#include "soft_water.h" #include "soft_device.h" #include "usart_data_handle.h" #include "string.h" #include "common.h" #include "stdlib.h" #include "soft_can.h" #include "soft_version.h" #include "soft_crc.h" #include "soft_update.h" #include "soft_seed_weight.h" #include "config.h" #include "main_task.h" /** * @file liquid_recieved_hookfuction * @brief 液位计解析 * @param * @details * @author Zhang Sir **/ liquid liquid_inf; short liquid_aver_value[20] = {0}; uint8_t liquid_aver_i = 0; bool liquid_opening = false; //初始化 int liquid_aver_time = 0; uint8_t spary_type; uint8_t nozzle_type; void liquid_recieved_hookfuction(uint32_t cellCanID,uint8_t data[], uint8_t len) { Dev.Checklow_Link.connect_status = COMP_NORMAL; Dev.Checklow_Link.recv_time = HAL_GetTick(); memcpy(&liquid_inf.liquid_percent,&data[0],3); //俯仰小于8度 if((abs(planep.roll_angle / 100.0f) < 8) && (abs(planep.pitch_angle / 100.0f) < 8) && HAL_GetTick() - liquid_aver_time > 1000) { liquid_aver_value[liquid_aver_i] = liquid_inf.liquid_percent; liquid_aver_i++; if(liquid_aver_i > 19 ) { liquid_opening = true; liquid_aver_i = 0; } } else { liquid_aver_time = HAL_GetTick(); } } void Eft_Dev_Ack_recieved_hookfuction(uint32_t CanID, uint8_t data[], uint8_t len) { switch (CanID) { case Pump1 - 1: switch (data[0]) { case 0xF4: // if( dev_pump1.regist.sn == false) // regist_dev_info(&dev_pump1,PUMP1,false,(char *)data[1], ,NULL,0,NULL,0,"pump1",5); break; case 0xF5: break; case 0xF6: break; default: break; } break; case Pump2 - 1: switch (data[0]) { case 0xF4: // if( dev_pump2.regist.sn == false) // regist_dev_info(&dev_pump1,PUMP2,false,(char *)data[1], ,NULL,0,NULL,0,"pump2",5); break; case 0xF5: break; case 0xF6: break; default: break; } break; case Nozzle1 - 1: switch (data[0]) { case 0xF4: // if( dev_nozzle1.regist.sn == false) // regist_dev_info(&dev_nozzle1,NOZZLE1,false,(char *)data[1], ,NULL,0,NULL,0,"nozzle1",8); break; case 0xF5: break; case 0xF6: break; default: break; } break; case Nozzle2 - 1: switch (data[0]) { case 0xF4: // if( dev_nozzle2.regist.sn == false) // regist_dev_info(&dev_nozzle2,NOZZLE2,false,(char *)data[1], ,NULL,0,NULL,0,"nozzle2",8); break; case 0xF5: break; case 0xF6: break; default: break; } break; case Nozzle3 - 1: switch (data[0]) { case 0xF4: // if( dev_nozzle3.regist.sn == false) // regist_dev_info(&dev_nozzle3,NOZZLE3,false,(char *)data[1], ,NULL,0,NULL,0,"nozzle3",8); break; case 0xF5: break; case 0xF6: break; default: break; } break; case Nozzle4 - 1: switch (data[0]) { case 0xF4: // if( dev_nozzle4.regist.sn == false) // regist_dev_info(&dev_nozzle4,NOZZLE4,false,(char *)data[1], ,NULL,0,NULL,0,"nozzle4",8); break; case 0xF5: break; case 0xF6: break; default: break; } break; default: break; } } /** * @file Eft_Pump_Nozzle_recieved_hookfuction * @brief eft水泵 离心喷头 * @param none * @details * @author Zhang Sir **/ water_dev pump1,pump2; water_dev pump2; water_dev nozzle1,nozzle2,nozzle3,nozzle4,churn,turntable; void Eft_Pump_Nozzle_recieved_hookfuction(uint32_t CanID, uint8_t data[], uint8_t len) { switch (CanID) { case 0x9527: if(spary_type == SPARY_DEFAULT) spary_type = SPARY_GEMO; if( spary_type == SPARY_GEMO) { pump1.rpm = data[0] + data[1] *256; pump2.rpm = data[2] + data[3] *256; } Dev.Pump_Link.connect_status = COMP_NORMAL; Dev.Pump.facid = FAC_EFT; Dev.Pump_Link.recv_time = HAL_GetTick(); break; case Pump1: if(spary_type == SPARY_DEFAULT || spary_type == SPARY_GEMO) spary_type = SPARY_ROUXING; memcpy(&pump1,&data[0],sizeof(water_dev)); Dev.Eft_CanDev_Link[0].connect_status = COMP_NORMAL; Dev.L_pump1_Link.connect_status = COMP_NORMAL; Dev.L_pump1.facid = FAC_EFT; Dev.L_pump1_Link.recv_time = HAL_GetTick(); Dev.Flow.facid = FAC_LPUMP; if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | 1; break; case Pump2: if(spary_type == SPARY_DEFAULT || spary_type == SPARY_GEMO) spary_type = SPARY_ROUXING; memcpy(&pump2,&data[0],sizeof(water_dev)); Dev.Eft_CanDev_Link[1].connect_status = COMP_NORMAL; Dev.L_pump2_Link.connect_status = COMP_NORMAL; Dev.L_pump2.facid = FAC_EFT; Dev.L_pump2_Link.recv_time = HAL_GetTick(); Dev.Flow.facid = FAC_LPUMP; if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | (1 << 1); break; case Nozzle1: if(nozzle_type == NOZZLE_DEFAULT) nozzle_type = NOZZLE_NORMAL; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); memcpy(&nozzle1,&data[0],sizeof(water_dev)); Dev.Eft_CanDev_Link[2].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[2].recv_time = HAL_GetTick(); if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | (1 << 4); break; case Nozzle2: if(nozzle_type == NOZZLE_DEFAULT) nozzle_type = NOZZLE_NORMAL; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); memcpy(&nozzle2,&data[0],sizeof(water_dev)); Dev.Eft_CanDev_Link[3].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[3].recv_time = HAL_GetTick(); if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | (1 << 5); break; case Nozzle3: if(nozzle_type == NOZZLE_DEFAULT) nozzle_type = NOZZLE_NORMAL; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); memcpy(&nozzle3,&data[0],sizeof(water_dev)); Dev.Eft_CanDev_Link[4].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[4].recv_time = HAL_GetTick(); if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | (1 << 6); break; case Nozzle4: if(nozzle_type == NOZZLE_DEFAULT) nozzle_type = NOZZLE_NORMAL; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[5].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[5].recv_time = HAL_GetTick(); memcpy(&nozzle4,&data[0],sizeof(water_dev)); if(set_eftdev_canid_flag == true) set_eftdev_canid_status = set_eftdev_canid_status | (1 << 7); break; //升级与版本信息回馈 case Pump1 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Pump1 + 2: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF4: if(data[5] == 0xF1 && data[6] == 0xF3) { for(uint8_t i = 0;i < 3;i++) { dev_pump1.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_pump1.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_pump1.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_pump1.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_pump1,DEVICE_LPUMP1,false,dev_pump1.sn,8,NULL,0,NULL,0,"eftpump1",9); } break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_pump1.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_pump1.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_pump1.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_pump1,DEVICE_LPUMP1,false,NULL,0,dev_pump1.soft_serial,8,NULL,0,"eftpump1",9); break; case 0XF6: Dev.Pump.runtime1 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; p1_runing_time = true; break; default: break; } } break; case Pump2 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Pump2 + 2: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF4: if(data[5] == 0xF1 && data[6] == 0xF3) { for(uint8_t i = 0;i < 3;i++) { dev_pump2.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_pump2.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_pump2.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_pump2.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_pump2,DEVICE_LPUMP2,false,dev_pump2.sn,8,NULL,0,NULL,0,"eftpump2",9); } break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_pump2.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_pump2.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_pump2.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_pump2,DEVICE_LPUMP2,false,NULL,0,dev_pump2.soft_serial,8,NULL,0,"eftpump2",9); break; case 0XF6: Dev.Pump.runtime2 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; p2_runing_time = true; break; default: break; } } break; case Nozzle1 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Nozzle1 + 2: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF4: for(uint8_t i = 0;i < 3;i++) { dev_nozzle1.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle1.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle1.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle1.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle1,DEVICE_NOZZLE1,false,dev_nozzle1.sn,8,NULL,0,NULL,0,"eftnozzle1",11); break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_nozzle1.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_nozzle1.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_nozzle1.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_nozzle1,DEVICE_NOZZLE1,false,NULL,0,dev_nozzle1.soft_serial,8,NULL,0,"eftnozzle1",11); break; case 0XF6: Dev.Nozzle.runtime1 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; n1_runing_time = true; break; default: break; } } break; case Nozzle2 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Nozzle2 + 2: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF4: if(data[5] == 0xF1 && data[6] == 0xF3) { for(uint8_t i = 0;i < 3;i++) { dev_nozzle2.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle2.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle2.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle2.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle2,DEVICE_NOZZLE2,false,dev_nozzle2.sn,8,NULL,0,NULL,0,"eftnozzle2",11); } break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_nozzle2.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_nozzle2.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_nozzle2.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_nozzle2,DEVICE_NOZZLE2,false,NULL,0,dev_nozzle2.soft_serial,8,NULL,0,"eftnozzle2",11); break; case 0XF6: Dev.Nozzle.runtime2 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; n2_runing_time = true; break; default: break; } } break; case Nozzle3 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Nozzle3 + 2: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF4: for(uint8_t i = 0;i < 3;i++) { dev_nozzle3.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle3.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle3.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle3.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle3,DEVICE_NOZZLE3,false,dev_nozzle3.sn,8,NULL,0,NULL,0,"eftnozzle3",11); break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_nozzle3.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_nozzle3.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_nozzle3.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_nozzle3,DEVICE_NOZZLE3,false,NULL,0,dev_nozzle3.soft_serial,8,NULL,0,"eftnozzle3",11); break; case 0XF6: Dev.Nozzle.runtime3 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; n3_runing_time = true; break; default: break; } } break; case Nozzle4 + 1: if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); break; case Nozzle4 + 2: if(data[5] == 0xF1 && data[6] == 0xF3 ) { switch (data[0]) { case 0XF4: for(uint8_t i = 0;i < 3;i++) { dev_nozzle4.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle4.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle4.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle4.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle4,DEVICE_NOZZLE4,false,dev_nozzle4.sn,8,NULL,0,NULL,0,"eftnozzle4",11); break; case 0XF5: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_nozzle4.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_nozzle4.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_nozzle4.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_nozzle4,DEVICE_NOZZLE4,false,NULL,0,dev_nozzle4.soft_serial,8,NULL,0,"eftnozzle4",11); break; case 0XF6: Dev.Nozzle.runtime4 = (data[1] + (data[2] + data[3] * 256) * 60) / 10; n4_runing_time = true; break; default: break; } } break; case Spread: break; default: break; } } /** * @file Z70_Pump_Nozzle_recieved_hookfuction * @brief Z70转接板 * @param * @details * @author Zhang Sir **/ Z70_tranfer z70_info; weight70_dev z70weight; uint16_t LiftingWeight_warning = 0; void Z70_Pump_Nozzle_recieved_hookfuction(uint32_t CanID, uint8_t data[], uint8_t len) { //70吊运板称重 if(CanID == CAN_EFT70_WEIGHT) { if(weight_type == WEIGHT_DEFAULT || weight_type == WEIGHT_FPLATE || weight_type == WEIGHT_TRANFER) weight_type = WEIGHT_LIFT; if(weight_type == WEIGHT_LIFT) { fplate.weight = (data[0] + data[1] * 256); LiftingWeight_warning = data[2]; Dev.Weight_Link.connect_status = COMP_NORMAL; Dev.Weight.facid = FAC_LIFTWEIGHT; Dev.Weight_Link.recv_time = HAL_GetTick(); } } else if(CanID == CAN_EFT70_WEIGHT_ACK) { //称重回馈 switch (data[0]) { case 0xe1: pmu_set_ack(_MSGID_SET,25,Cal_Remove_Peel,0); break; case 0xe2: pmu_set_ack(_MSGID_SET,25,Cal_Weight,0); break; case 0xe3: pmu_set_ack(_MSGID_SET,MSGID_SET_WEIGHT_K,0,0); break; case 0xe4: z70weight.info.k1 = data[1] + ((data[2] & 0x3f) << 8); z70weight.info.k2 = (data[2] >> 6) + (data[3] << 2) + ((data[4] & 0xf) << 10); z70weight.info.k3 = (data[4] >> 4) + (data[5] << 4) + ((data[6] & 0x3) << 12); z70weight.info.k4 = (data[6] >> 2) + (data[7] << 6); break; case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_weight.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_weight.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_weight.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_weight.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_weight,DEVICE_WEIGHT,false,dev_weight.sn,8,NULL,0,NULL,0,"eftweight",10); break; case 0xF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_weight.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_weight.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_weight.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_weight.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_weight.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_weight.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_weight,DEVICE_WEIGHT,false,NULL,0,dev_weight.soft_serial,8,NULL,0,"eftweight",10); break; case 0xF5: Dev.Weight.runtime = data[2] + (data[3] + data[4] * 256) * 60; weight_runing_time = true; break; case 0xF7: pmu_set_ack(_MSGID_SET,MSGID_SET_RESIWIRE_BLOWN,data[1],0); break; default: break; } } if(CanID == 0x7010) { memcpy(&z70_info, &data[0], len); switch (z70_info.dev_type) { case Z70_Public: if(weight_type == WEIGHT_DEFAULT || weight_type == WEIGHT_FPLATE) weight_type = WEIGHT_TRANFER; if(weight_init_eft.step.read_k_flag == 0) weight_init_eft.step.read_k_flag = 1; //同时存在两个称重，重新获取K if(weight_type == WEIGHT_TRANFER) { memcpy(&fplate.weight,&data[4],2); mimo_lackloss.status = data[6]; Dev.Weight_Link.connect_status = COMP_NORMAL; Dev.Weight.facid = FAC_EFT; Dev.Weight_Link.recv_time = HAL_GetTick(); } break; case Z70_Pump1: if(spary_type == SPARY_DEFAULT || spary_type == SPARY_GEMO || spary_type == SPARY_ROUXING) spary_type = SPARY_TRANSFER; pump1.rpm = z70_info.rpm; pump1.error_status = z70_info.warning; Dev.L_pump1_Link.connect_status = COMP_NORMAL; Dev.L_pump1.facid = FAC_EFT; Dev.L_pump1_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[0].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[0].recv_time = HAL_GetTick(); break; case Z70_Pump2: if(spary_type == SPARY_DEFAULT || spary_type == SPARY_GEMO || spary_type == SPARY_ROUXING) spary_type = SPARY_TRANSFER; pump2.rpm = z70_info.rpm; pump2.error_status = z70_info.warning; Dev.L_pump2_Link.connect_status = COMP_NORMAL; Dev.L_pump2.facid = FAC_EFT; Dev.L_pump2_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[1].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[1].recv_time = HAL_GetTick(); break; case Z70_Nozzle1: if(nozzle_type == NOZZLE_DEFAULT || nozzle_type == NOZZLE_NORMAL) nozzle_type = NOZZLE_TRANSFER; nozzle1.rpm = z70_info.rpm; nozzle1.error_status = z70_info.warning; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[2].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[2].recv_time = HAL_GetTick(); break; case Z70_Nozzle2: if(nozzle_type == NOZZLE_DEFAULT || nozzle_type == NOZZLE_NORMAL) nozzle_type = NOZZLE_TRANSFER; nozzle2.rpm = z70_info.rpm; nozzle2.error_status = z70_info.warning; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[3].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[3].recv_time = HAL_GetTick(); break; case Z70_Nozzle3: if(nozzle_type == NOZZLE_DEFAULT || nozzle_type == NOZZLE_NORMAL) nozzle_type = NOZZLE_TRANSFER; nozzle3.rpm = z70_info.rpm; nozzle3.error_status = z70_info.warning; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[4].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[4].recv_time = HAL_GetTick(); break; case Z70_Nozzle4: if(nozzle_type == NOZZLE_DEFAULT || nozzle_type == NOZZLE_NORMAL) nozzle_type = NOZZLE_TRANSFER; nozzle4.rpm = z70_info.rpm; nozzle4.error_status = z70_info.warning; Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_Link.recv_time = HAL_GetTick(); Dev.Eft_CanDev_Link[5].connect_status = COMP_NORMAL; Dev.Eft_CanDev_Link[5].recv_time = HAL_GetTick(); break; case Z70_Churn: if(spread_type == SPREAD_DEFAULT || spread_type == SPREAD_NORMAL) spread_type = SPREAD_JIAOLONG; churn.rpm = z70_info.rpm; churn.error_status = z70_info.warning; churn.reserve = (z70_info.reserve1 & 0x01) + (z70_info.reserve2 & 0x06); Dev.Seed_Link.connect_status = COMP_NORMAL; Dev.Seed_Link.recv_time = HAL_GetTick(); Dev.Seed.facid = FAC_CHURN_SEED; break; case Z70_Turntable: turntable.rpm = z70_info.rpm; turntable.error_status = z70_info.warning; Dev.Seed_Link.connect_status = COMP_NORMAL; Dev.Seed_Link.recv_time = HAL_GetTick(); Dev.Seed.facid = FAC_CHURN_SEED; break; default: break; } } else if(CanID == 0x7011) { if(eft_update.update_flag == true) eft_dev_update_wait_ereseflash(data); //称重回馈 switch (data[0]) { case 0xe1: pmu_set_ack(_MSGID_SET,25,Cal_Remove_Peel,0); break; case 0xe2: pmu_set_ack(_MSGID_SET,25,Cal_Weight,0); break; case 0xe3: pmu_set_ack(_MSGID_SET,MSGID_SET_WEIGHT_K,0,0); break; case 0xe4: z70weight.info.k1 = data[1] + ((data[2] & 0x3f) << 8); z70weight.info.k2 = (data[2] >> 6) + (data[3] << 2) + ((data[4] & 0xf) << 10); z70weight.info.k3 = (data[4] >> 4) + (data[5] << 4) + ((data[6] & 0x3) << 12); z70weight.info.k4 = (data[6] >> 2) + (data[7] << 6); weight_init_eft.step.read_k_flag = 0; break; case 0xE6: pmu_set_ack(_MSGID_SET,MSGID_SET_CHURN_RESET,0,0); break; default: break; } switch (data[1]) { case Z70_Public: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_weight.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_weight.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_weight.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_weight.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_weight,DEVICE_WEIGHT,false,dev_weight.sn,8,NULL,0,NULL,0,"eftweight",10); break; case 0xF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_weight.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_weight.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_weight.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_weight.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_weight.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_weight.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_weight,DEVICE_WEIGHT,false,NULL,0,dev_weight.soft_serial,8,NULL,0,"eftweight",10); break; case 0xF5: Dev.Weight.runtime = data[2] + (data[3] + data[4] * 256) * 60; weight_runing_time = true; break; default: break; } break; case Z70_Pump1: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_pump1.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_pump1.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_pump1.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_pump1.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_pump1,DEVICE_LPUMP1,false,dev_pump1.sn,8,NULL,0,NULL,0,"eftpump1",9); break; case 0XF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_pump1.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_pump1.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_pump1.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_pump1.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_pump1.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_pump1.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_pump1,DEVICE_LPUMP1,false,NULL,0,dev_pump1.soft_serial,8,NULL,0,"eftpump1",9); break; case 0XF5: Dev.Pump.runtime1 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; p1_runing_time = true; break; default: break; } break; case Z70_Pump2: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_pump2.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_pump2.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_pump2.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_pump2.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_pump2,DEVICE_LPUMP2,false,dev_pump2.sn,8,NULL,0,NULL,0,"eftpump2",9); break; case 0XF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_pump2.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_pump2.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_pump2.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_pump2.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_pump2.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_pump2.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_pump2,DEVICE_LPUMP2,false,NULL,0,dev_pump2.soft_serial,8,NULL,0,"eftpump2",9); break; case 0XF5: Dev.Pump.runtime2 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; p2_runing_time = true; break; default: break; } break; case Z70_Nozzle1: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_nozzle1.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle1.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle1.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle1.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle1,DEVICE_NOZZLE1,false,dev_nozzle1.sn,8,NULL,0,NULL,0,"eftnozzle1",11); break; case 0XF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_nozzle1.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_nozzle1.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_nozzle1.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_nozzle1.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_nozzle1.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_nozzle1.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_nozzle1,DEVICE_NOZZLE1,false,NULL,0,dev_nozzle1.soft_serial,8,NULL,0,"eftnozzle1",11); break; case 0XF5: Dev.Nozzle.runtime1 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; n1_runing_time = true; break; default: break; } break; case Z70_Nozzle2: switch (data[0]) { case 0XF3: if(data[5] == 0xF1 && data[6] == 0xF3) { for(uint8_t i = 0;i < 3;i++) { dev_nozzle2.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle2.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle2.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle2.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle2,DEVICE_NOZZLE2,false,dev_nozzle2.sn,8,NULL,0,NULL,0,"eftnozzle2",11); } break; case 0XF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_nozzle2.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_nozzle2.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_nozzle2.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_nozzle2.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_nozzle2.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_nozzle2.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_nozzle2,DEVICE_NOZZLE2,false,NULL,0,dev_nozzle2.soft_serial,8,NULL,0,"eftnozzle2",11); break; case 0XF5: Dev.Nozzle.runtime2 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; n2_runing_time = true; break; default: break; } break; case Z70_Nozzle3: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_nozzle3.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle3.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle3.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle3.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle3,DEVICE_NOZZLE3,false,dev_nozzle3.sn,8,NULL,0,NULL,0,"eftnozzle3",11); break; case 0XF4: for (uint8_t i = 2; i < 5; i++) { if(data[i] < 10) { dev_nozzle3.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_nozzle3.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_nozzle3.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_nozzle3.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_nozzle3.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_nozzle3.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_nozzle3,DEVICE_NOZZLE3,false,NULL,0,dev_nozzle3.soft_serial,8,NULL,0,"eftnozzle3",11); break; case 0XF5: Dev.Nozzle.runtime3 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; n3_runing_time = true; break; default: break; } break; case Z70_Nozzle4: switch (data[0]) { case 0XF3: for(uint8_t i = 0;i < 3;i++) { dev_nozzle4.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_nozzle4.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_nozzle4.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_nozzle4.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_nozzle4,DEVICE_NOZZLE4,false,dev_nozzle4.sn,8,NULL,0,NULL,0,"eftnozzle4",11); break; case 0XF4: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_nozzle4.soft_serial[2 * (i - 2)] = '0'; Int2String(data[i],&dev_nozzle4.soft_serial[2 * (i - 2) + 1],1); } else { Int2String(data[i],&dev_nozzle4.soft_serial[ (i - 2) * 2],2); } } if(data[7] < 10) { dev_nozzle4.soft_serial[2 * (4 - 1)] = '0'; Int2String(data[7],&dev_nozzle4.soft_serial[2 * (4 - 1) + 1],1); } else { Int2String(data[7],&dev_nozzle4.soft_serial[ (4 - 1) * 2],2); } regist_dev_info(&dev_nozzle4,DEVICE_NOZZLE4,false,NULL,0,dev_nozzle4.soft_serial,8,NULL,0,"eftnozzle4",11); break; case 0XF5: Dev.Nozzle.runtime4 = (data[2] + (data[3] + data[4] * 256) * 60) / 10; n4_runing_time = true; break; default: break; } break; default: break; } } } /** * @file can_sendmsg_eft_water * @brief 更新设备信息 * @param * @details * @author Zhang Sir **/ water70_dev water70_info; void can_sendmsg_eft_water(void) { uint8_t can_buf[8] = {0}; if((spary_type == SPARY_ROUXING || nozzle_type == NOZZLE_NORMAL) ) { static uint8_t life[6] = {0}; can_buf[0] = 0xF1; can_buf[5] = 0xF1; can_buf[6] = 0xF3; //pmup1 can_buf[1]= (pmu_pin.pump1 >> 8) & 0xff; can_buf[2]= pmu_pin.pump1 & 0xff; can_buf[7]= life[0]; life[0]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Pump1 + 1 , CAN_ID_EXT); //pump2 can_buf[1]= (pmu_pin.pump2 >> 8) & 0xff; can_buf[2]= pmu_pin.pump2 & 0xff; can_buf[7]= life[1]; life[1]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Pump2 + 1 , CAN_ID_EXT); //nozzle1 can_buf[1]= (pmu_pin.nozz1_fm >> 8) & 0xff; can_buf[2]= pmu_pin.nozz1_fm & 0xff; can_buf[7]= life[2]; life[2]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Nozzle1 + 1 , CAN_ID_EXT); //nozzle2 can_buf[1]= (pmu_pin.nozz1_fm >> 8) & 0xff; can_buf[2]= pmu_pin.nozz1_fm & 0xff; can_buf[7]= life[3]; life[3]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Nozzle2 + 1 , CAN_ID_EXT); //nozzle3 can_buf[1]= (pmu_pin.nozz2_zp >> 8) & 0xff; can_buf[2]= pmu_pin.nozz2_zp & 0xff; can_buf[7]= life[4]; life[4]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Nozzle3 + 1 , CAN_ID_EXT); //nozzle4 can_buf[1]= (pmu_pin.nozz2_zp >> 8) & 0xff; can_buf[2]= pmu_pin.nozz2_zp & 0xff; can_buf[7]= life[5]; life[5]++; Can_Send_Msg_Func(CANID2, can_buf, 8, Nozzle4 + 1 , CAN_ID_EXT); } else if(spary_type == SPARY_TRANSFER || spread_type == SPREAD_JIAOLONG) { water70_info.dev_water70.flag = planep.lock_status == STA_LOCK ? 0x5 : 0xA; if(Dev.Seed_Link.connect_status != COMP_NOEXIST) { water70_info.dev_water70.pump1 = math_cons_i16(spread_par.pwm_valve,1000,2000) - 1000; water70_info.dev_water70.pump2 = math_cons_i16(spread_par.pwm_turntable,1000,2000) - 1000; } else { water70_info.dev_water70.pump1 = math_cons_i16(pmu_pin.pump1,1000,2000) - 1000; water70_info.dev_water70.pump2 = math_cons_i16(pmu_pin.pump2,1000,2000) - 1000; } water70_info.dev_water70.nozzle1 = pmu_pin.nozz1_fm - 1000; water70_info.dev_water70.nozzle2 = pmu_pin.nozz2_zp - 1000; water70_info.dev_water70.nozzle3 = pmu_pin.nozz3 - 1000; water70_info.dev_water70.nozzle4 = pmu_pin.nozz4 - 1000; memcpy(&can_buf, &water70_info.buf[0], sizeof(soft_water70)); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011 , CAN_ID_EXT); } } /** * @file decode_liquid_info * @brief 解析液位计 * @param * @details * @author Zhang Sir **/ int decode_liquid_info(void) { Check_dev_link(&Dev.Checklow_Link,5000,(char *)&liquid_inf.liquid_percent,sizeof(liquid)); if(Dev.Checklow_Link.connect_status == COMP_NORMAL) { int liquid_temp = 0; //上电没滤波直接显示 if(liquid_opening == false) { return liquid_inf.liquid_percent; } for(uint8_t i = 0; i < 20; i++) { liquid_temp += liquid_aver_value[i]; } return liquid_temp / 20; } else { return 0; } } /** * @file HobbywingCanRecvHookFunction * @brief CAN解析好盈协议 * @param * @details * @author Zhang Sir **/ HWTail rawcmdTail = {0}; HWTail setIDTail = {0}; _EscLinkDevice EscMsg[4 + 1]; void HobbywingCanRecvHookFunction(uint32_t id, uint8_t *recv_buf, uint8_t len) { //去掉NODEID uint32_t Can_filte_id = id & 0x1FFFFF00; if(Can_filte_id == 0x1F4E5200 || Can_filte_id == 0x1F4E5300 || Can_filte_id == 0x1F4E5400|| Can_filte_id == 0x004E2E00 || Can_filte_id == 0x1000D200 || Can_filte_id == 0x004E2D00|| Can_filte_id == 0x18044400){} else{return;} uint16_t TypeID = 0; uint8_t SerOrMsg = ( id & HW_CANID_SNM_MASK ) >> HW_CANID_SNM_POS; uint8_t SrcNodeID = ( id & HW_CANID_SRCNODE_MASK ) >> HW_CANID_SRCNODE_POS; if ( SerOrMsg == HW_TYPE_SER ) TypeID = ( id & HW_CANID_SERID_MASK ) >> HW_CANID_SERID_POS; else TypeID = ( id & HW_CANID_MSGID_MASK ) >> HW_CANID_MSGID_POS; switch ( TypeID ) { //单独解析HW_FRAME_MSG_SET_ID_MODE的反馈，进入设置时电调的自身节点不确定。不一定在1~8之间。 case HW_FRAME_MSG_SET_ID_MODE: { uint8_t _mode = recv_buf[0]; uint8_t _control = recv_buf[1]; //进入配置ID模式 if ( _mode == HW_SETIDMODE_MODE2 && _control == HW_SETIDMODE_CONTROL1 ) { setESCidInfo.getSetIDModeRes = true; setESCidInfo.getSetIDModeResCnt++; } } break; case HW_FRAME_MSG_GET_ESC_ID: //hw_canesc_link_status = COMP_NORMAL; break; case UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID: //uavcan_equipment_power_BatteryInfo_decode(recv_buf, len, id); break; } _EscLinkDevice *EscPtr = NULL; if ( SrcNodeID >= 1 && SrcNodeID <= 4 ) { EscPtr = &EscMsg[SrcNodeID]; } else if (SrcNodeID == 16) { EscPtr = &EscMsg[0]; } if ( EscPtr != NULL ) { Dev.L_pump1_Link.connect_status = COMP_NORMAL; Dev.L_pump1_Link.recv_time = HAL_GetTick(); Dev.L_pump1.facid = FAC_HW_ESC; HWTail revTail = {0}; if ( len > 0 && len <= 8 ) revTail.HWTailByte = recv_buf[len - 1]; switch ( TypeID ) { //esc自动上报 MSG1 2 3 case HW_MSG1_ID: EscPtr->motorRPM = ( recv_buf[1] << 8 ) + recv_buf[0]; EscPtr->pwm_value = ( recv_buf[3] << 8 ) + recv_buf[2]; EscPtr->warn_flag = ( recv_buf[5] << 8 ) + recv_buf[4]; break; case HW_MSG2_ID: EscPtr->esc_voltage = ( ( recv_buf[1] << 8 ) + recv_buf[0] ) / 10.0f; EscPtr->esc_current = ( ( recv_buf[3] << 8 ) + recv_buf[2] ) / 10.0f; EscPtr->esc_temperature = recv_buf[4]; break; case HW_MSG3_ID: EscPtr->esc_mosTemp = recv_buf[0]; EscPtr->esc_capTemp = recv_buf[1]; EscPtr->esc_motorTemp = recv_buf[2]; break; case HW_MSGCONTROL_ID: EscPtr->MsgCtrOpt = recv_buf[0]; memcpy( &EscPtr->MsgCtrCmd, &recv_buf[1], 4 ); break; case HW_FRAME_MSG_GET_ESC_ID: EscPtr->GetESCid = true; EscPtr->GetEscNodeID = recv_buf[0]; EscPtr->GetEscThrCh = recv_buf[1]; break; case HW_FRAME_MSG_SET_ID_MODE: //退出配置ID模式 if ( recv_buf[0] == 0x55 && recv_buf[1] == 0x55 ) EscPtr->ResSetIDModeExit = true; break; case HW_SETID_ID: EscPtr->ResSetID = true; EscPtr->SetIDNodeID = recv_buf[0]; EscPtr->SetIDThrCh = recv_buf[1]; break; case HW_SETBAUD_ID: EscPtr->SetBaud = recv_buf[0]; break; case HW_SETLED_ID: EscPtr->SetLEDOpt = recv_buf[0]; EscPtr->SetLEDClr = recv_buf[1]; EscPtr->SetLEDBlk = recv_buf[2]; break; case HW_SETROTATION_ID: EscPtr->SetRotDir = recv_buf[0]; break; case HW_SETGET_FREQ_ID: EscPtr->SetFreqOpt = recv_buf[0]; EscPtr->SetFreqID = ( recv_buf[2] << 8 ) + recv_buf[1]; EscPtr->SetFreqFreq = recv_buf[3]; break; case HW_THRSELEXT_ID: EscPtr->ThrSrc = recv_buf[0]; break; case HW_SELFTEST_ID: EscPtr->SelfCheckSta = recv_buf[0]; break; case HW_ESCINFO_ID: if ( revTail.HWTailBit.start == 1 ) { EscPtr->_VerBufIndex = 0; EscPtr->_VerBufGetS = true; } if ( EscPtr->_VerBufGetS == true && EscPtr->_VerBufIndex + len - 1 < sizeof( EscPtr->_VerBuf ) ) { memcpy( &EscPtr->_VerBuf[EscPtr->_VerBufIndex], recv_buf, len - 1 ); EscPtr->_VerBufIndex += ( len - 1 ); } else { EscPtr->_VerBufIndex = 0; EscPtr->_VerBufGetS = false; } if ( EscPtr->_VerBufGetS == true && revTail.HWTailBit.end == 1 ) { uint16_t sigcrc = crcAddSignature( HW_CRC_INITVALUE, HW_ESCINFO_SIG ); uint16_t crc = crcAdd( sigcrc, &EscPtr->_VerBuf[2], EscPtr->_VerBufIndex - 2 ); uint16_t recvCRC = ( EscPtr->_VerBuf[1] << 8 ) + EscPtr->_VerBuf[0]; if ( crc == recvCRC ) { uint8_t ESCinfoOpt = EscPtr->_VerBuf[2]; switch ( ESCinfoOpt ) { case HW_ESCINFO_OPT00: EscPtr->GetESCInfoOpt00 = true; memcpy( EscPtr->LinkSoftVer, &EscPtr->_VerBuf[3], 16 ); memcpy( EscPtr->LinkHardVer, &EscPtr->_VerBuf[19], 16 ); memcpy( EscPtr->LinkDevVer, &EscPtr->_VerBuf[35], 16 ); memcpy( EscPtr->LinkSN, &EscPtr->_VerBuf[51], 8 ); break; case HW_ESCINFO_OPT01: EscPtr->GetESCInfoOpt01 = true; memcpy( EscPtr->DriveSoftVer, &EscPtr->_VerBuf[3], 16 ); memcpy( EscPtr->DriveHardVer, &EscPtr->_VerBuf[19], 16 ); memcpy( EscPtr->DriveDevVer, &EscPtr->_VerBuf[35], 16 ); memcpy( EscPtr->DriveSN, &EscPtr->_VerBuf[51], 8 ); break; case HW_ESCINFO_OPT02: EscPtr->GetESCInfoOpt02 = true; memcpy( EscPtr->HardSN, &EscPtr->_VerBuf[3], 16 ); memcpy( EscPtr->ProtocolVer, &EscPtr->_VerBuf[19], 8 ); break; default: break; } } } break; //设置回应ESC配置信息 case HW_GETMAJORCONF_ID: EscPtr->GetMajorConf = true; EscPtr->MajorConfRot = ( recv_buf[0] >> 7 ) & 0x01; //电机旋转方向(0：顺时针，1：逆时针); EscPtr->MajorConfThrSrc = ( recv_buf[0] >> 6 ) & 0x01; //油门信号源(0：CAN数字油门，1：PWM油门); EscPtr->MajorConfThrCh = recv_buf[0] & 0x3F; //定的数字油门通道; EscPtr->MajorConfLEDBlink = ( recv_buf[1] >> 3 ) & 0x1f; //LED闪烁状态; EscPtr->MajorConfLEDColor = recv_buf[1] & 0x07; //LED静态灯色RGB; EscPtr->MajorConfMSG2UPHZ = ( recv_buf[2] >> 4 ) & 0x0f; //MSG2数据帧上报速率; EscPtr->MajorConfMSG1UPHZ = recv_buf[2] & 0x0f; //MSG1数据帧上报速率; EscPtr->MajorConfInstAngle = recv_buf[3] + ( recv_buf[4] << 8 ); //定位角度数值 break; default: break; } } } /** * @file HW_CanGetESCInfomation * @brief 上电获取好盈版本配置信息 * @param * @details * @author Zhang Sir **/ HWTail GetEscInfoTail = {0}; HWTail GetMInfoTail = {0}; HWTail GetMajorConfTail = {0}; HWTail GetESCidTail = {0}; void HW_CanGetESCInfomation( void ) { // uint8_t send_can_buf[8] = {0}; // uint16_t desnodeID = 0; // uint32_t canID = 0; // if ( Dev.Pump_Link.connect_status == COMP_NORMAL && Dev.Pump.facid == FAC_HW_ESC ) // { // 获取版本信息 // if (EscMsg[desnodeID].GetESCInfoOpt00 != true ) // { // canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | // ( ( HW_ESCINFO_ID << HW_CANID_SERID_POS ) & HW_CANID_SERID_MASK ) | // ( ( HW_TYPE_REQ << HW_CANID_RNR_POS ) & HW_CANID_RNR_MASK ) | // ( ( desnodeID << HW_CANID_DESNODE_POS )& HW_CANID_DESNODE_MASK ) | // ( ( HW_TYPE_SER << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | // ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS ) & HW_CANID_SRCNODE_MASK ); // send_can_buf[0] = HW_ESCINFO_OPT00; // GetEscInfoTail.HWTailBit.start = 1; // GetEscInfoTail.HWTailBit.end = 1; // GetEscInfoTail.HWTailBit.toggle = 0; // send_can_buf[1] = GetEscInfoTail.HWTailByte; // can_send_msg_normal(send_can_buf,2,canID); // GetEscInfoTail.HWTailBit.tranid++; // } // else if ( EscMsg[desnodeID].GetESCInfoOpt01 != true ) // { // canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | // ( ( HW_ESCINFO_ID << HW_CANID_SERID_POS ) & HW_CANID_SERID_MASK ) | // ( ( HW_TYPE_REQ << HW_CANID_RNR_POS ) & HW_CANID_RNR_MASK ) | // ( ( desnodeID << HW_CANID_DESNODE_POS )& HW_CANID_DESNODE_MASK ) | // ( ( HW_TYPE_SER << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | // ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS ) & HW_CANID_SRCNODE_MASK ); // send_can_buf[0] = HW_ESCINFO_OPT01; // GetEscInfoTail.HWTailBit.start = 1; // GetEscInfoTail.HWTailBit.end = 1; // GetEscInfoTail.HWTailBit.toggle = 0; // send_can_buf[1] = GetEscInfoTail.HWTailByte; // can_send_msg_normal(send_can_buf,2,canID); // GetEscInfoTail.HWTailBit.tranid++; // } // else if (EscMsg[desnodeID].GetESCInfoOpt02 != true ) // { // canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | // ( ( HW_ESCINFO_ID << HW_CANID_SERID_POS ) & HW_CANID_SERID_MASK ) | // ( ( HW_TYPE_REQ << HW_CANID_RNR_POS ) & HW_CANID_RNR_MASK ) | // ( ( desnodeID << HW_CANID_DESNODE_POS )& HW_CANID_DESNODE_MASK ) | // ( ( HW_TYPE_SER << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | // ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS ) & HW_CANID_SRCNODE_MASK ); // send_can_buf[0] = HW_ESCINFO_OPT02; // GetEscInfoTail.HWTailBit.start = 1; // GetEscInfoTail.HWTailBit.end = 1; // GetEscInfoTail.HWTailBit.toggle = 0; // send_can_buf[1] = GetEscInfoTail.HWTailByte; // can_send_msg_normal(send_can_buf,2,canID); // GetEscInfoTail.HWTailBit.tranid++; // } // else if ( EscMsg[desnodeID].GetMajorConf != true ) // { // canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | // ( ( HW_GETMAJORCONF_ID << HW_CANID_SERID_POS ) & HW_CANID_SERID_MASK ) | // ( ( HW_TYPE_REQ << HW_CANID_RNR_POS ) & HW_CANID_RNR_MASK ) | // ( ( desnodeID << HW_CANID_DESNODE_POS )& HW_CANID_DESNODE_MASK ) | // ( ( HW_TYPE_SER << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | // ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS ) & HW_CANID_SRCNODE_MASK ); // send_can_buf[0] = HW_MAJORCONF_OPT0; // GetMajorConfTail.HWTailBit.start = 1; // GetMajorConfTail.HWTailBit.end = 1; // GetMajorConfTail.HWTailBit.toggle = 0; // send_can_buf[1] = GetMajorConfTail.HWTailByte; // can_send_msg_normal(send_can_buf,2,canID); // GetMajorConfTail.HWTailBit.tranid++; // } // 获取的反馈ID和VK电池有冲突 // if (EscMsg[desnodeID].GetESCid != true ) // { // canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | // ( ( HW_FRAME_MSG_GET_ESC_ID << HW_CANID_MSGID_POS ) & HW_CANID_MSGID_MASK ) | // ( ( HW_TYPE_MSG << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | // ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS )& HW_CANID_SRCNODE_MASK ); // send_can_buf[0] = HW_GETESCID_OPT0; // GetESCidTail.HWTailBit.start = 1; // GetESCidTail.HWTailBit.end = 1; // GetESCidTail.HWTailBit.toggle = 0; // send_can_buf[1] = GetESCidTail.HWTailByte; // can_send_msg_normal(send_can_buf,2,canID); // GetESCidTail.HWTailBit.tranid++; // } // } } /** * @file HW_CanSetESCInfomation * @brief HW设置类信息 * @param * @details * @author Zhang Sir **/ bool set_HWesc_ESCid = false; HWTail SetEscidTail = {0}; uint16_t curNodeID = 1; //当前能接收到的ESC的id _setESCidInfo setESCidInfo = {.reTxMaxCnt = 5}; void HW_CanSetESCInfomation( void ) { uint8_t send_can_buf[8] = {0}; uint32_t canID = 0; if ( set_HWesc_ESCid == true ) { //超时退出.任何阶段配置失败是否要执行退出配置模式？ if ( setESCidInfo.reTxMaxCnt <= 0 && setESCidInfo.setESCidStep != SETESCID_EXIT ) { setESCidInfo.setESCidStep = SETESCID_EXIT; setESCidInfo.reTxMaxCnt = 5; set_HWesc_ESCid = false; } // 初始化并清零现场 if ( setESCidInfo.setESCidStep == SETESCID_INIT ) { setESCidInfo.getSetIDModeRes = false; setESCidInfo.reTxMaxCnt = 5; setESCidInfo.getSetIDModeResCnt = 0; if ( setESCidInfo.setESCidNum > 0 && setESCidInfo.setESCidNum <= 4 ) { EscMsg[setESCidInfo.setESCidNum].ResSetID = false; EscMsg[setESCidInfo.setESCidNum].ResSetIDModeExit = false; setESCidInfo.setESCidStep++; } else { set_HWesc_ESCid = false; } } // 进入配置模式 else if ( setESCidInfo.setESCidStep == SETESCID_ENTER ) { if ( setESCidInfo.getSetIDModeRes == false ) { //广播帧 canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | ( ( HW_FRAME_MSG_SET_ID_MODE << HW_CANID_MSGID_POS ) & HW_CANID_MSGID_MASK ) | ( ( HW_TYPE_MSG << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS )& HW_CANID_SRCNODE_MASK ); send_can_buf[0] = HW_SETIDMODE_MODE2; send_can_buf[1] = HW_SETIDMODE_CONTROL1; SetEscidTail.HWTailBit.start = 1; SetEscidTail.HWTailBit.end = 1; SetEscidTail.HWTailBit.toggle = 0; send_can_buf[2] = SetEscidTail.HWTailByte; Can_Send_Msg_Func(CANID2, send_can_buf, 3, canID, CAN_ID_EXT); SetEscidTail.HWTailBit.tranid++; setESCidInfo.reTxMaxCnt--; } else { setESCidInfo.setESCidStep++; setESCidInfo.reTxMaxCnt = 5; setESCidInfo.setEscIDDelayTime = HAL_GetTick(); } } //配合油门，发送设置ID指令（要配置ID的通道PWM给1000，其余通道失能PWM输出） else if ( setESCidInfo.setESCidStep == SETESCID_SET ) { //配置信息 //EscSet.send_type2_canid[0] = 1; //EscSet.send_type2_canid[1] = 1; //setESCidInfo.setESCidNum = 2; //配置ID属于伪服务帧，不关心DESnode canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | ( ( HW_SETID_ID << HW_CANID_SERID_POS ) & HW_CANID_SERID_MASK ) | ( ( HW_TYPE_REQ << HW_CANID_RNR_POS ) & HW_CANID_RNR_MASK ) | ( ( curNodeID << HW_CANID_DESNODE_POS ) & HW_CANID_DESNODE_MASK ) | ( ( HW_TYPE_SER << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS )& HW_CANID_SRCNODE_MASK ); //等待电调的油门信号失能判定时间300ms，每次配置一个电调 if ( HAL_GetTick() - setESCidInfo.setEscIDDelayTime > 2000 ) { if ( EscMsg[setESCidInfo.setESCidNum].ResSetID == false ) { send_can_buf[0] = setESCidInfo.setESCidNum; send_can_buf[1] = setESCidInfo.setESCidNum; SetEscidTail.HWTailBit.start = 1; SetEscidTail.HWTailBit.end = 1; SetEscidTail.HWTailBit.toggle = 0; send_can_buf[2] = SetEscidTail.HWTailByte; Can_Send_Msg_Func(CANID2, send_can_buf, 3, canID, CAN_ID_EXT); SetEscidTail.HWTailBit.tranid++; setESCidInfo.reTxMaxCnt--; } else { setESCidInfo.setESCidStep++; setESCidInfo.reTxMaxCnt = 5; } } } //nodeID配置完成/失败后退出配置模式，广播发送，全部回复 else if ( setESCidInfo.setESCidStep == SETESCID_EXIT ) { if ( EscMsg[setESCidInfo.setESCidNum].ResSetIDModeExit == false ) { //广播帧 canID = ( ( HW_PRI_MEDIUM << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | ( ( HW_FRAME_MSG_SET_ID_MODE << HW_CANID_MSGID_POS ) & HW_CANID_MSGID_MASK ) | ( ( HW_TYPE_MSG << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS )& HW_CANID_SRCNODE_MASK ); send_can_buf[0] = HW_SETIDMODE_MODE1; send_can_buf[1] = HW_SETIDMODE_CONTROL1; SetEscidTail.HWTailBit.start = 1; SetEscidTail.HWTailBit.end = 1; SetEscidTail.HWTailBit.toggle = 0; send_can_buf[2] = SetEscidTail.HWTailByte; Can_Send_Msg_Func(CANID2, send_can_buf, 3, canID, CAN_ID_EXT); SetEscidTail.HWTailBit.tranid++; setESCidInfo.reTxMaxCnt--; } else { //广播模式，总线上有其他同NODEID的ESC时也会收到反馈 set_HWesc_ESCid = false; setESCidInfo.setESCidStep++; setESCidInfo.reTxMaxCnt = 5; //设置成功，发送ACK } //超时退出 if ( setESCidInfo.reTxMaxCnt <= 0 ) { set_HWesc_ESCid = false; setESCidInfo.setESCidStep = SETESCID_INIT; setESCidInfo.reTxMaxCnt = 5; } } } } /** * @file esc_throttle_switch * @brief 将PWM转换成HW油门 * @param * @details * @author Zhang Sir **/ uint8_t send_thr_buf[8] = {0}; void esc_throttle_switch( int16_t *buf) { uint8_t temp_swich_buf[16] = {0}; int16_t escbuf[8] = {0}; for ( short i = 0; i < 4; i++ ) { escbuf[i] = math_cons_i16( ( buf[i] - 1050 ), 0, 900 ) * 8191.0f / 900; } memcpy( temp_swich_buf, escbuf, 8 ); send_thr_buf[0] = temp_swich_buf[0]; send_thr_buf[1] = ( temp_swich_buf[1] << 2 ) | ( ( temp_swich_buf[2] >> 6 ) & 0x03 ); send_thr_buf[2] = ( temp_swich_buf[2] << 2 ) | ( ( temp_swich_buf[3] >> 4 ) & 0x03 ); send_thr_buf[3] = ( temp_swich_buf[3] << 4 ) | ( ( temp_swich_buf[4] >> 4 ) & 0x0f ); send_thr_buf[4] = ( temp_swich_buf[4] << 4 ) | ( ( temp_swich_buf[5] >> 2 ) & 0x0f ); send_thr_buf[5] = ( temp_swich_buf[5] << 6 ) | ( ( temp_swich_buf[6] >> 2 ) & 0x3f ); send_thr_buf[6] = ( temp_swich_buf[6] << 6 ) | ( temp_swich_buf[7] & 0x3f ); } /** * @file can_sendmsg_esc * @brief can发送HW * @param * @details * @author Zhang Sir **/ void can_sendmsg_esc(void) { int16_t pwm_buf[4] = {1000,1000,1000,1000}; int canID = ( ( 0x00 << HW_CANID_PRI_POS ) & HW_CANID_PRI_MASK ) | ( ( HW_RAWCOMMAND_ID << HW_CANID_MSGID_POS ) & HW_CANID_MSGID_MASK ) | ( ( HW_TYPE_MSG << HW_CANID_SNM_POS ) & HW_CANID_SNM_MASK ) | ( ( HW_NODE_BDC << HW_CANID_SRCNODE_POS )& HW_CANID_SRCNODE_MASK ); pwm_buf[0] = pmu_pin.pump1; pwm_buf[1] = pmu_pin.pump2; esc_throttle_switch(pwm_buf); rawcmdTail.HWTailBit.start = 1; rawcmdTail.HWTailBit.end = 1; rawcmdTail.HWTailBit.toggle = 0; send_thr_buf[7] = rawcmdTail.HWTailByte; Can_Send_Msg_Func(CANID2, send_thr_buf, 8, canID, CAN_ID_EXT); rawcmdTail.HWTailBit.tranid++; } void Hobbywing_esc_func(void) { static uint32_t time_1hz = 0; if(Dev.L_pump1_Link.connect_status == COMP_NORMAL && Dev.L_pump1.facid== FAC_HW_ESC) { if(Check_Timer_Ready(&time_1hz,_1_HZ_)) { HW_CanGetESCInfomation(); HW_CanSetESCInfomation(); } if(set_HWesc_ESCid != true) { can_sendmsg_esc(); } } }