#include "soft_seed_weight.h" #include "soft_device.h" #include "common.h" #include "string.h" #include "soft_can.h" #include "usart_data_handle.h" #include "main_task.h" #include "soft_update.h" #include "soft_version.h" #include "soft_water.h" #include "config.h" Spread_par spread_par; weight weight_vkinfo; uint8_t weight_type = 0; uint8_t spread_type = 0; /** * @file Eft_Spread_And_Mimolack_recieved_hookfuction * @brief eft播撒器带恩曌断料记 * @param none * @details * @author Zhang Sir **/ eft eft_info; _mimo_lackloss mimo_lackloss; void Eft_Spread_And_Mimolack_recieved_hookfuction(uint32_t CanID, uint8_t data[], uint8_t len) { switch (CanID) { //播撒器 case CAN_EFT_SPREAD: if(spread_type == SPREAD_DEFAULT) spread_type = SPREAD_NORMAL; //eft是大端 eft_info.valve_angel = data[0]; eft_info.warn_status = data[1]; eft_info.can_enable = data[2]; eft_info.speed_rpm = data[5]; Dev.Seed_Link.connect_status = COMP_NORMAL; Dev.Seed.facid = FAC_EFT; Dev.Seed_Link.recv_time = HAL_GetTick(); break; case CAN_EFT_VERSION: if(data[5] == 0xF1 && data[6] == 0xF3) { switch (data[0]) { case 0XF8: for(uint8_t i = 0;i < 3;i++) { dev_spreader.sn[2 * i] = ((data[2+i] >> 4) & 0xf) + '0'; dev_spreader.sn[2 * i + 1] = (data[2+i] & 0xf )+ '0'; } dev_spreader.sn[6] = ((data[7] >> 4) & 0xf) + '0'; dev_spreader.sn[7] = (data[7] & 0xf )+ '0'; regist_dev_info(&dev_spreader,DEVICE_SPREAD,false,dev_spreader.sn,8,NULL,0,NULL,0,"eftspreader",12); break; case 0XF9: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_spreader.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_spreader.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_spreader.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_spreader,DEVICE_SPREAD,false,NULL,0,dev_spreader.soft_serial,8,NULL,0,"eftspreader",12); break; case 0XFB: Dev.Seed.runtime = data[1] + (data[2] + data[3] * 256) * 60; spreader_runing_time = true; break; default: break; } } break; case CAN_MIMO_LACKLOSS: if(data[0] == 0x03) { Dev.Lackloss_Link.connect_status = COMP_NORMAL; Dev.Lackloss_Link.recv_time = HAL_GetTick(); mimo_lackloss.distance = data[2] + data[1] * 256; mimo_lackloss.strength = data[4] + data[3] * 256; mimo_lackloss.status = data[7]; } break; default: break; } } /** * @file can_recv_eft_front_plate * @brief eftz20前板 * @param none * @details * @author Zhang Sir **/ eft_fplate fplate; Connect_check z20_fplate_link; bool Z70_LiftingWeight_exist = false; void can_recv_eft_front_plate(uint32_t CanID, uint8_t data[], uint8_t len) { switch (CanID) { case CAN_EFT_FPLATE: if(weight_type == WEIGHT_DEFAULT) weight_type = WEIGHT_FPLATE; if(weight_type == WEIGHT_FPLATE) { memcpy(&fplate,&data[0],sizeof(eft_fplate)); Dev.Weight_Link.connect_status = COMP_NORMAL; Dev.Weight.facid = FAC_EFT; Dev.Weight_Link.recv_time = HAL_GetTick(); } Dev.Arm_Link.connect_status = COMP_NORMAL; Dev.Arm.facid = FAC_EFT; Dev.Arm_Link.recv_time = HAL_GetTick(); break; case CAN_EFT_FPLATE_ACK: switch (data[0]) { //LED控制ACK指令 case 0xE1: last_light_brightness = pmu_pin.aux_light; break; //版本信息 case 0xE2: for (uint8_t i = 1; i < 5; i++) { if(data[i] < 10) { dev_weight.soft_serial[2 * (i - 1)] = '0'; Int2String(data[i],&dev_weight.soft_serial[2 * (i - 1) + 1],1); } else { Int2String(data[i],&dev_weight.soft_serial[ (i - 1) * 2],2); } } regist_dev_info(&dev_weight,DEVICE_WEIGHT,false,NULL,0,dev_weight.soft_serial,8,NULL,0,"eftweight",10); break; //序列号 case 0xE3: 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; //运行时间 case 0xE4: Dev.Weight.runtime = data[1] + (data[2] + data[3] * 256) * 60; weight_runing_time = true; break; //设置波特率ACK case 0xF4: break; //去皮校准 case 0xF6: pmu_set_ack(_MSGID_SET,25,Cal_Remove_Peel,0); break; //重量校准 case 0xF7: pmu_set_ack(_MSGID_SET,25,Cal_Weight,0); break; case 0xEB: eft_dev_update_wait_ereseflash(data); break; //K值校准 case 0xFC: eft_info.seed_k[weight_order.order_con1 - 1] = weight_order.order_con2; pmu_set_ack(_MSGID_SET,MSGID_SET_WEIGHT_K,0,0); break; //K值查询 case 0xFD: memcpy(&eft_info.seed_k[0],&data[1],2); memcpy(&eft_info.seed_k[1],&data[3],2); memcpy(&eft_info.seed_k[2],&data[6],2); weight_init_eft.step.read_k_flag = 0; break; default: break; } break; default: break; } } /** * @file seed_init_send_info * @brief 播撒器初始化 * @param * @details * @author Zhang Sir **/ Dev_weight_init weight_init_eft = {.step.read_k_flag = 1}; Dev_weight_init weight_init_vk = {.step.dose_rate_flag = 1, .step.weight_mode_flag = 1, .step.read_k_flag = 1, .step.fac_num_flag = 1}; void seed_init_send_info(uint8_t device_type,char *factory) { uint8_t vk_canbuf[8] = {0,0,0,0,0,0XFE,0XFE,0}; static uint8_t spread_init_count = 10; int vk_can_id = 0; if(strcmp(factory,"VK") == 0) { switch (device_type) { //称重 case WEIGHT_DEVICE: vk_can_id = 0x81321; if(weight_init_vk.status != 0) { if(weight_init_vk.step.read_k_flag != 0) { vk_canbuf[0] = 0xE1; } else if(weight_init_vk.step.fac_num_flag != 0 && weight_init_count > 0) { vk_canbuf[0] = 0xF7; weight_init_count--; if(weight_init_count == 0) { weight_init_count = 10; weight_init_vk.step.fac_num_flag = 0; } } else if (weight_init_vk.step.weight_mode_flag != 0 && weight_init_count > 0) { vk_canbuf[0] = 0xE3; weight_init_count--; if(weight_init_count == 0) { weight_init_count = 10; weight_init_vk.step.weight_mode_flag = 0; } } else if (weight_init_vk.step.dose_rate_flag != 0 && weight_init_count > 0) { vk_canbuf[0] = 0xE5; weight_init_count--; if(weight_init_count == 0) { weight_init_count = 10; weight_init_vk.step.dose_rate_flag = 0; } } Can_Send_Msg_Func(CANID2, vk_canbuf, 8, vk_can_id, CAN_ID_EXT); } break; //播撒 case SEED_DEVICE: vk_can_id = 0x81324; if(spread_init_count > 0) { //获取厂家信息 vk_canbuf[0] = 0xf7; spread_init_count--; Can_Send_Msg_Func(CANID2, vk_canbuf, 8, vk_can_id, CAN_ID_EXT); } break; default: break; } } else if (strcmp(factory,"EFT") == 0) { switch (device_type) { case WEIGHT_DEVICE: if(weight_init_eft.status != 0) { if(weight_init_eft.step.read_k_flag != 0) { if(weight_type == WEIGHT_NORMAL || weight_type == WEIGHT_FPLATE) { vk_can_id = 0x8877; vk_canbuf[0] = 0xFD; vk_canbuf[5] = 0xf1; vk_canbuf[6] = 0xf3; Can_Send_Msg_Func(CANID1, vk_canbuf, 8, vk_can_id, CAN_ID_EXT); } else if(weight_type == WEIGHT_TRANFER) { vk_can_id = 0x7011; vk_canbuf[0] = 0xE4; vk_canbuf[5] = 0xf1; vk_canbuf[6] = 0xf3; Can_Send_Msg_Func(CANID2, vk_canbuf, 8, 0x7011, CAN_ID_EXT); } } } break; case SEED_DEVICE: if(seed_init.status != 0) { if(seed_init.step.sn_flag != 0) { } else if(seed_init.step.version_flag != 0) { } //Can_Send_Msg_Func(CANID1, vk_canbuf, 8, vk_can_id, CAN_ID_EXT); } break; default: break; } } } /** * @file Set_Seed_Weight_Par * @brief 设置称重播撒参数 * @param 1 称重 2 播撒 * @details * @author Zhang Sir **/ seed seed_vkinfo; void Set_Seed_Weight_Par(uint8_t device_type,char *factory) { uint8_t can_buf[8] = {0}; uint32_t can_id = 0; if(strcmp(factory,"VK") == 0) { switch (device_type) { case WEIGHT_DEVICE: if(weight_order.type != 0) { can_buf[1] = 0x00; //D1 - D4 can_buf[2] = 0x00; can_buf[3] = 0x00; can_buf[4] = 0x00; can_buf[5] = 0xFE; can_buf[6] = 0xFE; can_buf[7] = 0x00; //D5 switch (weight_order.type) { //去皮校准 case Weight_Peer: can_buf[0] = 0xF1; break; //重量校准 case Weight_Kg: can_buf[0] = 0xF2; memcpy(&can_buf[1], &weight_order.order_con2,2); break; case Weight_Reserve: break; //恢复出厂设置 case Weight_Bcak: can_buf[0] = 0xF4; break; //称重传感器K值 case Weight_Set_K: can_buf[0] = 0xE2; can_buf[1] = weight_order.order_con2 & 0xff; can_buf[2] = (weight_order.order_con2 >> 8) & 0xff; can_buf[7] = weight_order.order_con1 - 1; //VK协议传感器编号是0-3 break; //称重传感器模式 case Weight_Mode: can_buf[0] = 0xE4; can_buf[1] = weight_order.order_con1 & 0xff; break; //最高下药率 case Weight_Drug_Rate: can_buf[0] = 0xE6; can_buf[1] = weight_order.order_con1 & 0xff; can_buf[2] = (weight_order.order_con1 >> 8) & 0xff; break; default: break; } Can_Send_Msg_Func(CANID2, can_buf, 8, 0x81321, CAN_ID_EXT); weight_order.type = 0; } break; case SEED_DEVICE: //更换信号输出方式 0 PWM 1 CAN if((seed_vkinfo.output != spread_par.output_mode) && recv_fmu_seed_info == true) { can_buf[0] = 0xF2; can_buf[1] = spread_par.output_mode; can_buf[2] = 0x00; can_buf[3] = 0x00; can_buf[4] = 0x00; can_buf[5] = 0xFE; can_buf[6] = 0xFE; can_buf[7] = 0; Can_Send_Msg_Func(CANID2, can_buf, 8, 0x81324, CAN_ID_EXT); } break; default: break; } } else if (strcmp(factory,"EFT") == 0) { switch (device_type) { case SEED_DEVICE: //更换信号输出方式 0 PWM 1 CAN if((eft_info.can_enable != spread_par.output_mode) && recv_fmu_seed_info == true) { can_buf[0] = 0xF2; can_buf[1] = spread_par.output_mode; can_buf[2] = 0x00; can_buf[3] = 0x00; can_buf[4] = 0x00; can_buf[5] = 0xf1; can_buf[6] = 0xf3; can_buf[7] = 0; Can_Send_Msg_Func(CANID2, can_buf, 8, SEND_EFT_INFO, CAN_ID_EXT); HAL_Delay(10); } break; case WEIGHT_DEVICE: if(weight_order.type != 0) { if(weight_type == WEIGHT_NORMAL || weight_type == WEIGHT_FPLATE) { can_id = 0x8877; can_buf[1] = 0x00; can_buf[2] = 0x00; can_buf[3] = 0x00; can_buf[4] = 0x00; can_buf[5] = 0xf1; can_buf[6] = 0xf3; can_buf[7] = 0; switch (weight_order.type) { case Weight_Peer: can_buf[0] = 0xF6; break; case Weight_Kg: can_buf[0] = 0xF7; can_buf[1] = (weight_order.order_con2 >> 8) & 0xff; can_buf[2] = weight_order.order_con2 & 0xff; break; case Weight_Reserve: break; case Weight_Bcak: can_buf[0] = 0xF5; break; case Weight_Set_K: can_buf[0] = 0xFC; can_buf[1] = eft_info.seed_k[0]; can_buf[2] = eft_info.seed_k[0] >> 8; can_buf[3] = eft_info.seed_k[1]; can_buf[4] = eft_info.seed_k[1] >> 8; can_buf[6] = eft_info.seed_k[2]; can_buf[7] = eft_info.seed_k[2] >> 8; if(weight_order.order_con1 == 1) { can_buf[1] = weight_order.order_con2; can_buf[2] = weight_order.order_con2 >> 8; } else if(weight_order.order_con1 == 2) { can_buf[3] = weight_order.order_con2; can_buf[4] = weight_order.order_con2 >> 8; } else if(weight_order.order_con1 == 3) { can_buf[6] = weight_order.order_con2; can_buf[7] = weight_order.order_con2 >> 8; } break; default: break; } Can_Send_Msg_Func(CANID1, can_buf, 8, can_id, CAN_ID_EXT); } else if(weight_type == WEIGHT_TRANFER || weight_type == WEIGHT_LIFT) { if(weight_type == WEIGHT_LIFT) can_id = 0x88BB; else can_id = 0x7011; can_buf[1] = 0x00; //D1 - D4 can_buf[2] = 0x00; can_buf[3] = 0x00; can_buf[4] = 0x00; can_buf[5] = 0xF1; can_buf[6] = 0xF3; can_buf[7] = 0x00; //D5 switch (weight_order.type) { //去皮校准 case Weight_Peer: can_buf[0] = 0xE1; break; //重量校准 case Weight_Kg: can_buf[0] = 0xE2; memcpy(&can_buf[1], &weight_order.order_con2,2); break; case Weight_Reserve: break; //恢复出厂设置 case Weight_Bcak: can_buf[0] = 0xF4; break; //称重传感器K值 case Weight_Set_K: z70weight.buf[0] = 0xE3; if(weight_order.order_con1 == 1) z70weight.info.k1 = weight_order.order_con2; else if(weight_order.order_con1 == 2) z70weight.info.k2 = weight_order.order_con2; else if(weight_order.order_con1 == 3) z70weight.info.k3 = weight_order.order_con2; else if(weight_order.order_con1 == 4) z70weight.info.k4 = weight_order.order_con2; memcpy(&can_buf,&z70weight.buf[0],8); break; //称重传感器模式 case Weight_Mode: can_buf[0] = 0xE4; can_buf[1] = weight_order.order_con1 & 0xff; break; //最高下药率 case Weight_Drug_Rate: can_buf[0] = 0xE6; can_buf[1] = weight_order.order_con1 & 0xff; can_buf[2] = (weight_order.order_con1 >> 8) & 0xff; break; default: break; } Can_Send_Msg_Func(CANID2, can_buf, 8, can_id, CAN_ID_EXT); } HAL_Delay(10); weight_order.type = 0; } break; default: break; } } } /** * @file can_sendmsg_eft * @brief 发送信息给EFT * @param * @details * @author Zhang Sir **/ uint16_t last_light_brightness = 0; void can_sendmsg_eft(void) { static int eft_count = 0; uint8_t eft_canbuf[8] = {0}; if(Dev.Seed_Link.connect_status == COMP_NORMAL && spread_type == SPREAD_NORMAL) { seed_init_send_info(SEED_DEVICE,"EFT"); Set_Seed_Weight_Par(SEED_DEVICE,"EFT"); if(spread_par.output_mode == 1) { if(HAL_GetTick() < 5000) //初始化自检 { spread_par.pwm_turntable = 1000; spread_par.pwm_valve = 1000; } //发送转速 和阀门 eft_canbuf[0] = 0xf1; eft_canbuf[1] = (spread_par.pwm_turntable >> 8) & 0xff; eft_canbuf[2] = spread_par.pwm_turntable & 0xff; eft_canbuf[3] = (spread_par.pwm_valve >> 8) & 0xff; eft_canbuf[4] = spread_par.pwm_valve & 0xff; eft_canbuf[5] = 0xf1; eft_canbuf[6] = 0xf3; eft_canbuf[7] = eft_count; Can_Send_Msg_Func(CANID2, eft_canbuf, 8, SEND_EFT_INFO, CAN_ID_EXT); eft_count++; if(eft_count >= 256) { eft_count = 0; } } } if(Dev.Weight_Link.connect_status == COMP_NORMAL) { seed_init_send_info(WEIGHT_DEVICE,"EFT"); Set_Seed_Weight_Par(WEIGHT_DEVICE,"EFT"); } if(planep.UAV_type == AG_EFTZ) { eft_canbuf[0] = 0xE1; eft_canbuf[1] = (pmu_pin.aux_light & 0x1) > 0? (planep.lock_status > 3? (pmu_pin.aux_light >> 2 & 0x7f) : 20) : 0; eft_canbuf[2] = (pmu_pin.aux_light & 0x2) > 0? (planep.lock_status > 3? (pmu_pin.aux_light >> 9 & 0x7f) : 20) : 0; eft_canbuf[3] = 0; eft_canbuf[4] = 0; eft_canbuf[5] = 0xf1; eft_canbuf[6] = 0;//0xf3; eft_canbuf[7] = 0; Can_Send_Msg_Func(CANID1, eft_canbuf, 8, 0x8877, CAN_ID_EXT); } } /** * @file can_sendmsg_VK * @brief 播撒常发数据包 * @param * @details * @author Zhang Sir **/ void can_sendmsg_VK(void) { static uint8_t vk_count = 0; uint8_t vk_canbuf[8] = {0}; if(Dev.Weight_Link.connect_status == COMP_NORMAL && (Dev.Weight.facid == FAC_VK || Dev.Weight.facid == FAC_QIFEI) && HAL_GetTick() > 3000) { seed_init_send_info(WEIGHT_DEVICE,"VK"); Set_Seed_Weight_Par(WEIGHT_DEVICE,"VK"); } if(Dev.Seed_Link.connect_status == COMP_NORMAL && (Dev.Seed.facid == FAC_VK || Dev.Seed.facid == FAC_QIFEI) && HAL_GetTick() > 2000) { seed_init_send_info(SEED_DEVICE,"VK"); Set_Seed_Weight_Par(SEED_DEVICE,"VK"); if(spread_par.output_mode == 1 ) { if(HAL_GetTick() < 5000) //初始化自检 { spread_par.pwm_turntable = 1000; spread_par.pwm_valve = 1000; } //发送转速 和阀门 vk_canbuf[0] = 0xf1; vk_canbuf[1] = spread_par.pwm_turntable & 0xff; vk_canbuf[2] = (spread_par.pwm_turntable >> 8) & 0xff; vk_canbuf[3] = spread_par.pwm_valve & 0xff; vk_canbuf[4] = (spread_par.pwm_valve >> 8) & 0xff; vk_canbuf[5] = 0xfe; vk_canbuf[6] = 0xfe; vk_canbuf[7] = vk_count; vk_count++; Can_Send_Msg_Func(CANID2, vk_canbuf, 8, 0x81324, CAN_ID_EXT); } if(vk_count >= 255) { vk_count = 0; } } }