/// <summary>
/// 整车控制器1 驱动信息
/// ID:0x0C61D1D0
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:10ms
/// </summary>
CanStandardData ScmEvcu1ToBytes(Scm_EVCU1 scmEvcu1)
{
CanStandardData scmCanByte = new CanStandardData();
scmCanByte.canId = Scm_EVCU1.canId;
scmCanByte.baudrate = Scm_EVCU1.baudrate; //250K
scmCanByte.datas = new byte[8]; //数据长度为8
//byte0
scmCanByte.datas[0] = (byte)(Convert.ToByte(scmEvcu1.isg_ctrl_ena_dmd_sd) + //电机使能指令，分辨率1，偏移量0，范围0~2,byte0,bit0,1,2bits,00无效，01有效，10清故障
(Convert.ToByte(scmEvcu1.isg_run_dir_dmd_sd) << 2) + //电机运行方向，分辨率1，偏移量0，范围0~2,byte0,bit2,3,2bits 00停止，01正转，10反转，从轴往后盖看，顺时针为正转
(Convert.ToByte(scmEvcu1.isg_ctrl_mod_dmd_sd) << 4)); //电机控制模式，分辨率1，偏移量0，默认值1，4bits,00自由转，01转速控制，02扭矩控制，11主动放电
//byte1，byte2,电机需求扭矩/电机扭矩限制,6bits，偏移量-2000,低位在前，范围-2000-2000，默认值-2000，分辨率1
scmCanByte.datas[1] = Convert.ToByte((scmEvcu1.isg_tq_dmd_sd + 2000) & 0xff); //低位
scmCanByte.datas[2] = Convert.ToByte(((scmEvcu1.isg_tq_dmd_sd + 2000) >> 8) & 0xff); //高位
//byte3，byte4,电机转速扭矩/电机转速限制,6bits，偏移量-12000,低位在前，范围-12000-12000，默认值-12000，分辨率1
scmCanByte.datas[3] = Convert.ToByte((scmEvcu1.isg_spd_dmd_sd + 12000) & 0xff); //低位
scmCanByte.datas[4] = Convert.ToByte(((scmEvcu1.isg_spd_dmd_sd + 12000) >> 8) & 0xff); //高位
//byte 7/6/5 保留
return(scmCanByte);
}
public override AbstractMotorControl.ScmCanSendMsg EcuClearMcuFault()
{
ScmCanSendMsg scmSendMsg = new ScmCanSendMsg();
Scm_EVCU1 scmEvcu1 = new Scm_EVCU1();
scmEvcu1.isg_ctrl_ena_dmd_sd = 0x02; //清故障
scmEvcu1.isg_ctrl_mod_dmd_sd = 0x00;
scmEvcu1.isg_run_dir_dmd_sd = 0x00;
scmEvcu1.isg_spd_dmd_sd = 0;
scmEvcu1.isg_tq_dmd_sd = 0;
CanStandardData canData = ScmEvcu1ToBytes(scmEvcu1);
scmSendMsg.canId = canData.canId;
scmSendMsg.baudrate = canData.baudrate;
scmSendMsg.datas = canData.datas;
return(scmSendMsg);
}
/// <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);
}