mirror of
https://gitee.com/dlmu-cone/half-steering-basic-framework
synced 2026-10-24 01:52:20 +08:00
76 lines
2.3 KiB
C
76 lines
2.3 KiB
C
/*
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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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#include "bsp_dwt.h" // 【新增】引入获取时间的头文件，或者是 "main.h" 用 HAL_GetTick()
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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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uint8_t *rxbuff;
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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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// 【新增】更新最后一次收到消息的时间戳
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super_cap_instance->last_update_tick = DWT_GetTimeline_ms(); // 如果没有DWT，用 HAL_GetTick() 替换
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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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// 【新增】在线判断函数
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uint8_t SuperCapIsOnline(SuperCapInstance *instance)
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{
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if (instance == NULL) return 0;
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// 如果当前时间减去上次接收时间超过 1000ms (1秒)，则认为离线
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if (DWT_GetTimeline_ms() - instance->last_update_tick > 2000) {
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return 0; // 离线
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}
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return 1; // 在线
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}
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SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
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{
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super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
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memset(super_cap_instance, 0, sizeof(SuperCapInstance));
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supercap_config->can_config.can_module_callback = SuperCapRxCallback;
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super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
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return super_cap_instance;
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}
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void SuperCapSend(SuperCapInstance *instance, SuperCap_TxMsg_s *tx_data)
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{
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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->Reserved1;
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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->Reserved2;
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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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} |