motor_ctl-4/User project/3.BasicFunction/Include/giant_can.h

/**
 * @file giant_can.h
 * @author Ye Jin
 * @brief giant can protocol
 * @version 0.1
 * @date 2025-01-09
 *
 * @copyright Copyright (c) 2025
 *
 */
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef GIANT_CAN_H
#define GIANT_CAN_H

#include "typedefine.h"

/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/
#define MAXFRAME_SIZE 16
//Data Frame- Function group
#define FG_NETWORKMANAGER    0x0
#define FG_EVENT             0x1
#define FG_RESPONSEDATA      0x2
#define FG_NORMALDATA        0x3
//Node group
#define NODE_ALL             0x0
#define NODE_SERVICETOOL     0x1
#define NODE_USERINTERFACE   0x2
#define NODE_DRIVECHAIN      0x6
#define NODE_MOTINOVA        0x7
#define NODE_ENERGYPACK      0xC
#define NODE_GIANTAPP        0xF
//Data Frame-Data behavior
#define DB_ACTIVEDATA        0x0
#define DB_PASSIVEDATA       0x1
//Remote Frame- motion group
#define MG_HEARTBEAT         0x0
#define MG_CONFIRMATION      0x1
#define MG_ACTIVEDATA1       0x2
#define MG_ACTIVEDATA2       0x3
#define MG_PASSIVEDATA1      0x4
#define MG_PASSIVEDATA2      0x5
#define MG_PASSIVEDATA3      0x6
#define MG_PASSIVEDATA4      0x7
//mode
#define AD_SERVICEMODE_S     0x6
#define AD_SERVICEMODE_E     0xA
#define AD_CHECKMODE         0xB
#define AD_OFFMODE           0xC
#define AD_ERRORMODE         0xD
/***************************************
 *
 *          Type  Definations
 *
 ***************************************/

/**
 * @brief Rx Standard Data ID
 *
 */
   

typedef struct
{
    UBYTE  ucFrameSize;     //缓冲区数组：缓冲区大小
    UBYTE  ucFrameWrInde;   //缓冲区数组：写索引
    UBYTE  ucFrameRdInde;   //缓冲区数组：读索引
    UBYTE  ucFrameCnt;      //缓冲区数组：数据计数
} CANFrame_Info_Struct_t;

typedef struct
{
    ULONG id;                                                   /*!< standard format frame identifier */
    UBYTE rx_ft;                                                      /*!< type of frame, data or remote */
    UBYTE rx_dlen;                                                    /*!< data length */
    UBYTE rx_data[8];                                                 /*!< receive data */
} CAN_ReceiveFrame_Struct_t;

typedef struct
{
    UBYTE FunctionGroup;//2 bits
    UBYTE NodeGroup;//4 bits
    UBYTE DataBehaviors;//1 bit
    UBYTE DataAddress;//4 bits
} GiantStandardDataFrameID_Struct_t;

typedef struct
{
    UBYTE MotionGroup;//3 bits
    UBYTE RequireNodeGroup;//4 bits
    UBYTE ResponseNodeGroup;//4 bits
} GiantStandardRemoteFrameID_Struct_t;

typedef struct
{
    UWORD RefreshFlag;
    UBYTE Error;
    UBYTE ManualSleepEn;
    UBYTE AutomaticSleepEn;//1-ignore，0-keep
    UBYTE InactivateErrorDetection;
    UBYTE ThrottleEn;
    UBYTE BrakeleEn;
    UBYTE WalkEn;
    UBYTE ThrottlePowerPercentage;
    UBYTE RidingModeEn;
    UBYTE AdjustingMode;
    UBYTE StartMode;
    UWORD WheelCircumference;
    UBYTE MaximumTorque;
    UBYTE Acceleration;
    UBYTE AssistRatio;
    UBYTE MaximumPower;
    UWORD SpeedLimitation;
    UBYTE CommSleep;
} GiantControlParams_Struct_t;
/*****************************************
 *
 *           Exported variable
 *
 ****************************************/
//extern GiantStandardDataFrameID_Struct_t stGiantStandardDataFrameID_rx;
//extern GiantStandardRemoteFrameID_Struct_t stGiantStandardRemoteFrameID_rx;
extern GiantControlParams_Struct_t stGiantControlParams;
//extern CANFrame_Info_Struct_t stCANFrame_InfoRx;
//extern CAN_ReceiveFrame_Struct_t stCAN_ReceiveFrame_Buf_Rx[MAXFRAME_SIZE];
/***************************************
 *
 *          Function  Definations
 *
 ***************************************/
void giant_Init(void);
void giant_10msTask(void);
void CANFrame_Rx_ISR(void);
void giant_CANRxData_Process(void);
void giant_SendDriveChainPassiveData(UBYTE remoteMG, UBYTE DataAddr);
void giant_SendDriveChainActiveData(UBYTE functiongroup, UBYTE dataaddr);
void giant_SendRemote(UBYTE motiongroup);
void giant_DataProcess(void);
SLONG giant_slPolynomial(const SWORD *value);
/************************************************************************/

#endif
/************************************************************************
 End of this File (EOF):
 Do not put anything after this part!
*************************************************************************/