From d6872ad1e80a6bb1130ed1785d6874a9ac46289c Mon Sep 17 00:00:00 2001 From: TuxMonkey Date: Tue, 10 Mar 2026 03:05:49 +0800 Subject: [PATCH] supercap --- application/chassis/chassis.c | 11 ++++-- modules/super_cap/super_cap.c | 42 ++++++++++++++------ modules/super_cap/super_cap.h | 72 +++++++++++++++++++++++++--------- modules/super_cap/super_cap.md | 47 +++++++++++----------- 4 files changed, 114 insertions(+), 58 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index b241cd0..8033f4c 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -170,11 +170,14 @@ void ChassisInit() SuperCap_Init_Config_s cap_conf = { .can_config = { - .can_handle = &hcan2, - .tx_id = 0x302, // 超级电容默认接收id - .rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的 + .can_handle = &hcan2, // 保持你原有的硬件CAN接口不变 + .tx_id = 0x001, // C板发给超级电容的ID + .rx_id = 0x100, // 超级电容发给C板的ID }}; - cap = SuperCapInit(&cap_conf); // 超级电容初始化 + cap = SuperCapInit(&cap_conf); // 超级电容初始化 todo 控制 + + // （新增）设置超级电容功率补偿，例如补偿5W，可根据实际需求调整 + SuperCapSetPowerOffset(cap, 5); // 发布订阅初始化,如果为双板,则需要can comm来传递消息 #ifdef CHASSIS_BOARD diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index eb86749..0b981d1 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -1,15 +1,12 @@ /* - * @Descripttion: - * @version: - * @Author: Chenfu - * @Date: 2022-12-02 21:32:47 - * @LastEditTime: 2022-12-05 15:29:49 +* @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" -static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针 +static SuperCapInstance *super_cap_instance = NULL; static void SuperCapRxCallback(CANInstance *_instance) { @@ -17,25 +14,44 @@ static void SuperCapRxCallback(CANInstance *_instance) SuperCap_Msg_s *Msg; rxbuff = _instance->rx_buff; Msg = &super_cap_instance->cap_msg; - Msg->vol = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]); - Msg->current = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]); - Msg->power = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]); + + // 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]; } 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, uint8_t *data) +void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data) { - memcpy(instance->can_ins->tx_buff, data, 8); - CANTransmit(instance->can_ins,1); + 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->Charge; + txbuff[2] = tx_data->Powerlimit - instance->power_offset; // 计算功率补偿 + txbuff[3] = tx_data->ChargePower; + + 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) diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index 81c5f8e..732d6a7 100644 --- a/modules/super_cap/super_cap.h +++ b/modules/super_cap/super_cap.h @@ -1,29 +1,61 @@ /* - * @Descripttion: - * @version: - * @Author: Chenfu - * @Date: 2022-12-02 21:32:47 - * @LastEditTime: 2022-12-05 15:25:46 +* @Descripttion: 适配群星战队协议的超级电容模块 + * @version: V2.0 */ #ifndef SUPER_CAP_H #define SUPER_CAP_H #include "bsp_can.h" +// 超级电容状态枚举（从群星战队协议移植） +typedef enum +{ + DISCHARGE = 0, // 放电状态 + CHARGE = 1, // 充电状态 + WAIT = 2, // 待机状态 + SOFTSTART_PROTECTION = 3, // 处于软起动状态 + OVER_LOAD_PROTECTION = 4, // 超电过载保护状态 + BAT_OVER_VOLTAGE_PROTECTION = 5, // 过压保护状态 + BAT_UNDER_VOLTAGE_PROTECTION = 6, // 电池欠压保护 + CAP_UNDER_VOLTAGE_PROTECTION = 7, // 超级电容欠压保护 + OVER_TEMPERATURE_PROTECTION = 8, // 过温保护 + BOOM = 9, // 超电爆炸了 +} SuperCapStateEnum; + +// 超级电容准备状态 +typedef enum +{ + UNREADY = 0, + READY = 1, +} SuperCapReadyEnum; + #pragma pack(1) +/* 接收到的超级电容信息结构体 */ typedef struct { - uint16_t vol; // 电压 - uint16_t current; // 电流 - uint16_t power; // 功率 + SuperCapReadyEnum ready; // 可用标志：1为可用，0为不可用 + SuperCapStateEnum state; // 状态标志 + uint8_t energy; // 超级电容可用能量：0-100% + uint16_t chassis_power; // 底盘功率 + uint8_t bat_voltage; // 电池电压*10 + uint8_t bat_power; // 电池功率 } SuperCap_Msg_s; + +/* 需要发送给超级电容的控制信息结构体 */ +typedef struct { + uint8_t Enable; // 超级电容使能。1使能，0失能 + uint8_t Charge; // 超级电容充电。1充电，0放电 + uint8_t Powerlimit; // 裁判系统功率限制 + uint8_t ChargePower; // 超级电容充电功率 +} SuperCap_TxMsg_s; #pragma pack() /* 超级电容实例 */ typedef struct { - CANInstance *can_ins; // CAN实例 - SuperCap_Msg_s cap_msg; // 超级电容信息 + CANInstance *can_ins; // CAN实例 + SuperCap_Msg_s cap_msg; // 超级电容接收信息 + uint8_t power_offset; // 功率补偿值 } SuperCapInstance; /* 超级电容初始化配置 */ @@ -34,18 +66,22 @@ typedef struct /** * @brief 初始化超级电容 - * - * @param supercap_config 超级电容初始化配置 - * @return SuperCapInstance* 超级电容实例指针 */ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config); /** * @brief 发送超级电容控制信息 - * - * @param instance 超级电容实例 - * @param data 超级电容控制信息 */ -void SuperCapSend(SuperCapInstance *instance, uint8_t *data); +void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data); -#endif // !SUPER_CAP_Hd +/** + * @brief 设置超级电容功率补偿 + */ +void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset); + +/** + * @brief 获取超级电容数据 + */ +SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance); + +#endif // !SUPER_CAP_H \ No newline at end of file diff --git a/modules/super_cap/super_cap.md b/modules/super_cap/super_cap.md index 5f70f63..48ab2fc 100644 --- a/modules/super_cap/super_cap.md +++ b/modules/super_cap/super_cap.md @@ -1,21 +1,16 @@ - -# super_can +# super_cap (适配版) ## 代码结构 -.h中放置的是数据定义和外部接口，以及协议的定义和宏，.c中包含一些私有函数。 +.h中放置的是数据和协议枚举定义、控制接口，.c中包含CAN接收中断的回调解析以及发送打包逻辑。当前版本已完全适配群星战队的超级电容协议。 ## 外部接口 ```c SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s* supercap_config); -void SuperCapSend(SuperCapInstance *instance, uint8_t *data); +void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data); +void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset); +SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance); ``` ## 私有函数和变量 @@ -25,7 +20,7 @@ static uint8_t *rxbuff; static void SuperCapRxCallback(can_instance *_instance) ``` -`SuperCapRxCallback()`是super cap初始化can实例时的回调函数，用于can接收中断，进行协议解析。 +SuperCapRxCallback()是super cap初始化can实例时的回调函数，用于CAN接收中断，进行协议解析（包含底盘功率右移量程的还原等处理）。 ## 使用范例 @@ -33,22 +28,28 @@ static void SuperCapRxCallback(can_instance *_instance) ```c SuperCap_Init_Config_s capconfig = { - .can_config = { - .can_handle = &hcan1, - .rx_id = 0x301, - .tx_id = 0x302 - }, - .recv_data_len = 4*sizeof(uint16_t), - .send_data_len = sizeof(uint8_t) - }; -SuperCapInstance *ins =SuperCapInit(&capconfig); + .can_config = { + .can_handle = &hcan1, + .rx_id = 0x100, // 超级电容发给C板的ID + .tx_id = 0x001 // C板发给超级电容的ID + } +}; +SuperCapInstance *ins = SuperCapInit(&capconfig); + +// 如果需要设置功率补偿 +SuperCapSetPowerOffset(ins, 5); ``` 发送通过`SuperCapSend()`，建议使用强制类型转换： - +发送控制指令时，使用 SuperCap_TxMsg_s 结构体： ```c -uint16_t tx = 0x321; -SuperCapSend(ins, (uint8_t*)&tx); +SuperCap_TxMsg_s tx_cmd = { + .Enable = 1, + .Charge = 1, + .Powerlimit = 60, + .ChargePower = 40 +}; +SuperCapSend(ins, &tx_cmd); ```