half-steering-basic-framework/modules/super_cap/super_cap.c

/*
* @Descripttion: 适配群星战队协议的超级电容模块
 * @version: V2.0
 */
#include "super_cap.h"
#include "memory.h"
#include "stdlib.h"
#include "bsp_dwt.h" // 【新增】引入获取时间的头文件，或者是 "main.h" 用 HAL_GetTick()

static SuperCapInstance *super_cap_instance = NULL;

static void SuperCapRxCallback(CANInstance *_instance)
{
    uint8_t *rxbuff;
    SuperCap_Msg_s *Msg;
    rxbuff = _instance->rx_buff;
    Msg = &super_cap_instance->cap_msg;

    // 【新增】更新最后一次收到消息的时间戳
    super_cap_instance->last_update_tick = DWT_GetTimeline_ms(); // 如果没有DWT，用 HAL_GetTick() 替换

    // 按照新协议解析接收数据
    Msg->ready = (SuperCapReadyEnum)rxbuff[0];
    Msg->state = (SuperCapStateEnum)rxbuff[1];
    Msg->energy = rxbuff[2];
    Msg->chassis_power = (uint16_t)(rxbuff[3] << 1); // 左移一位还原量程
    Msg->bat_voltage = rxbuff[4];
    Msg->bat_power = rxbuff[5];
}

// 【新增】在线判断函数
uint8_t SuperCapIsOnline(SuperCapInstance *instance)
{
    if (instance == NULL) return 0;

    // 如果当前时间减去上次接收时间超过 1000ms (1秒)，则认为离线
    if (DWT_GetTimeline_ms() - instance->last_update_tick > 2000) {
        return 0; // 离线
    }
    return 1; // 在线
}

SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
{
    super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
    memset(super_cap_instance, 0, sizeof(SuperCapInstance));

    supercap_config->can_config.can_module_callback = SuperCapRxCallback;
    super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
    return super_cap_instance;
}

void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data)
{
    uint8_t *txbuff = instance->can_ins->tx_buff;

    // 按照新协议装载发送数据
    txbuff[0] = tx_data->Enable;
    txbuff[1] = tx_data->Reserved1;
    txbuff[2] = tx_data->Powerlimit - instance->power_offset; // 计算功率补偿
    txbuff[3] = tx_data->Reserved2;

    CANTransmit(instance->can_ins, 1);
}

void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset)
{
    if (instance != NULL) {
        instance->power_offset = offset;
    }
}

SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)
{
    return instance->cap_msg;
}