/// <summary>
/// 发送命令给电控
/// 00备用，01转速，02转矩，03放电
/// </summary>
/// <param name="scmSendData"></param>
/// <returns></returns>
public override List <ScmCanSendMsg> TransformEcuSendData(uint canIndex, Ecm_WorkMode cmdType, short data, uint motorIndex = 0)
{
List <ScmCanSendMsg> canSendDatas = new List <ScmCanSendMsg>();
Scm_EVCU1 scmEvcu1 = new Scm_EVCU1();
ScmCanSendMsg canSendData = new ScmCanSendMsg();
canSendData.FeedBkMtclMode = cmdType;
string strCmdDetail = string.Empty; //命令解析字符串信息
AbstractMotorControl.Ecm_Gear gear; //0空挡，1前进，2后退
if (data > 0)
{
gear = AbstractMotorControl.Ecm_Gear.DriveGear;
}
else if (data < 0)
{
gear = AbstractMotorControl.Ecm_Gear.ReverseGear;
}
else
{
gear = AbstractMotorControl.Ecm_Gear.NeutralGear;
}
switch (gear)
{
case Ecm_Gear.NeutralGear:
scmEvcu1.isg_run_dir_dmd_sd = 0x00;
strCmdDetail = "空挡" + "\r\n";
break;
case Ecm_Gear.DriveGear:
scmEvcu1.isg_run_dir_dmd_sd = 0x01;
strCmdDetail = "D档" + "\r\n";
break;
case Ecm_Gear.ReverseGear:
scmEvcu1.isg_run_dir_dmd_sd = 0x02;
strCmdDetail = "倒档" + "\r\n";
break;
case Ecm_Gear.ErrorGear:
scmEvcu1.isg_run_dir_dmd_sd = 0x03;
strCmdDetail = "错误" + "\r\n";
break;
default: scmEvcu1.isg_run_dir_dmd_sd = 0x00; break;
}
//电机转速模式设定
scmEvcu1.isg_ctrl_ena_dmd_sd = 0x00; //mcu使能
switch (cmdType)
{
case Ecm_WorkMode.None: //备用
scmEvcu1.isg_ctrl_mod_dmd_sd = 0x00; //控制模式
strCmdDetail += "备用" + "\r\n";
break;
case Ecm_WorkMode.SpeedMode: //转速模式
{
scmEvcu1.isg_spd_dmd_sd = data; //偏移12000，0表示-12000
canSendData.FeedBkMotorSpeed = data;
scmEvcu1.isg_ctrl_ena_dmd_sd = 0x01; //mcu使能
scmEvcu1.isg_ctrl_mod_dmd_sd = 0x01; //控制模式
strCmdDetail += "转速命令:" + data.ToString() + "\r\n";
break;
}
case Ecm_WorkMode.TorqueMode: //转矩模式
{
scmEvcu1.isg_tq_dmd_sd = data; //偏移2000，0表示-2000
canSendData.FeedBkMotorTorque = data;
scmEvcu1.isg_ctrl_ena_dmd_sd = 0x01; //mcu使能
scmEvcu1.isg_ctrl_mod_dmd_sd = 0x02; //控制模式
strCmdDetail += "扭矩命令:" + data.ToString() + "\r\n";
break;
}
case Ecm_WorkMode.DisCharging: //放电模式
scmEvcu1.isg_ctrl_ena_dmd_sd = 0x01; //mcu使能
scmEvcu1.isg_ctrl_mod_dmd_sd = 0x03; //控制模式
strCmdDetail += "放电" + "\r\n";
break;
default: scmEvcu1.isg_ctrl_mod_dmd_sd = 0x00; break;
}
CanStandardData canData = ScmEvcu1ToBytes(scmEvcu1);
canSendData.canId = canData.canId;
canSendData.baudrate = canData.baudrate;
canSendData.datas = canData.datas;
canSendData.canIndex = canIndex;
canSendData.cmdDetail = strCmdDetail;
canSendDatas.Add(canSendData);
return(canSendDatas);
}
public override ScmCanReceiveMsg TransformMcuReceiveData(CanStandardData canRecDatas)
{
return(null);
}
/// <summary>
/// 接收数据并处理
/// </summary>
/// <param name="canRecDatas"></param>
public override ScmCanReceiveMsg TransformEcuReceiveData(CanStandardData canRecDatas)
{
uint rec = CanDataFilterById(canRecDatas);
ScmCanReceiveMsg recMsg = new ScmCanReceiveMsg();
//若是ID被筛选，则推送筛选ID
if (rec != 0xffffffff) //筛选id
{
return(null);
}
//ID未被筛选
recMsg.canId = canRecDatas.canId;
recMsg.baudrate = canRecDatas.baudrate;
recMsg.datas = canRecDatas.datas;
switch (canRecDatas.canId)
{
case ElecOilPump_Scm_MCU1_Frame1.canId: //反馈第一帧,使能，方向，扭矩，转速
{
ElecOilPump_Scm_MCU1_Frame1 scmMcu1 = ElecOilPump_ByteToScmMcu1Frame1(canRecDatas);
//工作模式
recMsg.containFeedBkMtclMode = true;
switch (scmMcu1.actual_control_mode)
{
case 0: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //初始化
case 1: recMsg.FeedBkMtclMode = Ecm_WorkMode.TorqueMode; break; //转矩环
case 2: recMsg.FeedBkMtclMode = Ecm_WorkMode.SpeedMode; break; //转速环
default: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break;
}
//转速
recMsg.containFeedBkMotorSpeed = true;
recMsg.FeedBkMotorSpeed = (short)scmMcu1.actual_speed;
//转矩
recMsg.containFeedBkMotorTorque = true;
recMsg.FeedBkMotorTorque = (short)scmMcu1.actual_torque;
//故障等级
recMsg.containFeedBkErrorLevel = true;
recMsg.FeedBkErrorLevel = scmMcu1.error_level;
//故障码
recMsg.containFeedBkErrorCode = true;
recMsg.FeedBkErrorCode = new byte[1] {
scmMcu1.error_code
};
//故障名称
recMsg.containFeedBkErrorStr = true;
recMsg.FeedBkErrorStr = ReceiveErrorTransform(scmMcu1.error_code);
break;
}
case ElecOilPump_Scm_MCU1_Frame2.canId: //电流电压
{
ElecOilPump_Scm_MCU1_Frame2 scmMcu2 = ElecOilPump_ByteToScmMcu1Frame2(canRecDatas);
//实际电流
recMsg.containFeedBkDcCurrent = true;
recMsg.FeedBkDcCurrent = scmMcu2.dc_current;
//相电压
recMsg.containFeedBkDcVoltage = true;
recMsg.FeedBkDcVoltage = scmMcu2.dc_voltage;
//实际电流
recMsg.containFeedBkAcCurrent = true;
recMsg.FeedBkAcCurrent = scmMcu2.ac_current;
//相电压
recMsg.containFeedBkAcVoltage = true;
recMsg.FeedBkAcVoltage = scmMcu2.ac_voltage;
//MCU电压
recMsg.containFeedBkMcuVoltage = true;
recMsg.FeedBkMcuVoltage = scmMcu2.mcu_voltage;
break;
}
case ElecOilPump_Scm_MCU1_Frame3.canId: //功率、温度
{
ElecOilPump_Scm_MCU1_Frame3 scmMcu3 = ElecOilPump_ByteToScmMcu1Frame3(canRecDatas);
recMsg.containFeedBkActPower = true;
recMsg.FeedBkActPower = scmMcu3.actual_power;
recMsg.containFeedBkMtclInvTemp = true;
recMsg.FeedBkMtclInvTemp = scmMcu3.inverter_temperature;
recMsg.containFeedBkMotorWindingTemp = true;
recMsg.FeedBkMotorWindingTemp = scmMcu3.wind_temperature;
recMsg.containFeedBkMtclChipTemp = true;
recMsg.FeedBkMtclChipTemp = scmMcu3.mtclChip_temperature;
break;
}
case ElecOilPump_Scm_MCU1_Frame4.canId: //软件版本
{
ElecOilPump_Scm_MCU1_Frame4 scmMcu4 = ElecOilPump_ByteToScmMcu1Frame4(canRecDatas);
recMsg.containFeekBkMtclVersion = true;
recMsg.FeekBkMtclVersion = scmMcu4.year.ToString("X2") + "." + scmMcu4.month.ToString("X2") + "." + scmMcu4.day.ToString("X2") + "."
+ scmMcu4.hour.ToString("X2") + "." + scmMcu4.minute.ToString("X2");
break;
}
default:
//continue; //其他ID的数据一律不接收
break;
}
return(recMsg); //推送数据
}
/// <summary>
/// 发送命令给电控
/// 00备用，01转速，02转矩，03放电
/// </summary>
/// <param name="scmSendData"></param>
/// <returns></returns>
public override List <ScmCanSendMsg> TransformEcuSendData(uint canIndex, Ecm_WorkMode cmdType, short data, uint motorIndex = 0)
{
List <ScmCanSendMsg> canSendDatas = new List <ScmCanSendMsg>();
ElecOilPump_Scm_EVCU1 scmTcu1 = new ElecOilPump_Scm_EVCU1();
ScmCanSendMsg canSendData = new ScmCanSendMsg();
canSendData.FeedBkMtclMode = cmdType;
string strCmdDetail = string.Empty; //命令解析字符串信息
//电机转速模式设定
scmTcu1.running_enable = 0x00; //mcu使能
scmTcu1.control_mode = 0x00; //不清故障
switch (cmdType)
{
case Ecm_WorkMode.None: //备用
scmTcu1.control_mode = 0x00; //控制模式
strCmdDetail += "备用" + "\r\n";
break;
case Ecm_WorkMode.TorqueMode: //转矩模式
{
canSendData.FeedBkMotorTorque = scmTcu1.request_torque = (byte)data;
scmTcu1.running_enable = 0x02; //mcu使能
scmTcu1.control_mode = 0x01; //控制模式
strCmdDetail += "扭矩命令:" + data.ToString() + "\r\n";
break;
}
case Ecm_WorkMode.SpeedMode: //转速模式
{
canSendData.FeedBkMotorSpeed = (short)(scmTcu1.request_speed = Convert.ToUInt16(data));
scmTcu1.running_enable = 0x02; //mcu使能
scmTcu1.control_mode = 0x02; //控制模式
strCmdDetail += "转速命令:" + data.ToString() + "\r\n";
break;
}
default: scmTcu1.control_mode = 0x00; break;
}
CanStandardData canData = ElecOilPump_ScmEvcu1ToBytes(scmTcu1);
canSendData.canId = canData.canId;
canSendData.baudrate = canData.baudrate;
canSendData.datas = canData.datas;
canSendData.canIndex = canIndex;
canSendData.cmdDetail = strCmdDetail;
canSendDatas.Add(canSendData);
return(canSendDatas);
}
public abstract ScmCanReceiveMsg TransformMcuReceiveData(CanStandardData canRecDatas);
/// <summary>
/// 接收数据并处理
/// </summary>
/// <param name="canRecDatas"></param>
public override ScmCanReceiveMsg TransformEcuReceiveData(CanStandardData canRecDatas)
{
uint rec = CanDataFilterById(canRecDatas);
ScmCanReceiveMsg recMsg = new ScmCanReceiveMsg();
//若是ID被筛选，则推送筛选ID
if (rec != 0xffffffff) //筛选id
{
//if(m_receiveAbanCallback!=null)
// m_receiveAbanCallback(rec); //推送筛选掉的ID
return(null);
}
//ID未被筛选
recMsg.canId = canRecDatas.canId;
recMsg.baudrate = canRecDatas.baudrate;
recMsg.datas = canRecDatas.datas;
switch (canRecDatas.canId)
{
#region 电机1
case Scm_MCU1_Frame1.motor1CanId: //反馈第一帧,使能，方向，扭矩，转速，故障
{
Scm_MCU1_Frame1 scmMcu1 = ByteToScmMcu1Frame1(canRecDatas);
//工作模式
recMsg.containFeedBkMtclMode = true;
//转速转矩与其他协议的不一样，反的
switch (scmMcu1.dualsource_ctrl_mod_act)
{
case 1: recMsg.FeedBkMtclMode = Ecm_WorkMode.TorqueMode; break; //转矩环
case 2: recMsg.FeedBkMtclMode = Ecm_WorkMode.SpeedMode; break; //转速环
default: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break;
}
recMsg.containFeedBkGear = true;
switch (scmMcu1.dualsource_run_dir_act)
{
case 0: recMsg.FeedBkGear = Ecm_Gear.NeutralGear; break; //空档
case 1: recMsg.FeedBkGear = Ecm_Gear.DriveGear; break; //前进
case 2: recMsg.FeedBkGear = Ecm_Gear.ReverseGear; break; //后退
default: recMsg.FeedBkGear = Ecm_Gear.ErrorGear; break;
}
//扭矩
recMsg.containFeedBkMotorTorque = true;
recMsg.FeedBkMotorTorque = scmMcu1.dualsource_tq_acu;
//转速
recMsg.containFeedBkMotorSpeed = true;
recMsg.FeedBkMotorSpeed = scmMcu1.dualsource_spd_acu;
//最大转矩
recMsg.containFeedBkMotorMaxTorque = true;
recMsg.FeedbkMotorMaxTorque = scmMcu1.dualsource_tq_acu_max;
//故障等级
recMsg.containFeedBkErrorLevel = true;
recMsg.FeedBkErrorLevel = scmMcu1.dualsource_errorlevel;
//故障码
recMsg.containFeedBkErrorCode = true;
recMsg.FeedBkErrorCode = new byte[1] {
scmMcu1.dualsource_error_code
};
ReceiveErrorTransform(recMsg.FeedBkErrorCode[0]);
recMsg.motorIndex = 0; //电机1
}
break;
case Scm_MCU1_Frame2.motor1CanId: //反馈第二帧,电流电压
{
Scm_MCU1_Frame2 scmMcu2 = ByteToScmMcu1Frame2(canRecDatas);
//直流电压
recMsg.containFeedBkDcVoltage = true;
recMsg.FeedBkDcVoltage = scmMcu2.dualsource_dc_u;
//直流电流
recMsg.containFeedBkDcCurrent = true;
recMsg.FeedBkDcCurrent = scmMcu2.dualsource_dc_i;
//交流电压
recMsg.containFeedBkAcVoltage = true;
recMsg.FeedBkAcVoltage = scmMcu2.dualsource_ac_u;
//交流电流
recMsg.containFeedBkAcCurrent = true;
recMsg.FeedBkAcCurrent = scmMcu2.dualsource_ac_i;
recMsg.motorIndex = 0; //电机1
}
break;
case Scm_MCU1_Frame3.motor1CanId: //反馈第三帧，功率及温度
{
Scm_MCU1_Frame3 scmMcu3 = ByteToScmMcu1Frame3(canRecDatas);
//功率
recMsg.containFeedBkActPower = true;
recMsg.FeedBkActPower = scmMcu3.dualsource_pwr_acu;
recMsg.containFeedBkMotorWindingTemp = true;
recMsg.FeedBkMotorWindingTemp = scmMcu3.dualsource_wind_t;
recMsg.containFeedBkMtclInvTemp = true;
recMsg.FeedBkMtclInvTemp = scmMcu3.dualsource_inv_t;
//dualsource_bear_t;
//dualsource_life_cyc;
recMsg.motorIndex = 0; //电机1
}
break;
#endregion
#region 电机2
//反馈第一帧,使能，方向，扭矩，转速，故障
case Scm_MCU1_Frame1.motor2CanId:
{
Scm_MCU1_Frame1 scmMcu1 = ByteToScmMcu1Frame1(canRecDatas);
//工作模式
recMsg.containFeedBkMtclMode = true;
//转速转矩与其他协议的不一样，反的
switch (scmMcu1.dualsource_ctrl_mod_act)
{
case 1: recMsg.FeedBkMtclMode = Ecm_WorkMode.TorqueMode; break; //转矩环
case 2: recMsg.FeedBkMtclMode = Ecm_WorkMode.SpeedMode; break; //转速环
default: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break;
}
recMsg.containFeedBkGear = true;
switch (scmMcu1.dualsource_run_dir_act)
{
case 0: recMsg.FeedBkGear = Ecm_Gear.NeutralGear; break; //空档
case 1: recMsg.FeedBkGear = Ecm_Gear.DriveGear; break; //前进
case 2: recMsg.FeedBkGear = Ecm_Gear.ReverseGear; break; //后退
default: recMsg.FeedBkGear = Ecm_Gear.ErrorGear; break;
}
//扭矩
recMsg.containFeedBkMotorTorque = true;
recMsg.FeedBkMotorTorque = scmMcu1.dualsource_tq_acu;
//转速
recMsg.containFeedBkMotorSpeed = true;
recMsg.FeedBkMotorSpeed = scmMcu1.dualsource_spd_acu;
//最大转矩
recMsg.containFeedBkMotorMaxTorque = true;
recMsg.FeedbkMotorMaxTorque = scmMcu1.dualsource_tq_acu_max;
//故障等级
recMsg.containFeedBkErrorLevel = true;
recMsg.FeedBkErrorLevel = scmMcu1.dualsource_errorlevel;
//故障码
recMsg.containFeedBkErrorCode = true;
recMsg.FeedBkErrorCode = new byte[1] {
scmMcu1.dualsource_error_code
};
ReceiveErrorTransform(recMsg.FeedBkErrorCode[0]);
recMsg.motorIndex = 1; //电机2
}
break;
//反馈第二帧,电流电压
case Scm_MCU1_Frame2.motor2CanId:
{
Scm_MCU1_Frame2 scmMcu2 = ByteToScmMcu1Frame2(canRecDatas);
//直流电压
recMsg.containFeedBkDcVoltage = true;
recMsg.FeedBkDcVoltage = scmMcu2.dualsource_dc_u;
//直流电流
recMsg.containFeedBkDcCurrent = true;
recMsg.FeedBkDcCurrent = scmMcu2.dualsource_dc_i;
//交流电压
recMsg.containFeedBkAcVoltage = true;
recMsg.FeedBkAcVoltage = scmMcu2.dualsource_ac_u;
//交流电流
recMsg.containFeedBkAcCurrent = true;
recMsg.FeedBkAcCurrent = scmMcu2.dualsource_ac_i;
recMsg.motorIndex = 1; //电机2
}
break;
//反馈第三帧，功率及温度
case Scm_MCU1_Frame3.motor2CanId:
{
Scm_MCU1_Frame3 scmMcu3 = ByteToScmMcu1Frame3(canRecDatas);
//功率
recMsg.containFeedBkActPower = true;
recMsg.FeedBkActPower = scmMcu3.dualsource_pwr_acu;
recMsg.containFeedBkMotorWindingTemp = true;
recMsg.FeedBkMotorWindingTemp = scmMcu3.dualsource_wind_t;
recMsg.containFeedBkMtclInvTemp = true;
recMsg.FeedBkMtclInvTemp = scmMcu3.dualsource_inv_t;
//dualsource_bear_t;
//dualsource_life_cyc;
recMsg.motorIndex = 1; //电机2
}
break;
#endregion
default:
//continue; //其他ID的数据一律不接收
break;
}
return(recMsg); //推送数据
}
