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https://gitee.com/dlmu-cone/half-steering-basic-framework
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supercap
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@@ -170,11 +170,14 @@ void ChassisInit()
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x302, // 超级电容默认接收id
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.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
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.can_handle = &hcan2, // 保持你原有的硬件CAN接口不变
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.tx_id = 0x001, // C板发给超级电容的ID
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.rx_id = 0x100, // 超级电容发给C板的ID
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}};
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cap = SuperCapInit(&cap_conf); // 超级电容初始化
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cap = SuperCapInit(&cap_conf); // 超级电容初始化 todo 控制
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// （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
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SuperCapSetPowerOffset(cap, 5);
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// 发布订阅初始化,如果为双板,则需要can comm来传递消息
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#ifdef CHASSIS_BOARD
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@@ -1,15 +1,12 @@
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/*
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* @Descripttion:
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* @version:
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* @Author: Chenfu
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* @Date: 2022-12-02 21:32:47
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* @LastEditTime: 2022-12-05 15:29:49
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* @Descripttion: 适配群星战队协议的超级电容模块
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* @version: V2.0
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*/
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#include "super_cap.h"
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#include "memory.h"
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#include "stdlib.h"
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static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针
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static SuperCapInstance *super_cap_instance = NULL;
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static void SuperCapRxCallback(CANInstance *_instance)
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{
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@@ -17,9 +14,14 @@ static void SuperCapRxCallback(CANInstance *_instance)
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SuperCap_Msg_s *Msg;
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rxbuff = _instance->rx_buff;
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Msg = &super_cap_instance->cap_msg;
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Msg->vol = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
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Msg->current = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]);
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Msg->power = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
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// 按照新协议解析接收数据
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Msg->ready = (SuperCapReadyEnum)rxbuff[0];
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Msg->state = (SuperCapStateEnum)rxbuff[1];
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Msg->energy = rxbuff[2];
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Msg->chassis_power = (uint16_t)(rxbuff[3] << 1); // 左移一位还原量程
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Msg->bat_voltage = rxbuff[4];
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Msg->bat_power = rxbuff[5];
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}
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SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
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@@ -32,12 +34,26 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
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return super_cap_instance;
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}
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void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
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void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data)
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{
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memcpy(instance->can_ins->tx_buff, data, 8);
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uint8_t *txbuff = instance->can_ins->tx_buff;
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// 按照新协议装载发送数据
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txbuff[0] = tx_data->Enable;
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txbuff[1] = tx_data->Charge;
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txbuff[2] = tx_data->Powerlimit - instance->power_offset; // 计算功率补偿
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txbuff[3] = tx_data->ChargePower;
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CANTransmit(instance->can_ins, 1);
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}
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void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset)
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{
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if (instance != NULL) {
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instance->power_offset = offset;
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}
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}
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SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)
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{
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return instance->cap_msg;
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@@ -1,29 +1,61 @@
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/*
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* @Descripttion:
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* @version:
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* @Author: Chenfu
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* @Date: 2022-12-02 21:32:47
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* @LastEditTime: 2022-12-05 15:25:46
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* @Descripttion: 适配群星战队协议的超级电容模块
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* @version: V2.0
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*/
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#ifndef SUPER_CAP_H
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#define SUPER_CAP_H
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#include "bsp_can.h"
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// 超级电容状态枚举（从群星战队协议移植）
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typedef enum
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{
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DISCHARGE = 0, // 放电状态
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CHARGE = 1, // 充电状态
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WAIT = 2, // 待机状态
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SOFTSTART_PROTECTION = 3, // 处于软起动状态
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OVER_LOAD_PROTECTION = 4, // 超电过载保护状态
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BAT_OVER_VOLTAGE_PROTECTION = 5, // 过压保护状态
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BAT_UNDER_VOLTAGE_PROTECTION = 6, // 电池欠压保护
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CAP_UNDER_VOLTAGE_PROTECTION = 7, // 超级电容欠压保护
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OVER_TEMPERATURE_PROTECTION = 8, // 过温保护
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BOOM = 9, // 超电爆炸了
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} SuperCapStateEnum;
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// 超级电容准备状态
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typedef enum
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{
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UNREADY = 0,
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READY = 1,
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} SuperCapReadyEnum;
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#pragma pack(1)
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/* 接收到的超级电容信息结构体 */
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typedef struct
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{
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uint16_t vol; // 电压
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uint16_t current; // 电流
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uint16_t power; // 功率
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SuperCapReadyEnum ready; // 可用标志：1为可用，0为不可用
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SuperCapStateEnum state; // 状态标志
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uint8_t energy; // 超级电容可用能量：0-100%
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uint16_t chassis_power; // 底盘功率
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uint8_t bat_voltage; // 电池电压*10
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uint8_t bat_power; // 电池功率
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} SuperCap_Msg_s;
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/* 需要发送给超级电容的控制信息结构体 */
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typedef struct {
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uint8_t Enable; // 超级电容使能。1使能，0失能
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uint8_t Charge; // 超级电容充电。1充电，0放电
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uint8_t Powerlimit; // 裁判系统功率限制
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uint8_t ChargePower; // 超级电容充电功率
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} SuperCap_TxMsg_s;
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#pragma pack()
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/* 超级电容实例 */
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typedef struct
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{
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CANInstance *can_ins; // CAN实例
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SuperCap_Msg_s cap_msg; // 超级电容信息
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SuperCap_Msg_s cap_msg; // 超级电容接收信息
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uint8_t power_offset; // 功率补偿值
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} SuperCapInstance;
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/* 超级电容初始化配置 */
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@@ -34,18 +66,22 @@ typedef struct
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/**
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* @brief 初始化超级电容
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*
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* @param supercap_config 超级电容初始化配置
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* @return SuperCapInstance* 超级电容实例指针
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*/
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SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config);
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/**
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* @brief 发送超级电容控制信息
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*
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* @param instance 超级电容实例
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* @param data 超级电容控制信息
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*/
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void SuperCapSend(SuperCapInstance *instance, uint8_t *data);
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void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data);
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#endif // !SUPER_CAP_Hd
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/**
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* @brief 设置超级电容功率补偿
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*/
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void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset);
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/**
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* @brief 获取超级电容数据
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*/
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SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance);
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#endif // !SUPER_CAP_H
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@@ -1,21 +1,16 @@
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<!--
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* @Descripttion:
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* @version:
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* @Author: Chenfu
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* @Date: 2022-12-02 21:32:47
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* @LastEditTime: 2022-12-05 15:27:57
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-->
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# super_can
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# super_cap (适配版)
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## 代码结构
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.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。
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.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。
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## 外部接口
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```c
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SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s* supercap_config);
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void SuperCapSend(SuperCapInstance *instance, uint8_t *data);
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void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data);
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void SuperCapSetPowerOffset(SuperCapInstance *instance, uint8_t offset);
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SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance);
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```
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## 私有函数和变量
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@@ -25,7 +20,7 @@ static uint8_t *rxbuff;
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static void SuperCapRxCallback(can_instance *_instance)
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```
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`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。
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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）。
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## 使用范例
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@@ -35,20 +30,26 @@ static void SuperCapRxCallback(can_instance *_instance)
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SuperCap_Init_Config_s capconfig = {
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.can_config = {
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.can_handle = &hcan1,
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.rx_id = 0x301,
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.tx_id = 0x302
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},
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.recv_data_len = 4*sizeof(uint16_t),
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.send_data_len = sizeof(uint8_t)
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.rx_id = 0x100, // 超级电容发给C板的ID
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.tx_id = 0x001 // C板发给超级电容的ID
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}
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};
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SuperCapInstance *ins = SuperCapInit(&capconfig);
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// 如果需要设置功率补偿
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SuperCapSetPowerOffset(ins, 5);
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```
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发送通过`SuperCapSend()`，建议使用强制类型转换：
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发送控制指令时，使用 SuperCap_TxMsg_s 结构体：
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```c
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uint16_t tx = 0x321;
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SuperCapSend(ins, (uint8_t*)&tx);
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SuperCap_TxMsg_s tx_cmd = {
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.Enable = 1,
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.Charge = 1,
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.Powerlimit = 60,
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.ChargePower = 40
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};
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SuperCapSend(ins, &tx_cmd);
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```
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