✨ feat:增加车速数据处理

Firmware/Source/Application/CommonInterface/CommonInterface.c

@@ -168,10 +168,7 @@ uint32_t Common_GetSocTime(void)
  */
 uint32_t Data_Km_To_Mile(uint32_t Km)
 {   
-    //Km *= 621;
-    //Km /= 1000;
-    Km *= 100;
-    Km /= 161;
+    Km = (Km * 64u) / 103u;    
     return Km;
 }
 /**

Firmware/Source/Application/Data_VSpeed/Data_VSpeed.c

@@ -69,81 +69,35 @@ void Data_Vehicle_Speed_Processing_Service(void)
     uint16_t Delta;
     uint32_t VSpeed;
     uint32_t VSpeedCal;
-    //uint8_t  ESC_VehicleSpeedvalid;
+    uint8_t  ESC_VehicleSpeedState;
     uint32_t Vehicle_Speed;
 
     Vehicle_Speed = Get_CAN_CH0_ID_101_Sig_ECU_Vehicle_Speed( );
-    //ESC_VehicleSpeedvalid = Get_CAN_CH0_ID_330_Sig_ESC_Vehicle_speed_valid( );
+    ESC_VehicleSpeedState = Get_CAN_CH0_ID_101_Sig_ECU_Vehicle_Speed_State( );
 
     // 第1步：获取实际车速值及车速有效性
     if( Common_Get_IG_Sts( ) == COMMON_POWER_ON )
     {        
-        if ((CAN_MSG_Status(&CAN_CH0_CanMsgOp, CAN_CH0_ID_CAN_0x101_Msg_Count) == CAN_SIG_LOST) || (Vehicle_Speed > 0XFF))
-        {
-            /* 先判断掉线 */
         if (CAN_MSG_Status(&CAN_CH0_CanMsgOp, CAN_CH0_ID_CAN_0x101_Msg_Count) == CAN_SIG_LOST)
         {
             DataVSpeedValid          = 0;
             DataVSpeedActual         = 0;
             DataVSpeedSampler.Backup = 0;
         }
-            #if 0
-            else if ( ESC_VehicleSpeedvalid == 1 )//发送can无效标志位
-            {
-                if ( DataVSpeedSampler.Timer1 <= 10 ) /* 10帧无效 */
-                {
-                    if ( DataVSpeedValid )//判断车速是否有效,有效采集10次,车速等于上次值
-                    {
-                        DataVSpeedSampler.Timer1++;
-                        DataVSpeedActual = DataVSpeedSampler.Backup;
-                    }
-                    else//无效,不采集,车速=0
-                    {
-                        DataVSpeedSampler.Timer1 = 10;
-                        DataVSpeedActual         = 0;
-                        DataVSpeedSampler.Backup = 0;
-                    }
-                }
-                else//不采集就,车速=0
-                {
-                    DataVSpeedValid          = 0;
-                    DataVSpeedActual         = 0;
-                    DataVSpeedSampler.Backup = 0;
-                }
-            }
-            #endif
-            else /* 收到无效值 */
-            {
-                if ( DataVSpeedSampler.Timer <= 100 ) /* 100帧无效值 */
-                {
-                    if ( DataVSpeedValid )
-                    {
-                        DataVSpeedSampler.Timer++;
-                        DataVSpeedActual = DataVSpeedSampler.Backup;
-                    }
         else
         {
-                        DataVSpeedSampler.Timer  = 100;
-                        DataVSpeedActual         = 0;
-                        DataVSpeedSampler.Backup = 0;
-                    }
-                }
-                else    // 接收到100帧无效值
+            if (ESC_VehicleSpeedState == 1)
             {
                 DataVSpeedValid          = 0;
                 DataVSpeedActual         = 0;
                 DataVSpeedSampler.Backup = 0;
             }
-            }  
-        }
-        else //车速在线且有效
+            else
             {
                 if ( DataVSpeedValid == 0 )
                 {
                     DataVSpeedValid = 1;
                     VSpeed = Vehicle_Speed;                    
-                // VSpeed *= 9;
-                // VSpeed >>= 4; 
                     DataVSpeedActual = VSpeed * 10;
                 }
                 else
@@ -164,13 +118,13 @@ void Data_Vehicle_Speed_Processing_Service(void)
                     {
                         DataVSpeedSampler.Cnt = 0;
                         VSpeed                = DataVSpeedSampler.Buffer [ 1 ];                        
-                    //VSpeed *= 9;
-                    //VSpeed >>= 4;
                         DataVSpeedActual = VSpeed * 10;
                     }
                     DataVSpeedSampler.Timer  = 0;
                     DataVSpeedSampler.Timer1 = 0;
                     DataVSpeedSampler.Backup = DataVSpeedActual;
+                    DataVSpeedValid = 1;
+                }
             }
         }
     }
@@ -251,8 +205,8 @@ void Data_Vehicle_Speed_Processing_Service(void)
             else
             {
                 DataVSPeedDamping.Speed += Delta;
-                if ( DataVSPeedDamping.Speed > 1200 )
-                     DataVSPeedDamping.Speed = 1200;
+                if ( DataVSPeedDamping.Speed > 1990 )
+                     DataVSPeedDamping.Speed = 1990;
             }
         }
         else                                          // 显示值正在向实际值减小,则维持当前方向调节增加速度
@@ -300,8 +254,8 @@ void Data_Vehicle_Speed_Processing_Service(void)
                 else
                 {
                     DataVSPeedDamping.Speed += Delta;
-                    if ( DataVSPeedDamping.Speed > 1200 )
-                         DataVSPeedDamping.Speed = 1200;
+                    if ( DataVSPeedDamping.Speed > 1990 )
+                         DataVSPeedDamping.Speed = 1990;
                 }
             }
             else                                                  // 显示值当前是减小方向
@@ -336,12 +290,14 @@ void Data_Vehicle_Speed_Processing_Service(void)
 
     if ( DataVSpeedValid )
     {
-        VSpeedCal *= 108; 
+        VSpeedCal *= 107; 
         VSpeedCal /= 100;
-        if((VSpeedCal % 10) >= 5)
+        VSpeedCal = VSpeedCal + 10;
+        if(VSpeedCal > 1990)
         {
-            VSpeedCal += 5; /* 四舍五入 */
+            VSpeedCal = 1990;
         }
+        
         DataVSpeedDisp = ( uint16_t )VSpeedCal;
     }
     else
@@ -366,24 +322,21 @@ uint16_t Get_DispVechileSpeed(void)
     uint16_t Vspeed = 0;
     if(Get_Dis_KM_Unit() == 0) /* KM */
     {
-        if ( DataVSpeedDisp >= 1200 )
+        if ( DataVSpeedDisp >= 1990 )
         {
-            DataVSpeedDisp = 1200;
+            DataVSpeedDisp = 1990;
         }
         Vspeed = DataVSpeedDisp;
     }
-    else //if (Get_Dis_KM_Unit() == 1)   /* MILE */
+    else    /* MILE */
     {
         Vspeed = Data_Km_To_Mile(DataVSpeedDisp);
-        if ( Vspeed >= 750 )
+        if ( Vspeed >= 1230 )
         {
-            Vspeed = 750;
+            Vspeed = 1230;
         }
     }
-    // else    
-    // {
-    //     ;
-    // }
+    
     return Vspeed;
 }