608 lines
20 KiB
C
608 lines
20 KiB
C
/*
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CAN总线上的设
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将所有CAN总线上挂载的设抽象成一设进行配和控制
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "can.h"
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#include <stdbool.h>
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#include <string.h>
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#include "bsp\can.h"
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#include "bsp\mm.h"
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#include "component\user_math.h"
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#include "device\referee.h"
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/* Private define ----------------------------------------------------------- */
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/* Motor id */
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/* id feedback id control id */
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/* 1-4 0x205 to 0x208 0x1ff */
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/* 5-6 0x209 to 0x20B 0x2ff */
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#define CAN_GM6020_FB_ID_BASE (0x205)
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#define CAN_GM6020_CTRL_ID_BASE (0x1ff)
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#define CAN_GM6020_CTRL_ID_EXTAND (0x2ff)
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/* id feedback id control id */
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/* 1-4 0x201 to 0x204 0x200 */
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/* 5-6 0x205 to 0x208 0x1ff */
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#define CAN_M3508_M2006_FB_ID_BASE (0x201)
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#define CAN_M3508_M2006_CTRL_ID_BASE (0x200)
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#define CAN_M3508_M2006_CTRL_ID_EXTAND (0x1ff)
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#define CAN_M3508_M2006_ID_SETTING_ID (0x700)
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/* 电机最大控制输出绝对值 */
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#define CAN_GM6020_MAX_ABS_LSB (30000)
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#define CAN_M3508_MAX_ABS_LSB (16384)
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#define CAN_M2006_MAX_ABS_LSB (10000)
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#define CAN_MOTOR_TX_BUF_SIZE (8)
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#define CAN_MOTOR_RX_BUF_SIZE (8)
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#define CAN_MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */
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#define CAN_MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */
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#define CAN_MOTOR_RX_FIFO CAN_RX_FIFO0
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/* Super capacitor */
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#define CAN_CAP_FB_ID_BASE (0x211)
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#define CAN_CAP_CTRL_ID_BASE (0x210)
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#define CAN_CAP_RES (100) /* 电容数据分辨率 */
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#define CAN_CAP_RX_FIFO CAN_RX_FIFO1
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/* TOF */
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#define CAN_TOF_ID_BASE (0x280)
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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static CAN_RawRx_t raw_rx1;
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static CAN_RawRx_t raw_rx2;
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static CAN_RawTx_t raw_tx;
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static osThreadId_t thread_alert;
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static CAN_t *gcan;
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static bool inited = false;
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volatile pm01_od_t pm01_od;
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/* Private function -------------------------------------------------------- */
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static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
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const uint8_t *raw)
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{
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uint16_t raw_angle = (uint16_t)((raw[0] << 8) | raw[1]);
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int16_t raw_current = (int16_t)((raw[4] << 8) | raw[5]);
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feedback->rotor_angle = raw_angle / (float)CAN_MOTOR_ENC_RES * M_2PI;
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feedback->rotor_speed = (int16_t)((raw[2] << 8) | raw[3]);
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feedback->torque_current =
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raw_current * CAN_M3508_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES;
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feedback->temp = raw[6];
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}
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void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw)
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{
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feedback->input_volt = (float)((raw[1] << 8) | raw[0]) / (float)CAN_CAP_RES;
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feedback->cap_volt = (float)((raw[3] << 8) | raw[2]) / (float)CAN_CAP_RES;
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feedback->input_curr = (float)((raw[5] << 8) | raw[4]) / (float)CAN_CAP_RES;
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feedback->target_power = (float)((raw[7] << 8) | raw[6]) / (float)CAN_CAP_RES;
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}
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void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw)
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{
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tof->dist = (float)((raw[2] << 16) | (raw[1] << 8) | raw[0]) / 1000.0f;
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tof->status = raw[3];
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tof->signal_strength = (raw[5] << 8) | raw[4];
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}
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static void CAN_CAN1RxFifoMsgPendingCallback(void)
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{
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_MOTOR_RX_FIFO,
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&raw_rx1.rx_header, raw_rx1.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
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}
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static void CAN_CAN2RxFifoMsgPendingCallback(void)
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{
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_CAP_RX_FIFO,
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&raw_rx2.rx_header, raw_rx2.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param)
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{
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if (can == NULL)
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return DEVICE_ERR_NULL;
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if (inited)
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return DEVICE_ERR_INITED;
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if ((thread_alert = osThreadGetId()) == NULL)
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return DEVICE_ERR_NULL;
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can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
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can->param = param;
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CAN_FilterTypeDef can_filter = {0};
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can_filter.FilterBank = 0;
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can_filter.FilterIdHigh = 0;
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can_filter.FilterIdLow = 0;
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can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter.FilterMaskIdHigh = 0;
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can_filter.FilterMaskIdLow = 0;
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can_filter.FilterActivation = ENABLE;
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can_filter.SlaveStartFilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_MOTOR_RX_FIFO;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_1), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_1));
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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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CAN_CAN1RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_1),
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CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter.FilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_CAP_RX_FIFO;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_2), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_2));
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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CAN_CAN2RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_2),
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CAN_IT_RX_FIFO1_MSG_PENDING);
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gcan = can;
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inited = true;
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return DEVICE_OK;
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}
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int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
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CAN_t *can)
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{
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if (output == NULL)
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return DEVICE_ERR_NULL;
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int16_t motor1, motor2, motor3, motor4;
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int16_t yaw_motor, pit_motor;
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int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
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switch (group)
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{
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case CAN_MOTOR_GROUT_CHASSIS:
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motor1 =
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(int16_t)(output->chassis.named.m1 * (float)CAN_M3508_MAX_ABS_LSB);
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motor2 =
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(int16_t)(output->chassis.named.m2 * (float)CAN_M3508_MAX_ABS_LSB);
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motor3 =
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(int16_t)(output->chassis.named.m3 * (float)CAN_M3508_MAX_ABS_LSB);
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motor4 =
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(int16_t)(output->chassis.named.m4 * (float)CAN_M3508_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_M3508_M2006_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((motor1 >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(motor1 & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((motor2 >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(motor2 & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((motor3 >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(motor3 & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)((motor4 >> 8) & 0xFF);
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raw_tx.tx_data[7] = (uint8_t)(motor4 & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->chassis),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.chassis));
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break;
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case CAN_MOTOR_GROUT_GIMBAL1:
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case CAN_MOTOR_GROUT_GIMBAL2:
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yaw_motor =
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(int16_t)(output->gimbal.named.yaw * (float)CAN_GM6020_MAX_ABS_LSB);
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pit_motor =
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(int16_t)(output->gimbal.named.pit * (float)CAN_GM6020_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_GM6020_CTRL_ID_EXTAND;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((yaw_motor >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(yaw_motor & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((pit_motor >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(pit_motor & 0xFF);
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raw_tx.tx_data[4] = 0;
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raw_tx.tx_data[5] = 0;
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.yaw),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.gimbal));
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.pitch),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.gimbal));
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// HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
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// &raw_tx.tx_header, raw_tx.tx_data,
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// &(can->mailbox.gimbal));
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break;
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case CAN_MOTOR_GROUT_SHOOT1:
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case CAN_MOTOR_GROUT_SHOOT2:
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fric1_motor =
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(int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
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fric2_motor =
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(int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
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fric3_motor =
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(int16_t)(output->shoot.named.fric3 * (float)CAN_M3508_MAX_ABS_LSB);
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trig_motor =
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(int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_M3508_M2006_CTRL_ID_EXTAND;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((fric1_motor >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
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raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.shoot));
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->trig),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.shoot));
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break;
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default:
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break;
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}
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return DEVICE_OK;
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}
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int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
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{
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if (can == NULL)
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return DEVICE_ERR_NULL;
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if (can_rx == NULL)
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return DEVICE_ERR_NULL;
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uint32_t index;
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switch (can_rx->rx_header.StdId)
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{
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case CAN_M3508_M1_ID:
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case CAN_M3508_M2_ID:
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case CAN_M3508_M3_ID:
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case CAN_M3508_M4_ID:
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index = can_rx->rx_header.StdId - CAN_M3508_M1_ID;
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CAN_Motor_Decode(&(can->motor.chassis.as_array[index]), can_rx->rx_data);
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can->recive_flag |= 1 << index;
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break;
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case CAN_M3508_FRIC1_ID:
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case CAN_M3508_FRIC2_ID:
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case CAN_M3508_FRIC3_ID:
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case CAN_M2006_TRIG_ID:
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index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
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can->recive_flag |= 1 << (index + 6);
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CAN_Motor_Decode(&(can->motor.shoot.as_array[index]), can_rx->rx_data);
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break;
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case CAN_GM6020_YAW_ID:
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case CAN_GM6020_PIT_ID:
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index = can_rx->rx_header.StdId - CAN_GM6020_YAW_ID;
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can->recive_flag |= 1 << (index + 4);
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CAN_Motor_Decode(&(can->motor.gimbal.as_array[index]), can_rx->rx_data);
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break;
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case CAN_CAP_FB_ID_BASE:
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can->recive_flag |= 1 << 9;
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CAN_Cap_Decode(&(can->cap.cap_feedback), can_rx->rx_data);
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break;
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case CAN_TOF_ID_BASE:
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can->recive_flag |= 1 << 10;
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CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
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break;
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//超电
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case 0x600:
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pm01_od.ccr = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.ccr = pm01_od.ccr;
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break;
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case 0x601:
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pm01_od.p_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.p_set = pm01_od.p_set;
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break;
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case 0x602:
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pm01_od.v_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.v_set = pm01_od.v_set;
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break;
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case 0x603:
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pm01_od.i_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.i_set = pm01_od.i_set;
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break;
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case 0x610:
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pm01_od.sta_code.all = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.sta_code.all = pm01_od.sta_code.all;
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pm01_od.err_code = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
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can->cap.cap_od.err_code = pm01_od.err_code;
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break;
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case 0x611:
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pm01_od.p_in = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.p_in = pm01_od.p_in;
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pm01_od.v_in = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
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can->cap.cap_od.v_in = pm01_od.v_in;
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pm01_od.i_in = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
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can->cap.cap_od.i_in = pm01_od.i_in;
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break;
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case 0x612:
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pm01_od.p_out = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.p_out = pm01_od.p_out;
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pm01_od.v_out = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
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can->cap.cap_od.v_out = pm01_od.v_out;
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pm01_od.i_out = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
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can->cap.cap_od.i_out = pm01_od.i_out;
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break;
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case 0x613:
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pm01_od.temp = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
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can->cap.cap_od.temp = pm01_od.temp;
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pm01_od.total_time = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
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can->cap.cap_od.total_time = pm01_od.total_time;
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pm01_od.run_time = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
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can->cap.cap_od.run_time = pm01_od.run_time;
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break;
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default:
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break;
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}
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return DEVICE_OK;
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}
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bool CAN_CheckFlag(CAN_t *can, uint32_t flag)
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{
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if (can == NULL)
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return false;
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return (can->recive_flag & flag) == flag;
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}
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int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
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{
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if (can == NULL)
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return DEVICE_ERR_NULL;
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can->recive_flag &= ~flag;
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return DEVICE_OK;
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}
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//不用这里
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int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
float power_limit = output->power_limit;
|
||
|
||
uint16_t cap = (uint16_t)(power_limit * CAN_CAP_RES);
|
||
|
||
raw_tx.tx_header.StdId = CAN_CAP_CTRL_ID_BASE;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_DATA;
|
||
raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
|
||
|
||
raw_tx.tx_data[0] = (cap >> 8) & 0xFF;
|
||
raw_tx.tx_data[1] = cap & 0xFF;
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
}
|
||
|
||
//添加的电容控制 int型函数
|
||
//超电控制
|
||
/**
|
||
* @brief 控制命令发送
|
||
* @param[in] new_cmd 0x00: 停机
|
||
0x01: 运行，不打开输出负载开关（只给超级电容充电）
|
||
0x02: 运行，打开输出负载开关（正常运行使用该指令）
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
|
||
uint16_t cmd = output->new_cmd;
|
||
// uint16_t cmd = 2;
|
||
|
||
raw_tx.tx_header.StdId = 0x600;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_DATA;
|
||
raw_tx.tx_header.DLC = 0x04;
|
||
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
|
||
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
|
||
raw_tx.tx_data[2] = 0x00;
|
||
raw_tx.tx_data[3] = (0x00 == 0x01); //反正demo里设置的是0x00,不管了
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 设置功率
|
||
* @param[in] new_power：新的功率值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
uint16_t cmd = output->new_power;
|
||
//uint16_t cmd = 5000;
|
||
|
||
raw_tx.tx_header.StdId = 0x601;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_DATA;
|
||
raw_tx.tx_header.DLC = 0x04;
|
||
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
|
||
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
|
||
raw_tx.tx_data[2] = 0x00;
|
||
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 设置输出电压
|
||
* @param[in] new_volt：新的电压值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
uint16_t cmd = output->new_voltage;
|
||
// uint16_t cmd = 2400;
|
||
|
||
raw_tx.tx_header.StdId = 0x602;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_DATA;
|
||
raw_tx.tx_header.DLC = 0x04;
|
||
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
|
||
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
|
||
raw_tx.tx_data[2] = 0x00;
|
||
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
/**
|
||
* @brief 设置输出电流
|
||
* @param[in] new_volt：新的电流值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
uint16_t cmd = output->new_current;
|
||
// uint16_t cmd = 500;
|
||
|
||
raw_tx.tx_header.StdId = 0x603;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_DATA;
|
||
raw_tx.tx_header.DLC = 0x04;
|
||
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
|
||
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
|
||
raw_tx.tx_data[2] = 0x00;
|
||
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 获取输入信息
|
||
* @param[in] new_volt：新的电流值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_input_send(CAN_t *can)
|
||
{
|
||
|
||
raw_tx.tx_header.StdId = 0x611;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
|
||
raw_tx.tx_header.DLC = 0x00;
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 获取输出信息
|
||
* @param[in] new_volt：新的电流值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_output_send(CAN_t *can)
|
||
{
|
||
|
||
raw_tx.tx_header.StdId = 0x612;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
|
||
raw_tx.tx_header.DLC = 0x00;
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 获取其他信息
|
||
* @param[in] new_volt：新的电流值
|
||
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
|
||
* @retval none
|
||
*/
|
||
int8_t CAN_Cap_other_send(CAN_t *can)
|
||
{
|
||
raw_tx.tx_header.StdId = 0x613;
|
||
raw_tx.tx_header.IDE = CAN_ID_STD;
|
||
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
|
||
raw_tx.tx_header.DLC = 0x00;
|
||
|
||
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
|
||
raw_tx.tx_data, &(can->mailbox.cap));
|
||
return DEVICE_OK;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 超电容器参数设置
|
||
* @param cap_out 电容输出结构体
|
||
* @param can can总线
|
||
* @retval none
|
||
*/
|
||
void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can)
|
||
{
|
||
|
||
CAN_Cap_input_send(can);//获取输入信息
|
||
osDelay(1);
|
||
CAN_Cap_output_send(can);//获取输出信息
|
||
osDelay(1);
|
||
//// CAN_Cap_other_send(can);//获取其他信息
|
||
//// osDelay(1);
|
||
CAN_Cap_cmd_send(output, can);//控制命令发送
|
||
osDelay(1);
|
||
CAN_Cap_power_send(output, can);//设置功率
|
||
osDelay(1);
|
||
CAN_Cap_voltage_send(output, can);//设置输出电压
|
||
osDelay(1);
|
||
CAN_Cap_current_send(output, can);//设置输出电流
|
||
|
||
|
||
}
|
||
|
||
|
||
void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
|
||
float power_chassis)
|
||
{
|
||
cap->cap_status = CAN_CAP_STATUS_OFFLINE;
|
||
cap_out->power_limit = power_chassis;
|
||
}
|