#include "soft_engine.h" #include "soft_crc.h" #include "crc.h" #include "string.h" #include "soft_p_2_c.h" #include "soft_test.h" #include "soft_uart.h" struct ENGINE_DATA engine_data; //串口接收奥安发动机数据 AOAN_TYPE aoan_data = {0, .engin_warn = 0xffff}; Connect_check aoan_engine_Link; //解析奥安油电混传感器数据 short decode_aoan_engine(uint8_t *pdata, uint16_t length) { short rst = 0; if (pdata[0] == 0x5A && pdata[1] == 0xA5 && pdata[2] == 0x1A && pdata[3] == 0x02) { unsigned char dNum = pdata[2]; //校验通过。 if (Get_Crc16(pdata, dNum + 5) == 0) { rst = 1; aoan_engine_Link.connect_status = COMP_NORMAL; //赋值数据 memcpy(&aoan_data, &pdata[3], dNum); aoan_engine_Link.recv_time = HAL_GetTick(); } } return rst; } // //串口接收VKV3发动机数据 VKV3_TYPE vkv3_data = {0, .engin_warn = 0xffff}; // VKV3_TYPE vkv3_data2 = {0, .engin_warn = 0xffff}; Connect_check vkv3_engine_link; // Connect_check vkv3_engine2_link; //解析V3协议油电混传感器数据 short decode_vkv3_engine(uint8_t *pdata, uint16_t length) { short rst = 0; uint32_t engine_sn_temp = 0; static uint32_t engine_sn1 = 0; VKV3_TYPE *ptr = NULL; if (pdata[0] == 0x5A && pdata[1] == 0xA5 && pdata[2] == 0X27 && pdata[4] == 0X03) { unsigned char dLEN = pdata[2]; unsigned char comID = pdata[3]; //校验通过。 if (Get_Crc16(pdata, dLEN + 6) == 0) { memcpy(&engine_sn_temp, &pdata[12], 4); rst = 1; if(engine_sn1 == 0 || engine_sn_temp == engine_sn1) { ptr = &vkv3_data; vkv3_engine_link.connect_status = COMP_NORMAL; vkv3_engine_link.recv_time = HAL_GetTick(); if(engine_sn1 == 0) engine_sn1 = engine_sn_temp; } else { // ptr = &vkv3_data2; // vkv3_engine2_link.connect_status = COMP_NORMAL; // vkv3_engine2_link.recv_time = HAL_GetTick(); } switch (comID) { case 0X01: //赋值数据 memcpy(&ptr->engin_ver, &pdata[4], dLEN); break; default: break; } } } return rst; } bool geely_set_tcd = false,geely_set_tcd_re = false, geely_set_tlock = false, geely_set_tlock_re = false, geely_set_protect = false, geely_send_BJtime = false,geely_get_version = false,geely_get_time = false; GEELY2 geely_data2; //解析吉利发动机 GEELY geely_data = {0}; GEELY_MONI geely_moni = {0}; Connect_check geely_engin_link; void EngGeelyCanRecvHookFunction(uint32_t cellCanID, uint8_t data[], uint8_t len) { if(cellCanID == 0x100) //第二版协议识别 { geely_engin_link.connect_status = COMP_NORMAL; geely_engin_link.recv_time = HAL_GetTick(); } else if (cellCanID == 0x1c0) { memcpy(&geely_data.engine_ver, &data[0], len); } else if (cellCanID == 0x1c1) { //木牛防地雷达会异常进入发动机识别 geely_engin_link.connect_status = COMP_NORMAL; memcpy(&geely_data.engine_rev, &data[0], len); } else if (cellCanID == 0x1c2) { memcpy(&geely_data.engine_vol, &data[0], len); } else if (cellCanID == 0x1c3) { uint8_t checkSum = 0; for (uint8_t i = 0; i < 8; i++) { checkSum += data[i]; } geely_moni.recv_1c3++; if (checkSum == 0) { memcpy(&geely_data.engine_control, &data[0], len); if (geely_moni.msg1c3_last + 1 != geely_data.engine_counts) { geely_moni.msg1c3_indexerr++; } geely_moni.msg1c3_last = geely_data.engine_counts; if(geely_data.engine_set == 0x11) { //接收保养时间反馈 if(geely_set_tcd == true) { geely_set_tcd = false; geely_set_counts = 0; geely_set_tcd_re = true; } } if(geely_data.engine_set == 0x12) { //接收保养时间复位反馈 if(geely_set_tcd_re == true) { geely_set_tcd_re = false; geely_set_counts = 0; } } if(geely_data.engine_set == 0x14) { //接收锁机时间反馈 if(geely_set_tlock == true) { geely_set_tlock = false; geely_set_counts = 0; geely_set_tlock_re = true; } } if(geely_data.engine_set == 0x15) { //接收锁机时间复位反馈 if(geely_set_tlock_re == true) { geely_set_tlock_re = false; geely_set_counts = 0; } } if(geely_data.engine_set == 0x17) { } } else { geely_moni.msg1c3_sumerr++; } } else if (cellCanID == 0x1c4) { memcpy(&geely_data.engine_runtime, &data[0], len); } else { if(cellCanID >= 0x1E1 && cellCanID <= 0x1EF) { geely_engin_link.connect_status = COMP_NORMAL; if(geely_data2.version2_flag != true) { geely_data2.version2_flag = true; } //作为第二版协议标志 } //第二版协议 switch (cellCanID) { case 0x031: geely_send_BJtime = true; break; case 0x1E1: break; case 0x1E2: geely_get_version = true; geely_count = 10; memcpy(&geely_data2.engine_ver,&data[0],8); break; case 0x1E3: geely_get_time = true; //geely_count = 10; memcpy(&geely_data2.engine_runtime,&data[0],8); break; case 0x1E4: memcpy(&geely_data2.Bit1E4,&data[0],6); break; case 0x1E8: memcpy(&geely_data2.engine_time,&data[0],8); geely_data2.engine_time = ((data[4] >> 6) & 0x3); break; case 0x1E9: memcpy(&geely_data2.engine_rev,&data[0],8); break; case 0x1EA: memcpy(&geely_data2.Bit1EA,&data[0],8); break; case 0x1EB: memcpy(&geely_data2.FuelConsumption,&data[0],8); break; case 0x1EC: memcpy(&geely_data2.EmgST0,&data[0],2); break; case 0x1ED: memcpy(&geely_data2.AlmST0,&data[0],8); break; case 0x1EE: memcpy(&geely_data2.Gear1Position,&data[0],7); break; default: break; } } geely_engin_link.recv_time = HAL_GetTick(); } short geely_set_counts = 0; #pragma pack(1) typedef struct { uint32_t time; uint8_t nodecode:4; uint8_t message_conut0:4; int8_t check_sum0; uint8_t client_cmd; uint8_t syscontrol; uint8_t reserve0; uint8_t reserve1; uint32_t reserve2:20; uint8_t message_conut1:4; int8_t check_sum1; }geely_info2; geely_info2 geely_sendinfo2; #pragma pack() uint8_t geely_count = 15; uint8_t start_engine = 0; // 0x80启动 0停止 void Geely_version2_init(void) { uint8_t can_buf[8] = {0}; static uint8_t geely_init_count = 15; if(geely_data2.version2_flag != true && geely_init_count > 1) { geely_sendinfo2.client_cmd = 0x10; geely_sendinfo2.syscontrol = 0; geely_sendinfo2.check_sum1 = geely_sendinfo2.client_cmd + geely_sendinfo2.syscontrol + (geely_sendinfo2.message_conut1 << 4); memcpy(&can_buf[0],&geely_sendinfo2.client_cmd,8); geely_sendinfo2.message_conut1++; can_send_msg_normalstd(&can_buf[0],8,0x1E0); geely_init_count--; } } void Geely_version2_send_info( void ) { uint8_t can_buf[8] = {0}; //发送北京时间 // if(geely_send_BJtime == false && (beijing_time.ui8Year != 0)) //上点发送，CANID不在过滤器中 不等反馈 // { // geely_sendinfo2.time += beijing_time.ui8Second / 2; // geely_sendinfo2.time += beijing_time.ui8Minute *( 0x1 << 4); // geely_sendinfo2.time += beijing_time.ui8Hour *( 0x1 << 10); // geely_sendinfo2.time += beijing_time.ui8DayOfMonth *( 0x1 << 15); // geely_sendinfo2.time += beijing_time.ui8Month *( 0x1 << 20); // geely_sendinfo2.time += beijing_time.ui8Year *( 0x1 << 24); // geely_sendinfo2.nodecode = 0; // geely_sendinfo2.check_sum0 = geely_sendinfo2.time + geely_sendinfo2.nodecode + (geely_sendinfo2.message_conut0 << 4); // geely_sendinfo2.check_sum0 = 0 - geely_sendinfo2.check_sum0; // memcpy(&can_buf[0],&geely_sendinfo2,6); // geely_sendinfo2.message_conut0++; // can_send_msg_normalstd(&can_buf[0],6,0x030); // } //上电读取信息 if(geely_get_version == false || geely_get_time == false) { if(geely_get_version == false) { geely_sendinfo2.client_cmd = 0x16; } else if(geely_get_time == false) { geely_sendinfo2.client_cmd = 0x17; } geely_sendinfo2.syscontrol = 0; geely_sendinfo2.check_sum1 = geely_sendinfo2.client_cmd + geely_sendinfo2.syscontrol + geely_sendinfo2.message_conut1; geely_sendinfo2.check_sum1 = 0 - geely_sendinfo2.check_sum1; memcpy(&can_buf[0],&geely_sendinfo2.client_cmd,8); geely_sendinfo2.message_conut1++; can_send_msg_normalstd(&can_buf[0],8,0x1E0); geely_count--; if(geely_count == 0) { geely_count = 10; if(geely_get_version == false) { geely_get_version = true; } else if(geely_get_time == false) { geely_get_time = true; } } } //控制发动机启停 else { geely_sendinfo2.client_cmd = 0x12; geely_sendinfo2.syscontrol = start_engine; geely_sendinfo2.check_sum1 = geely_sendinfo2.client_cmd + geely_sendinfo2.syscontrol + (geely_sendinfo2.message_conut1 << 4) ; geely_sendinfo2.check_sum1 = 0 - geely_sendinfo2.check_sum1; memcpy(&can_buf[0],&geely_sendinfo2.client_cmd,8); geely_sendinfo2.message_conut1++; can_send_msg_normalstd(&can_buf[0],8,0x1E0); } // else // { // geely_sendinfo2.client_cmd = 0x11; // geely_sendinfo2.syscontrol = 0; // geely_sendinfo2.check_sum1 = geely_sendinfo2.client_cmd + geely_sendinfo2.syscontrol + (geely_sendinfo2.message_conut1 << 4); // geely_sendinfo2.check_sum1 = 0 - geely_sendinfo2.check_sum1; // memcpy(&can_buf[0],&geely_sendinfo2.client_cmd,8); // geely_sendinfo2.message_conut1++; // can_send_msg_normalstd(&can_buf[0],8,0x1E0); // } } #define SENDTO_GEELY_STATUS_ID (0X1A0) STO_GEELY sendto_geely = {.ExtenderControl = 0, .ExtenderSetting = 0x10, .SettingParameter = 0, .ExtenderBak = 0, .MessageCount = 0 }; uint32_t sendto_geely_lasttime = 0; uint8_t vkv3_buf[20] = {0}; void send_msg_to_vk3(void) { if(vkv3_engine_link.connect_status == COMP_NORMAL && uart_send_is_ok(USART_3) == true) { uint16_t crc = 0; uint8_t index = 0; vkv3_buf[index++] = 0x5A; vkv3_buf[index++] = 0xA5; vkv3_buf[index++] = 4; vkv3_buf[index++] = 0x0A; if(start_engine == 0x80) { vkv3_buf[index++] = 1; } else { vkv3_buf[index++] = 0; } vkv3_buf[index++] = planep.lock_status; vkv3_buf[index++] = planep.thr_pwm; vkv3_buf[index++] = planep.thr_pwm >> 8; crc = Get_Crc16(vkv3_buf, index); memcpy(&vkv3_buf[index], &crc, 2); index +=2; uart3_send_msg(vkv3_buf,index); } } void send_msg_to_geely(void) { if (geely_engin_link.connect_status == COMP_NORMAL && HAL_GetTick() - sendto_geely_lasttime > 100) { uint8_t geely[8] = {0}; sendto_geely_lasttime = HAL_GetTick(); Geely_version2_init(); if(geely_data2.version2_flag == true) { Geely_version2_send_info(); } else { sendto_geely.ExtenderBak = planep.thr_pwm; sendto_geely.DroneStatus = (planep.lock_status == 4? 1: 0); //(thr_lock_status == LOCKED ? 0 : 1); sendto_geely.MessageCount++; if(geely_set_tcd == true) { geely_set_counts++; if(geely_set_counts > 5){ geely_set_tcd = false; geely_set_counts = 0; } sendto_geely.ExtenderSetting = 0x11; //sendto_geely.SettingParameter = 0; } else if(geely_set_tcd_re == true) { geely_set_counts++; if(geely_set_counts > 5){ geely_set_tcd_re = false; geely_set_counts = 0; } sendto_geely.ExtenderSetting = 0x12; sendto_geely.SettingParameter = 0; } else if(geely_set_tlock == true) { geely_set_counts++; if(geely_set_counts > 5){ geely_set_tlock = false; geely_set_counts = 0; } sendto_geely.ExtenderSetting = 0x14; //sendto_geely.SettingParameter = 0; } else if(geely_set_tlock_re == true) { geely_set_counts++; if(geely_set_counts > 5){ geely_set_tlock_re = false; geely_set_counts = 0; } sendto_geely.ExtenderSetting = 0x15; sendto_geely.SettingParameter = 0; } else if(geely_set_protect == true) { geely_set_counts++; if(geely_set_counts > 5){ geely_set_protect = false; geely_set_counts = 0; } sendto_geely.ExtenderSetting = 0x17; sendto_geely.SettingParameter = 0; } else { sendto_geely.ExtenderSetting = 0x10; sendto_geely.SettingParameter = 0; geely_set_counts = 0; } memcpy(geely, (uint8_t *)&sendto_geely.ExtenderControl, 7); sendto_geely.CheckSum = 0; for (uint8_t i = 0; i < 7; i++) { sendto_geely.CheckSum += geely[i]; } sendto_geely.CheckSum = -sendto_geely.CheckSum; can_send_msg_normalstd(&sendto_geely.ExtenderControl, sizeof(sendto_geely), SENDTO_GEELY_STATUS_ID); geely_moni.send_1a0++; } } } comp_status engine_link_status = COMP_NOEXIST; struct ENGINE_DATA engine_data = {0, 0}; /* 发动机类型 uint8 1-瑞深 2-中飞 发动机转速 uint16_t RPM 发动机油门 uint16_t 发动机电压 uint16_t 0.1v 充电电流 uint16_t 0.1A 发动机运行时间 uint32_t Min 总运行时间不清零 剩余保养时间 uint16_t Min 保养后清零 剩余锁机时间 uint16_t Min 锁机倒计时 运行状态 uint8_t 0:停止，1:等待，2:运行, 3:锁机 报警信息 uint16_t 按位来表示可同时容纳16种警报 剩余油量 uint8_t % 0%-100% 气缸1温度 uint16_t ℃ 0℃~300℃ 气缸2温度 uint16_t ℃ 0℃~300℃ PCB温度 uint8_t ℃ 0℃~255℃ */ /* 检查智能电池的连接及数据获取,主要解决兼容多厂家设备接入时的选用优先级问题。 更新速度至少要 5hz 缺少放电电流数据 */ void update_engine_data(void) { //监测中飞发动机 Check_dev_link(&aoan_engine_Link,5000,(char *)&aoan_data,sizeof(AOAN_TYPE)); //监测VKV3的发动机 Check_dev_link(&vkv3_engine_link,5000,(char *)&vkv3_data,sizeof(VKV3_TYPE)); //监测VKV3 2的发动机 //Check_dev_link(&vkv3_engine2_link,5000,(char *)&vkv3_data,sizeof(VKV3_TYPE)); //检测GEELY发动机 Check_dev_link(&geely_engin_link,5000,(char *)&geely_data,sizeof(GEELY)); if (aoan_engine_Link.connect_status == COMP_NORMAL) { engine_link_status = COMP_NORMAL; //数字显示,显示9位数 engine_data.engine_type = 2; engine_data.engine_rev = aoan_data.engin_rev; engine_data.engine_thr = aoan_data.engin_thr; engine_data.engine_vol = aoan_data.engin_vol; engine_data.engine_elect = aoan_data.engin_elect; engine_data.engine_rtime = aoan_data.engin_rtime; engine_data.engine_tcd = aoan_data.engin_tcd; engine_data.engine_lcd = aoan_data.engin_lcd; engine_data.engine_rsta = aoan_data.engin_rsta; engine_data.engine_warn = aoan_data.engin_warn; engine_data.engine_roil = aoan_data.engin_roil; engine_data.engine_cyl1temp = aoan_data.engin_cyl1temp; engine_data.engine_cyl2temp = aoan_data.engin_cyl2temp; engine_data.engine_pcbtemp = aoan_data.engin_pcbtemp; memcpy(engine_data.engine_brand, "AOAN", 4); } else if (vkv3_engine_link.connect_status == COMP_NORMAL) { engine_link_status = COMP_NORMAL; //数字显示,显示9位数 engine_data.engine_type = 3; engine_data.engine_rev = vkv3_data.engin_rev; engine_data.engine_thr = vkv3_data.engin_thr; engine_data.engine_vol = vkv3_data.engin_vol; engine_data.engine_elect = vkv3_data.engin_elect; engine_data.engine_rtime = vkv3_data.engin_rtime; engine_data.engine_tcd = vkv3_data.engin_tcd; engine_data.engine_lcd = vkv3_data.engin_lcd; engine_data.engine_rsta = vkv3_data.engin_rsta; engine_data.engine_warn = vkv3_data.engin_warn; engine_data.engine_roil = vkv3_data.engin_roil; engine_data.engine_cyl1temp = vkv3_data.engin_cyl1temp; engine_data.engine_cyl2temp = vkv3_data.engin_cyl2temp; engine_data.engine_pcbtemp = vkv3_data.engin_pcbtemp; engine_data.engine_sn = vkv3_data.engin_sn; memcpy(engine_data.engine_brand, vkv3_data.engin_brand, 8); // if(vkv3_engine2_link.connect_status == COMP_NORMAL) // { // } } else if (geely_engin_link.connect_status == COMP_NORMAL) { engine_link_status = COMP_NORMAL; engine_data.engine_type = 4; //数字显示,显示9位数 if(geely_data2.version2_flag != true) { engine_data.engine_rev = geely_data.engine_rev; engine_data.engine_thr = geely_data.engine_thrposition * 0.1f; engine_data.engine_vol = geely_data.engine_vol * 2; engine_data.engine_elect = (short)(geely_data.engine_elect - 1000) * 2; engine_data.engine_rtime = geely_data.engine_runtime; engine_data.engine_tcd = geely_data.engine_tcd; engine_data.engine_lcd = geely_data.engine_tlock; engine_data.engine_rsta = geely_data.engine_status; engine_data.engine_warn = geely_data.engine_warn & 0xffef;//屏蔽总线系统异常 engine_data.engine_roil = geely_data.engine_fuelposition * 0.5f; engine_data.engine_cyl1temp = geely_data.engine_cyltemp - 40; engine_data.engine_cyl2temp = 0; engine_data.engine_pcbtemp = geely_data.engine_cooltemp - 40; memcpy(engine_data.engine_brand, geely_data.engine_brand, 3); memcpy(&engine_data.engine_brand[3],"-", 1); snprintf((char *)&engine_data.engine_brand[4],4,"%d",(int)geely_data.engine_ver); engine_data.engine_sn = geely_data.engine_sn[0] * 10000000 + geely_data.engine_sn[1] * 100000 + geely_data.engine_sn[2] * 1000 + geely_data.engine_sn[3]; engine_data.engine_lockstatus = geely_data.engine_control; engine_data.engine_fault = geely_data.engine_fault; } else { engine_data.engine_type = 4; engine_data.engine_rev = geely_data2.engine_rev; engine_data.engine_thr = geely_data2.Bit1EA.engine_ATP1 * 0.05f; engine_data.engine_vol = geely_data2.engine_vol * 0.1f; engine_data.engine_elect = (short)(geely_data2.engine_elect * 0.05f - 400) * 10; engine_data.engine_rtime = geely_data2.engine_runtime; engine_data.engine_tcd = geely_data2.engine_tcd; engine_data.engine_lcd = geely_data2.engine_tlock; engine_data.engine_rsta = geely_data2.engine_state; engine_data.engine_warn = geely_data2.EmgST0; engine_data.engine_roil = geely_data2.GPS * 0.5f; engine_data.engine_cyl1temp = geely_data2.engine_cooltemp - 40; engine_data.engine_cyl2temp = geely_data2. engine_cooltemp1 - 40; engine_data.engine_pcbtemp = geely_data2.engine_GWT - 40; memcpy(engine_data.engine_brand, geely_data2.engine_brand, 3); memcpy(&engine_data.engine_brand[3],"-", 1); snprintf((char *)&engine_data.engine_brand[4],4,"%d",(int)geely_data2.engine_ver); engine_data.engine_sn = geely_data2.engine_sn[0] * 10000000 + geely_data2.engine_sn[1] * 100000 + geely_data2.engine_sn[2] * 1000 + geely_data2.engine_sn[3]; //engine_data.engine_lockstatus = geely_data2.engine_state == 0? 0 : 1; engine_data.engine_lockstatus = geely_data2.engine_controlcmd; //engine_data.engine_fault = geely_data2.engine_fault; } } else { if (engine_link_status == COMP_NORMAL) { engine_link_status = COMP_LOST; memset(&engine_data, 0, sizeof(engine_data)); //状态未置异常 engine_data.engine_type = 0xFF; } } } /******************void engine_function(void)******************** * ****************发动机检测函数********************************* * **************************************************************/ void engine_function(void) { static uint32_t engine_time = 0; if(Check_Timer_Ready(&engine_time,_10_HZ_)) { update_engine_data(); //发送飞控状态给发动机 send_msg_to_vk3(); } //给吉利发动机发送信息 send_msg_to_geely(); }