfo.stHistoryInfo.uwBikeSpdSensorAlamTimes = cp_stHistoryPara.uwBikeSpdSensorAlamTimes; MC_UpcInfo.stHistoryInfo.uwPosSensorAlamTimes = cp_stHistoryPara.uwPosSensorAlamTimes; MC_UpcInfo.stHistoryInfo.uwRealODOTripH = (UWORD)(cp_stHistoryPara.ulRealODOTrip >> 16); MC_UpcInfo.stHistoryInfo.uwRealODOTripL = (UWORD)cp_stHistoryPara.ulRealODOTrip; MC_UpcInfo.stHistoryInfo.uwRealODOTimeH = (UWORD)(cp_stHistoryPara.ulRealODOTime >> 16); MC_UpcInfo.stHistoryInfo.uwRealODOTimeL = (UWORD)cp_stHistoryPara.ulRealODOTime; MC_UpcInfo.stTestParaInfo.uwEEFirstDefaultSetFlg = cp_stFlg.ParaFirstSetFlg; MC_UpcInfo.stTestParaInfo.uwSPIOffsetFirstSetFlg = cp_stFlg.SpiOffsetFirstSetFlg; MC_UpcInfo.stTestParaInfo.RunModelSelect = cp_stFlg.RunModelSelect; MC_UpcInfo.stTestParaInfo.ThetaGetModelSelect = cp_stFlg.ThetaGetModelSelect; MC_UpcInfo.stTestParaInfo.CurrentSampleModelSelect = cp_stFlg.CurrentSampleModelSelect; MC_UpcInfo.stTestParaInfo.RotateDirectionSelect = cp_stFlg.RotateDirectionSelect; MC_UpcInfo.stTestParaInfo.uwInitPosCurAmp = cp_stControlPara.swAlignCurAp; MC_UpcInfo.stTestParaInfo.uwVFControlVolAmp = cp_stControlPara.swDragVolAp; MC_UpcInfo.stTestParaInfo.uwIFControlCurAmp = cp_stControlPara.swDragCurAp; MC_UpcInfo.stTestParaInfo.uwVFIFTargetFreHz = cp_stControlPara.swDragSpdHz; MC_UpcInfo.stTestParaInfo.uwSpeedLoopAccRate = 500; MC_UpcInfo.stTestParaInfo.uwSpeedLoopDecRate = 100; MC_UpcInfo.stTestParaInfo.uwSpeedLoopBandWidthHz = cp_stControlPara.swAsrPIBandwidth; MC_UpcInfo.stTestParaInfo.uwSpeedLoopCoefM = cp_stControlPara.swAsrPIM; MC_UpcInfo.stTestParaInfo.uwCuerrentLoopBandWidthHz = cp_stControlPara.swAcrPIBandwidth; MC_UpcInfo.stTestParaInfo.uwCurrentLoopCoefM = cp_stControlPara.swAcrRaCoef; MC_UpcInfo.stTestParaInfo.uwFluxObsBandWidthHz = cp_stControlPara.swObsFluxPICrossfreHz; MC_UpcInfo.stTestParaInfo.uwFluxObsCoefM = cp_stControlPara.swObsFluxPIDampratio; MC_UpcInfo.stTestParaInfo.uwThetaObsPLLBandWidthHz = cp_stControlPara.swObsSpdPLLBandWidthHz; MC_UpcInfo.stTestParaInfo.uwThetaObsPLLCoefM = cp_stControlPara.swObsSpdPLLM; MC_UpcInfo.stTestParaInfo.uwJm = cp_stMotorPara.swJD; MC_UpcInfo.stTestParaInfo.uwPWMMaxDuty = cp_stControlPara.swPWMMaxDuty; MC_UpcInfo.stTestParaInfo.uwPWM7to5Duty = cp_stControlPara.swPWM7to5Duty; MC_UpcInfo.stTestParaInfo.uwPwrLimit = cp_stControlPara.swPwrLimitValWt; MC_UpcInfo.stTestParaInfo.uwPwrLimitError = cp_stControlPara.swPwrLimitErrWt; MC_UpcInfo.stTestParaInfo.uwPwrLimitKp = cp_stControlPara.swPwrLimitKpPu; MC_UpcInfo.stTestParaInfo.uwPwrLimitKi = cp_stControlPara.swPwrLimitKiPu; OBC_SetCustomPara.uwWheelPerimeter = (UBYTE)ass_stParaCong.uwWheelPerimeter; OBC_SetCustomPara.StartUpMod = (UBYTE)ass_stParaCong.uwStartMode; OBC_SetCustomPara.BikeSpeedLimit = (UBYTE)ass_stParaSet.uwAssistLimitBikeSpdStart; OBC_SetCustomPara.DeltDiameter = (SBYTE)ass_stParaCong.swDeltPerimeter; OBC_SetCustomPara.AssistMod = (UBYTE)ass_stParaSet.uwAsssistSelectNum; OBC_SetCustomPara.AutoPowerOffTime = (UBYTE)ass_stParaCong.uwAutoPowerOffTime; OBC_SetCustomPara.scDeltaBikeSpeedLimit = (SBYTE)ass_stParaCong.swDeltaBikeSpeedLimit; if(cp_stMotorPara.swRUdcV == 360) { slBMSMaxVol = 42000; slBMSMinVol = 32000; } else if(cp_stMotorPara.swRUdcV == 480) { slBMSMaxVol = 54600; slBMSMinVol = 41600; } else { slBMSMaxVol = 42000; slBMSMinVol = 32000; } } static UWORD SizeMCUP; void Can_voInitMC_Run(void) { UBYTE MCU_ID[12]; ULONG MCU_ID_CRC32; flash_voRead(); // Hardware version #if ((MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V) || (MOTOR_ID_SEL == MOTOR_WELLING_CITY_48V)) if(cp_stMotorPara.swRUdcV == 480) { strncpy(MC_VerInfo.HW_Version, (char *)"CITY-48V", 8); } else { strncpy(MC_VerInfo.HW_Version, (char *)"CITY-36V", 8); } #elif ((MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V) || (MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V)) if(cp_stMotorPara.swRUdcV == 480) { strncpy(MC_VerInfo.HW_Version, (char *)"MTB-48V ", 8); } else { strncpy(MC_VerInfo.HW_Version, (char *)"MTB-36V ", 8); } #else strncpy(MC_VerInfo.HW_Version, (char *)"TEST ", 8); #endif strncpy(MC_VerInfo.HW_Version + 8, (char *)"GD .", 4); memcpy((uint8_t*)MCU_ID, (uint8_t*)(HW_ID_START_ADDRESS), 12); MCU_ID_CRC32 = CRC32_Calculate(MCU_ID,12); memcpy((uint8_t*)(MC_VerInfo.HW_Version + 12), (uint8_t*)(&MCU_ID_CRC32), 4); // Software version char chFwVersion[16]="V1r1r0_"; strncat(chFwVersion,COMMIT_TIME,9); strncpy(MC_VerInfo.FW_Version, (char *)chFwVersion, 16); // Firmware Special Info char chFrimware[32]="TC00000-MC00000-V0r0. "; #if(GIANT_ENABLE == 1) strncpy(chFrimware, (char *)"TW2024X002-CB0072-V0r0.", 23); #endif #if(HUAYAO_ENABLE == 1) strncpy(chFrimware, (char *)"EC2024X079-MA0062-V0r0.", 23); #endif strncat(chFrimware,FINGER_PRINT,9); strncpy(Firmware_Special, (char *)chFrimware, 32); // Model name memcpy(MC_VerInfo.Mode, flash_stPara.ubMotorVersion, sizeof(flash_stPara.ubMotorVersion)); // SN memcpy(MC_VerInfo.SN_Num, flash_stPara.ubSN, sizeof(flash_stPara.ubSN)); // ProductLabel memcpy(MC_VerInfo.ProductLabel, flash_stPara.ucProductLabel, sizeof(flash_stPara.ucProductLabel)); // Product information // memcpy(MC_MacInfo.Manufacturer, flash_stPara.ubProdInfo.Manufacturer, sizeof(flash_stPara.ubProdInfo)); memcpy(&MC_MacInfo, &flash_stPara.ubProdInfo, sizeof(flash_stPara.ubProdInfo)); // User information memcpy(MC_RsASSCII.CustomASCII1, flash_stPara.ubRsASSCII.CustomASCII1, sizeof(MC_RsASSCII.CustomASCII1)); memcpy(MC_RsASSCII.CustomASCII2, flash_stPara.ubRsASSCII.CustomASCII2, sizeof(MC_RsASSCII.CustomASCII2)); memcpy(MC_RsASSCII.CustomASCII3, flash_stPara.ubRsASSCII.CustomASCII3, sizeof(MC_RsASSCII.CustomASCII3)); BMS_VoltEstimat.uwInterResistpu = (UWORD)(((ULONG)1700 << 15) / cof_uwRbOm); // Q15 0.1mOhm BMS internal resistance 150mOhm + 20mOhm mth_voLPFilterCoef(1000000 / 100, EVENT_1MS_HZ, &BMS_swCurIdcLpf.uwKx); // 100Hz uwRemainDistanceCal = 0xffff; // init invalid value } void Can_voMC_Run_1ms(void) /* parasoft-suppress METRICS-28 "本项目圈复杂度无法更改，后续避免" */ { if (cp_stBikeRunInfoPara.BikeSpeedKmH > 30) { cp_stBikeRunInfoPara.ulRiTime++; } if(++ulPowerOnUsedTime>=60000) //1min { cp_stHistoryPara.ulUsedTime++; ulPowerOnUsedTime=0; } // Error Cnt record and Error Display Set MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms++; if (MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms == ALAM_DETECT_CNT_IN_1ms && MC_ErrorCode.Code == 0) { MC_ErrorCntRecord.Protect_OverCurrentCnt = 0; MC_ErrorCntRecord.Protect_OverVoltageCnt = 0; MC_ErrorCntRecord.Protect_UnderVoltageCnt = 0; MC_ErrorCntRecord.Protect_LockRotorCnt = 0; MC_ErrorCntRecord.Protect_OverTempCnt = 0; MC_ErrorCntRecord.Fault_PhaseLineCnt = 0; MC_ErrorCntRecord.ulAlamCntTimeCnt_1ms = 0; } if ((alm_blAlmOccrFlg == TRUE) || (alm_blWarnOccrFlg == TRUE)) { // if (alm_blAlmSingleRecordDoneFlg == FALSE) { if ((alm_unCode.bit.IPMFlt == 1) && (MC_ErrorCode.ERROR_Bit.Protect_OverCurrent == 0)) { MC_ErrorCntRecord.Protect_OverCurrentCnt++; if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL { MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1; cp_stHistoryPara.uwAlamHOcurTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.OvrCur == 1) && (MC_ErrorCode.ERROR_Bit.Protect_OverCurrent == 0)) { MC_ErrorCntRecord.Protect_OverCurrentCnt++; if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL { MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1; cp_stHistoryPara.uwAlamSOcurTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.OvrVlt == 1) && (MC_ErrorCode.ERROR_Bit.Protect_OverVoltage == 0)) { MC_ErrorCntRecord.Protect_OverVoltageCnt++; if (MC_ErrorCntRecord.Protect_OverVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL { MC_ErrorCode.ERROR_Bit.Protect_OverVoltage = 1; cp_stHistoryPara.uwAlamOVolTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.UndrVlt == 1) && (MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage == 0)) { MC_ErrorCntRecord.Protect_UnderVoltageCnt++; if (MC_ErrorCntRecord.Protect_UnderVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL { MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage = 1; cp_stHistoryPara.uwAlamUVolTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.RotorLock == 1) && (MC_ErrorCode.ERROR_Bit.Protect_LockRotor == 0)) { MC_ErrorCntRecord.Protect_LockRotorCnt++; if (MC_ErrorCntRecord.Protect_LockRotorCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL { MC_ErrorCode.ERROR_Bit.Protect_LockRotor = 1; cp_stHistoryPara.uwAlamRotorLockTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.IPMOvrHeat == 1) && (MC_ErrorCode.ERROR_Bit.Protect_OverTemp == 0)) { MC_ErrorCntRecord.Protect_OverTempCnt++; if (MC_ErrorCntRecord.Protect_OverTempCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Protect_OverTemp = 1; cp_stHistoryPara.uwAlamOHeatTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unCode.bit.PhsLoss == 1) && (MC_ErrorCode.ERROR_Bit.Fault_PhaseLine == 0)) { MC_ErrorCntRecord.Fault_PhaseLineCnt++; if (MC_ErrorCntRecord.Fault_PhaseLineCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_PhaseLine = 1; cp_stHistoryPara.uwAlamPhsLossTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } // if(alm_unCode.bit.CommOvrTm) // { // cp_stHistoryPara.uwAlamComOTimeTimes++; // } if ((alm_unCode.bit.SpiThetaFlt == 1) && (MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor == 0)) { MC_ErrorCntRecord.Fault_SpiPosSensorCnt++; if (MC_ErrorCntRecord.Fault_SpiPosSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 1; cp_stHistoryPara.uwPosSensorAlamTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unBikeCode.bit.BikeSpdSen == 1) && (MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor == 0)) { MC_ErrorCntRecord.Fault_SpeedSensorCnt++; if (MC_ErrorCntRecord.Fault_SpeedSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 1; cp_stHistoryPara.uwBikeSpdSensorAlamTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unBikeCode.bit.CadenceSen == 1) && (MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor == 0)) { MC_ErrorCntRecord.Fault_CadenceSensorCnt++; if (MC_ErrorCntRecord.Fault_CadenceSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 1; cp_stHistoryPara.uwCadSensorAlamTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unBikeCode.bit.PCBNTC == 1) && (MC_ErrorCode.ERROR_Bit.Fault_PCBNTC == 0)) { MC_ErrorCntRecord.Fault_NtcSensorCnt++; if (MC_ErrorCntRecord.Fault_NtcSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 1; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unBikeCode.bit.Throttle == 1) && (MC_ErrorCode.ERROR_Bit.Fault_GasSensor == 0)) { MC_ErrorCntRecord.Fault_GasSensorCnt++; if (MC_ErrorCntRecord.Fault_GasSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_GasSensor = 1; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } if ((alm_unBikeCode.bit.TorqSen == 1) && (MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor == 0)) { MC_ErrorCntRecord.Fault_TorqueSensorCnt++; if (MC_ErrorCntRecord.Fault_TorqueSensorCnt == ALAM_DISPLAY_CNT_0LEVEL) { MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 1; cp_stHistoryPara.uwTorSensorAlamTimes++; /*error log updata*/ ErrorLog_Updata(); que_ubPushIn(&que_stFlashErrorLog, &que_stErrorLog, 1); } } alm_blAlmSingleRecordDoneFlg = TRUE; } } // Claear error Display if (MC_ErrorCode.ERROR_Bit.Protect_OverCurrent == 1) { if (alm_unCode.bit.IPMFlt != 1 && alm_unCode.bit.OvrCur != 1) { MC_ErrorCntRecord.Protect_OverCurrentCnt = 0; MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 0; } } if (MC_ErrorCode.ERROR_Bit.Protect_OverVoltage == 1) { if (alm_unCode.bit.OvrVlt != 1) { MC_ErrorCntRecord.Protect_OverVoltageCnt = 0; MC_ErrorCode.ERROR_Bit.Protect_OverVoltage = 0; } } if (MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage == 1) { if (alm_unCode.bit.UndrVlt != 1) { MC_ErrorCntRecord.Protect_UnderVoltageCnt = 0; MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage = 0; } } if (MC_ErrorCode.ERROR_Bit.Protect_LockRotor == 1) { if (alm_unCode.bit.RotorLock != 1) { MC_ErrorCntRecord.Protect_LockRotorCnt = 0; MC_ErrorCode.ERROR_Bit.Protect_LockRotor = 0; } } if (MC_ErrorCode.ERROR_Bit.Protect_OverTemp == 1) { if (alm_unCode.bit.IPMOvrHeat != 1) { MC_ErrorCntRecord.Protect_OverTempCnt = 0; MC_ErrorCode.ERROR_Bit.Protect_OverTemp = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_PhaseLine == 1) { if (alm_unCode.bit.PhsLoss != 1) { MC_ErrorCntRecord.Fault_PhaseLineCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_PhaseLine = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor == 1) { if (alm_unCode.bit.SpiThetaFlt != 1) { MC_ErrorCntRecord.Fault_SpiPosSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor == 1) { if (alm_unBikeCode.bit.BikeSpdSen != 1) { MC_ErrorCntRecord.Fault_SpeedSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor == 1) { if (alm_unBikeCode.bit.CadenceSen != 1) { MC_ErrorCntRecord.Fault_CadenceSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_PCBNTC == 1) { if (alm_unBikeCode.bit.PCBNTC != 1) { MC_ErrorCntRecord.Fault_NtcSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_GasSensor == 1) { if (alm_unBikeCode.bit.Throttle != 1) { MC_ErrorCntRecord.Fault_GasSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_GasSensor = 0; } } if (MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor == 1) { if (alm_unBikeCode.bit.TorqSen != 1) { MC_ErrorCntRecord.Fault_TorqueSensorCnt = 0; MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 0; } } SWORD TempPower; if (FSM2nd_Run_state.state == Exit) { TempPower = 0; } else { TempPower = scm_stMotoPwrInLpf.slY.sw.hi; } BMS_VoltEstimat.swIdcPu = (SWORD)(((SLONG)TempPower << 13) / (SLONG)adc_stUpOut.uwVdcLpfPu); // Q15+Q13-Q14=Q14 Calculated dc current if (BMS_VoltEstimat.swIdcPu < 0) { BMS_VoltEstimat.swIdcPu = 0; } mth_voLPFilter(BMS_VoltEstimat.swIdcPu, &BMS_swCurIdcLpf); BMS_VoltEstimat.uwVdcCompPu = (UWORD)((ULONG)BMS_swCurIdcLpf.slY.sw.hi * BMS_VoltEstimat.uwInterResistpu >> 15); // Q14+Q15-Q15=Q14 } void Can_voMC_Run_5ms(void) { cp_stBikeRunInfoPara.BikeSpeedKmH = (UWORD)((((UQWORD)bikespeed_stFreGetOut.uwLPFFrequencyPu * FBASE * (ass_stParaCong.uwWheelPerimeter + ass_stParaCong.swDeltPerimeter) * 36 >> 20) * 1048 * 10) >> 20); // 1048 = Q20(1/1000) 0.1 km/h #ifdef TEST do { ULONG ulBikeSpeedCalTrip = 0; static ULONG ulBikeSpeedCalTripCount = 0; cp_stBikeRunInfoPara.BikeSpeedKmH = (((ULONG)cadence_stFreGetOut.uwLPFFrequencyPu * cof_uwFbHz * 60) >> 20) \ * ass_stParaCong.uwNmFrontChainring/ass_stParaCong.uwNmBackChainring*(ass_stParaCong.uwWheelPerimeter + ass_stParaCong.swDeltPerimeter)*6/1000; ulBikeSpeedCalTripCount++; ulBikeSpeedCalTrip = cp_stBikeRunInfoPara.BikeSpeedKmH * 5 * ulBikeSpeedCalTripCount / 36000; if(ulBikeSpeedCalTrip > 100) { ulBikeSpeedCalTripCount = 0; bikespeed_stFreGetOut.blUpdateTripCntFlg = TRUE; } }while(0); #endif } void Can_voMC_Run_200ms(void) { SWORD TempPower; if((cp_ulSystickCnt - ulBMS_ComTimeOutCount) > 3000) { blBMSCommFault = TRUE; // communication abnormal } else { blBMSCommFault = FALSE; // communication normal } Can_GearSt_switch(); SizeMCUP = sizeof(MC_UpcInfo.stAssistInfo); if (MC_BC_COM == 1) { MC_RunInfoToCDL.SysStatus = FSM1st_Sys_state.state; MC_RunInfoToCDL.SubStatus = FSM2nd_Run_state.state; MC_RunInfoToCDL.MotorStatus = curSpeed_state.state; MC_RunInfoToCDL.AssitStatus = Ass_FSM; MC_RunInfoToCDL.Id = scm_swIdRefPu; MC_RunInfoToCDL.Iq = scm_swIqRefPu; MC_RunInfoToCDL.Ud = scm_swUdRefPu; MC_RunInfoToCDL.Uq = scm_swUqRefPu; MC_RunInfoToCDL.InstantTorq = torsensor_stTorSensorOut.uwTorqueReg; MC_RunInfoToCDL.FilteTorq = torsensor_stTorSensorOut.uwTorqueLPFPu; MC_RunInfoToCDL.FreqTorq = ass_stTorqMafValue.slAverValue; MC_RunInfoToCDL.RS[0] = scm_swIdFdbLpfPu; MC_RunInfoToCDL.RS[1] = scm_swIqFdbLpfPu; MC_RunInfoToCDL.RS[2] = ass_stCalOut.swTorAss2CurrentTemp; MC_RunInfoToCDL.RS[3] = bikethrottle_stBikeThrottleOut.uwThrottlePercent; SendData(ID_MC_TO_CDL, MODE_REPORT, 0xBA20, (UBYTE *)&MC_RunInfoToCDL.SysStatus); } MC_RunInfo.BikeSpeed = cp_stBikeRunInfoPara.BikeSpeedKmH; //0.1km/h MC_RunInfo.MotorSpeed = (SWORD)((SLONG)scm_uwSpdFbkLpfAbsPu * (SLONG)cof_uwVbRpm >> 15); //1rpm TempPower = scm_swMotorPwrInLpfWt; if (TempPower > 5000) { TempPower = 5000; } if (TempPower < 0) { TempPower = 0; } if (sysctrl_stPwmState.blPwmOnflg == FALSE) { TempPower = 0; } else { } do { SWORD PowerTemp1 = 0; static SLONG PowerFlt = 0; PowerTemp1 = ((TempPower / 10) * 5 ) >> 3; PowerTemp1 = (PowerTemp1 < 25) ? 0 : PowerTemp1; PowerFlt += ((PowerTemp1 << 10) - PowerFlt) >> 3; MC_RunInfo.Power = (PowerFlt < 0) ? 0 : (PowerFlt) >> 10; }while(0); //MC_RunInfo.Power = TempPower / 10; //>电功率 1W //MC_RunInfo.Power = (scm_swIqFdbLpfPu * 250 * cof_uwIbAp / 1500) >> 14; //MaxIq = 15A,MaxPower=250W MC_RunInfo.BusVoltage = (UWORD)((((ULONG)adc_stUpOut.uwVdcLpfPu + (ULONG)BMS_VoltEstimat.uwVdcCompPu) * cof_uwUbVt * 100) >> 14); //母线电压 1mV //MC_RunInfo.BusCurrent = (UWORD)((ULONG)BMS_VoltEstimat.swIdcPu * cof_uwIbAp * 100 >> 14); //母线电流 1mA BMS_VoltEstimat.uwIbusLpf = (BMS_swCurIdcLpf.slY.sw.hi * cof_uwIbAp * 15) >> 14;//mA MC_RunInfo.BusCurrent = (ABS(scm_swIqFdbLpfPu) * cof_uwIbAp * 10) >> 14; MC_RunInfo.Cadence = (UBYTE)(((ULONG)cadence_stFreGetOut.uwLPFFrequencyPu * cof_uwFbHz * 60) >> 20); //踏频 1rpm MC_RunInfo.Torque = (UBYTE)(((ULONG)torsensor_stTorSensorOut.uwTorqueLPFPu * cof_uwTorqNm / 10) >> 14); //踩踏力矩 1Nm MC_RunInfo.CadenceDir = (MC_CadenceDir_Struct_t)cadence_stFreGetOut.cadence_dir; //踩踏方向 0-正,1-反,2-停止 MC_RunInfo.GearSt = (UBYTE)MC_ControlCode.GearSt; //助力档位 MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch; //灯开关 0xF0-关，0xF1-开 MC_RunInfo.SOC = (UBYTE)Can_SOC_Cal(); //剩余电量 1% Can_Trip_Cal(); MC_RunInfo.TorqueReg = iAdc_GetResultPointer(0)[HW_ADC_TORQ_CH];; //力矩AD值 if (cp_stBikeRunInfoPara.blGearStUpdate) { if((cp_stBikeRunInfoPara.uwBikeGear > 0) && (cp_stBikeRunInfoPara.uwBikeGear <= 5)) { MC_RunInfo.PowerPerKm = (UBYTE)(*(&cp_stHistoryPara.uwG1AvgPwrConsumption + (cp_stBikeRunInfoPara.uwBikeGear - 1)) / 10); //平均功耗 0.01Ah/km /* 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" */ uwRemainDistanceCal = BMS_RunInfo.RC / MC_RunInfo.PowerPerKm / 10; } else { MC_RunInfo.PowerPerKm = 0; uwRemainDistanceCal = 0xffff; //invalid value } cp_stBikeRunInfoPara.BMSRestChargeLast = BMS_RunInfo.RC; cp_stBikeRunInfoPara.uwPowerPerKm = 0; cp_stBikeRunInfoPara.uwAvePowerPerKm = 0; cp_stBikeRunInfoPara.uwPowerPerKmSum = 0; memset(cp_stBikeRunInfoPara.uwPowerPerKmBuf, 0, sizeof(cp_stBikeRunInfoPara.uwPowerPerKmBuf)); cp_stBikeRunInfoPara.uwAvePowerCNT = 0; cp_stBikeRunInfoPara.uwCruisDis = 0; } if(blBMSCommFault == TRUE) { MC_RunInfo.RemainDistance = 0xeeee; /* no bms info*/ } else { MC_RunInfo.RemainDistance = uwRemainDistanceCal; } MC_RunInfo.T_PCB = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40; //>PCB温度 +40℃ MC_RunInfo.T_Coil = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40; //绕组温度 +40℃ MC_RunInfo.T_MCU = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40; //MCU温度 +40℃， MC_RunInfo.Ride_Time = (UWORD)(cp_stBikeRunInfoPara.ulRiTime >> 10); //开机后骑行时间 1s if (MC_WorkMode == 1) { SendData(ID_MC_BC, MODE_REPORT, 0x1020, (UBYTE *)&MC_RunInfo.BikeSpeed); } } void Can_Trip_Cal(void) { if (bikespeed_stFreGetOut.blUpdateTripCntFlg == TRUE) { MC_RunInfo.Ride_Km++; cp_stHistoryPara.ulODOTrip++; // Unit: 0.1km cp_stHistoryPara.ulRealODOTrip++; // Unit: 0.1km cp_stHistoryPara.ulTripSum++; Can_RemainTrip_Cal(); bikespeed_stFreGetOut.blUpdateTripCntFlg = FALSE; } MC_RideLog.ODO_Km = cp_stHistoryPara.ulODOTrip; MC_RideLog.TRIP_Km = cp_stHistoryPara.ulTripSum; MC_RideLog.ODO_Time = cp_stHistoryPara.ulODOTime + (cp_stBikeRunInfoPara.ulRiTime >> 10) / 60; // min MC_RideLog.TRIP_Time = cp_stHistoryPara.ulTripSumTime + (cp_stBikeRunInfoPara.ulRiTime >> 10) / 60; // min cp_stHistoryPara.ulRealODOTime = cp_stHistoryPara.ulRealODOTime + (cp_stBikeRunInfoPara.ulRiTime >> 10) / 60; /*TRIP里程超9999.9km时，清除TRIP里程和时间*/ if(MC_RideLog.TRIP_Km > 99999) { cp_stHistoryPara.ulTripSum = 0; cp_stHistoryPara.ulTripSumTime = 0; MC_RunInfo.Ride_Km = 0; MC_RunInfo.Ride_Time = 0; MC_RideLog.TRIP_Km = 0; MC_RideLog.TRIP_Time = 0; cp_stHistoryPara.ulODOTime = cp_stHistoryPara.ulODOTime + (cp_stBikeRunInfoPara.ulRiTime >> 10) / 60; cp_stBikeRunInfoPara.ulRiTime = 0; } } void Can_RemainTrip_Cal(void) { if(blBMSCommFault == FALSE) { UWORD uwCruisCoef; //单位功耗 cp_stBikeRunInfoPara.uwCruisDis++; // 0.1 km if (cp_stBikeRunInfoPara.uwCruisDis >= 5) // 5 = 0.5km { cp_stBikeRunInfoPara.uwCruisDis = 0; cp_stBikeRunInfoPara.BMSRestChargeNow = BMS_RunInfo.RC; cp_stBikeRunInfoPara.uwPowerPerKm = (cp_stBikeRunInfoPara.BMSRestChargeLast - cp_stBikeRunInfoPara.BMSRestChargeNow) << 1; // BMS_RunInfo.RC (BMSRestChargeLast - BMSRestChargeNow) /0.5 km cp_stBikeRunInfoPara.BMSRestChargeLast = cp_stBikeRunInfoPara.BMSRestChargeNow; cp_stBikeRunInfoPara.uwPowerPerKmSum -= cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT]; cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT] = cp_stBikeRunInfoPara.uwPowerPerKm; cp_stBikeRunInfoPara.uwPowerPerKmSum += cp_stBikeRunInfoPara.uwPowerPerKmBuf[cp_stBikeRunInfoPara.uwAvePowerCNT]; if (cp_stBikeRunInfoPara.uwPowerPerKmBuf[31] == 0) { cp_stBikeRunInfoPara.uwAvePowerPerKm = cp_stBikeRunInfoPara.uwPowerPerKmSum / (cp_stBikeRunInfoPara.uwAvePowerCNT + 1); } else { cp_stBikeRunInfoPara.uwAvePowerPerKm = cp_stBikeRunInfoPara.uwPowerPerKmSum >> 5; } cp_stBikeRunInfoPara.uwAvePowerCNT++; if (cp_stBikeRunInfoPara.uwAvePowerCNT >= 32) { cp_stBikeRunInfoPara.uwAvePowerCNT = 0; } /*限制功耗防止续航里程过大或过小*/ if(cp_stBikeRunInfoPara.uwAvePowerPerKm < 50) { cp_stBikeRunInfoPara.uwAvePowerPerKm = 50; /*limit min*/ } else if(cp_stBikeRunInfoPara.uwAvePowerPerKm > 500) { cp_stBikeRunInfoPara.uwAvePowerPerKm = 500; /*limit max*/ } else { /* no deal with */ } if(cp_stBikeRunInfoPara.uwAvePowerPerKm > 0) { if (cp_stBikeRunInfoPara.uwBikeGear == 1) { uwCruisCoef = (UWORD)(((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG1AvgPwrConsumption); cp_stHistoryPara.uwG1AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG2AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG3AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG4AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG5AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12); MC_RunInfo.PowerPerKm = (UBYTE)(cp_stHistoryPara.uwG1AvgPwrConsumption / 10); } else if (cp_stBikeRunInfoPara.uwBikeGear == 2) { uwCruisCoef = (UWORD)(((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG2AvgPwrConsumption); cp_stHistoryPara.uwG1AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG2AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG3AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG4AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG5AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12); MC_RunInfo.PowerPerKm = (UBYTE)(cp_stHistoryPara.uwG2AvgPwrConsumption / 10); } else if (cp_stBikeRunInfoPara.uwBikeGear == 3) { uwCruisCoef = (UWORD)(((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG3AvgPwrConsumption); cp_stHistoryPara.uwG1AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG2AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG3AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG4AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG5AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12); MC_RunInfo.PowerPerKm = (UBYTE)(cp_stHistoryPara.uwG3AvgPwrConsumption / 10); } else if (cp_stBikeRunInfoPara.uwBikeGear == 4) { uwCruisCoef = (UWORD)(((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG4AvgPwrConsumption); cp_stHistoryPara.uwG1AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG2AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG3AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG4AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG5AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12); MC_RunInfo.PowerPerKm = (UBYTE)(cp_stHistoryPara.uwG4AvgPwrConsumption / 10); } else if (cp_stBikeRunInfoPara.uwBikeGear == 5) { uwCruisCoef = (UWORD)(((ULONG)cp_stBikeRunInfoPara.uwAvePowerPerKm << 12) / cp_stHistoryPara.uwG5AvgPwrConsumption); cp_stHistoryPara.uwG1AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG1AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG2AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG2AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG3AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG3AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG4AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG4AvgPwrConsumption * uwCruisCoef >> 12); cp_stHistoryPara.uwG5AvgPwrConsumption = (UWORD)((ULONG)cp_stHistoryPara.uwG5AvgPwrConsumption * uwCruisCoef >> 12); MC_RunInfo.PowerPerKm = (UBYTE)(cp_stHistoryPara.uwG5AvgPwrConsumption / 10); } else { uwCruisCoef = 4096; } uwRemainDistanceCal = BMS_RunInfo.RC / MC_RunInfo.PowerPerKm / 10; } } } } //#if ((MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V) || (MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V)) //static SLONG slBMSMaxVol = 42000; //static SLONG slBMSMinVol = 32000; //#elif ((MOTOR_ID_SEL == MOTOR_WELLING_CITY_48V) || (MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V)) //static SLONG slBMSMaxVol = 54600; //static SLONG slBMSMinVol = 41600; //#endif static SWORD SOC_Cnt, SOC_Value, SOC_MIN; static ULONG Voltage_Sum; static BOOL blSOCfirstSet = FALSE; UWORD Can_SOC_Cal(void) { UWORD templenght, VoltageAvg = 0; if (cp_ulSystickCnt < 1000) { return (UWORD)0; } if(blBMSCommFault == FALSE) { SOC_Value = BMS_RunInfo.SOC; } else if (blSOCfirstSet == FALSE) { if(0 == ulBMS_ComTimeOutCount) { if (MC_RunInfo.BusVoltage >= slBMSMaxVol) { SOC_Value = 100; } else if (MC_RunInfo.BusVoltage <= slBMSMinVol) { SOC_Value = 0; } else { SOC_Value = (SWORD)(((SLONG)MC_RunInfo.BusVoltage - slBMSMinVol) * 100 / (slBMSMaxVol - slBMSMinVol)); } SOC_MIN = SOC_Value; } else { SOC_MIN = BMS_RunInfo.SOC; } blSOCfirstSet = TRUE; } else { templenght = 300; // 60s in 200ms time task SOC_Cnt++; Voltage_Sum += MC_RunInfo.BusVoltage; if (SOC_Cnt >= templenght) // 60s { VoltageAvg = (UWORD)(Voltage_Sum / templenght); if (VoltageAvg <= slBMSMinVol) { SOC_Value = 0; } else { SOC_Value = (SWORD)(((SLONG)VoltageAvg - (SLONG)slBMSMinVol) * 100 / ((SLONG)slBMSMaxVol - (SLONG)slBMSMinVol)); } if (SOC_Value < SOC_MIN) { SOC_MIN = SOC_Value; } else { } SOC_Cnt = 0; Voltage_Sum = 0; } if (SOC_Value > SOC_MIN) { SOC_Value = SOC_MIN; } else if (SOC_Value < 0) { SOC_Value = 0; } else { // do nothing } } return (UWORD)SOC_Value; } void Can_GearSt_switch(void) { cp_stBikeRunInfoPara.uwBikeGearLast = cp_stBikeRunInfoPara.uwBikeGear; if (MC_WorkMode == 1) { ulOBC_ComTimeOutCount = cp_ulSystickCnt; } #ifdef RUN_ARCH_SIM ulOBC_ComTimeOutCount = cp_ulSystickCnt; #endif if ((cp_ulSystickCnt - ulOBC_ComTimeOutCount) < 3000) { if (MC_ControlCode.GearSt <= 0x05) { cp_stBikeRunInfoPara.uwBikeGear = (UWORD)MC_ControlCode.GearSt; } else if (MC_ControlCode.GearSt == 0x33) { cp_stBikeRunInfoPara.uwBikeGear = 5; } else if (MC_ControlCode.GearSt == 0x22) { cp_stBikeRunInfoPara.uwBikeGear = 0x22; } else { // do nothing } } else { MC_ControlCode.GearSt = MC_GearSt_OFF; MC_RunInfo.GearSt = 0x00; cp_stBikeRunInfoPara.uwBikeGear = 0x00; } if((ass_stParaCong.uwNoneOBCEnable & 0xFF) == 0xAA) { ulOBC_ComTimeOutCount = cp_ulSystickCnt; MC_ControlCode.GearSt = MC_GearSt_SMART; MC_RunInfo.GearSt = MC_GearSt_SMART; cp_stBikeRunInfoPara.uwBikeGear = 5; } if (cp_stBikeRunInfoPara.uwBikeGear != cp_stBikeRunInfoPara.uwBikeGearLast) { cp_stBikeRunInfoPara.blGearStUpdate = TRUE; if(MC_WorkMode != 1) { scm_voLimit_Power(cp_stBikeRunInfoPara.uwBikeGear, ass_uwPwrCurLim, ass_stCalCoef.ucMaxCurrentGain);//功率限制 } } else { cp_stBikeRunInfoPara.blGearStUpdate = FALSE; } } void Can_Light_switch(void) { /* light switch*/ if (MC_ControlCode.LightSwitch == 0xF1) { cp_stBikeRunInfoPara.uwLightSwitch = 1; } else if (MC_ControlCode.LightSwitch == 0xF0) { cp_stBikeRunInfoPara.uwLightSwitch = 0; } else { // do nothing } } void Can_AssistCoef_Read(const UPC_CurveOrderInfo_Struct_t *order) { MC_UpcInfo.stAssistInfo.stCurveOrderInfo = *order; memcpy(&MC_UpcInfo.stAssistInfo.slTorquePolyA, &flash_stPara.slTorqAssGain[order->uwTorqueCurveNum - 1], sizeof(POLY_COEF)); memcpy(&MC_UpcInfo.stAssistInfo.slCadencePolyA, &flash_stPara.slCadAssGain[order->uwCadenceCurveNum - 1], sizeof(POLY_COEF)); } void Can_AssistCoef_Write(const UPC_CurveOrderInfo_Struct_t *order) { memcpy(&flash_stPara.slTorqAssGain[order->uwTorqueCurveNum - 1], &MC_UpcInfo.stAssistInfo.slTorquePolyA, sizeof(POLY_COEF)); memcpy(&flash_stPara.slCadAssGain[order->uwCadenceCurveNum - 1], &MC_UpcInfo.stAssistInfo.slCadencePolyA, sizeof(POLY_COEF)); } void ErrorLog_Updata(void) { que_stErrorLog.ErrorCode = MC_ErrorCode.Code; que_stErrorLog.RunTime = cp_stHistoryPara.ulUsedTime;//MC_RunInfo.Ride_Time; que_stErrorLog.RunInfo = MC_RunInfo; //memcpy((uint8_t*)&que_stErrorLog.RunInfo, (uint8_t*)&MC_RunInfo.BikeSpeed, sizeof(MC_RunInfo_Struct_t)); que_stErrorLog.IqCurrentPu = scm_swIqFdbLpfPu; que_stErrorLog.IqVoltagePu = scm_swUqRefPu; que_stErrorLog.IdCurrentPu = scm_swIdFdbLpfPu; que_stErrorLog.IdVoltagePu = scm_swUdRefPu; }