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增加电压采集

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liumin
2025-12-11 10:57:45 +08:00
parent 083d062792
commit 061b44221a
6 changed files with 39 additions and 35 deletions
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2
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
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@@ -836,8 +836,6 @@ void diffParametersInit(void *signal_id)
diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩 diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩
} }
diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩 diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩

8
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c
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@@ -336,9 +336,11 @@ void bmsProcess(void *signal_id)//读取电压
{ {
(void)signal_id; (void)signal_id;
power_data.high_battery_voltage = (float)un_bms_input.bit_data.bus_voltage / 100.0; power_data.high_battery_voltage = (float)SWAP_ENDIAN_16(un_bms_input.bit_data.bus_voltage) / 100.0;
power_data.low_battery_voltage = (float)un_bms_input.bit_data.low_voltage / 100.0; power_data.low_battery_voltage = (float)SWAP_ENDIAN_16(un_bms_input.bit_data.low_voltage) / 100.0;
printf("high_vol = %f, low_vol = %f\n", power_data.high_battery_voltage, power_data.low_battery_voltage);
} }

4
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h
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@@ -10,6 +10,10 @@ extern "C" {
#include "app_frm_signal.h" #include "app_frm_signal.h"
#include "app_frm_timer.h" #include "app_frm_timer.h"
#define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF))
#define SWAP_ENDIAN_32(x) (((x) << 24) | (((x) & 0xFF00) << 8) | (((x) >> 8) & 0xFF00) | ((x) >> 24))
// 定义电源状态枚举 // 定义电源状态枚举
typedef enum { typedef enum {
POWER_STANDBY, POWER_STANDBY,

8
boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
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@@ -126,10 +126,10 @@ typedef struct _StrBmsInput
{ {
//----接收0x301---------------------------------- //----接收0x301----------------------------------
// 多字节数据，高位在前，低位在后 // 多字节数据，高位在前，低位在后
uint16_t bus_voltage ; // 母线电压 单位为0.01V uint16_t low_voltage ; // 电池电压 单位为0.01V
uint16_t low_voltage ; // 母线电流 单位为0.01V uint16_t chanel1 ; //
uint16_t channel3 ; // 保留通道 uint16_t bus_voltage ; // 母线 单位为0.01V
uint16_t crc1 ; // uint16_t chanel2 ; //
} StrBmsInput; } StrBmsInput;
typedef union _UnBmsInput typedef union _UnBmsInput

48
boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c
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@@ -385,8 +385,8 @@ void flexcan_Receive_callback_3(flexcan_handle_t *handle,
flexcan_status_e status, uint32_t result, flexcan_status_e status, uint32_t result,
void *userData) void *userData)
{ {
flexcan_frame_t *buf = (flexcan_frame_t *)userData; // flexcan_frame_t *buf = (flexcan_frame_t *)userData;
uint8_t i = 0; // uint8_t i = 0;
//-------------------------------------------------------------- //--------------------------------------------------------------
switch (status) switch (status)
{ {
@@ -395,30 +395,30 @@ void flexcan_Receive_callback_3(flexcan_handle_t *handle,
case FLEXCAN_RX_FIFO_IDLE: case FLEXCAN_RX_FIFO_IDLE:
if(BMS_INPUT_ID1 == (buf->id))//BMS // if(BMS_INPUT_ID1 == (buf->id))//BMS
{ // {
can_fault_info.bit_data.bms_count ++; // can_fault_info.bit_data.bms_count ++;
for(i = 0; i < (buf->length); i++) // for(i = 0; i < (buf->length); i++)
{ // {
un_bms_input.arr[i] = buf->dataBuffer[i]; // un_bms_input.arr[i] = buf->dataBuffer[i];
} // }
publishMessage(&un_bms_input, 1); // publishMessage(&un_bms_input, 1);
} // }
else if(BMS_INPUT_ID2 == (buf->id))//BMS // else if(BMS_INPUT_ID2 == (buf->id))//BMS
{ // {
for(i = 0; i < (buf->length); i++) // for(i = 0; i < (buf->length); i++)
{ // {
un_bms_input.arr[i+8] = buf->dataBuffer[i]; // un_bms_input.arr[i+8] = buf->dataBuffer[i];
} // }
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> // //<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_bms_input, 1); // publishMessage(&un_bms_input, 1);
} // }
// else if(0x701 == (buf->id))//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>ᷢһ֡0x701 // else if(0x701 == (buf->id))//ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>ᷢһ֡0x701
// { // {
// un_sdo_output6.bit_data.cmd = 1; // un_sdo_output6.bit_data.cmd = 1;
// publishMessage(&un_sdo_output6, 1); // publishMessage(&un_sdo_output6, 1);
// } // }
else{} // else{}
break; break;
@@ -560,11 +560,11 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
printf("Feed dog flag received %d\n",getCurrentTime()); printf("Feed dog flag received %d\n",getCurrentTime());
} }
} }
else if(BMS_INPUT_ID1 == (buf->id))//<2F><><EFBFBD>յ<EFBFBD>ι<EFBFBD><CEB9>ID else if(BMS_INPUT_ID2 == (buf->id))//<2F><><EFBFBD>յ<EFBFBD>ι<EFBFBD><CEB9>ID
{ {
for(i = 0; i < (buf->length); i++) for(i = 0; i < (buf->length); i++)
{ {
un_bms_input.arr[i+8] = buf->dataBuffer[i]; un_bms_input.arr[i] = buf->dataBuffer[i];
} }
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> //<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_bms_input, 1); publishMessage(&un_bms_input, 1);
@@ -1179,7 +1179,7 @@ void canSendAll(void *signal_id)
CAN_Send_Msg(&can_handle_1, MOTOR_OUTPUT_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN_Send_Msg(&can_handle_1, MOTOR_OUTPUT_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, MOTOR_OUTPUT_ID_2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN_Send_Msg(&can_handle_2, MOTOR_OUTPUT_ID_2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, BMS_INPUT_ID1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//BMS <20><><EFBFBD><EFBFBD> CAN_Send_Msg(&can_handle_6, BMS_OUTPUT_ID1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData,CanData, 8, 17);//BMS <20><><EFBFBD><EFBFBD>
} }

4
boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h
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@@ -72,8 +72,8 @@
#define BMS_INPUT_ID1 0x301 #define BMS_OUTPUT_ID1 0x301
#define BMS_INPUT_ID2 0x101 #define BMS_INPUT_ID2 0x302
#define REMOTE_ID 0x12000023 #define REMOTE_ID 0x12000023
//#define TEMP_MODULE_INPUT_ID_1 0x301 //#define TEMP_MODULE_INPUT_ID_1 0x301
#define TEMP_MODULE_INPUT_ID_1 0x15000003 #define TEMP_MODULE_INPUT_ID_1 0x15000003