/// <summary>
/// 转换发送数据
/// 30
/// </summary>
public List <AbstractMotorControl.CanStandardData> TransformEcuSendData30(bool forbidMotorCmd, UInt16[] regList)
{
List <AbstractMotorControl.CanStandardData> canSendDatas = new List <AbstractMotorControl.CanStandardData>();
//config 30
ElecOilPump_Scm_EVCU1 scmTcu1 = new ElecOilPump_Scm_EVCU1();
scmTcu1.forbidMotorControlCmd = Convert.ToByte(forbidMotorCmd);
scmTcu1.N = 30;
scmTcu1.ConfigRegN = regList[30];
AbstractMotorControl.CanStandardData canData1 = ElecOilPump_ScmEvcu1ToBytes(scmTcu1);
canSendDatas.Add(canData1);
return(canSendDatas);
}
/// <summary>
/// 整车控制器1 数据反解析回结构体
/// ID:0x0C61D5D3
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:按需发送
/// </summary>
public ElecOilPump_Scm_EVCU1 ElecOilPump_ScmBytesToEvcu1(byte[] canData)
{
ElecOilPump_Scm_EVCU1 scmEvcu1 = new ElecOilPump_Scm_EVCU1();
//byte0
scmEvcu1.forbidMotorControlCmd = (byte)(canData[0] & 0x01); //电机命令禁止
//byte1，寄存器索引N，默认值0，分辨率1
scmEvcu1.N = canData[1]; //低位
//byte2，byte3,Config[N]，默认值0，分辨率1
scmEvcu1.ConfigRegN = (ushort)(canData[3] * 256 + canData[2]); //高位
//byte4、5、6、7保留
return(scmEvcu1);
}
public override ScmCanSendMsg EcuClearMcuFault()
{
ScmCanSendMsg scmSendMsg = new ScmCanSendMsg();
ElecOilPump_Scm_EVCU1 scmEvcu1 = new ElecOilPump_Scm_EVCU1();
scmEvcu1.control_mode = 0x01; //清故障
scmEvcu1.request_speed = 0;
scmEvcu1.request_torque = 0x00;
scmEvcu1.running_enable = 0;
CanStandardData canData = ElecOilPump_ScmEvcu1ToBytes(scmEvcu1);
scmSendMsg.canId = canData.canId;
scmSendMsg.baudrate = canData.baudrate;
scmSendMsg.datas = canData.datas;
return(scmSendMsg);
}
/// <summary>
/// 转换发送数据
/// forbidMotorCmd表示是否禁用汽车帧，采用一问一答模式
/// 0~28
/// </summary>
public List <AbstractMotorControl.CanStandardData> TransformEcuSendData0To26(bool forbidMotorCmd, UInt16[] regList)
{
List <AbstractMotorControl.CanStandardData> canSendDatas = new List <AbstractMotorControl.CanStandardData>();
//config 0~26
for (byte i = 0; i <= 26; i++)
{
ElecOilPump_Scm_EVCU1 scmTcu1 = new ElecOilPump_Scm_EVCU1();
scmTcu1.forbidMotorControlCmd = Convert.ToByte(forbidMotorCmd);
scmTcu1.N = i;
scmTcu1.ConfigRegN = regList[i];
AbstractMotorControl.CanStandardData canData1 = ElecOilPump_ScmEvcu1ToBytes(scmTcu1);
canSendDatas.Add(canData1);
}
return(canSendDatas);
}
/// <summary>
/// 整车控制器1
/// ID:0x0C61D5D3
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:按需发送
/// </summary>
AbstractMotorControl.CanStandardData ElecOilPump_ScmEvcu1ToBytes(ElecOilPump_Scm_EVCU1 scmEvcu1)
{
AbstractMotorControl.CanStandardData scmCanByte = new AbstractMotorControl.CanStandardData();
scmCanByte.canId = ElecOilPump_Scm_EVCU1.canId;
scmCanByte.datas = new byte[8];
//byte0
scmCanByte.datas[0] = scmEvcu1.forbidMotorControlCmd; //电机命令禁止
//byte1，寄存器索引N，默认值0，分辨率1
scmCanByte.datas[1] = (byte)((scmEvcu1.N) & 0xff); //低位
//byte2，byte3,Config[N]，默认值0，分辨率1
scmCanByte.datas[2] = (byte)((scmEvcu1.ConfigRegN) & 0xff); //低位
scmCanByte.datas[3] = (byte)((scmEvcu1.ConfigRegN >> 8) & 0xff); //高位
//byte4、5、6、7保留
return(scmCanByte);
}
/// <summary>
/// 整车控制器1 驱动信息
/// ID:0x0C41D503
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:10ms
/// </summary>
CanStandardData ElecOilPump_ScmEvcu1ToBytes(ElecOilPump_Scm_EVCU1 scmEvcu1)
{
CanStandardData scmCanByte = new CanStandardData();
scmCanByte.canId = ElecOilPump_Scm_EVCU1.canId;
scmCanByte.datas = new byte[8];
//byte0
scmCanByte.datas[0] = (byte)(scmEvcu1.running_enable + //电机使能指令
(scmEvcu1.control_mode << 2)); //电机控制模式
//byte1,电机需求扭矩/电机扭矩限制,8bits，偏移量0,0范围0-32，默认值0，分辨率0.125
scmCanByte.datas[1] = (byte)(scmEvcu1.request_torque * 8);
//byte2，byte3,电机转速扭矩/电机转速限制,16bits，偏移量0,低位在前，范围0-5000，默认值0，分辨率1
scmCanByte.datas[2] = (byte)((scmEvcu1.request_speed) & 0xff); //低位
scmCanByte.datas[3] = (byte)((scmEvcu1.request_speed >> 8) & 0xff); //高位
//uint8_t 7/6/5/4 保留
return(scmCanByte);
}
/// <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);
}
