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