#ifndef _SOFT_ENGINE #define _SOFT_ENGINE #include "stm32f1xx_hal.h" #include "soft_can.h" #include "stdio.h" #include "common.h" //===============奥安老发动机=============== #pragma pack(1) typedef struct { uint8_t engin_ver; //版本号 uint16_t engin_rev; //转速 uint16_t engin_thr; //油门 uint16_t engin_vol; //电压 0.1v uint16_t engin_elect; //电流 0.1A uint32_t engin_rtime; //运行时间 min uint16_t engin_tcd; //剩余保养时间 min uint16_t engin_lcd; //锁机剩余时间 min（租赁方式） uint8_t engin_rsta; //运行状态 0-停止，1-等待，2-运行，3-锁机 uint16_t engin_warn; //报警信息 uint8_t engin_roil; //剩余油量 % uint16_t engin_cyl1temp; //气缸1温度 uint16_t engin_cyl2temp; //气缸2温度 uint8_t engin_pcbtemp; //控制盒PCB温度 } AOAN_TYPE; #pragma pack() extern AOAN_TYPE aoan_data; short decode_aoan_engine(uint8_t *pdata, uint16_t length); //===============VK-V03协议发动机=============== #pragma pack(1) typedef struct { uint8_t engin_ver; //版本号 uint8_t engin_brand[8]; //品牌 uint32_t engin_sn; //序列号 uint16_t engin_rev; //转速 uint16_t engin_thr; //油门 uint16_t engin_vol; //电压 0.1v uint16_t engin_elect; //电流 0.1A uint32_t engin_rtime; //运行时间 min uint16_t engin_tcd; //剩余保养时间 min uint16_t engin_lcd; //锁机剩余时间 min（租赁方式） uint8_t engin_rsta; //运行状态 0-停止，1-等待，2-运行，3-锁机 uint16_t engin_warn; //报警信息 uint8_t engin_roil; //剩余油量 % uint16_t engin_cyl1temp; //气缸1温度 uint16_t engin_cyl2temp; //气缸2温度 uint16_t engin_pcbtemp; //控制盒PCB温度 } VKV3_TYPE; #pragma pack() extern VKV3_TYPE vkv3_data; extern Connect_check vkv3_engine_link; extern Connect_check aoan_engine_Link; //extern Connect_check vkv3_engine2_link; short decode_vkv3_engine(uint8_t *pdata, uint16_t length); //===============GEELY发动机============================ #pragma pack(1) typedef struct { uint8_t engine_ver; //版本号 uint8_t engine_brand[3]; //品牌名 uint8_t engine_sn[4]; //序列号 年月日 uint16_t engine_rev; //发动机转速 uint16_t engine_thrposition; //节气门位置 0.1% uint8_t engine_fuelposition; //油位 0.5% uint8_t engine_cyltemp; //缸体温度 偏移-40 uint8_t engine_cooltemp; //冷却液温度 C 偏移-40 char engine_status; //发动机状态 uint16_t engine_vol; //输出电压 0.2v uint16_t engine_elect; //输出电流 0.2A uint16_t engine_warn; //报警信息 uint8_t engine_standby; //备用 uint8_t engine_fault; //错误信息 uint8_t engine_control; //控制响应 uint8_t engine_set; //设置命令 uint16_t engine_setpar; //设置响应 uint16_t engine_ctrbak; uint8_t engine_dronestutas:4; //飞行器状态 4位 uint8_t engine_counts:4; //活动计数 4位 uint8_t engine_checksum; //校验和 uint32_t engine_runtime; //总运行时间 min uint16_t engine_tcd; //剩余保养时间 min uint16_t engine_tlock; //剩余锁机时间 } GEELY; #pragma pack() extern GEELY geely_data; //===============GEELY发动机第二版============================ #pragma pack(1) typedef struct { //0X1E4 uint8_t engine_restime:6; //响应时间 uint8_t engine_datanormal:1; //数据是否有效 uint8_t engine_reserve0:1; uint32_t engine_reserve1:20; uint8_t engine_conuts:4; //活动技术 uint16_t check_crc; }geely_bit1E4; extern uint8_t geely_count; extern uint8_t start_engine; typedef struct { //0X1EA uint16_t engine_TTP1:12; //目标节气门1位置 uint16_t engine_ATP1:12; //实际节气门1位置 uint16_t engine_reserve4:12; uint16_t engine_reserve5:12; uint16_t engine_baro; //大气压力 uint16_t engine_IAT; //进气温度 }geely_bit1EA; typedef struct { bool version2_flag; //0X1E2 uint8_t engine_ver; //版本号 uint8_t engine_brand[3]; //品牌名 uint8_t engine_sn[4]; //序列号 年月日 //0X1E3 uint32_t engine_runtime; //总运行时间 min uint16_t engine_tcd; //剩余保养时间 min uint16_t engine_tlock; //剩余锁机时间 //0X1E4 geely_bit1E4 Bit1E4; //0X1E8 uint32_t engine_time; //时间戳 uint8_t engine_Mcontrol:1; //电机控制 uint8_t engine_Mresponse:1; //电机响应 uint8_t engine_reserve2:2; uint8_t engine_controlcmd:2; //来自系统的外部控制命令 uint8_t engine_state:2; //发动机工作状态 uint8_t engine_cooltemp; //冷却液1温度 C 偏移-40 uint8_t engine_cooltemp1; //冷却液2温度 C 偏移-40 uint8_t engine_GWT; //线圈温度 C 偏移-40 //0X1E9 uint16_t engine_rev; //发动机转速 uint16_t engine_vol; //输出电压 0.01v short engine_elect; //输出电流 0.05A -400 uint16_t engine_bmselect; //电池电流 0.05A -400 //0X1EA geely_bit1EA Bit1EA; //0x1EB uint16_t FuelConsumption; //瞬时油耗 uint8_t GPS; //汽油液位 uint8_t B12V; //板上 12V 电压 uint8_t B5V1; //板上 5.1V 电压 uint8_t B7V4; //板上舵机驱动电压 uint8_t BBAT; //MCU VBAT 电压 uint8_t VREF; //MCU VREF 电压 //0X1EC uint16_t EmgST0; //报警信息 新协议 uint8_t ErrST0; //一般故障状态0 uint8_t ErrST1; //一般故障状态1 uint8_t ErrST2; //一般故障状态2 uint8_t ErrST3; //一般故障状态3 uint8_t engine_reserve6; uint8_t engine_reserve7; //0X1ED uint8_t AlmST0; //异常报警0 uint8_t AlmST1; //异常报警1 uint8_t AlmST2; //异常报警2 uint8_t AlmST3; //异常报警3 uint8_t SysST0; //系统状态0 uint8_t SysST1; //系统状态1 uint8_t engine_reserve8; uint8_t engine_reserve9; //0X1EE uint16_t Gear1Position; //舵机1输出位置 uint8_t engine_reserve10; uint8_t engine_reserve11; uint8_t OCT; //MCU 芯片温度 uint8_t engine_reserve12; uint8_t engine_reserve13; } GEELY2; #pragma pack() extern GEELY2 geely_data2; typedef struct { uint8_t msg1c3_last:4; uint32_t send_1a0; uint32_t recv_1c3; uint32_t msg1c3_sumerr; uint32_t msg1c3_indexerr; }GEELY_MONI; extern GEELY_MONI geely_moni; extern Connect_check geely_engin_link; #pragma pack(1) typedef struct { uint8_t ExtenderControl; //增程器启停控制 uint8_t ExtenderSetting; //增程器设置命令 uint16_t SettingParameter; //设置命令参数 uint16_t ExtenderBak; //备用 uint8_t DroneStatus:4; //飞行器状态 uint8_t MessageCount:4; //活动计数 uint8_t CheckSum; //校验和 }STO_GEELY; #pragma pack() extern STO_GEELY sendto_geely; void EngGeelyCanRecvHookFunction(uint32_t cellCanID, uint8_t data[], uint8_t len); //================飞控收集后的发动机信息结构体============= extern comp_status engine_link_status; #pragma pack(1) struct ENGINE_DATA { uint8_t engine_type; //类型 uint16_t engine_rev; //转速 uint16_t engine_thr; //油门 uint16_t engine_vol; //电压 0.1v short engine_elect; //电流 0.1A uint32_t engine_rtime; //运行时间 min uint16_t engine_tcd; //剩余保养时间 min uint16_t engine_lcd; //锁机剩余时间 min（租赁方式） uint8_t engine_rsta; //运行状态 0-停止，1-等待，2-运行，3-锁机 uint16_t engine_warn; //报警信息 uint8_t engine_roil; //剩余油量 % uint16_t engine_cyl1temp; //气缸1温度 uint16_t engine_cyl2temp; //气缸2温度 uint16_t engine_pcbtemp; //控制盒PCB温度 uint8_t engine_brand[8]; //品牌 uint32_t engine_sn; //序列号 uint8_t engine_lockstatus; //发送机解锁状态 uint8_t engine_fault; //发动机错误状态 }; #pragma pack() extern struct ENGINE_DATA engine_data; extern short geely_set_counts; extern bool geely_set_tcd,geely_set_tcd_re, geely_set_tlock, geely_set_tlock_re,geely_set_protect; void send_msg_to_geely(void); void update_engine_data(void); void engine_function(void); void pmu_to_con_engine_data(void); void send_msg_to_vk3(void); #endif