#include "soft_version.h" #include "soft_obstacle.h" #include "soft_terrain.h" #include "string.h" #include "main_task.h" #include "usart_data_handle.h" #include "soft_flow.h" #include "soft_device.h" #include "soft_can.h" #include "soft_seed_weight.h" #include "soft_water.h" #include "config.h" dev_version_content dev_pmu; dev_version_content dev_ter; dev_version_content dev_obsf; dev_version_content dev_obsb; dev_version_content dev_bms1; dev_version_content dev_bms2; dev_version_content dev_spreader; dev_version_content dev_weight; dev_version_content dev_flowmeter; dev_version_content dev_pump; dev_version_content dev_arm; dev_version_content dev_lack; dev_version_content dev_centri; dev_version_content dev_current; dev_version_content dev_pump1,dev_pump2; dev_version_content dev_nozzle1,dev_nozzle2,dev_nozzle3,dev_nozzle4; dev_version_content dev_null; // void *dev_ptr[10] = {&temp, // &dev_pmu, // &dev_ter, // &dev_obsf, // &dev_obsb, // &dev_bms1, // &dev_bms2, // &dev_spreader, // &dev_weight, // &dev_flowmeter, // &dev_arm, // }; void *dev_ptr[] = {&dev_null, &dev_null, &dev_null, &dev_pmu, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_ter, &dev_obsf, &dev_obsb, &dev_bms1, &dev_bms2, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_null, &dev_spreader, &dev_weight, &dev_pump, &dev_centri, &dev_flowmeter, &dev_arm, &dev_lack, &dev_null, &dev_current, &dev_null, &dev_pump1, &dev_pump2, &dev_null, &dev_null, &dev_nozzle1, &dev_nozzle2, &dev_nozzle3, &dev_nozzle4, }; short dev_num = sizeof( dev_ptr )/sizeof( void * ); /** * @file can_recv_mocib_version_info * @brief 获取莫之比SN和版本号 * @param none * @details * @author Zhang Sir **/ void can_recv_mocib_version_info(uint32_t cellCanID, uint8_t data[], uint8_t len) { static uint8_t frame_fi = 0,frame_bi = 0,frame_ti = 0; switch (cellCanID) { //SN号 case CAN_OBSTARCLE11_SN: if(frame_fi == 0) { memcpy(&uavr11_info.sn[0],&data[2],6);//要后六个字节 frame_fi += 6; } else if(frame_fi == 6) { memcpy(&uavr11_info.sn[frame_fi],&data[1],7);//要后7个字节 frame_fi += 7; } else if(frame_fi >= 13) { memcpy(&uavr11_info.sn[frame_fi],&data[1],3); frame_fi = 0; regist_dev_info(&dev_obsf,DEVICE_OBSF,false,uavr11_info.sn,20,NULL,0,NULL,0,"mocib",6); uavr11_info.get_radar_sn_flag = true; } break; case CAN_OBSTARCLE12_SN: if(frame_bi == 0) { memcpy(&uavr12_info.sn[0],&data[2],6);//要后六个字节 frame_bi += 6; } else if(frame_bi == 6) { memcpy(&uavr12_info.sn[frame_bi],&data[1],7);//要后7个字节 frame_bi += 7; } else if(frame_bi >= 13) { memcpy(&uavr12_info.sn[frame_bi],&data[1],3); frame_bi = 0; regist_dev_info(&dev_obsb,DEVICE_OBSB,false,uavr12_info.sn,20,NULL,0,NULL,0,"mocib",6); uavr12_info.get_radar_sn_flag = true; } break; case CAN_OBSTARCLE56_SN: if(frame_ti == 0) { memcpy(&uavr56_info.sn[0],&data[2],6);//要后六个字节 frame_ti += 6; } else if(frame_ti == 6) { memcpy(&uavr56_info.sn[frame_ti],&data[1],7);//要后7个字节 frame_ti += 7; } else if(frame_ti >= 13) { memcpy(&uavr56_info.sn[frame_ti],&data[1],3); frame_ti = 0; regist_dev_info(&dev_ter,DEVICE_TERRA,false,uavr56_info.sn,20,NULL,0,NULL,0,"mocib",6); uavr56_info.get_radar_sn_flag = true; } break; //版本信息 case 0x00eeff11: uavr11_info.version[0] = 'M'; uavr11_info.version[1] = '1'; uavr11_info.version[2] = (data[1] + data[2]) + '0'; uavr11_info.version[3] = (data[3] + data[4]) + '0'; char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); uavr11_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 0xff); uavr11_info.get_radar_ver_flag = true; regist_dev_info(&dev_obsf,DEVICE_OBSF,false,NULL,0,uavr11_info.version,10,NULL,0,"mocib",6); break; case 0x00eeff12: uavr12_info.version[0] = 'M'; uavr12_info.version[1] = '2'; uavr12_info.version[2] = (data[1] + data[2]) + '0'; uavr12_info.version[3] = (data[3] + data[4]) + '0'; char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); uavr12_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 0xff); uavr12_info.get_radar_ver_flag = true; regist_dev_info(&dev_obsb,DEVICE_OBSB,false,NULL,0,uavr12_info.version,10,NULL,0,"mocib",6); break; case 0x00eeff0b: uavr56_info.version[0] = 'M'; uavr56_info.version[1] = 'B'; uavr56_info.version[2] = (data[1] + data[2]) + '0'; uavr56_info.version[3] = (data[3] + data[4]) + '0'; char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); uavr56_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 0xff); uavr56_info.get_radar_ver_flag = true; regist_dev_info(&dev_ter,DEVICE_TERRA,false,NULL,0,uavr56_info.version,10,NULL,0,"mocib",6); break; default: break; } } /** * @file can_recv_mimo_dev_version * @brief 获取恩曌流量计雷达版本信息 * @param none * @details * @author Zhang Sir **/ void can_recv_mimo_dev_version(uint32_t cellCanID, uint8_t data[], uint8_t len) { static uint8_t mimo_version[28] = {0}; static uint8_t frame_num = 0; static bool frame_head = false; uint8_t i = 0; uint32_t checksum = 0; uint32_t soft_ver = 0; switch (cellCanID) { case 0XFB: if(data[0] == 0XAA && data[1] == 0X55) { if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X03 && data[5] == 0X01 && data[6] == 0X65) { pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x11,0); } else if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X03 && data[5] == 0X02 && data[6] == 0X66) { pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x12,0); } else if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X00 && data[5] == 0X03 && data[6] == 0X64) { pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x100,0); } else { frame_num = 0; memcpy(&mimo_version[frame_num],&data[4],4); frame_num += 4; frame_head = true; } } //读取分区 else if(data[0] == 0xBB && data[1] == 0x24 && data[2] == 0x03 ) { if(data[3] == 0x02 && data[4] == 0x07 ) { if((data[5] + (data[6] << 8)) != 12) { mimo360_status.set_TotalSect_flag = true; } mimo360_status.get_TotalSect_flag = false; } if(data[3] == 0x82 && data[4] == 0x07 && (data[5] + (data[6] << 8)) == 0 ) { mimo360_status.set_TotalSect_flag = false; } } //断料记 else if(data[0] == 0xFB && data[1] == 0x03 && data[2] == 0) { //设置距离最大值反馈 if(data[3] == 0xB2 && data[4] == 0xE1) { pmu_set_ack(_MSGID_SET,MSGID_SET_LACKLOSS_CAL,mimo_lackloss.cal_distance,mimo_lackloss.strength); } } //流量计 else if(data[0] == 0xFB && data[1] == 0x10) //雷达版本和流量计协议有冲突 { switch (data[2]) { case 0: if(data[4] == 0XD1) //流速K { flow_mimo1.flow_k = data[5] * 256 + data[6]; flow_mimo1.get_k = true; } else if(data[4] == 0XC1)//设置流速K ack { if(data[6] == 0) { flow_mimo1.flow_k = flow_mimo1.flow_calk; if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_status != COMP_NORMAL) { pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,flow_mimo1.flow_k,0); flow_mimo1.set_k = false; } } } else if(data[4] == 0xE2) { if(data[6] == 0 && Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_status != COMP_NORMAL) { pmu_set_ack(_MSGID_SET,MSGID_SET_FLOW_BACKGROUND,0,0); } flow_inf.ch1.clear_background = false; } else if (data[4] == 0XEB)//sn 两包 协议冲突 协议有问题 { for( i= 0;i<2;i++) //内容第一自字节0X0F？先舍弃一字节， { flow_mimo1.sn[2*i] = ((data[6 + i] >> 4) & 0xf) + '0'; flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; } frame_num = 21;//流量序列号的标记 } else if(data[4] == 0XEC)//软件号 { flow_mimo1.soft_version[0] = data[5] + '0'; flow_mimo1.soft_version[1] = data[6] + '0'; } break; case 1: if(data[4] == 0XD1) { flow_mimo2.flow_k = data[5] * 256 + data[6]; flow_mimo2.get_k = true; } else if(data[4] == 0XC1) { if(data[6] == 0) { flow_mimo2.flow_k = flow_mimo2.flow_calk; if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_status == COMP_NORMAL) { pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,flow_mimo1.flow_k,flow_mimo2.flow_k); flow_mimo1.set_k = false; flow_mimo2.set_k = false; } else if(Dev.Flow_Link1.connect_status != COMP_NORMAL && Dev.Flow_Link2.connect_status == COMP_NORMAL) { pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,0,flow_mimo2.flow_k); flow_mimo2.set_k = false; } } } else if(data[4] == 0xE2) { if(data[6] == 0 && Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_status == COMP_NORMAL) { pmu_set_ack(_MSGID_SET,MSGID_SET_FLOW_BACKGROUND,0,0); } flow_inf.ch1.clear_background = false; } break; default: break; } } else { if(frame_num == 21) { for( i=0;i<5;i++) { flow_mimo1.sn[4+2*i] = ((data[i] >> 4) & 0xf) + '0'; flow_mimo1.sn[4+2*i+1] = (data[i] & 0xf )+ '0'; } //flow_mimo1.sn[1] = 'F'; frame_num = 0; } if(frame_num <= 20) { if(frame_head == true) { memcpy(&mimo_version[frame_num],&data[0],8); frame_num += 8; } if(frame_num == 0x1c) //恩曌SN取中间日期12位，其他有问题 { checksum = 0x01; for(uint8_t i = 0; i < 27; i++) { checksum += mimo_version[i]; } if((checksum & 0xFF) == mimo_version[27]) { memcpy(&soft_ver,&mimo_version[23],4); switch (mimo_version[18]) { case 0x00: mimo_ter_info.version[0] = 'E'; mimo_ter_info.version[1] = 'B'; mimo_ter_info.version[2] = '0'; mimo_ter_info.version[3] = '0'; Int2String(soft_ver,&mimo_ter_info.version[4],6); memcpy(&mimo_ter_info.hard_version,&mimo_version[19],4); if(mimo_ter_info.hard_version == 210221) { mimo_ter_info.version[3] = 'J'; } for( i= 0;i<9;i++) { mimo_ter_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; } //memcpy(&mimo_ter_info.sn[0],&mimo_version[4],12); regist_dev_info(&dev_ter,DEVICE_TERRA,false,mimo_ter_info.sn,18,mimo_ter_info.version,10,mimo_ter_info.version,10,"mimo",5); mimo_ter_info.get_radar_ver_flag = true; mimo_ter_info.Link.boot_flag = false; break; case 0x03: mimo_f_info.version[0] = 'E'; mimo_f_info.version[1] = '1'; mimo_f_info.version[2] = '0'; mimo_f_info.version[3] = '0'; Int2String(soft_ver,&mimo_f_info.version[4],6); memcpy(&mimo_f_info.hard_version,&mimo_version[19],4); if(mimo_f_info.hard_version == 190302) //恩曌协议定义 { mimo_f_info.version[2] = '1'; //极翼 mimo_f_info.version[3] = 'J'; } else { mimo_f_info.version[2] = '0'; //vk mimo_f_info.version[3] = 'V'; } for( i= 0;i<9;i++) { mimo_f_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; } regist_dev_info(&dev_obsf,DEVICE_OBSF,false,mimo_f_info.sn,18,mimo_f_info.version,10,mimo_f_info.version,10,"mimo",5); mimo_f_info.get_radar_ver_flag = true; mimo_f_info.Link.boot_flag = false; break; case 0x04: mimo_b_info.version[0] = 'E'; mimo_b_info.version[1] = '2'; mimo_b_info.version[2] = '0'; mimo_b_info.version[3] = '0'; Int2String(soft_ver,&mimo_b_info.version[4],6); memcpy(&mimo_b_info.hard_version,&mimo_version[19],4); if(mimo_b_info.hard_version == 190302) //恩曌协议定义 { mimo_b_info.version[2] = '1'; //极翼 mimo_b_info.version[3] = 'J'; } else { mimo_b_info.version[2] = '0'; //vk mimo_b_info.version[3] = 'V'; } for( i= 0;i<9;i++) { mimo_b_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; } regist_dev_info(&dev_obsb,DEVICE_OBSB,false,mimo_b_info.sn,18,mimo_b_info.version,10,mimo_b_info.version,10,"mimo",5); mimo_b_info.get_radar_ver_flag = true; mimo_b_info.Link.boot_flag = false; break; default: break; } frame_num = 0; frame_head = false; pmu_send = PMU_SEND_VERSION; } } } else { } } // char_to_hex_string(&data[5], 3, &mimo_ter_info.version[4], 6, "00"); // mimo_ter_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 0xff); break; default: break; } } /** * @file get_radar_version_and_sn * @brief 获取雷达版本和SN号 * @param none * @details * @author Zhang Sir **/ void get_radar_version_and_sn(void) { uint8_t radar_can_buf[8] = {0}; //版本信息识别 mocib mimo //新加同时获取SN号 if(uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x11; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x00eeff11, CAN_ID_EXT); } else if(uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x210, CAN_ID_EXT); } if(uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x12; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x00eeff12, CAN_ID_EXT); } else if(uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x220, CAN_ID_EXT); } if(uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x0b; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x00eeff0b, CAN_ID_EXT); } else if(uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; Can_Send_Msg_Func(CANID1, radar_can_buf, 1, 0x230, CAN_ID_EXT); } if((mimo_ter_info.Link.connect_status == COMP_NORMAL || Dev.Part_Tradar_Link.connect_status == COMP_NORMAL) && mimo_ter_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x55; radar_can_buf[1] = 0xAA; radar_can_buf[2] = 0x03; radar_can_buf[3] = 0x70; radar_can_buf[4] = 0x00; radar_can_buf[5] = 0x01; radar_can_buf[6] = 0x71; Can_Send_Msg_Func(CANID1, radar_can_buf, 7, 0xFA, CAN_ID_STD); } else if((mimo_f_info.Link.connect_status == COMP_NORMAL || Dev.Part_Fradar_Link.connect_status == COMP_NORMAL) && mimo_f_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x55; radar_can_buf[1] = 0xAA; radar_can_buf[2] = 0x03; radar_can_buf[3] = 0x70; radar_can_buf[4] = 0x03; radar_can_buf[5] = 0x01; radar_can_buf[6] = 0x74; Can_Send_Msg_Func(CANID1, radar_can_buf, 7, 0xFA, CAN_ID_STD); } else if((mimo_b_info.Link.connect_status == COMP_NORMAL || Dev.Part_Bradar_Link.connect_status == COMP_NORMAL ) && mimo_b_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x55; radar_can_buf[1] = 0xAA; radar_can_buf[2] = 0x03; radar_can_buf[3] = 0x70; radar_can_buf[4] = 0x04; radar_can_buf[5] = 0x01; radar_can_buf[6] = 0x75; Can_Send_Msg_Func(CANID1, radar_can_buf, 7, 0xFA, CAN_ID_STD); } } /** * @file get_flowmeter_version_and_sn * @brief 获取流量计版本、SN号、K值 * @param none * @details * @author Zhang Sir **/ void get_flowmeter_version_and_sn(void) { if((Dev.Flow_Link1.connect_status == COMP_NORMAL || Dev.Flow_Link2.connect_status == COMP_NORMAL) && (Dev.Flow.facid == FAC_MIMO_SIG || Dev.Flow.facid == FAC_MIMO_DOU)) { uint8_t can_buf[8] = {0}; //读取K值 和序列号 if(flow_mimo1.get_k == false && Dev.Flow_Link1.connect_status == COMP_NORMAL ) { //K值 can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB1; can_buf[4] = 0xD1; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; HAL_Delay(50); //序列号 can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB2; can_buf[4] = 0xEB; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; HAL_Delay(50); //软件版本 can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB2; can_buf[4] = 0xEC; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; } else if(flow_mimo2.get_k == false && Dev.Flow_Link2.connect_status == COMP_NORMAL) { can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x01; can_buf[3] = 0xB1; can_buf[4] = 0xD1; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; //序列号 can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB2; can_buf[4] = 0xEB; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; //软件版本 can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB2; can_buf[4] = 0xEC; can_buf[5] = 0x00; can_buf[6] = 0x00; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); can_buf[7] = 0; } //设置流量计K if(flow_mimo1.set_k == true && Dev.Flow_Link1.connect_status == COMP_NORMAL ) { can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB1; can_buf[4] = 0xC1; can_buf[5] = flow_mimo1.flow_calk >> 8; can_buf[6] = flow_mimo1.flow_calk; can_buf[7] = 0; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); HAL_Delay(50); } if(flow_mimo2.set_k == true && Dev.Flow_Link2.connect_status == COMP_NORMAL) { can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x01; can_buf[3] = 0xB1; can_buf[4] = 0xC1; can_buf[5] = flow_mimo2.flow_calk >> 8; can_buf[6] = flow_mimo2.flow_calk; can_buf[7] = 0; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); } if(flow_inf.ch1.clear_background == true) { can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x00; can_buf[3] = 0xB2; can_buf[4] = 0xE2; can_buf[5] = 0; can_buf[6] = 0; can_buf[7] = 0; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); } else if(flow_inf.ch2.clear_background == true) { can_buf[0] = 0xfa; can_buf[1] = 0x10; can_buf[2] = 0x01; can_buf[3] = 0xB2; can_buf[4] = 0xE2; can_buf[5] = 0; can_buf[6] = 0; can_buf[7] = 0; for(uint8_t i = 1; i < 7; i++) { can_buf[7] += can_buf[i]; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0xFA, CAN_ID_STD); } } } /** * @file get_eftdev_version_and_sn * @brief 版本号 * @param none * @details * @author Zhang Sir **/ bool p1_runing_time = false,p2_runing_time = false,n1_runing_time = false,n2_runing_time = false, n3_runing_time = false,n4_runing_time = false,weight_runing_time = false,spreader_runing_time = false; /** * @brief get the version and SN of all EFT devices * @details get the version and SN of all EFT devices, and send the messages to the * corresponding devices * @author Zhang Sir **/ void get_eftZ70_version_and_sn(void) { // uint8_t can_buf[8] = {0}; // if(drone_type == Drone_Z70) // { // if((dev_pump1.regist.sn == false && Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) || // (dev_pump2.regist.sn == false && Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) || // (dev_nozzle1.regist.sn == false && Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) || // (dev_nozzle2.regist.sn == false && Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) || // (dev_nozzle3.regist.sn == false && Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) || // (dev_nozzle4.regist.sn == false && Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL) ) // { // put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // } // else if((dev_pump1.regist.soft == false && Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) || // (dev_pump2.regist.soft == false && Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) || // (dev_nozzle1.regist.soft == false && Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) || // (dev_nozzle2.regist.soft == false && Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) || // (dev_nozzle3.regist.soft == false && Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) || // (dev_nozzle4.regist.soft == false && Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL) ) // { // put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // } // else if((p1_runing_time == false && Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) || // (p2_runing_time == false && Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) || // (n1_runing_time == false && Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) || // (n2_runing_time == false && Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) || // (n3_runing_time == false && Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) || // (n4_runing_time == false && Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL)) // { // put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // } // //称重单独处理 // else if( dev_weight.regist.sn == false &&Dev.Weight_Link.connect_status == COMP_NORMAL) // { // put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); // if(Z70_LiftingWeight_exist == false) // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // else // Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); // } // else if(dev_weight.regist.soft == false && Dev.Weight_Link.connect_status == COMP_NORMAL) // { // put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); // if(Z70_LiftingWeight_exist == false) // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // else // Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); // } // else if(weight_runing_time == false && Dev.Weight_Link.connect_status == COMP_NORMAL) // { // put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); // if(Z70_LiftingWeight_exist == false) // Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); // else // Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); // } // } } void get_eftdev_version_and_sn(void) { uint8_t can_buf[8] = {0}; //水泵1 if(Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) { if(dev_pump1.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } else if(dev_pump1.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } else if(p1_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } } //水泵2 if(Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) { if(dev_pump2.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } else if(dev_pump2.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } else if(p2_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } } //离心1 if(Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) { if(dev_nozzle1.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } else if(dev_nozzle1.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } else if(n1_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } } //离心2 if(Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) { if(dev_nozzle2.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } else if(dev_nozzle2.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } else if(n2_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } } //离心3 if(Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) { if(dev_nozzle3.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } else if(dev_nozzle3.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } else if(n3_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } } //离心4 if(Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL) { if(dev_nozzle4.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } else if(dev_nozzle4.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } else if(n4_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } } //称重 if(Dev.Weight_Link.connect_status == COMP_NORMAL && Dev.Weight.facid == FAC_EFT) { if(dev_weight.regist.sn == false) { put_date_to_can(can_buf,0xE3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } else if(dev_weight.regist.soft == false) { put_date_to_can(can_buf,0xE2,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } else if(weight_runing_time == false) { put_date_to_can(can_buf,0xE4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } } //播撒器 if(Dev.Seed_Link.connect_status == COMP_NORMAL && Dev.Seed.facid == FAC_EFT) { if(dev_spreader.regist.sn == false) { put_date_to_can(can_buf,0xF8,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } else if(dev_spreader.regist.soft == false) { put_date_to_can(can_buf,0xf9,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } else if(spreader_runing_time == false) { put_date_to_can(can_buf,0xFB,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } } } /** * @file get_spread_version_and_sn * @brief 获取播撒版本号 * @param none * @details * @author Zhang Sir **/ void get_spread_version_and_sn( void ) { uint8_t can_buf[8] = {0}; if(HAL_GetTick() < 3000) //有同样的设备同时存在情况 return; switch (spread_type) { case SPREAD_NORMAL: if(dev_spreader.regist.sn == false) { put_date_to_can(can_buf,0xF8,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } else if(dev_spreader.regist.soft == false) { put_date_to_can(can_buf,0xf9,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } else if(spreader_runing_time == false) { put_date_to_can(can_buf,0xFB,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88F2, CAN_ID_EXT); } break; case SPREAD_JIAOLONG: break; default: break; } } /** * @file get_spary_version_and_sn * @brief 获取喷洒版本号 * @param none * @details * @author Zhang Sir **/ void get_spary_version_and_sn( void ) { uint8_t can_buf[8] = {0}; if(HAL_GetTick() < 3000) //有同样的设备同时存在情况 return; switch (spary_type) { case SPARY_GEMO: break; case SPARY_ROUXING: //水泵1 if(Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) { if(dev_pump1.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } else if(dev_pump1.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } else if(p1_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8811, CAN_ID_EXT); } } //水泵2 if(Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) { if(dev_pump2.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } else if(dev_pump2.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } else if(p2_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8822, CAN_ID_EXT); } } break; case SPARY_TRANSFER: //水泵1 if(Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) { if(dev_pump1.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_pump1.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(p1_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } //水泵2 if(Dev.Eft_CanDev_Link[1].connect_status == COMP_NORMAL) { if(dev_pump2.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_pump2.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(p2_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } break; default: break; } } /** * @file get_nozzle_version_and_sn * @brief 获取离心喷头版本号 * @param none * @details * @author Zhang Sir **/ void get_nozzle_version_and_sn( void ) { uint8_t can_buf[8] = {0}; if(HAL_GetTick() < 3000) //有同样的设备同时存在情况 return; switch (nozzle_type) { case NOZZLE_NORMAL: //离心1 if(Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) { if(dev_nozzle1.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } else if(dev_nozzle1.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } else if(n1_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8833, CAN_ID_EXT); } } //离心2 if(Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) { if(dev_nozzle2.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } else if(dev_nozzle2.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } else if(n2_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8844, CAN_ID_EXT); } } //离心3 if(Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) { if(dev_nozzle3.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } else if(dev_nozzle3.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } else if(n3_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8855, CAN_ID_EXT); } } //离心4 if(Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL) { if(dev_nozzle4.regist.sn == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } else if(dev_nozzle4.regist.soft == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } else if(n4_runing_time == false) { put_date_to_can(can_buf,0xF6,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x8866, CAN_ID_EXT); } } break; case NOZZLE_TRANSFER: //离心1 if(Dev.Eft_CanDev_Link[2].connect_status == COMP_NORMAL) { if(dev_nozzle1.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_nozzle1.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(n1_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } //离心2 if(Dev.Eft_CanDev_Link[3].connect_status == COMP_NORMAL) { if(dev_nozzle2.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_nozzle2.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(n2_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } //离心3 if(Dev.Eft_CanDev_Link[4].connect_status == COMP_NORMAL) { if(dev_nozzle3.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_nozzle3.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(n3_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } //离心4 if(Dev.Eft_CanDev_Link[5].connect_status == COMP_NORMAL) { if(dev_nozzle4.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_nozzle4.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(n4_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } } break; default: break; } } /** * @file get_weight_version_and_sn * @brief 获取称重版本号 * @param none * @details * @author Zhang Sir **/ void get_weight_version_and_sn( void ) { uint8_t can_buf[8] = {0}; if(HAL_GetTick() < 3000) //有同样的设备同时存在情况 return; switch (weight_type) { case WEIGHT_NORMAL: break; case WEIGHT_LIFT: if(dev_weight.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); } else if(dev_weight.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); } else if(weight_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0X88BB, CAN_ID_EXT); } break; case WEIGHT_FPLATE: if(dev_weight.regist.sn == false) { put_date_to_can(can_buf,0xE3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } else if(dev_weight.regist.soft == false) { put_date_to_can(can_buf,0xE2,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } else if(weight_runing_time == false) { put_date_to_can(can_buf,0xE4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID1, can_buf, 8, 0x8877, CAN_ID_EXT); } break; case WEIGHT_TRANFER: if(dev_weight.regist.sn == false) { put_date_to_can(can_buf,0xF3,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(dev_weight.regist.soft == false) { put_date_to_can(can_buf,0xF4,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } else if(weight_runing_time == false) { put_date_to_can(can_buf,0xF5,0,0,0,0,0xF1,0xF3,0 ); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x7011, CAN_ID_EXT); } break; default: break; } } /** * @file regist_dev_info * @brief 注册设备信息 * @param none * @details * @author Zhang Sir **/ void regist_dev_info(dev_version_content *dev,uint8_t num,bool verify_flag,char *sn,uint8_t size1, char *soft_serial,uint8_t size2,char *hard_serial,uint8_t size3,char *manu,uint8_t size4) { dev->num = num; dev->verify = verify_flag; if(dev->regist.dev == false) { dev->regist.dev = true; dev->send_times++; } if(sn != NULL && size1 <= 32 && dev->regist.sn == false) { memcpy(dev->sn,sn,size1); dev->regist.sn = true; dev->send_times++; } if(soft_serial != NULL && size2 <= 16 && dev->regist.soft == false) { memcpy(dev->soft_serial,soft_serial,size2); dev->regist.soft = true; dev->send_times++; } if(hard_serial != NULL && size3 <= 16 && dev->regist.hard == false) { memcpy(dev->hard_serial,hard_serial,size3); dev->regist.hard = true; dev->send_times++; } if(manu != NULL && size4 <= 16 && dev->regist.manu == false) { memcpy(dev->manu,manu,size4); dev->regist.manu = true; dev->send_times++; } }; /** * @file get_device_version_and_sn * @brief 版本号 * @param none * @details * @author Zhang Sir **/ void get_device_version_and_sn(void) { static uint32_t circu_time = 0; if(Check_Timer_Ready(&circu_time,_1_HZ_)) { //获取雷达版本和SN号 get_radar_version_and_sn(); //获取流量计版本和SN号 get_flowmeter_version_and_sn(); get_spread_version_and_sn(); get_spary_version_and_sn(); get_nozzle_version_and_sn(); get_weight_version_and_sn(); // //获取EFT设备版本信息 // if(drone_type == Drone_Z70) // get_eftZ70_version_and_sn(); // else if(drone_type == Drone_Z20) // get_eftdev_version_and_sn(); } }