77 lines
2.4 KiB
C
77 lines
2.4 KiB
C
/*
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* 电容模组
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cap.h"
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#include "component\capacity.h"
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#include "component\limiter.h"
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#include "device\can.h"
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#include "device\referee.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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#define CAP_CUTOFF_VOLT 12.0f
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/**
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* @brief 运行电容控制逻辑
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*
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* @param cap 电容数据结构体
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* @param referee 裁判系统数据
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* @param cap_out 电容输出结构体
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*/
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void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
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CAN_CapOutput_t *cap_out) {
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if (referee->ref_status != REF_STATUS_RUNNING) {
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/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
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cap_out->power_limit = referee->chassis_power_limit;
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} else {
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/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
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cap_out->power_limit =
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PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
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referee->chassis_pwr_buff);
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}
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/* 更新电容状态和百分比 */
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cap->cap_status = CAN_CAP_STATUS_RUNNING;
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// cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
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// cap->cap_feedback.input_volt,
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// CAP_CUTOFF_VOLT);//电容剩余电量比例
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cap->percentage = Capacity_GetCapacitorRemain(cap->cap_od.v_out,
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cap->cap_od.v_in,
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CAP_CUTOFF_VOLT);//电容剩余电量比例
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}
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/**
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* @brief 运行设置电容参数
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*
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* @param cap_out 电容输出结构体
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* @param can can总线
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*/
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void Cap_Can_Send(CAN_CapOutput_t *cap_out)
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{
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cap_out->new_cmd=2;
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cap_out->new_power=5000;
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cap_out->new_voltage=2400;
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cap_out->new_current=100;
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}
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/**
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* @brief 导出电容数据
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*
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* @param cap 电容数据
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* @param ui 结构体
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*/
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void Cap_DumpUI(const CAN_Capacitor_t *cap, Referee_CapUI_t *ui) {
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ui->percentage = cap->percentage;
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ui->status = cap->cap_status;
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}
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