#include "soft_eft.h" #include "common.h" #include "soft_p_2_c.h" #include "string.h" #include "soft_seed_device.h" #include "soft_version.h" uint8_t seed_output_mode = 1; eft eft_info; short tppwm_value = 1000; short sow_rotate_value = 1000; /** * @file EftCanRecvHookFunction * @brief EFT信息接收 * @param * @details * @author Zhang Sir **/ _Temp_sensor Temp_sensor; _mimo_lackloss mimo_lackloss; _mimo_lackloss DM_lackloss; water_dev Lpump1; water_dev Lpump2; weight70_dev z70weight; bool weight_runing_time = false; bool eft_sparyDev_priority = false;//EFT飞机存在两种水泵、称重ID一起发送 bool eft_weightDev_priority = false; uint16_t LiftingWeight_warning = 0; void EftCanRecvHookFunction(uint32_t cellCanID, uint8_t data[], uint8_t len) { switch (cellCanID) { case REVE_EFT_INFO_1: //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 REVE_EFT_INFO: eft_info.enginearm_lock = data[0]; if(eft_weightDev_priority != true) { eft_info.weight = data[1] * 256 + data[2]; Dev.Weight_Link.connect_status = COMP_NORMAL; Dev.Weight.facid = FAC_EFT; Dev.Weight_Link.recv_time = HAL_GetTick(); } eft_info.pump1_rpm = data[4]; eft_info.pump2_rpm = data[3]; eft_info.cent1_rpm = data[5]; eft_info.cent2_rpm = data[6]; eft_info.watering_warn_status = data[7]; if(eft_sparyDev_priority == false) { Dev.Pump_Link.connect_status = COMP_NORMAL; Dev.Pump.facid = FAC_EFT; Dev.Pump_Link.recv_time = HAL_GetTick(); } Dev.Nozzle_Link.connect_status = COMP_NORMAL; Dev.Nozzle.facid = FAC_EFT; Dev.Nozzle_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 REVE_EFT_LOW: 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; case REVE_EFT_ACK: switch (data[0]) { case 0xFA: break; case 0xF5: pmu_set_ack(_MSGID_SET,25,Cal_Seed_Back,0); break; case 0xF6: pmu_set_ack(_MSGID_SET,25,Cal_Remove_Peel,0); break; case 0xF7: pmu_set_ack(_MSGID_SET,25,Cal_Weight,0); break; case 0xf8: for(uint8_t i = 0;i < 4;i++) { eft_info.sn[i*2] = ((data[i+1] >> 4) & 0xf) + '0'; eft_info.sn[i*2+1] = (data[i+1] & 0xf) + '0'; } eft_info.sn[8] = ((data[7] >> 4) & 0xf) + '0'; eft_info.sn[9] = (data[7] & 0xf) + '0'; //Dev_info.dev_connect.dev_flag.seed = true; break; case 0xF9: eft_info.version[0] = data[1] + '0'; eft_info.version[1] = data[2] + '0'; //Dev_info.dev_connect.dev_flag.seed = true; break; case 0xFC: eft_info.seed_k[weight_order.order_con1 - 1] = weight_order.order_con2 & 0xff; pmu_set_ack(_MSGID_SET,MSGID_SET_WEIGHT_K,0,0); break; case 0xFD: memcpy(&eft_info.seed_k[0],&data[1],3); weight_init_eft.step.read_k_flag = 0; break; default: break; } break; case BMS_LINE_TEMP: Temp_sensor.Positive_pole = data[0] * 256 + data[1]; Temp_sensor.Negative_pole = data[2] * 256 + data[3]; Dev.Temp_Sensor_Link.connect_status = COMP_NORMAL; Dev.Temp_sensor.facid = FAC_EFT; Dev.Temp_Sensor_Link.recv_time = HAL_GetTick(); regist_dev_info(&dev_tempSensor,DEVICE_TEMP_SENSOR,false,NULL,0,NULL,0,NULL,0,"EFT",4); break; case LPump1: eft_sparyDev_priority = true; memcpy(&Lpump1,&data[0],sizeof(water_dev)); 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; break; case LPump2: eft_sparyDev_priority = true; memcpy(&Lpump2,&data[0],sizeof(water_dev)); 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; break; case CAN_EFT70_WEIGHT: eft_weightDev_priority = true; eft_info.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(); break; case 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.run_time = 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; } break; default: break; } } /** * @file can_sendmsg_eft * @brief 发送信息给EFT * @param * @details * @author Zhang Sir **/ void can_sendmsg_eft(void) { static int eft_count = 0; uint8_t eft_canbuf[8] = {0}; if(Dev.Seed_Link.connect_status == COMP_NORMAL && Dev.Seed.facid == FAC_EFT) { seed_init_send_info(SEED_DEVICE,"EFT"); Set_Seed_Weight_Par(SEED_DEVICE,"EFT"); if(seed_output_mode == 1) { if(HAL_GetTick() < 5000) //初始化自检 { tppwm_value = 1000; sow_rotate_value = 1000; } //发送转速 和阀门 eft_canbuf[0] = 0xf1; eft_canbuf[1] = (tppwm_value >> 8) & 0xff; eft_canbuf[2] = tppwm_value & 0xff; eft_canbuf[3] = (sow_rotate_value >> 8) & 0xff; eft_canbuf[4] = sow_rotate_value & 0xff; eft_canbuf[5] = 0xf1; eft_canbuf[6] = 0xf3; eft_canbuf[7] = eft_count; can_send_msg_normal((unsigned char *)&eft_canbuf, 8, SEND_EFT_INFO); eft_count++; if(eft_count >= 256) { eft_count = 0; } } } if(Dev.Weight_Link.connect_status == COMP_NORMAL && (Dev.Weight.facid == FAC_EFT || Dev.Weight.facid == FAC_LIFTWEIGHT)) { 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] = 0xf3; eft_canbuf[7] = 0; can_send_msg_normal((unsigned char *)&eft_canbuf, 8, SEND_EFT_INFO); } } void DMlacklossCanRecvFunction(uint32_t cellCanID, uint8_t data[], uint8_t len)//电目断料计接收函数 { /*if(cellCanID==CAN_MSGID_DM_LACKLOSS) { uint32_t DMLackloss_recvtime=0; Dev.DM_Lackloss_Link.connect_status=COMP_NORMAL; Dev.DM_Lackloss_Link.recv_time = HAL_GetTick(); DMLackloss_recvtime=Dev.DM_Lackloss_Link.recv_time; DM_lackloss.status=(data[0] ^ 1); DM_lackloss.distance=DMLackloss_recvtime & 0xFFFF; DM_lackloss.strength=(DMLackloss_recvtime >> 16) & 0xFFFF; }*/ switch (data[0]) { case 0XA0: Dev.Checklow.facid = FAC_DM_CHECKLOW; Dev.Lackloss_Link.connect_status= COMP_NORMAL; Dev.Lackloss_Link.recv_time = HAL_GetTick(); DM_lackloss.status = 0; break; case 0XA1: Dev.Checklow.facid = FAC_DM_CHECKLOW; Dev.Lackloss_Link.connect_status = COMP_NORMAL; Dev.Lackloss_Link.recv_time = HAL_GetTick(); DM_lackloss.status = 1; break; case 0XB0: pmu_set_ack(_MSGID_SET,MSGID_SET_LACKLOSS_CAL,0x01,0x00);//成功 break; case 0XB1 ... 0XB2: pmu_set_ack(_MSGID_SET,MSGID_SET_LACKLOSS_CAL,0x02,0x00);//失败 break; default: break; } }