增加采集电池电压

boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c

@@ -39,7 +39,6 @@ void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint
     
     un_motor_output1.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_left_front_speed);
     un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)(abs_left_rear_speed);
-
 }
 
 
@@ -171,13 +170,13 @@ void distributeTorque(float rpm1, float rpm2, float total_torque, float* torque1
     if (fabs(total_torque) < 0.001f) {
         *torque1 = 0.0f;
         *torque2 = 0.0f;
-        return;
+        return; 
     }  
 
 //    // 保护条件：当两电机均静止时采用平均分配策略
 //    if (fabs(rpm1) < 0.001f && fabs(rpm2) < 0.001f) {
 //        *torque1 = total_torque / 2.0f;
-//        *torque2 = total_torque / 2.0f;
+//        *torque2 = total_torque / 2.0f;                  
 //        return;
 //    }
 
@@ -624,17 +623,17 @@ static void diffInput(void *signal_id)
             diff_data.desired_speed = diff_data.desired_speed * 0.01f;
             diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
             // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
-            diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);         
+            diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.5, 20, 5, 5, 0.5);         
             diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0.1, 2, 2, 1, 0.5);
             
-            if(diff_data.desired_speed >= 0)//20250320 增加根据速度大小来决定方向，解决后退时转弯反向的问题   
+//            if(diff_data.desired_speed >= 0)//20250320 增加根据速度大小来决定方向，解决后退时转弯反向的问题    基站车不需要加换相，转向方式和比亚迪一样
-            {
+//            {
-                diff_data.desired_curvature = diff_data.desired_curvature;               
+//                diff_data.desired_curvature = diff_data.desired_curvature;               
-            }
+//            }
-            else
+//            else
-            {
+//            {
-                diff_data.desired_curvature = -diff_data.desired_curvature;                 
+//                diff_data.desired_curvature = -diff_data.desired_curvature;                 
-            }           
+//            }           
         }
     }
     else if ( (signal_id == &un_manual_computer_input) && (diff_data.mode == MODE_AUTO) )

boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.c

@@ -25,7 +25,7 @@ typedef struct {
     uint8_t is_power_on;
     Timer timer;
     uint8_t old_is_power_on;
-    Timer timer1;    
+    Timer timer1; 
 } PowerButton;
 
 // 全局变量
@@ -332,6 +332,15 @@ static void powerInput(void *signal_id)
 
 }
 
+void bmsProcess(void *signal_id)//读取电压
+{
+    (void)signal_id;
+    
+    power_data.high_battery_voltage = (float)un_bms_input.bit_data.bus_voltage / 100.0;
+    power_data.low_battery_voltage = (float)un_bms_input.bit_data.low_voltage / 100.0;    
+
+}
+
 
 // APP模块的初始化
 void powerAppInit(void)
@@ -357,6 +366,9 @@ void powerAppInit(void)
     timerInit(&power_data.timer1);
     subscribe(&power_data.timer1, wakeupProcess);
     timerStart(&power_data.timer1, 500, 1); // 周期调用      
+            
+    subscribe(&un_bms_input, bmsProcess);    
+    
     
     //预充定时器
     timerInit(&power_data.timer_pre_charge);

boards/e3_176_ref/app_demo/eth-xip/sf/app/app_power.h

@@ -31,6 +31,7 @@ typedef struct {
     Timer timer;                     // 定时器
     Timer timer1;    
     Timer timer_pre_charge;          // 预充定时器
+    Timer timer2;                    //请求采集电源时间
     PowerState last_state;           // 上一次状态
     uint8_t emergency_stop_switch;   // 急停开关
     uint8_t high_voltage_switch;     // 高压开关
@@ -39,6 +40,10 @@ typedef struct {
     uint8_t emergency_stop;          // 急停状态
     uint8_t pre_charge_finish;       // 预充完成标志位
     uint8_t old_state;               // 上一次状态
+    
+    float low_battery_voltage;   // 低压电池电压，单位V
+    float high_battery_voltage;  // 高压电池电压，单位V    
+
 } PowerSystem;
 
 // 声明外部变量

boards/e3_176_ref/app_demo/eth-xip/sf/app/app_request.c

@@ -293,9 +293,9 @@ static void requestInput(void *signal_id)
     }
     else if(signal_id == &un_bms_input)
     {
-        un_vehicle_Info_output.bit_data.battery_voltage = un_bms_input.bit_data.bus_voltage/10;//电池电压读取得的10mV，所以输出的是100mV单位，所以缩小10倍       
+//        un_vehicle_Info_output.bit_data.battery_voltage = un_bms_input.bit_data.bus_voltage/10;//电池电压读取得的10mV，所以输出的是100mV单位，所以缩小10倍       
-        un_vehicle_Info_output.bit_data.battery_soc = un_bms_input.bit_data.soc;//SOC
+//        un_vehicle_Info_output.bit_data.battery_soc = un_bms_input.bit_data.soc;//SOC
-        un_vehicle_Info_output.bit_data.battery_current = un_bms_input.bit_data.bus_current;//电池电流      
+//        un_vehicle_Info_output.bit_data.battery_current = un_bms_input.bit_data.bus_current;//电池电流      
     }    
     else if(signal_id == &un_motor_input1)
     {
@@ -322,7 +322,7 @@ static void requestInput(void *signal_id)
     }  
     else if(signal_id == &un_manual_computer_input)
     {
-        memcpy(&un_manual_control_output.arr[0],&(un_manual_computer_input.arr[0]),12);//手柄拷贝
+//        memcpy(&un_manual_control_output.arr[0],&(un_manual_computer_input.arr[0]),12);//手柄拷贝
     }
     else if(signal_id == &ethernet_fault_Info)
     {

boards/e3_176_ref/app_demo/eth-xip/sf/interface.c

@@ -54,6 +54,9 @@ UnSdoOutput                  un_sdo_output8                  ;//设定右电机
 
 UnSdoOutput                  un_sdo_output9                  ;//输入
 UnSdoOutput                  un_sdo_output10                 ;//输入
+
+UnBMSRequest                 un_bms_request                  ;//BMS 请求
+
 //IO口
 UnSwSample                   un_sw_sample                    ;//采集
 

boards/e3_176_ref/app_demo/eth-xip/sf/interface.h

@@ -124,18 +124,12 @@ typedef union _UnMotorTempInput
 // 接收BMS输入
 typedef struct _StrBmsInput
 {
-//----接收0x100----------------------------------
+//----接收0x301----------------------------------
     // 多字节数据，高位在前，低位在后
-    unsigned int bus_voltage         : 16;  // 母线电压  单位为10mV
+    uint16_t bus_voltage         ;  // 母线电压  单位为0.01V
-    unsigned int bus_current         : 16;  // 母线电流  单位为10mA
+    uint16_t low_voltage         ;  // 母线电流  单位为0.01V
-    unsigned int remainder_capacity  : 16;  // 剩余容量 单位为10mAh 充电为正，放电为负
+    uint16_t channel3            ;  // 保留通道
-    unsigned int crc1                : 16;  //crc
+    uint16_t crc1                ;  //
-//----接收0x101----------------------------------
-    // 多字节数据，高位在前，低位在后
-    unsigned int full_capacity       : 16;  // 充满容量 单位为10mAh
-    unsigned int Discharge_times     : 16;  // 放电循环次数 单位为1次 
-    unsigned int soc                 : 16;  // soc  1%
-    unsigned int crc2                : 16;  //crc  
 } StrBmsInput;
 
 typedef union _UnBmsInput
@@ -667,6 +661,37 @@ typedef union _UnComputerOutput
 } UnComputerOutput;
 
 
+// BMS数据请求结构体
+typedef struct _StrBMSRequest
+{
+    uint16_t reserved1;
+    uint16_t reserved2;
+    uint16_t reserved3;
+    uint16_t reserved4;
+} StrBMSRequest;
+
+typedef union _UnBMSRequest
+{
+    StrBMSRequest bit_data;             // 使用定义的结构体变量名
+    uint8_t arr[sizeof(StrBMSRequest)]; // 通过结构体类型确定大小
+} UnBMSRequest;
+
+
+//// BMS数据输入结构体
+//typedef struct _StrBMSIntput
+//{
+//    uint16_t reserved1;
+//    uint16_t reserved2;
+//    uint16_t reserved3;
+//    uint16_t reserved4;
+//} StrBMSIntput;
+//
+//typedef union _UnBMSRequest
+//{
+//    StrBMSIntput bit_data;             // 使用定义的结构体变量名
+//    uint8_t arr[sizeof(StrBMSIntput)]; // 通过结构体类型确定大小
+//} UnBMSIntput;
+
 
 
 // 车辆信息，输出给上位机
@@ -886,6 +911,13 @@ typedef union _UnAutoControlOutput
 
 
 
+
+
+
+
+
+
+
 //-----IO口---------------------------------------------------------------
 // 电压信号输出，到遥控器
 typedef struct _StrVoltageSignalOutput
@@ -942,6 +974,7 @@ extern UnSdoOutput                  un_sdo_output6                  ;//设定右
 extern UnSdoOutput                  un_sdo_output7                  ;//使能右电机
 extern UnSdoOutput                  un_sdo_output8                  ;//设定右电机模式
 
+extern UnBMSRequest                 un_bms_request                  ;//BMS 请求
 
 //串口
 extern UnRemoteControlInput         un_remote_control_input; //遥控器输入

boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c

@@ -538,7 +538,8 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
                                       flexcan_status_e status, uint32_t result,
                                       void *userData)
 {
-    flexcan_frame_t *buf = (flexcan_frame_t *)userData;   
+    flexcan_frame_t *buf = (flexcan_frame_t *)userData; 
+        uint8_t i = 0;
 //--------------------------------------------------------------    
     switch (status) 
     {
@@ -559,6 +560,16 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
                     printf("Feed dog flag received %d\n",getCurrentTime());
                 }              
             }
+            else if(BMS_INPUT_ID1 == (buf->id))//<2F><><EFBFBD>յ<EFBFBD>ι<EFBFBD><CEB9>ID
+            {
+                for(i = 0; i < (buf->length); i++)
+                {                    
+                    un_bms_input.arr[i+8] = buf->dataBuffer[i]; 
+                }
+                //<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
+                publishMessage(&un_bms_input, 1); 
+            }            
+            
             else
             {
             }
@@ -1166,7 +1177,10 @@ void canSendAll(void *signal_id)
         CanData[5] = 0xFF;
         
         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>          
+        
     }
 
 
@@ -1344,9 +1358,7 @@ void canInterfaceInit(void)
     subscribe(&un_sdo_output5, processSdoOutput5);     
     subscribe(&un_sdo_output6, processSdoOutput6);
     subscribe(&un_sdo_output7, processSdoOutput7);     
-    subscribe(&un_sdo_output8, processSdoOutput8);    
+    subscribe(&un_sdo_output8, processSdoOutput8);   
-    
-    
     
     timerStart(&can_timer_interface1,10,1);//1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
     

boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.h

@@ -72,7 +72,7 @@
 
 
 
-#define BMS_INPUT_ID1                0x100
+#define BMS_INPUT_ID1                0x301
 #define BMS_INPUT_ID2                0x101
 #define REMOTE_ID                    0x12000023
 //#define TEMP_MODULE_INPUT_ID_1       0x301