diff --git a/src/base/mc/include/mc/can_struct.h b/src/base/mc/include/mc/can_struct.h index 2eceb30..ea69c94 100644 --- a/src/base/mc/include/mc/can_struct.h +++ b/src/base/mc/include/mc/can_struct.h @@ -1,30 +1,29 @@ #ifndef CAN_STRUCT_H #define CAN_STRUCT_H -#include -#include #include + +#include +#include #include + #include "can_driver.h" -#pragma pack(push, 1) // 禁止结构体补齐，确保8字节紧密排列 +#pragma pack(push, 1) // 禁止结构体补齐，确保8字节紧密排列 struct can_BMS_query_0x100 { // 报文ID与控制标志定义 - static constexpr uint32_t CMD_ID = 0x100; // 标准帧ID - static constexpr bool EXT_FLAG = false; // 11位标准帧 - static constexpr bool RTR_FLAG = false; // 普通数据帧（非远程帧） - static constexpr uint8_t DLC = 8; // 数据长度为8字节 + static constexpr uint32_t CMD_ID = 0x100; // 标准帧ID + static constexpr bool EXT_FLAG = false; // 11位标准帧 + static constexpr bool RTR_FLAG = true; // 普通数据帧（非远程帧） + static constexpr uint8_t DLC = 8; // 数据长度为8字节 // 数据区（主机查询时通常发送全0） uint8_t data[8]; // 构造函数：初始化数据为0 - can_BMS_query_0x100() - { - memset(data, 0, sizeof(data)); - } + can_BMS_query_0x100() { memset(data, 0, sizeof(data)); } // 生成CAN帧 CANFrame toFrame() const @@ -42,19 +41,16 @@ struct can_BMS_query_0x100 struct can_BMS_query_0x101 { // 报文ID与控制标志定义 - static constexpr uint32_t CMD_ID = 0x101; // 标准帧ID - static constexpr bool EXT_FLAG = false; // 11位标准帧 - static constexpr bool RTR_FLAG = false; // 普通数据帧（非远程帧） - static constexpr uint8_t DLC = 8; // 数据长度为8字节 + static constexpr uint32_t CMD_ID = 0x101; // 标准帧ID + static constexpr bool EXT_FLAG = false; // 11位标准帧 + static constexpr bool RTR_FLAG = true; // 普通数据帧（非远程帧） + static constexpr uint8_t DLC = 8; // 数据长度为8字节 // 数据区（主机查询时通常发送全0） uint8_t data[8]; // 构造函数：初始化数据为0 - can_BMS_query_0x101() - { - memset(data, 0, sizeof(data)); - } + can_BMS_query_0x101() { memset(data, 0, sizeof(data)); } // 生成CAN帧 CANFrame toFrame() const @@ -85,10 +81,10 @@ union can_MCU_cmd_union // Byte 3: 开关信号状态 struct { - uint8_t cmd_status : 2; // BIT0-1: 命令状态(0空挡,1后退,2前进,3保留) - uint8_t brake : 1; // BIT2: 刹车开关(1=开) - uint8_t reserved_bit3 : 1; // BIT3: 保留 - uint8_t reserved_bits47 : 4; // BIT4-7: 保留 + uint8_t cmd_status : 2; // BIT0-1: 命令状态(0空挡,1后退,2前进,3保留) + uint8_t brake : 1; // BIT2: 刹车开关(1=开) + uint8_t reserved_bit3 : 1; // BIT3: 保留 + uint8_t reserved_bits47 : 4; // BIT4-7: 保留 } switch_status; // Byte 4-7: 保留 @@ -105,14 +101,14 @@ union can_EPS_cmd_union { struct { - uint8_t control_mode; // 控制方式 - uint8_t reserve1; // 保留 - uint8_t reserve2; // 保留 - uint8_t angle_h; // 角度高位 - uint8_t angle_l; // 角度低位 - uint8_t center_cmd; // 角度对中指令 - uint8_t angular_speed; // 角速度控制 - uint8_t checksum; // 异或校验 + uint8_t control_mode; // 控制方式 + uint8_t reserve1; // 保留 + uint8_t reserve2; // 保留 + uint8_t angle_h; // 角度高位 + uint8_t angle_l; // 角度低位 + uint8_t center_cmd; // 角度对中指令 + uint8_t angular_speed; // 角速度控制 + uint8_t checksum; // 异或校验 } fields; uint8_t bytes[8]; @@ -134,36 +130,30 @@ struct can_MCU_cmd { memset(&data, 0, sizeof(data)); // 初始化默认值 - data.fields.can_enabled = 0; // 默认不使能 - data.fields.switch_status.cmd_status = 0; // 默认空挡 - data.fields.switch_status.brake = 1; // 默认刹车 + data.fields.can_enabled = 0; // 默认不使能 + data.fields.switch_status.cmd_status = 0; // 默认空挡 + data.fields.switch_status.brake = 1; // 默认刹车 } // 设置使能状态 - void setEnabled(bool en) - { - data.fields.can_enabled = en ? 1 : 0; - } + void setEnabled(bool en) { data.fields.can_enabled = en ? 1 : 0; } // 设置档位 (0空挡,1后退,2前进,3保留) void setGear(uint8_t gear) { - data.fields.switch_status.cmd_status = gear & 0x03; // 只保留低2位 + data.fields.switch_status.cmd_status = gear & 0x03; // 只保留低2位 } // 设置刹车状态 - void setBrake(bool brake_on) - { - data.fields.switch_status.brake = brake_on ? 1 : 0; - } + void setBrake(bool brake_on) { data.fields.switch_status.brake = brake_on ? 1 : 0; } // 设置转速 (0-6000rpm) void setRPM(uint16_t rpm) { // 限制转速范围0-6000 uint16_t clamped_rpm = std::clamp(rpm, static_cast(0), static_cast(6000)); - data.fields.speed_low = clamped_rpm & 0xFF; // 低字节 - data.fields.speed_high = (clamped_rpm >> 8) & 0xFF; // 高字节 + data.fields.speed_low = clamped_rpm & 0xFF; // 低字节 + data.fields.speed_high = (clamped_rpm >> 8) & 0xFF; // 高字节 } CANFrame toFrame() const @@ -208,10 +198,7 @@ struct can_EPS_cmd data.fields.angle_l = raw & 0xFF; } - void setCenterCmd(uint8_t cmd) - { - data.fields.center_cmd = cmd; - } + void setCenterCmd(uint8_t cmd) { data.fields.center_cmd = cmd; } void setAngularSpeed(uint16_t angle_speed) { @@ -285,52 +272,28 @@ struct can_VCU_motor1_cmd int8_t data[8]{}; // 设置Byte0 - void setByte0(int8_t direction) - { - data[0] = std::clamp(direction, static_cast(0), static_cast(2)); - } + void setByte0(int8_t direction) { data[0] = std::clamp(direction, static_cast(0), static_cast(2)); } // 设置Byte1 - void setByte1(int8_t value) - { - data[1] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte2 - void setByte2(int8_t value) - { - data[2] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte3 - void setByte3(int8_t value) - { - data[3] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte4 - void setByte4(int8_t value) - { - data[4] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte5 - void setByte5(int8_t value) - { - data[5] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte6 - void setByte6(int8_t value) - { - data[6] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte7 - void setByte7(int8_t value) - { - data[7] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast(-100), static_cast(100)); } CANFrame toFrame() const { @@ -354,52 +317,28 @@ struct can_VCU_motor2_cmd int8_t data[8]{}; // 设置Byte0 - void setByte0(int8_t value) - { - data[0] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte0(int8_t value) { data[0] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte1 - void setByte1(int8_t value) - { - data[1] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte2 - void setByte2(int8_t value) - { - data[2] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte3 - void setByte3(int8_t value) - { - data[3] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte4 - void setByte4(int8_t value) - { - data[4] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte5 - void setByte5(int8_t value) - { - data[5] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte6 - void setByte6(int8_t value) - { - data[6] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast(-100), static_cast(100)); } // 设置Byte7 - void setByte7(int8_t value) - { - data[7] = std::clamp(value, static_cast(-100), static_cast(100)); - } + void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast(-100), static_cast(100)); } CANFrame toFrame() const {