/// <summary>
/// 电机控制器1 反馈第1帧 使能及控制信息等反馈
/// ID:0x0C62D0D1
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:50ms
/// </summary>
Scm_MCU1_Frame1 ByteToScmMcu1Frame1(CanStandardData scmCanByte1)
{
Scm_MCU1_Frame1 scmMcu1Frame1 = new Scm_MCU1_Frame1();
//byte0
//bit0,1
scmMcu1Frame1.isg_ena_act = (byte)(scmCanByte1.datas[0] & 0x03); //电机实际使能状况，bit0,bit1,偏移量0，00未使能，01使能
//bit2,3
scmMcu1Frame1.isg_run_dir_act = (byte)(scmCanByte1.datas[0] >> 2 & 0x03); //电机实际运行方向，00停止，01正转，10反转
//bit4,5,6,7
scmMcu1Frame1.isg_ctrl_mod_act = (byte)(scmCanByte1.datas[0] >> 4 & 0x0f); //工作模式，0初始化，1低压上电正常，2保留，3电机允许运行，4转速环，5转矩环，6放强电，7放弱电，8错误
//byte1保留
//byte2,3，转矩，偏移量-2000,范围-2000-2000，默认值-2000，分辨率1
scmMcu1Frame1.isg_tq_acu = (short)(scmCanByte1.datas[3] * 256 + scmCanByte1.datas[2] - 2000);
//byte4,5，速度，偏移量-12000,范围-12000-12000，默认值-12000，分辨率1
scmMcu1Frame1.isg_spd_acu = (short)(scmCanByte1.datas[5] * 256 + scmCanByte1.datas[4] - 12000);
//byte6,7，最大转矩，偏移量-2000,范围-2000-2000，默认值-2000，分辨率1
scmMcu1Frame1.isg_tq_acu_max = (short)(scmCanByte1.datas[7] * 256 + scmCanByte1.datas[6] - 2000);
return(scmMcu1Frame1);
}
/// <summary>
/// 电机控制器1 反馈第1帧 使能及控制信息等反馈
/// 电机1 ID:0x0C62D0D1
/// 电机1 ID:0x0C52D0D2
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:50ms
/// </summary>
Scm_MCU1_Frame1 ByteToScmMcu1Frame1(CanStandardData scmCanByte1)
{
Scm_MCU1_Frame1 scmMcu1Frame1 = new Scm_MCU1_Frame1();
//byte0
//bit0,1,2,3
scmMcu1Frame1.dualsource_run_dir_act = (byte)(scmCanByte1.datas[0] & 0x0f); //电机实际运行方向，00停止，01正转，10反转
//bit4,5
scmMcu1Frame1.dualsource_ctrl_mod_act = (byte)((scmCanByte1.datas[0] >> 4) & 0x03); //工作模式，01转速环，10转矩环
//bit6,7
scmMcu1Frame1.dualsource_errorlevel = (byte)((scmCanByte1.datas[0] >> 6) & 0x03); //故障等级
//byte1,2，转矩，偏移量-2000,范围-2000-2000，默认值-2000，分辨率1
scmMcu1Frame1.dualsource_tq_acu = (short)(scmCanByte1.datas[2] * 256 + scmCanByte1.datas[1] - 2000);
//byte3,4，速度，偏移量-12000,范围-12000-12000，默认值-12000，分辨率1
scmMcu1Frame1.dualsource_spd_acu = (short)(scmCanByte1.datas[4] * 256 + scmCanByte1.datas[3] - 12000);
//byte5,6，最大转矩，偏移量-2000,范围-2000-2000，默认值-2000，分辨率1
scmMcu1Frame1.dualsource_tq_acu_max = (short)(scmCanByte1.datas[6] * 256 + scmCanByte1.datas[5] - 2000);
//byte7，基本故障
scmMcu1Frame1.dualsource_error_code = scmCanByte1.datas[7];
return(scmMcu1Frame1);
}
/// <summary>
/// 电机控制器1 反馈第1帧 使能及控制信息等反馈
/// ID:0x0C62D0D1
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:50ms
/// </summary>
Scm_MCU1_Frame1 ByteToScmMcu1Frame1(CanStandardData scmCanByte1)
{
Scm_MCU1_Frame1 scmMcu1Frame1 = new Scm_MCU1_Frame1();
//byte0
//bit0,1
scmMcu1Frame1.eop_ctrl_mod_act = (byte)(scmCanByte1.datas[0] & 0x03); //工作模式，0：无控制，1：电机转速闭环运行，2：电机转矩闭环运行
//byte1，电机实际运行电流，分辨率0.2
scmMcu1Frame1.eop_act_i = (byte)(scmCanByte1.datas[0] * 0.2);
//byte2,3，转矩，偏移量0,范围0-32，默认值0，分辨率1
scmMcu1Frame1.eop_spd_acu = (short)(scmCanByte1.datas[3] * 256 + scmCanByte1.datas[2]);
//byte4、5、6保留
//byte7故障码
scmMcu1Frame1.eop_error_code = scmCanByte1.datas[7];
return(scmMcu1Frame1);
}
/// <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 Scm_MCU1_Frame1.canId: // 0x0C62D0D1: //反馈第一帧,使能，方向，扭矩，转速
{
Scm_MCU1_Frame1 scmMcu1 = ByteToScmMcu1Frame1(canRecDatas);
//电机使能
recMsg.containFeedBkMcuEnable = true;
recMsg.FeedBkMcuEnable = scmMcu1.isg_ena_act == 1 ? false : true;
//工作模式
recMsg.containFeedBkMtclMode = true;
switch (scmMcu1.isg_ctrl_mod_act)
{
case 0: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //初始化
case 1: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //低压上电正常
case 2: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //保留
case 3: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //电机允许运行
case 4: recMsg.FeedBkMtclMode = Ecm_WorkMode.SpeedMode; break; //转速环
case 5: recMsg.FeedBkMtclMode = Ecm_WorkMode.TorqueMode; break; //转矩环
case 6: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //下强电
case 7: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //下弱电
case 8: recMsg.FeedBkMtclMode = Ecm_WorkMode.ErrorProtected; break; //故障
default: break;
}
recMsg.containFeedBkGear = true;
switch (scmMcu1.isg_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.isg_tq_acu;
//转速
recMsg.containFeedBkMotorSpeed = true;
recMsg.FeedBkMotorSpeed = scmMcu1.isg_spd_acu;
//最大转矩
recMsg.containFeedBkMotorMaxTorque = true;
recMsg.FeedbkMotorMaxTorque = scmMcu1.isg_tq_acu_max;
break;
}
case Scm_MCU1_Frame2.canId: // 0x0C63D0D1: //反馈第二帧,故障等级及故障码
{
Scm_MCU1_Frame2 scmMcu2 = ByteToScmMcu1Frame2(canRecDatas);
//故障等级
recMsg.containFeedBkErrorLevel = true;
recMsg.FeedBkErrorLevel = scmMcu2.isg_err_lvl;
//故障码
recMsg.containFeedBkErrorCode = true;
recMsg.FeedBkErrorCode = new byte[1] {
scmMcu2.isg_err_cod
};
//故障位
recMsg.containFeedBkErrorBits = true;
recMsg.FeedBkErrorBits = new byte[6] {
scmMcu2.isg_err_bit1, scmMcu2.isg_err_bit2, (byte)(scmMcu2.isg_err_bit3 & 0xff), (byte)((scmMcu2.isg_err_bit3 >> 8) & 0xff), (byte)((scmMcu2.isg_err_bit3 >> 16) & 0xff), scmMcu2.isg_err_bit4
};
//故障名称
recMsg.containFeedBkErrorStr = true;
recMsg.FeedBkErrorStr = ReceiveErrorTransform(recMsg.FeedBkErrorLevel, scmMcu2.isg_err_cod,
scmMcu2.isg_err_bit1, scmMcu2.isg_err_bit2, scmMcu2.isg_err_bit3, scmMcu2.isg_err_bit4);
break;
}
case Scm_MCU1_Frame3.canId: // 0x1864D0D1: //反馈第三帧，电流电压
{
Scm_MCU1_Frame3 scmMcu3 = ByteToScmMcu1Frame3(canRecDatas);
//直流电压
recMsg.containFeedBkDcVoltage = true;
recMsg.FeedBkDcVoltage = scmMcu3.isg_dc_u;
//直流电流
recMsg.containFeedBkDcCurrent = true;
recMsg.FeedBkDcCurrent = scmMcu3.isg_dc_i;
//交流电压
recMsg.containFeedBkAcVoltage = true;
recMsg.FeedBkAcVoltage = scmMcu3.isg_ac_u;
//交流电流
recMsg.containFeedBkAcCurrent = true;
recMsg.FeedBkAcCurrent = scmMcu3.isg_ac_i;
break;
}
case Scm_MCU1_Frame4.canId: // 0x1865D0D1: //反馈第四帧，功率、温度
{
Scm_MCU1_Frame4 scmMcu4 = ByteToScmMcu1Frame4(canRecDatas);
//功率
recMsg.containFeedBkActPower = true;
recMsg.FeedBkActPower = scmMcu4.isg_pwr_acu;
recMsg.containFeedBkMotorWindingTemp = true;
recMsg.FeedBkMotorWindingTemp = scmMcu4.isg_wind_t;
recMsg.containFeedBkMtclInvTemp = true;
recMsg.FeedBkMtclInvTemp = scmMcu4.isg_inv_t;
//isg_bear_t;
//isg_life_cyc;
break;
}
case Scm_MCU1_Frame5.canId: //版本
{
Scm_MCU1_Frame5 scmMcu5 = ByteToScmMcu1Frame5(canRecDatas);
recMsg.containFeekBkMtclVersion = true;
recMsg.FeekBkMtclVersion = scmMcu5.sys_type_isg.ToString("X2") + "." + scmMcu5.mcu_type_isg.ToString("X2") + "." +
scmMcu5.soft_rev_isg.ToString("X2") + "." + scmMcu5.cmc_pro_ver_isg.ToString("X2") + "." +
scmMcu5.rating_data_isg[0].ToString("X2") + scmMcu5.rating_data_isg[1].ToString("X2");
break;
}
default:
//continue; //其他ID的数据一律不接收
break;
}
return(recMsg); //推送数据
}
/// <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 Scm_MCU1_Frame1.canId: //反馈第一帧,使能，方向，扭矩，转速
{
Scm_MCU1_Frame1 scmMcu1 = ByteToScmMcu1Frame1(canRecDatas);
//工作模式
recMsg.containFeedBkMtclMode = true;
switch (scmMcu1.eop_ctrl_mod_act)
{
case 0: recMsg.FeedBkMtclMode = Ecm_WorkMode.None; break; //初始化
case 1: recMsg.FeedBkMtclMode = Ecm_WorkMode.SpeedMode; break; //转速环
case 2: recMsg.FeedBkMtclMode = Ecm_WorkMode.TorqueMode; break; //转矩环
default: recMsg.FeedBkMtclMode = Ecm_WorkMode.ErrorProtected; break;
}
//实际电流
recMsg.containFeedBkDcCurrent = true;
recMsg.FeedBkDcCurrent = scmMcu1.eop_act_i;
//转速
recMsg.containFeedBkMotorSpeed = true;
recMsg.FeedBkMotorSpeed = scmMcu1.eop_spd_acu;
//故障码
recMsg.containFeedBkErrorCode = true;
recMsg.FeedBkErrorCode = new byte[1] {
scmMcu1.eop_error_code
};
//故障名称
recMsg.containFeedBkErrorStr = true;
recMsg.FeedBkErrorStr = ReceiveErrorTransform(scmMcu1.eop_error_code);
break;
}
default:
//continue; //其他ID的数据一律不接收
break;
}
return(recMsg); //推送数据
}
/// <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
}
