rgv-kinco/applications/bms.c

/*
* @Description: 
该bms协议主动上传，只需要解析即可
对外3个接口：
数据解析，存在结构体
对外提供结构体查询
在线计时
Bug0020
 * @version: 
 * @Author: Joe
 * @Date: 2021-11-13 13:23:14
 * @LastEditTime: 2021-11-13 18:30:31
 */



#include "bms.h"
#include "string.h"
#include "tfmini.h"

#define DBG_TAG                        "bms"
#define DBG_LVL                        DBG_INFO
#include <rtdbg.h>

#define         CRC_16_POLYNOMIALS  0xA001

static Battery_TypeDef bat = {0};

/************************维旭电池****************************/
uint8_t bms_parse(struct rt_can_msg *msg)   //数据解析
{	
    uint8_t temp = 1;
	if(msg->ide!=RT_CAN_EXTID)	//扩展帧
	return temp;
    temp = 0;
    bat.enable = 1;
    bat.miss_cnt = 0;
	switch(msg->id) /*解析数据*/
	{
		case 0xA6D0D09:    //高压信息
		{   
            bat.voltage = msg->data[0]<<8 | msg->data[1];
            bat.current = msg->data[2]<<8 | msg->data[3];			  
		}
		break;  
		case 0xA6E0D09:    //电量信息
        {   
            bat.rsoc = (msg->data[0]<<8 | msg->data[1])/10;	//%
            bat.current = msg->data[2]<<8 | msg->data[3];			  
		}    
		break; 
        case 0xAB40D09:    //故障信息
        {   
            bat.protect_status = msg->data[0]<<24 | msg->data[1]<<16 | msg->data[2]<<8 | msg->data[3];
        }    
		break;  
		default:
		break;			

	}//数据解析 
    return temp; 
}    


/************************奥冠电池****************************/
/****************************************
函数功能 : 计算info字节长度校验项
参数描述 :
返回值   : 校验码，hex
****************************************/
static uint16_t ag_bms_crc16(uint8_t* pchMsg,uint8_t wDataLen)
{
    uint8_t i, chChar;
    uint16_t wCRC = 0xFFFF;
    while (wDataLen--)
    {
        chChar = *pchMsg++;
        wCRC ^= (uint16_t) chChar;
        for (i = 0; i < 8; i++)
        {
            if (wCRC & 0x0001)
                wCRC = (wCRC >> 1) ^ CRC_16_POLYNOMIALS;
            else
                wCRC >>= 1;
       }
   }
   return wCRC;
}


uint8_t ag_bms_parse(struct rt_can_msg *msg)   //数据解析
{	
    uint8_t temp = 1;
	uint16_t chksum;
	if(msg->id != 0x101 || msg->rtr != RT_CAN_DTR) /* 地址为0x101,返回值为数据帧 */
	return temp;
	//CRC-16校验
	chksum = ag_bms_crc16((uint8_t*)msg->data,(msg->len-2));
	if( msg->data[msg->len-2]!=(chksum  >> 8) || msg->data[msg->len-1]!=(chksum & 0x00FF))
	return temp;		
	temp = 0;
	bat.enable = 1;		
	//充满容量、循环次数、RSOC
	bat.rsoc = msg->data[4]<<8 | msg->data[5];			
    return temp; 
}  
/****************************************
 *        查询bms数据    
 *函数功能 : 
 *参数描述 : 无
 *返回值   : 返回发送的can结构体
 ****************************************/
struct rt_can_msg require_ag_bms_msg(void)   
{
	struct rt_can_msg tx_msg;
	
	tx_msg.id = 0x101;	
	tx_msg.ide = RT_CAN_STDID;     /* 标准格式 */
	tx_msg.rtr = RT_CAN_RTR;       /* 遥控帧 */
	tx_msg.len = 1;                /* 数据长度为 1 */
	/* 返回发送的can结构体 */
	return	tx_msg;
}

uint16_t get_bat_rsoc(void)
{
	return	bat.rsoc;	
}

uint8_t get_bat_enable(void)
{
	return	bat.enable;	
}





/****************************************
 *        get  
*函数功能 : 获取状态
 *参数描述 : 无
 *返回值   : 无
 ****************************************/
int get(int argc, char **argv)
{
	const char* help_info[] =
    {
            [0]     = "  get param            - get machine param",		
            [1]     = "  get bat              - get battery param",
			[2]     = "  get tfmini           - get tfmini param",
    };
	if (argc < 2)
    {
        LOG_I("Usage:");
        for (int i = 0; i < sizeof(help_info) / sizeof(char*); i++)
        {
            LOG_I("%s", help_info[i]);
        }        
    }
    else
    {
		const char *operator = argv[1];
		
		if(!strcmp(operator, "bat"))
		{					
			LOG_I("bat:enable[%d] rsoc[%d] current[%d] voltage[%s]", bat.enable,bat.rsoc,bat.current,bat.voltage);				
		}
		else
		if(!strcmp(operator, "tfmini"))
		{	
			TFMINI_TypeDef 	fmini; 
			fmini = get_tfmini_for();
			LOG_I("tfmini_for:dist[%d] strength[%d]", fmini.dist,fmini.strength)	;	
			fmini = get_tfmini_back();
			LOG_I("tfmini_back:dist[%d] strength[%d]", fmini.dist,fmini.strength)	;
			fmini = get_tfmini_left();
			LOG_I("tfmini_left:dist[%d] strength[%d]", fmini.dist,fmini.strength)	;
			fmini = get_tfmini_right();
			LOG_I("tfmini_right:dist[%d] strength[%d]", fmini.dist,fmini.strength)	;
		}
		
	}       
    return 0;
}
MSH_CMD_EXPORT(get , get machine param);


/****************************************
 *        bat_init
*函数功能 : 配置初始化
 *参数描述 : 无
 *返回值   : 无
 ****************************************/
int bat_init(void)
{    
    bat.rsoc = 0;
    bat.enable = 0;
    return RT_EOK;
}
INIT_APP_EXPORT(bat_init);