CanSensor.c
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#include "CanSensor.h"
CanBattery_Struct CanBatteryStruct; //电池数据结构体
#if P_SETUP_MUSIC_TYPE==1
u8 MusicSet[] = {0x23,0x00,0x01,0x00,0x00,0x00,0x00,0x00};
u8 Music_Select(u8 MusicS,u8 Vol)
{
static int LastTime = 0;
if(agv.Public.SystemTime - LastTime > 500)
{
LastTime = agv.Public.SystemTime;
if(agv.Command.Music_ONOFF)//屏幕输入参数，控制音乐开关
{
MusicSet[5] = MusicS;
MusicSet[6] = Vol;
CAN2_Send_Msg(0x60A,MusicSet, 8, 0);//给音乐模块发送指令
}
else
{
MusicSet[5] = MusicS;
MusicSet[6] = 0;
CAN2_Send_Msg(0x60A,MusicSet, 8, 0);//给音乐模块发送指令
}
}
}
#elif P_SETUP_MUSIC_TYPE == 2
/*
* 函数名：CalculCheckSum
* 描述 ：校验串口2接收数据的CRC
* 输入 ：串口接收的数据，个数
* 输出 ：CRC校验值
*/
unsigned char CalculCheckSum(u8* iPacketArray, unsigned char Sumnum)
{
int i;
unsigned char CheckSum = iPacketArray[0];
for (i = 1; i < Sumnum; i++)
{
CheckSum = CheckSum ^ iPacketArray[i];
}
return CheckSum;
}
u8 MusicSet[] = {0x00,0x51,0x00,0x00,0x00,0x00,0x00,0x02};
u8 Music_Select(u8 MusicS,u8 Vol)
{
static int LastTime = 0;
if(agv.Public.SystemTime - LastTime > 500)
{
LastTime = agv.Public.SystemTime;
if(agv.Command.Music_ONOFF)//屏幕输入参数，控制音乐开关
{
MusicSet[2] = MusicS;
MusicSet[3] = Vol;
MusicSet[6] = CalculCheckSum(MusicSet,6);
CAN1_Send_Msg(MusicSet, 8, 0x200);//给音乐模块发送指令
return 1;
}
else
{
MusicSet[2] = MusicS;
MusicSet[3] = 0;
MusicSet[6] = CalculCheckSum(MusicSet,6);
CAN1_Send_Msg(MusicSet, 8, 0x200);//给音乐模块发送指令
return 1;
}
}
return 0;
}
#endif
u8 BatteryData[] = {0x00,0x55,0xFF,0x5A,0x00,0x00,0x00,0x00};//下发给电池指令，超过120S不发，电池会报异常
u8 SendBatteryData(void)
{
static int LastTime = 0;
if(agv.Public.SystemTime - LastTime > 20)
{
LastTime = agv.Public.SystemTime;
CAN_Send_Msg(BattaryID,BatteryData,8,0,2);
return 1;
}
return 0;
}
void ReceiveBatteryData(CanRxMsg *CanRxMsg)//接收电池数据
{
if(CanRxMsg->StdId == BattaryBackID_1)//0X53C电池反馈的第一帧数据
{
if(CanRxMsg->Data[0] == 0x03)
{
if ((CanRxMsg->Data[1] & 0x80) == 0x80) //放电 bit7=1
{
CanBatteryStruct.Current_out_int = 0;
CanRxMsg->Data[1] &= 0x7f;
}
else {
CanBatteryStruct.Current_out_int = 1; //电池充电
}
CanBatteryStruct.TotalCurrent = (CanRxMsg->Data[1] << 8) | CanRxMsg->Data[2];//总电流
CanBatteryStruct.SOC = (CanRxMsg->Data[3] << 8) | CanRxMsg->Data[4];//SOC 满电500
CanBatteryStruct.TotalVoltage = (CanRxMsg->Data[5] << 8) | CanRxMsg->Data[6];//总电压
CanBatteryStruct.StateTable = CanRxMsg->Data[7];//信息状态
if (CanBatteryStruct.StateTable & 0x01) //充电故障
{
CanBatteryStruct.StateTable0 = 1;
}
else
{
CanBatteryStruct.StateTable0 = 0;
}
if (CanBatteryStruct.StateTable & 0x02) //放电过流
{
CanBatteryStruct.StateTable1 = 1;
}
else
{
CanBatteryStruct.StateTable1 = 0;
}
if (CanBatteryStruct.StateTable & 0x04) //充电接触器闭合
{
CanBatteryStruct.StateTable2 = 1;
}
else
{
CanBatteryStruct.StateTable2 = 0; //断开
}
if (CanBatteryStruct.StateTable & 0x08) //电池容量标志位2
{
CanBatteryStruct.StateTable3 = 1;
}
else
{
CanBatteryStruct.StateTable3 = 0;
}
if (CanBatteryStruct.StateTable & 0x10) //电池容量标志位1
{
CanBatteryStruct.StateTable4 = 1;
}
else {
CanBatteryStruct.StateTable4 = 0;
}
}
}
else if(CanRxMsg->StdId == BattaryBackID_2)
{
}
}