#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; 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]; eft_info.weight = data[1] * 256 + data[2]; 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]; Dev.Weight_Link.connect_status = COMP_NORMAL; Dev.Weight.facid = FAC_EFT; Dev.Weight_Link.recv_time = HAL_GetTick(); 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; 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)) { 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); break; case 0XB1 ... 0XB2: pmu_set_ack(_MSGID_SET,MSGID_SET_LACKLOSS_CAL,0x02,0x00); break; default: break; } }