✨ feat:添加CAN报文

source/api_source/api_can/api_can.c

@@ -272,6 +272,8 @@ void SendCan0Message(void)
         Can_Clear((uint8_t*)&TBOX.msg.data);
         CanFD_Send_StandMsg(CANFD0_Type, 0x18203220, BUF_4, TX_ISR_EN, (uint8_t*)&CAN18203220.msg.data, 8);
         Can_Clear((uint8_t*)&TBOX.msg.data);
+        CanFD_Send_StandMsg(CANFD0_Type, 0x18203020, BUF_4, TX_ISR_EN, (uint8_t*)&CAN18203020.msg.data, 8);
+        Can_Clear((uint8_t*)&TBOX.msg.data);
 
 
 

source/api_source/api_can/api_can.h

@@ -2946,6 +2946,25 @@ typedef struct
     }msg;
 }CAN18203220_;
  
+
+typedef struct
+{ 
+    union
+    {  
+        uint8_t data[8];
+        struct
+        {   
+            unsigned int         : 8;
+            unsigned int         : 8 ;
+            unsigned int  : 8 ;       
+            unsigned int         : 8 ;
+            unsigned int  MBMS_StatSoc                         : 8 ;
+            unsigned int                           : 8 ;
+            unsigned int                           : 8 ;
+            unsigned int                           : 8 ;
+        }bits; 
+    }msg;
+}CAN18203020_;
 //TCS_37B ID:37B
 typedef struct
 { 
@@ -3115,6 +3134,7 @@ EXTERN_VAR     volatile CAN38E_                 CAN38E;
 EXTERN_VAR     volatile CAN339_                 CAN339;
 EXTERN_VAR     volatile CAN18202922_            CAN18202922;
 EXTERN_VAR     volatile CAN18203220_            CAN18203220;
+EXTERN_VAR     volatile CAN18203020_            CAN18203020;
 //EXTERN_VAR     volatile Send_111_             Send_111 ;
 
 

source/api_source/api_gpio/io_config.c

@@ -497,6 +497,8 @@ void SPEED_Step()
     CAN18203220.msg.bits.MBMS_StatBattChargeState = 0x05;
     CAN18203220.msg.bits.MBMS_StatBattWorkState = 0xE;
 
+    CAN18203020.msg.bits.MBMS_StatSoc = 0;
+    
     break;
     case 1:
     LIG_left_OUT(PortGpioHigh);//草满指示灯
@@ -505,6 +507,8 @@ void SPEED_Step()
     CAN125.msg.bits.MMCU_TravelSpeedGear = 1;
     CAN157.msg.bits.BMCU_BladeSpeedGear = 0;
 
+    CAN18203020.msg.bits.MBMS_StatSoc = 10;
+  
     break;
     case 2:
     LIG_left_OUT(PortGpioLow);//草满指示灯
@@ -514,6 +518,9 @@ void SPEED_Step()
     SOC2.msg.bits.MBMS_Soc = 30;
     CAN125.msg.bits.MMCU_TravelSpeedGear = 2;
     CAN157.msg.bits.BMCU_BladeSpeedGear = 1;
+
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 20;
     break;
     case 3:
     CAN38E.msg.bits.BMCU_Moto1_Locked_RotorFault = 0;//刀盘
@@ -525,6 +532,9 @@ void SPEED_Step()
     CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
     CAN157.msg.bits.BMCU_BladeSpeedGear = 2;
 
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 30;
+  
     break;
     case 4:
     CAN125.msg.bits.MMCU_SeatDetectState = 0;//座椅检测
@@ -538,6 +548,9 @@ void SPEED_Step()
 
     CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
 
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 40;
+  
     break;
     case 5:
     CAN18202922.msg.bits.MBMS_TOTALSigAcc = 0;//钥匙接入
@@ -550,6 +563,9 @@ void SPEED_Step()
     CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
 
     CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
+
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 50;
     break;
     case 6:
     CAN125.msg.bits.MMCU_PowerMode = 2;//READY灯
@@ -566,6 +582,9 @@ void SPEED_Step()
 
     CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
 
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 60;
+  
     break;
     
     case 7:
@@ -582,6 +601,9 @@ void SPEED_Step()
     CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
 
     CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
+
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 70;
     break;
     case 8:
     CAN157.msg.bits.BMCU_PTOSwicthState = 0;//刀盘开关
@@ -595,9 +617,23 @@ void SPEED_Step()
     CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
 
     CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
+
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 80;
      break;
     case 9:
    LIG_right_OUT(PortGpioLow);
+  LIG_left_OUT(PortGpioLow);//草满指示灯
+
+   SOC1.msg.bits.MBMS_Soc = 100;
+    SOC2.msg.bits.MBMS_Soc = 100;
+
+   CAN125.msg.bits.MMCU_TravelSpeedGear = 0;
+    CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
+
+    CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
+
+    CAN18203020.msg.bits.MBMS_StatSoc = 90;
       break;
     case 10:
     LIG_right_OUT(PortGpioHigh);//大灯
@@ -615,10 +651,16 @@ void SPEED_Step()
 
     CAN18203220.msg.bits.MBMS_StatBattChargeState = 0x07;
     CAN18203220.msg.bits.MBMS_StatBattWorkState = 0xF;
-    CAN157.msg.bits.BMCU_BladeSpeedGear = 0x7;
+    CAN157.msg.bits.BMCU_BladeSpeedGear = 3;
     //CAN125.msg.bits.MMCU_TravelSpeedGear = 0x3;
     CAN339.msg.bits.MMCU_AccumulatedWorkHour_L = (6006)&0xFF;
     CAN339.msg.bits.MMCU_AccumulatedWorkHour_H = (6006>>8)&0xFF;
+
+    CAN125.msg.bits.MMCU_TravelSpeedGear = 0;
+    CAN125.msg.bits.MMCU_ParkingGearState = 1;//P档
+
+    
+    CAN18203020.msg.bits.MBMS_StatSoc = 100;
       break;
     //case 11:
     //   TCS_125.msg.bits.TCS_WorkMode = 0x1; //TCSָʾ�ƿ���