/** * @file canAppl.h * @author Zhang, Kai(zhangkai71@midea.com) * @brief * @version 0.1 * @date 2022-03-02 * * @copyright Copyright (c) 2022 * */ /************************************************************************ Beginning of File, do not put anything above here except notes Compiler Directives: ************************************************************************/ #ifndef CANAPPL_H #define CANAPPL_H #include "typedefine.h" #ifdef __cplusplus extern "C" { #endif // __cplusplus /**************************************** * * Definitions & Macros * ****************************************/ #define CAN_MC_ALARMCODE_DEFAULT \ { \ 0x00000000 \ } #define CAN_MC_ALARMCODE_CNT_RECORD_DEFAULT \ { \ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \ } #define ALAM_DETECT_CNT_IN_1ms 120000 #define ALAM_DISPLAY_CNT_0LEVEL 1 #define ALAM_DISPLAY_CNT_1LEVEL 3 #define ALAM_DISPLAY_CNT_2LEVEL 10 #define ALAM_DISPLAY_CNT_3LEVEL 30 /*************************************** * * Type Definations * ***************************************/ typedef enum { MC_Cadence_Forward = 0x00, MC_Cadence_Backward = 0x01, MC_Cadence_Stop = 0x02 } MC_CadenceDir_Struct_t; typedef enum { MC_LightSwitch_OFF = 0xF0, MC_LightSwitch_ON = 0xF1 } MC_LightSwitch_Struct_t; /** * @brief 电机运行信息，占用空间32bytes * */ typedef struct { UWORD BikeSpeed; ///>车速 0.1km/h，地址偏移0 SWORD MotorSpeed; ///>输出转速 1rpm，地址偏移2 UWORD Power; ///>电功率 1W，地址偏移4 UWORD BusVoltage; ///>母线电压 1mV，地址偏移6 UWORD BusCurrent; ///>母线电流 1mA，地址偏移8 UBYTE Cadence; ///>踏频 1rpm，地址偏移10 UBYTE Torque; ///>踩踏力矩 1Nm，地址偏移11 MC_CadenceDir_Struct_t CadenceDir; ///>踩踏方向 0-正,1-反,2-停止，地址偏移12 UBYTE GearSt; ///>助力档位，地址偏移13 MC_LightSwitch_Struct_t LightSwitch; ///>灯开关 0xF0-关，0xF1-开，地址偏移14 UBYTE SOC; ///>剩余电量 1%，地址偏移15 UWORD RemainDistance; ///>续航里程 1km，地址偏移16 // UBYTE RS1[2]; UWORD ODO_Km; ///>总里程 1km，地址偏移18 UBYTE PowerPerKm; ///>平均功耗 0.01Ah/km ，地址偏移20 UBYTE T_PCB; ///>PCB温度 +40℃，地址偏移21 UBYTE T_Coil; ///>绕组温度 +40℃，地址偏移22 UBYTE T_MCU; ///>MCU温度 +40℃，地址偏移23 UWORD Ride_Km; ///>开机后骑行里程 0.1km, 地址偏移24 UWORD Ride_Time; ///>开机后骑行时间 1s，地址偏移26 UBYTE RS2[4]; ///>预留 4bytes } MC_RunInfo_Struct_t; /** * @brief 电机故障码 * */ typedef union MC_ERRORCODE { struct { ULONG Protect_OverCurrent : 1; ///>过流保护 ULONG Protect_UnderVoltage : 1; ///>低压保护 ULONG Protect_OverVoltage : 1; ///>过压保护 ULONG Protect_LockRotor : 1; ///>堵转保护 ULONG Protect_OverTemp : 1; ///>过热保护 ULONG Fault_BikeSpdSensor : 1; ///>车速传感器故障 ULONG Fault_TorqueSensor : 1; ///>力矩传感器故障 ULONG Fault_HallSensor : 1; ///>霍尔传感器故障 ULONG Fault_PhaseLine : 1; ///>相线故障 ULONG Fault_PCBNTC : 1; ///>PCB温度传感器故障 ULONG Fault_BMS_Check : 1; ///>BMS校验失败 ULONG reserve1 : 1; /// s // ULONG Fault_HMI_Check :1;///>HMI校验失败 ULONG Fault_PBU_Check : 1; ///>PBU校验失败 ULONG Fault_MCU : 1; ///>MCU故障 ULONG Fault_CadenceSensor : 1; ///>踏频传感器故障 ULONG Fault_GasSensor : 1; ///>指拨故障 ULONG Fault_MOS : 1; ///>MOS短路 ULONG Protect_VoltageChange : 1; ///>电压波动异常 ULONG Fault_Circuit : 1; ///>电路故障 ULONG Fault_TE_MCU : 1; ///>TE MCU故障 ULONG Fault_TE_Circuit : 1; ///>TE 电路故障 ULONG Fault_MC_Check : 1; ///>MC校验失败 ULONG Fault_SpiPosSensor : 1; ///>SPI位置故障 ULONG Fault_Throttle : 1; ///>转把故障 ULONG RS1 : 1; ULONG RS2 : 1; ULONG RS3 : 1; ULONG RS4 : 1; ULONG RS5 : 1; ULONG RS6 : 1; ULONG RS7 : 1; ULONG RS8 : 1; } ERROR_Bit; ULONG Code; } MC_ErrorCode_Struct_t; /** * @brief 电机故障码 * */ typedef struct MC_ERROR_CNT_RECORD { ULONG ulAlamCntTimeCnt_1ms; UWORD Protect_OverCurrentCnt; ///>过流保护 UWORD Protect_UnderVoltageCnt; ///>低压保护 UWORD Protect_OverVoltageCnt; ///>过压保护 UWORD Protect_LockRotorCnt; ///>堵转保护 UWORD Protect_OverTempCnt; ///>过热保护 UWORD Fault_SpeedSensorCnt; ///>速度传感器故障 UWORD Fault_TorqueSensorCnt; ///>力矩传感器故障 UWORD Fault_HallSensorCnt; ///>霍尔传感器故障 UWORD Fault_PhaseLineCnt; ///>相线故障 UWORD Fault_NtcSensorCnt; ///>温度传感器故障 UWORD Fault_BMS_CheckCnt; ///>BMS校验失败 // UWORD Fault_HMI_Check :1;///>HMI校验失败 UWORD Fault_PBU_CheckCnt; ///>PBU校验失败 UWORD Fault_MCUCnt; ///>MCU故障 UWORD Fault_CadenceSensorCnt; ///>踏频传感器故障 UWORD Fault_GasSensorCnt; ///>指拨故障 UWORD Fault_MOSCnt; ///>MOS短路 UWORD Protect_VoltageChangeCnt; ///>电压波动异常 UWORD Fault_CircuitCnt; ///>电路故障 UWORD Fault_TE_MCUCnt; ///>TE MCU故障 UWORD Fault_TE_CircuitCnt; ///>TE 电路故障 UWORD Fault_MC_CheckCnt; ///>MC校验失败 } MC_ErrorCode_CNT_RECORD_Struct_t; /** * @brief 在线检测结果，占用空间1byte * */ typedef union ONLINE_STATUS { struct { UBYTE BMS_OffLine : 1; // BMS离线 UBYTE PBU_OffLine : 1; // PBU离线 UBYTE HMI_OffLine : 1; // HMI离线 UBYTE RS1 : 1; UBYTE RS2 : 1; UBYTE RS3 : 1; UBYTE RS4 : 1; UBYTE RS5 : 1; } Status_Bit; UBYTE Status; } OnLine_Status_Struct_t; /** * @brief MC版本信息，占用空间64bytes * */ typedef struct { char Mode[16]; ///>型号 ASCII，0x2E结束，无效填充0x20 char SN_Num[16]; ///>序列号 ASCII，0x2E结束，无效填充0x20 char HW_Version[16]; ///>硬件版本 ASCII，0x2E结束，无效填充0x20 char FW_Version[16]; ///>软件版本 ASCII，0x2E结束，无效填充0x20 } MC_VerInfo_Struct_t; /** * @brief MC生产信息，占用空间32bytes * */ typedef struct { char Manufacturer[8]; ///>生产厂商 ASCII，0x2E结束，无效填充0x20 char MacAddr[8]; ///>生产地 ASCII，0x2E结束，无效填充0x20 char MacDate[8]; ///>生产日期 ASCII，0x2E结束，无效填充0x20 char MacBrand[8]; } MC_MacInfo_Struct_t; /** * @brief MC生产信息，占用空间32bytes * */ typedef struct { char CustomASCII1[16]; ///>生产厂商 ASCII，0x2E结束，无效填充0x20 char CustomASCII2[16]; ///>生产地 ASCII，0x2E结束，无效填充0x20 char CustomASCII3[16]; ///>生产日期 ASCII，0x2E结束，无效填充0x20 } MC_RS_ASCII_Struct_t; /** * @brief MC骑行历史信息，占用空间16bytes * */ typedef struct { ULONG ODO_Km; ///>ODO里程，地址偏移0 ULONG ODO_Time; ///>ODO时间，地址偏移4 ULONG TRIP_Km; ///>TRIP里程，地址偏移8 ULONG TRIP_Time; ///>TRIP时间，地址偏移12 } MC_RideLog_Struct_t; /** * @brief BMS状态信息，占用空间1byte * */ typedef union BMS_STATUS { struct { UBYTE Charge : 1; ///>充电 UBYTE Discharge : 1; ///>放电 UBYTE RS1 : 1; UBYTE RS2 : 1; UBYTE RS3 : 1; UBYTE RS4 : 1; UBYTE RS5 : 1; UBYTE RS6 : 1; } Status_Bit; UBYTE Status; } BMS_STATUS_Struct_t; /** * @brief 电池运行信息，占用空间16bytes * */ typedef struct { UWORD Voltage; ///>电压 1mV，地址偏移0 UWORD Current; ///>电流 1mA，地址偏移2 UWORD RC; ///>剩余容量 1mAh，地址偏移4 UWORD FCC; ///>满充容量 1mAh，地址偏移6 UBYTE Cell_NTC; ///>电芯温度 +40℃，地址偏移8 UBYTE SOC; ///>剩余电量 1%，地址偏移9 BMS_STATUS_Struct_t Status; ///>运行状态，地址偏移10 UBYTE RS[5]; } BMS_RunInfo_Struct_t; /** * @brief 助力档位信息 * */ typedef enum { MC_GearSt_OFF = 0x00, MC_GearSt_Torque_ECO = 0x01, MC_GearSt_Torque_NORM = 0x02, MC_GearSt_Torque_SPORT = 0x03, MC_GearSt_Torque_TURBO = 0x04, MC_GearSt_SMART = 0x33, MC_GearSt_WALK = 0x22 } MC_GearSt_Struct_t; /** * @brief 电机控制指令，占用空间2bytes * */ typedef struct { MC_GearSt_Struct_t GearSt; ///>助力档位 MC_LightSwitch_Struct_t LightSwitch; ///>灯开关 0xF0-关，0xF1-开 } MC_ControlCode_Struct_t; /** * @brief 电机运行信息，占用空间32bytes * */ typedef struct { UBYTE Torque; ///>踩踏力矩 1Nm，地址偏移0 MC_CadenceDir_Struct_t CadenceDir; ///>踩踏方向 0-正,1-反,2-停止，地址偏移1 UBYTE Cadence; ///>踏频 1rpm，地址偏移2 UBYTE GearSt; ///>助力档位，地址偏移3 UBYTE T_PCB; ///>PCB温度 +40℃，地址偏移4 UBYTE T_Coil; ///>绕组温度 +40℃，地址偏移5 UWORD BusVoltage; ///>母线电压 1mV，地址偏移6 UWORD BusCurrent; ///>母线电流 1mA，地址偏移8 SWORD MotorSpeed; ///>输出转速 1rpm，地址偏移10 UWORD BikeSpeed; ///>车速 0.1km/h，地址偏移12 SWORD IqCurrent; ///> Iq电流反馈 1mA 地址偏移14 UBYTE AlarmCode; ///> 故障码最多8个故障 地址偏移16 UBYTE RS2; ///> 预留 地址偏移17 } MC_RunInfoToCDL_Struct_t; /*************************************** * * Host computer Type Definations * ***************************************/ typedef struct { UWORD uwSaveFlg; UWORD uwPolePairs; UWORD uwRsmOhm; UWORD uwLduH; UWORD uwLquH; UWORD uwFluxmWb; UWORD uwIdMaxA; UWORD uwIdMinA; UWORD uwRSpdRpm; UWORD uwRPwrWt; UWORD uwRCurA; UWORD uwRVolV; UWORD uwJD; UWORD uwTorMaxNm; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; UWORD reserve5; UWORD reserve6; UWORD reserve7; UWORD reserve8; } UPC_MotorInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD uwWheelPerimeter; //轮胎周长 cm UWORD uwMechRationMotor; //传动比 0.1 UWORD uwAssistMaxSpdKmH; //限速 1km/h UWORD uwThrottleMaxSpdKmH; //推行模式限速 1km/h UWORD uwNmFrontChainring; //前牙盘 T UWORD uwNmBackChainring; //后牙盘 T UWORD uwAssistSelect1; //助力方案1 UWORD uwAssistSelect2; //助力方案2 UWORD uwLightVoltage; //灯压配置 6/12V SWORD swWheelSizeAdjust; //周长微调 ±10cm UWORD uwStartMode; //启动模式 1-柔和，2-正常，3-强劲 UWORD uwAutoPowerOffTime; //自动关机时间 1min，0-不自动关机 UWORD reserve1; } UPC_BikeInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD uwSPIPosOffsetOrigin; UWORD uwSPIPosOffsetNow; UWORD uwIPeakMaxA; UWORD uwAlamOCurA; UWORD uwAlamOVolV; UWORD uwAlamUVolV; UWORD uwAlamOverSpdRpm; UWORD uwAlamOverHeatCe; UWORD uwAlamRecHeatCe; UWORD uwPwrLimitStartCe; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; UWORD reserve5; UWORD reserve6; UWORD reserve7; UWORD reserve8; } UPC_MControlInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD uwTorSensorOffsetOrigin; UWORD uwTorSensorOffsetNow1; UWORD uwTorSensorOffsetNow2; UWORD uwTorSensorOffsetNow3; UWORD uwTorSensorOffsetNow4; UWORD uwBikeTorMaxNm; UWORD uwBikeTor1StepRealNm; UWORD uwBikeTor1StepADC; UWORD uwBikeTor2StepRealNm; UWORD uwBikeTor2StepADC; UWORD uwBikeTor3StepRealNm; UWORD uwBikeTor3StepADC; UWORD uwBikeTor4StepRealNm; UWORD uwBikeTor4StepADC; UWORD uwCadSensorPulseNm; UWORD uwBikeSpdSensorPulseNm; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; } UPC_SensorInfo_Struct_t; typedef struct { SWORD swTorqueCurveNum; SWORD swCadenceCurveNum; } UPC_CurveOrderInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD reserve0; UWORD swStartupGain; UWORD swStartcruiseGain; UPC_CurveOrderInfo_Struct_t stCurveOrderInfo; SLONG slTorquePolyA; SLONG slTorquePolyB; SLONG slTorquePolyC; SLONG slTorquePolyD; SLONG slCadencePolyA; SLONG slCadencePolyB; SLONG slCadencePolyC; SLONG slCadencePolyD; UWORD uwAssistStartNm; UWORD uwAssistStopNm; UWORD uwStartUpGainStep; UWORD uwStartUpCadNm; UWORD uwTorLPFCadNm; UWORD uwSpeedAssistSpdRpm; UWORD uwSpeedAssistIMaxA; UWORD uwAssistLimitBikeSpdStart; UWORD uwAssistLimitBikeSpdStop; UWORD uwCadenceAssistWeight; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; UWORD reserve5; UWORD reserve6; UWORD reserve7; UWORD reserve8; } UPC_AssistInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD uwOpenTimes; UWORD uwUsedTimeH; UWORD uwUsedTimeL; UWORD uwNTCTempMaxCe; UWORD uwNTCTempMinCe; UWORD uwAlamHOcurTimes; UWORD uwAlamSOcurTimes; UWORD uwAlamOHeatTimes; UWORD uwAlamRotorLockTimes; UWORD uwAlamPhsLossTimes; UWORD uwAlamOVolTimes; UWORD uwAlamUVolTimes; UWORD uwAlamComOTimeTimes; UWORD uwG1AvgPwrConsumption; UWORD uwG2AvgPwrConsumption; UWORD uwG3AvgPwrConsumption; UWORD uwG4AvgPwrConsumption; UWORD uwG5AvgPwrConsumption; UWORD uwODOTripH; UWORD uwODOTripL; UWORD uwODOTimeH; UWORD uwODOTimeL; UWORD uwTripSumH; UWORD uwTripSumL; UWORD uwTripSumTimeH; UWORD uwTripSumTimeL; UWORD uwTorSensorAlamTimes; UWORD uwCadSensorAlamTimes; UWORD uwBikeSpdSensorAlamTimes; UWORD uwPosSensorAlamTimes; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; UWORD reserve5; UWORD reserve6; UWORD reserve7; UWORD reserve8; } UPC_HistoryInfo_Struct_t; typedef struct { UWORD uwSaveFlg; UWORD uwEEFirstDefaultSetFlg; UWORD uwSPIOffsetFirstSetFlg; UWORD uwTestParaSaveFlg; UWORD RunModelSelect; UWORD ThetaGetModelSelect; UWORD CurrentSampleModelSelect; UWORD RotateDirectionSelect; UWORD uwInitPosCurAmp; UWORD uwVFControlVolAmp; UWORD uwIFControlCurAmp; UWORD uwVFIFTargetFreHz; UWORD uwSpeedLoopAccRate; UWORD uwSpeedLoopDecRate; UWORD uwSpeedLoopBandWidthHz; UWORD uwSpeedLoopCoefM; UWORD uwCuerrentLoopBandWidthHz; UWORD uwCurrentLoopCoefM; UWORD uwFluxObsBandWidthHz; UWORD uwFluxObsCoefM; UWORD uwThetaObsPLLBandWidthHz; UWORD uwThetaObsPLLCoefM; UWORD uwJm; UWORD uwPWMMaxDuty; UWORD uwPWM7to5Duty; UWORD uwPwrLimit; UWORD uwPwrLimitError; UWORD uwPwrLimitKp; UWORD uwPwrLimitKi; UWORD reserve1; UWORD reserve2; UWORD reserve3; UWORD reserve4; UWORD reserve5; UWORD reserve6; UWORD reserve7; UWORD reserve8; } UPC_TestParaInfo_Struct_t; typedef struct { UPC_MotorInfo_Struct_t stMotorInfo; UPC_BikeInfo_Struct_t stBikeInfo; UPC_MControlInfo_Struct_t stMContorlInfo; UPC_SensorInfo_Struct_t stSensorInfo; UPC_CurveOrderInfo_Struct_t stCurveOrderInfo; UPC_AssistInfo_Struct_t stAssistInfo; UPC_HistoryInfo_Struct_t stHistoryInfo; UPC_TestParaInfo_Struct_t stTestParaInfo; } MC_UpperPCInfo_Struct_t; typedef struct { UBYTE uwWheelPerimeter; ///>车轮默认长度 1cm UBYTE StartUpMod; ///>1-柔和，2-正常，3-强劲，地址偏移1 UBYTE BikeSpeedLimit; /// km/h SBYTE DeltDiameter; ///>有符型，单位1cm，±10.0cm 1Nm，地址偏移0 UBYTE AssistMod; ///>助力模式1-2，地址偏移2 UBYTE AutoPowerOffTime; UBYTE reserve1; UBYTE reserve2; } OBC_SetCustomPara_Struct_t; //仪表按键状态 typedef union OBC_BUTTON_STATU { struct { UBYTE Set : 1; UBYTE Light : 1; UBYTE Walk : 1; UBYTE Dec : 1; UBYTE Acc : 1; UBYTE Power : 1; UBYTE RS1 : 1; UBYTE RS2 : 1; } Status_Bit; UBYTE KeyStatus; } OBC_ButtonStatu_Struct_t; typedef struct { UBYTE Reserver; OBC_ButtonStatu_Struct_t ButtonStatu; ULONG ulButtonSetTimeCnt; } OBC_ButtonStatus_Struct_t; typedef struct { SWORD swIdcPu; UWORD uwInterResistpu; UWORD uwVdcCompPu; } BMS_VoltEstimat_Struct_t; /**************************************** * * Exported variable * ****************************************/ extern MC_RunInfo_Struct_t MC_RunInfo; extern MC_ErrorCode_Struct_t MC_ErrorCode; extern MC_ErrorCode_CNT_RECORD_Struct_t MC_ErrorCntRecord; extern MC_VerInfo_Struct_t MC_VerInfo; extern char Firmware_Special[32];//软件版本标识，包含客户定制化信息 extern MC_MacInfo_Struct_t MC_MacInfo; extern MC_RideLog_Struct_t MC_RideLog; extern BMS_RunInfo_Struct_t BMS_RunInfo; extern MC_ControlCode_Struct_t MC_ControlCode; extern MC_RunInfoToCDL_Struct_t MC_RunInfoToCDL; extern MC_RS_ASCII_Struct_t MC_RsASSCII; extern MC_UpperPCInfo_Struct_t MC_UpcInfo; extern BMS_VoltEstimat_Struct_t BMS_VoltEstimat; extern OBC_SetCustomPara_Struct_t OBC_SetCustomPara; extern OBC_ButtonStatus_Struct_t OBC_ButtonStatus; extern ULONG ulOBC_ComTimeOutCount; extern ULONG ulBMS_ComTimeOutCount; extern UBYTE MC_MotorSPD_rpm_Percent; extern UBYTE MC_WorkMode; extern UBYTE MC_BC_COM; extern UWORD LightSwitch; extern ULONG ODO_T, TRIP_T; extern BOOL blFlashSaveflg; /************************************************************************ Ram Allocation *************************************************************************/ /*************************************** * * Function Definations * ***************************************/ /** * @brief MC_UpcInfo上电初始化 * */ void Can_voUpdateMC_UpcInfo(void); /** * @brief MC运行状态初始化 * */ void Can_voInitMC_Run(void); /** * @brief 1ms中的MC运行状态更新 * */ void Can_voMC_Run_1ms(void); /** * @brief 5ms中的MC运行状态更新 * */ void Can_voMC_Run_5ms(void); /** * @brief 200ms中的MCMC运行状态更新 * */ void Can_voMC_Run_200ms(void); /** * @brief 接收挡位指令 * */ void Can_GearSt_switch(void); /** * @brief 接收开关灯指令 * */ void Can_Light_switch(void); /** * @brief 里程计算 * */ void Can_Trip_Cal(void); /** * @brief 根据电池反馈计算续航里程 * */ void Can_RemainTrip_Cal(void); /** * @brief 根据电压估算电量 * */ UWORD Can_SOC_Cal(void); /** * @brief 根据协议显示助力曲线 * */ void Can_AssistCoef_Read(const UPC_CurveOrderInfo_Struct_t *order); /** * @brief 根据协议写入助力曲线 * */ void Can_AssistCoef_Write(const UPC_CurveOrderInfo_Struct_t *order); /************************************************************************ Flag Define (N/A) *************************************************************************/ #ifdef __cplusplus } #endif // __cplusplus #endif /************************************************************************ End of this File (EOF)! Do not put anything after this part! ************************************************************************/