motor_ctl-4/User project/3.BasicFunction/Source/canAppl.c

/**
 * @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_2nd.h"
#include "sys_ctrl.h"

//#include "hwsetup.h"
#include "fp.def"
/******************************
 *
 *  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;
UBYTE                    MC_MotorSPD_rpm_Percent = 0;
UBYTE                    MC_WorkMode;
UBYTE                    MC_BC_COM = 1;
static LPF_OUT                    BMS_swCurIdcLpf;

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.uwAssistMaxSpdKmH = ass_stParaCong.uwAssistMaxSpdKmH;
    MC_UpcInfo.stBikeInfo.uwThrottleMaxSpdKmH = ass_stParaCong.uwThrottleMaxSpdKmH;
    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.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.swAlmOverVolVal3;
    MC_UpcInfo.stMContorlInfo.uwAlamUVolV = cp_stControlPara.swAlmUnderVolVal2;
    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.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.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.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_stParaCong.uwAssistMaxSpdKmH;
    OBC_SetCustomPara.DeltDiameter =  (SBYTE)ass_stParaCong.swDeltPerimeter;
    OBC_SetCustomPara.AssistMod =  (UBYTE)ass_stParaSet.uwAsssistSelectNum;
    OBC_SetCustomPara.AutoPowerOffTime =  (UBYTE)ass_stParaCong.uwAutoPowerOffTime;
}

static UWORD SizeMCUP;
void Can_voInitMC_Run(void)
{
    flash_voRead();
    // Hardware version
#if(MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V)
	strncpy(MC_VerInfo.HW_Version, (char *)"CITY-36V.       ", 16);
#elif(MOTOR_ID_SEL == MOTOR_WELLING_CITY_48V)
	strncpy(MC_VerInfo.HW_Version, (char *)"CITY-48V.       ", 16);
#elif(MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V)
	strncpy(MC_VerInfo.HW_Version, (char *)"MTB-36V.        ", 16);
#elif(MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V)
	strncpy(MC_VerInfo.HW_Version, (char *)"MTB-48V.        ", 16);
#else
	strncpy(MC_VerInfo.HW_Version, (char *)"TEST.           ", 16);
#endif
    // Software version
    char chFwVersion[16]="V0r1r9_";
    strncat(chFwVersion,COMMIT_TIME,9);
    strncpy(MC_VerInfo.FW_Version, (char *)chFwVersion, 16);
    
    // Firmware Special Info
    char chFrimware[32]="TC00000-MC00000-V0r0.  ";
    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));
    // 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
}

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++;
        cp_stHistoryPara.ulUsedTime++;
    }


    if (adc_stUpOut.PCBTemp > ((SWORD)cp_stHistoryPara.uwNTCTempMaxCe))
    {
        cp_stHistoryPara.uwNTCTempMaxCe = adc_stUpOut.PCBTemp;
    }


    if (adc_stUpOut.PCBTemp < ((SWORD)cp_stHistoryPara.uwNTCTempMaxCe))
    {
        cp_stHistoryPara.uwNTCTempMaxCe = adc_stUpOut.PCBTemp;
    }

    // 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)
    {
        if (alm_blAlmSingleRecordDoneFlg == FALSE)
        {
            if (alm_unCode.bit.IPMFlt == 1)
            {
                MC_ErrorCntRecord.Protect_OverCurrentCnt++;
                cp_stHistoryPara.uwAlamHOcurTimes++;
                if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
                {
                    MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1;
                }
            }

            if (alm_unCode.bit.OvrCur == 1)
            {
                MC_ErrorCntRecord.Protect_OverCurrentCnt++;
                cp_stHistoryPara.uwAlamSOcurTimes++;
                if (MC_ErrorCntRecord.Protect_OverCurrentCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
                {
                    MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 1;
                }
            }

            if (alm_unCode.bit.OvrVlt == 1)
            {
                MC_ErrorCntRecord.Protect_OverVoltageCnt++;
                cp_stHistoryPara.uwAlamOVolTimes++;
                if (MC_ErrorCntRecord.Protect_OverVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
                {
                    MC_ErrorCode.ERROR_Bit.Protect_OverVoltage = 1;
                }
            }

            if (alm_unCode.bit.UndrVlt == 1)
            {
                MC_ErrorCntRecord.Protect_UnderVoltageCnt++;
                cp_stHistoryPara.uwAlamUVolTimes++;
                if (MC_ErrorCntRecord.Protect_UnderVoltageCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
                {
                    MC_ErrorCode.ERROR_Bit.Protect_UnderVoltage = 1;
                }
            }

            if (alm_unCode.bit.RotorLock == 1)
            {
                MC_ErrorCntRecord.Protect_LockRotorCnt++;
                cp_stHistoryPara.uwAlamRotorLockTimes++;
                if (MC_ErrorCntRecord.Protect_LockRotorCnt == ALAM_DISPLAY_CNT_0LEVEL) // ALAM_DISPLAY_CNT_2LEVEL
                {
                    MC_ErrorCode.ERROR_Bit.Protect_LockRotor = 1;
                }
            }

            if (alm_unCode.bit.IPMOvrHeat == 1)
            {
                MC_ErrorCntRecord.Protect_OverTempCnt++;
                cp_stHistoryPara.uwAlamOHeatTimes++;
                if (MC_ErrorCntRecord.Protect_OverTempCnt == ALAM_DISPLAY_CNT_0LEVEL)
                {
                    MC_ErrorCode.ERROR_Bit.Protect_OverTemp = 1;
                }
            }

            if (alm_unCode.bit.PhsLoss == 1)
            {
                MC_ErrorCntRecord.Fault_PhaseLineCnt++;
                cp_stHistoryPara.uwAlamPhsLossTimes++;
                if (MC_ErrorCntRecord.Fault_PhaseLineCnt == ALAM_DISPLAY_CNT_0LEVEL)
                {
                    MC_ErrorCode.ERROR_Bit.Fault_PhaseLine = 1;
                }
            }

            // if(alm_unCode.bit.CommOvrTm)
            // {
            //     cp_stHistoryPara.uwAlamComOTimeTimes++;
            // }
            
            if (alm_unCode.bit.SpiThetaFlt == 1)
            {
                MC_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 1;
            }
            
            if (alm_unBikeCode.bit.BikeSpdSen == 1)
            {
                MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 1;
            }
            
            if (alm_unBikeCode.bit.CadenceSen == 1)
            {
                cp_stHistoryPara.uwCadSensorAlamTimes++;
                MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 1;
            }
            
            if (alm_unBikeCode.bit.PCBNTC == 1)
            {
                MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 1;
            }
            
            if (alm_unBikeCode.bit.Throttle == 1)
            {
                MC_ErrorCode.ERROR_Bit.Fault_Throttle = 1;
            }
            
            if (alm_unBikeCode.bit.TorqSen == 1)
            {
                MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 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_ErrorCode.ERROR_Bit.Fault_SpiPosSensor = 0;
        }
    }

    if (MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor == 1)
    {
        if (alm_unBikeCode.bit.BikeSpdSen != 1)
        {
            MC_ErrorCode.ERROR_Bit.Fault_BikeSpdSensor = 0;
        }
    }
 
    if (MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor == 1)
    {
        if (alm_unBikeCode.bit.CadenceSen != 1)
        {
            MC_ErrorCode.ERROR_Bit.Fault_CadenceSensor = 0;
        }
    }
    
    if (MC_ErrorCode.ERROR_Bit.Fault_PCBNTC == 1)
    {
        if (alm_unBikeCode.bit.PCBNTC != 1)
        {
            MC_ErrorCode.ERROR_Bit.Fault_PCBNTC = 0;
        }
    }

    if (MC_ErrorCode.ERROR_Bit.Fault_Throttle == 1)
    {
        if (alm_unBikeCode.bit.Throttle != 1)
        {
            MC_ErrorCode.ERROR_Bit.Fault_Throttle = 0;
        }
    }
    
    if (MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor == 1)
    {
        if (alm_unBikeCode.bit.TorqSen != 1)
        {
            MC_ErrorCode.ERROR_Bit.Fault_TorqueSensor = 0;
        }
    }
    UWORD 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

}

void Can_voMC_Run_200ms(void)
{
   
    Can_GearSt_switch();
    SizeMCUP = sizeof(MC_UpcInfo.stAssistInfo);
    if (MC_BC_COM == 0)
    {
        MC_RunInfoToCDL.Torque = (UBYTE)((((ULONG)ass_stTorqMafValue.swValue * TORQUEBASE / 10) >> 14)); // 0.1 Nm
        MC_RunInfoToCDL.CadenceDir =
            (MC_CadenceDir_Struct_t)cadence_stFreGetOut.cadence_dir;        ///> 踩踏方向 0-正,1-反,2-停止，
        MC_RunInfoToCDL.Cadence = (UBYTE)((cadence_stFreGetOut.uwLPFFrequencyPu * cof_uwVbRpm) >> 20); // rpm
        MC_RunInfoToCDL.GearSt = (UBYTE)MC_ControlCode.GearSt;
        MC_RunInfoToCDL.T_PCB = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40;
        MC_RunInfoToCDL.T_Coil = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40;
        MC_RunInfoToCDL.BusVoltage = (UWORD)(((ULONG)adc_stUpOut.uwVdcLpfPu * cof_uwUbVt * 100) >> 14);                                        // 1mV
        MC_RunInfoToCDL.BusCurrent = (UWORD)((((ULONG)scm_stMotoPwrInLpf.slY.sw.hi << 13) / adc_stUpOut.uwVdcLpfPu * cof_uwIbAp * 100) >> 14); // 1mA
        MC_RunInfoToCDL.MotorSpeed = (SWORD)((SLONG)scm_stSpdFbkLpf.slY.sw.hi * (SLONG)cof_uwVbRpm >> 15);
        //        MC_RunInfoToCDL.BikeSpeed =
        //            (((SQWORD)bikespeed_stFreGetOut.uwLPFFrequencyPu * cof_uwFbHz * ass_stParaCong.uwWheelPerimeter * 3216 * 36 >> 15) * 1050) >>
        //            35; // 600 0.1cm  3216 = Q10(3.1415926)  105 = Q20(1/10000)    0.1 km/h;
        //
        MC_RunInfoToCDL.BikeSpeed =
        		(UWORD)((((SQWORD)bikespeed_stFreGetOut.uwLPFFrequencyPu * FBASE * ass_stParaCong.uwWheelPerimeter * 36 >> 20) * 1048 * 10) >> 20);
        MC_RunInfoToCDL.IqCurrent = (SWORD)(((SLONG)scm_swIqRefPu * (SLONG)cof_uwIbAp * (SLONG)100) >> 14);
        MC_RunInfoToCDL.AlarmCode = (UBYTE)(MC_ErrorCode.Code & 0x00FF);
        SendData(ID_MC_TO_CDL, MODE_REPORT, 0xF112, (UBYTE *)&MC_RunInfoToCDL.Torque);
    }

    MC_RunInfo.BikeSpeed = cp_stBikeRunInfoPara.BikeSpeedKmH;                ///>车速 0.1km/h，地址偏移0
    MC_RunInfo.MotorSpeed = (SWORD)((SLONG)scm_uwSpdFbkLpfAbsPu * (SLONG)cof_uwVbRpm >> 15); ///>输出转速 1rpm，地址偏移2
    if (scm_swMotorPwrInLpfWt > 5000)
    {
        scm_swMotorPwrInLpfWt = 5000;
    }
    if (scm_swMotorPwrInLpfWt < 0)
    {
        scm_swMotorPwrInLpfWt = 0;
    }
    if (sysctrl_stPwmState.blPwmOnflg == FALSE)
    {
        scm_swMotorPwrInLpfWt = 0;
    }
    else
    {
    }
    MC_RunInfo.Power = scm_swMotorPwrInLpfWt / 10;                                                                    ///>电功率 1W，地址偏移4
    MC_RunInfo.BusVoltage = (UWORD)((((ULONG)adc_stUpOut.uwVdcLpfPu + (ULONG)BMS_VoltEstimat.uwVdcCompPu) * cof_uwUbVt * 100) >> 14); ///>母线电压 1mV，地址偏移6
    MC_RunInfo.BusCurrent = (UWORD)((ULONG)BMS_VoltEstimat.swIdcPu * cof_uwIbAp * 100 >> 14);                                  ///>母线电流 1mA，地址偏移8
    MC_RunInfo.Cadence = (UBYTE)(((ULONG)cadence_stFreGetOut.uwLPFFrequencyPu * cof_uwFbHz * 60) >> 20);                              ///>踏频 1rpm，地址偏移10
    MC_RunInfo.Torque = (UBYTE)(((ULONG)torsensor_stTorSensorOut.uwTorqueLPFPu * cof_uwTorqNm / 10) >> 14);                    ///>踩踏力矩 1Nm，地址偏移11
    MC_RunInfo.CadenceDir = (MC_CadenceDir_Struct_t)cadence_stFreGetOut.cadence_dir;                                  ///>踩踏方向 0-正,1-反,2-停止，地址偏移12
    MC_RunInfo.GearSt = (UBYTE)MC_ControlCode.GearSt;                                                                        ///>助力档位，地址偏移13
    MC_RunInfo.LightSwitch = MC_ControlCode.LightSwitch;                                                              ///>灯开关 0xF0-关，0xF1-开，地址偏移14
    MC_RunInfo.SOC = (UBYTE)Can_SOC_Cal();                                                                                   ///>剩余电量 1%，地址偏移15
    MC_RunInfo.ODO_Km = (UWORD)(MC_RideLog.ODO_Km / 10);                                                                       ///>总里程 1km，地址偏移18
    Can_Trip_Cal();

    if (cp_stBikeRunInfoPara.blGearStUpdate)
    {
        MC_RunInfo.PowerPerKm =
        		(UBYTE)(*(&cp_stHistoryPara.uwG1AvgPwrConsumption + (cp_stBikeRunInfoPara.uwBikeGear - 1)) / 10); ///>平均功耗 0.01Ah/km ，地址偏移20 /* 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" */
        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;
    }
    MC_RunInfo.T_PCB = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40;                    ///>PCB温度 +40℃，地址偏移21
    MC_RunInfo.T_Coil = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40;                   ///>绕组温度 +40℃，地址偏移22
    MC_RunInfo.T_MCU = (UBYTE)adc_stUpOut.PCBTemp + (UBYTE)40;                    ///>MCU温度 +40℃，地址偏移23
    MC_RunInfo.Ride_Time = (UWORD)(cp_stBikeRunInfoPara.ulRiTime >> 10);     ///>开机后骑行时间 1s，地址偏移26

    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.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
}

void Can_RemainTrip_Cal(void)
{
    UWORD uwCruisCoef;                         //šŚşÄĎľĘýQ12
    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;
        }

        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;
        }
        MC_RunInfo.RemainDistance = BMS_RunInfo.RC / MC_RunInfo.PowerPerKm;
    }
}

#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;
    // 开机1s等待电压稳定后初始化电量
    if (cp_ulSystickCnt < 1000)
    {
        return (UWORD)0;
    }
    // 开机初始化一次电量
    if (blSOCfirstSet == FALSE)
    {
        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;
        blSOCfirstSet = TRUE;
    }
    // 1min更新一次电量
    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;
        }
    }
    // 电量仅递减
    if (SOC_Value > SOC_MIN)
    {
        SOC_Value = SOC_MIN;
    }
    else if (SOC_Value < 0)
    {
        SOC_Value = 0;
    }
    else
    {
        // do noting
    }
    return (UWORD)SOC_Value;
}

void Can_GearSt_switch(void)
{
    cp_stBikeRunInfoPara.uwBikeGearLast = cp_stBikeRunInfoPara.uwBikeGear;

    if (MC_WorkMode == 1) // 配置模式不自动关闭助力
    {
        ulOBC_ComTimeOutCount = cp_ulSystickCnt;
    }
    if ((cp_ulSystickCnt - ulOBC_ComTimeOutCount) < 3000) // 控制器与仪表通信中断超过3s，关闭助力
    {
        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 noting
        }
    }
    else 
    {
        MC_ControlCode.GearSt = MC_GearSt_OFF;
        MC_RunInfo.GearSt = 0x00;
        cp_stBikeRunInfoPara.uwBikeGear = 0x00;
    }

    if (cp_stBikeRunInfoPara.uwBikeGear != cp_stBikeRunInfoPara.uwBikeGearLast)
    {
        cp_stBikeRunInfoPara.blGearStUpdate = TRUE;
    }
    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 noting
    }
}

void Can_AssistCoef_Read(const UPC_CurveOrderInfo_Struct_t *order)
{
    MC_UpcInfo.stAssistInfo.stCurveOrderInfo = *order;
    memcpy(&MC_UpcInfo.stAssistInfo.slTorquePolyA, &flash_stPara.slTorqAssGain[order->swTorqueCurveNum - 1], sizeof(POLY_COEF));
    memcpy(&MC_UpcInfo.stAssistInfo.slCadencePolyA, &flash_stPara.slCadAssGain[order->swCadenceCurveNum - 1], sizeof(POLY_COEF));
}

void Can_AssistCoef_Write(const UPC_CurveOrderInfo_Struct_t *order)
{
    memcpy(&flash_stPara.slTorqAssGain[order->swTorqueCurveNum - 1], &MC_UpcInfo.stAssistInfo.slTorquePolyA, sizeof(POLY_COEF));
    memcpy(&flash_stPara.slCadAssGain[order->swCadenceCurveNum - 1], &MC_UpcInfo.stAssistInfo.slCadencePolyA, sizeof(POLY_COEF));
}