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https://gitee.com/dlmu-cone/half-steering-basic-framework
synced 2026-10-24 01:52:20 +08:00
106 lines
2.8 KiB
C
106 lines
2.8 KiB
C
#include "power_meter.h"
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#include <stdlib.h>
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#include <string.h>
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#include "bsp_dwt.h"
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static void PowerMeterLostCallback(void *meter_ptr)
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{
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PowerMeterInstance *meter = (PowerMeterInstance *)meter_ptr;
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if (meter != 0) {
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meter->online = 0u;
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}
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}
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static void PowerMeterRxCallback(CANInstance *can)
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{
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if (can == 0 || can->id == 0 || can->rx_len < 4u) {
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return;
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}
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PowerMeterInstance *meter = (PowerMeterInstance *)can->id;
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const uint8_t *data = can->rx_buff;
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const float scale = meter->scale > 0.0f ? meter->scale : POWER_METER_DEFAULT_SCALE;
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meter->raw_current = (uint16_t)(((uint16_t)data[1] << 8) | data[0]);
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meter->raw_voltage = (uint16_t)(((uint16_t)data[3] << 8) | data[2]);
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meter->current = (float)meter->raw_current / scale;
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meter->voltage = (float)meter->raw_voltage / scale;
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meter->power = meter->voltage * meter->current;
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meter->update_count++;
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meter->last_update_time_ms = DWT_GetTimeline_ms();
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meter->online = 1u;
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if (meter->daemon != 0) {
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DaemonReload(meter->daemon);
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}
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}
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PowerMeterInstance *PowerMeterInit(PowerMeter_Init_Config_s *config)
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{
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if (config == 0 || config->can_config.can_handle == 0) {
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return 0;
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}
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PowerMeterInstance *meter = (PowerMeterInstance *)malloc(sizeof(PowerMeterInstance));
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if (meter == 0) {
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return 0;
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}
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memset(meter, 0, sizeof(PowerMeterInstance));
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meter->scale = config->scale > 0.0f ? config->scale : POWER_METER_DEFAULT_SCALE;
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if (config->can_config.rx_id == 0u) {
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config->can_config.rx_id = POWER_METER_DEFAULT_CAN_ID;
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}
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if (config->can_config.tx_id == 0u) {
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config->can_config.tx_id = config->can_config.rx_id;
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}
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config->can_config.id = meter;
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config->can_config.can_module_callback = PowerMeterRxCallback;
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meter->can_ins = CANRegister(&config->can_config);
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Daemon_Init_Config_s daemon_config = {
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.callback = PowerMeterLostCallback,
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.owner_id = meter,
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.reload_count = 5u,
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.init_count = 100u,
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};
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meter->daemon = DaemonRegister(&daemon_config);
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return meter;
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}
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PowerMeterInstance *PowerMeterInitCan(CAN_HandleTypeDef *can_handle, uint32_t rx_id)
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{
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PowerMeter_Init_Config_s config = {
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.can_config = {
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.can_handle = can_handle,
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.tx_id = rx_id,
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.rx_id = rx_id,
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},
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.scale = POWER_METER_DEFAULT_SCALE,
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};
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return PowerMeterInit(&config);
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}
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const PowerMeterInstance *PowerMeterGetData(PowerMeterInstance *meter)
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{
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if (meter == 0) {
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return 0;
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}
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meter->online = PowerMeterIsOnline(meter);
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return meter;
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}
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uint8_t PowerMeterIsOnline(PowerMeterInstance *meter)
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{
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if (meter == 0 || meter->daemon == 0) {
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return 0u;
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}
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return DaemonIsOnline(meter->daemon);
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}
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