/// <summary>
/// 电机控制器1 反馈第1帧 使能及控制信息等反馈
/// ID:0x0C4203D5
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:50ms
/// </summary>
ElecOilPump_Scm_MCU1_Frame1 ElecOilPump_ByteToScmMcu1Frame1(CanStandardData scmCanByte1)
{
ElecOilPump_Scm_MCU1_Frame1 scmMcu1Frame1 = new ElecOilPump_Scm_MCU1_Frame1();
//byte0
//bit0,1
scmMcu1Frame1.actual_running_enable = (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.actual_control_mode = (byte)(scmCanByte1.datas[0] >> 2 & 0x03); //工作模式，00-无控制，01-扭矩，10-转速控制
//byte1，转矩，范围0-32，默认值0，分辨率0.125
scmMcu1Frame1.actual_torque = (byte)(scmCanByte1.datas[1] / 8);
//byte2,3，速度，范围0-5000，默认值0，分辨率1
scmMcu1Frame1.actual_speed = (ushort)(scmCanByte1.datas[3] * 256 + scmCanByte1.datas[2]);
//byte6,故障等级
scmMcu1Frame1.error_level = scmCanByte1.datas[6];
//byte7,故障代码
scmMcu1Frame1.error_code = scmCanByte1.datas[7];
return(scmMcu1Frame1);
}
/// <summary>
/// 接收数据并处理
/// </summary>
public List <ElecOilPump_Scm_MCU1_Frame1> TransformEcuReceiveData(AbstractMotorControl.CanStandardData canRecDatas)
{
if (canRecDatas.canId != ElecOilPump_Scm_MCU1_Frame1.canId)
{
return(null);
}
List <ElecOilPump_Scm_MCU1_Frame1> recMcus = new List <ElecOilPump_Scm_MCU1_Frame1>();
ElecOilPump_Scm_MCU1_Frame1 recMcu1 = ElecOilPump_ByteToScmMcu1Frame1(canRecDatas.datas);
recMcus.Add(recMcu1);
return(recMcus);
}
/// <summary>
/// 电机控制器反馈帧1
/// ID:0x0C7103D5
/// 波特率:250Kbps
/// 数据长度:8bytes
/// 周期:按需发送
/// </summary>
public ElecOilPump_Scm_MCU1_Frame1 ElecOilPump_ByteToScmMcu1Frame1(byte[] scmCanByte1)
{
ElecOilPump_Scm_MCU1_Frame1 scmMcu1Frame1 = new ElecOilPump_Scm_MCU1_Frame1();
//byte0，N
scmMcu1Frame1.N = (byte)(scmCanByte1[0]);
//byte1,2,Config[N]
scmMcu1Frame1.ConfigRegN = (ushort)(scmCanByte1[2] * 256 + scmCanByte1[1]);
//byte3,4,Config[29]
scmMcu1Frame1.ConfigReg29 = (ushort)(scmCanByte1[4] * 256 + scmCanByte1[3]);
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 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
}
