/// <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_TCU1 scmTcu1)
{
CanStandardData scmCanByte = new CanStandardData();
scmCanByte.canId = Scm_TCU1.canId;
scmCanByte.baudrate = Scm_TCU1.baudrate; //250K
scmCanByte.datas = new byte[8]; //数据长度为8
//byte0
scmCanByte.datas[0] = (byte)(Convert.ToByte(scmTcu1.eop_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(scmTcu1.eop_ctrl_mod_dmd_sd) << 2)); //电机控制模式，分辨率1，偏移量0，默认值1，2bits,00自由转，01转速控制，02扭矩控制
//byte1电机需求扭矩/电机扭矩限制,8bits，偏移量0,范围0-32，默认值0，分辨率0.125
scmCanByte.datas[1] = (byte)(scmTcu1.eop_tq_dmd_sd / 0.125);
//byte2，byte3,电机转速扭矩/电机转速限制,6bits，偏移量-0,低位在前，范围0-5000，默认值0，分辨率1
scmCanByte.datas[2] = Convert.ToByte(scmTcu1.eop_spd_dmd_sd & 0xff); //低位
scmCanByte.datas[3] = Convert.ToByte((scmTcu1.eop_spd_dmd_sd >> 8) & 0xff); //高位
//byte4，清故障
scmCanByte.datas[3] = scmTcu1.eop_clear_fault;
//byte 7/6/5 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>();
Scm_TCU1 scmTcu1 = new Scm_TCU1();
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.eop_ctrl_ena_dmd_sd = 0x00; //mcu使能
scmTcu1.eop_clear_fault = 0x00; //不清故障
switch (cmdType)
{
case Ecm_WorkMode.None: //备用
scmTcu1.eop_ctrl_mod_dmd_sd = 0x00; //控制模式
strCmdDetail += "备用" + "\r\n";
break;
case Ecm_WorkMode.SpeedMode: //转速模式
{
canSendData.FeedBkMotorSpeed = scmTcu1.eop_spd_dmd_sd = Convert.ToInt16(data);
scmTcu1.eop_ctrl_ena_dmd_sd = 0x02; //mcu使能
scmTcu1.eop_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
{
canSendData.FeedBkMotorTorque = scmTcu1.eop_tq_dmd_sd = (byte)data;
scmTcu1.eop_ctrl_ena_dmd_sd = 0x02; //mcu使能
scmTcu1.eop_ctrl_mod_dmd_sd = 0x02; //控制模式
strCmdDetail += "扭矩命令:" + data.ToString() + "\r\n";
break;
}
default: scmTcu1.eop_ctrl_mod_dmd_sd = 0x00; break;
}
CanStandardData canData = 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 override ScmCanSendMsg EcuClearMcuFault()
{
ScmCanSendMsg scmSendMsg = new ScmCanSendMsg();
Scm_TCU1 scmEvcu1 = new Scm_TCU1();
scmEvcu1.eop_ctrl_ena_dmd_sd = 0x01; //清故障
scmEvcu1.eop_clear_fault = 1; //清故障
scmEvcu1.eop_ctrl_mod_dmd_sd = 0x00;
scmEvcu1.eop_spd_dmd_sd = 0;
scmEvcu1.eop_tq_dmd_sd = 0;
CanStandardData canData = ScmEvcu1ToBytes(scmEvcu1);
scmSendMsg.canId = canData.canId;
scmSendMsg.baudrate = canData.baudrate;
scmSendMsg.datas = canData.datas;
return(scmSendMsg);
}
