#include "soft_p_2_c.h" #include "soft_uart.h" #include "usart.h" #include "stdbool.h" #include "soft_timer.h" #include "soft_adc.h" #include "soft_flow.h" #include "soft_crc.h" #include #include "stdbool.h" #include "tim.h" #include "hard_led.h" #include "soft_can.h" #include "stdio.h" #include "soft_bms.h" #include "soft_terrain.h" #include "soft_obstacle.h" #include "soft_okcell.h" #include "soft_adc.h" #include "config.h" #include "soft_calibration.h" #include "soft_flash.h" #include "bsp_serial.h" #include "rkfifo.h" #include "soft_engine.h" #include "soft_eft.h" #include "math.h" #include "stdlib.h" #include "soft_water_device.h" #include "soft_seed_device.h" #include "soft_test.h" #include "can_debug.h" #include "soft_version.h" #include "soft_update.h" #include "qingxie_bms.h" #include "soft_flash.h" uint8_t msg_buf[256] = {0}; uint16_t crc = 0; pmu_data pmu; plane_para planep = {.Candebug_flag = 0}; /** * @file Update_ack_func * @brief PMU回复ACK 回复升级工具 * @param 组件ID，消息ID，ACK数据 * @details 升级应答FMU透传，协议和升级工具一致,和FMU不一样 * @author Zhang Sir **/ void Update_ack_func(uint8_t group_id, uint8_t msg_id, uint8_t *ackbuf) { int index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = group_id; msg_buf[index++] = 21; msg_buf[index++] = msg_id; msg_buf[index++] = *ackbuf; msg_buf[index++] = *(ackbuf + 1); msg_buf[index++] = 1; msg_buf[1] = index - 6; uint16_t uart_crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &uart_crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_set_ack * @brief PMU应答FMU * @param 命令 命令内容 123 * @details * @author Zhang Sir **/ void pmu_set_ack(uint8_t id,short content1, short content2,short content3) { pmu_send = PMU_SEND_ACK; ack_id = id; ack_content = content1; ack_content1 = content2; ack_content2 = content3; } /** * @file pmu_to_con_voltage_data * @brief PMU发送电压、温度信息 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_voltage_data() { int index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; //组件计数 msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_VOL; pmu.voltage = ADC_gather() / 10.0f + volinf.cal_vol * 10; // 获取当前板子电压 memcpy(&msg_buf[index], &pmu.voltage, 2); index += 2; pmu.temperature = ADC_read_temptrue(); memcpy(&msg_buf[index], &pmu.temperature, 2); index += 2; msg_buf[index++] = 0; msg_buf[index++] = 0; memcpy(&msg_buf[index], &uavinf.abnormal_outage_flag, 2); index += 2; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); //10 //for(int i = 0;i<10;i++){ //printf("%d ",msg_buf[6]); //printf("%d\n",msg_buf[7]); //} } /** * @file get_radar_info * @brief 获取雷达信息 * @param Info_Type:避障雷达 X：1 Y：2 * @details * @author Zhang Sir **/ short get_radar_info(uint8_t Radar_Type,uint8_t Info_Type) { uavr_terrain *Ptr_T = NULL; uavr_obs *Ptr_O = NULL; if(Radar_Type == MSGID_SET_T_RADAR) { if(mimo_ter_info.Link.connect_status != COMP_NOEXIST) Ptr_T = &mimo_ter_info; else if(DM_ter_info.Link.connect_status != COMP_NOEXIST) Ptr_T = &DM_ter_info; else if(uavr56_info.Link.connect_status != COMP_NOEXIST) Ptr_T = &uavr56_info; if(Ptr_T->Link.connect_status == COMP_LOST) {return -2;} else if(Ptr_T == NULL) {return -1;} else {return Ptr_T->height;} } else if(Radar_Type == MSGID_SET_F_RADAR) { if(uavr11_info.Link.connect_status != COMP_NOEXIST) Ptr_O = &uavr11_info; else if(mimo_f_info.Link.connect_status != COMP_NOEXIST) Ptr_O = &mimo_f_info; else if(DM_f_info.Link.connect_status != COMP_NOEXIST) Ptr_O = &DM_f_info; if(Ptr_O->Link.connect_status == COMP_LOST) {return -2;} else if(Ptr_O == NULL) {return -1;} else { if(Info_Type == OBS_X) return Ptr_O->distance_x; else if((Info_Type == OBS_Y)) return Ptr_O->distance_y; } } else if(Radar_Type == MSGID_SET_B_RADAR) { if(uavr12_info.Link.connect_status != COMP_NOEXIST) Ptr_O = &uavr12_info; else if(mimo_b_info.Link.connect_status != COMP_NOEXIST) Ptr_O = &mimo_b_info; if(Ptr_O->Link.connect_status == COMP_LOST) {return -2;} else if(Ptr_O == NULL) {return -1;} else { if(Info_Type == OBS_X) return Ptr_O->distance_x; else if((Info_Type == OBS_Y)) return Ptr_O->distance_y; } } return 0; } /** * @file pmu_to_con_radar_data * @brief PMU发送雷达信息 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_radar_data() { int index = 0; //检查各种雷达连接状态 check_radar_link_status(); msg_buf[index++] = 0xFE; msg_buf[index++] = 10; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_RADAR; pmu.radar_buf[0] = get_radar_info(MSGID_SET_T_RADAR,0); pmu.radar_buf[1] = get_radar_info(MSGID_SET_F_RADAR,OBS_Y); pmu.radar_buf[2] = get_radar_info(MSGID_SET_F_RADAR,OBS_X); pmu.radar_buf[3] = get_radar_info(MSGID_SET_B_RADAR,OBS_Y); pmu.radar_buf[4] = get_radar_info(MSGID_SET_B_RADAR,OBS_X); terrain_is_link = pmu.radar_buf[0] > -1? true:false; obs_f_is_link = pmu.radar_buf[1] > -1? true:false; obs_b_is_link = pmu.radar_buf[3] > -1? true:false; // //发送木牛或者恩曌数据或者莫之比仿地 // if ((muniu_ter_info.muniu_time == 0) && (mimo_ter_info.heart_time == 0) && (uavr56_info.heart_time == 0)) //上电没通讯 // { // pmu.radar_buf[0] = -1; // terrain_is_link = false; // } // else if ((muniu_ter_info.muniu_heart_flag == false) && (mimo_ter_info.heart_flag == false) && // (uavr56_info.heart_flag == false)) //持续3秒没有接收到数据 显示断开连接 // { // pmu.radar_buf[0] = -2; // terrain_is_link = false; // } // else // { // if (muniu_ter_info.muniu_heart_flag == true) // { // pmu.radar_buf[0] = muniu_ter_info.muniu_hight; // terrain_height = muniu_ter_info.muniu_hight; // //printf("%d\n", muniu_hight); // } // else if (uavr56_info.heart_flag == true) // { // pmu.radar_buf[0] = uavr56_info.height; // terrain_height = uavr56_info.height; // // printf("%d\n",uavr56_info.height); // } // else if (mimo_ter_info.heart_flag == true) // { // pmu.radar_buf[0] = mimo_ter_info.height; // terrain_height = mimo_ter_info.height; // // printf("%d %d %d %d\n",mimo_ter_info.height,keep_time,ez_count,ez_count2); // } // terrain_is_link = true; // } // //前避障 // if (uavr11_info.heart_time == 0 && mimo_f_info.heart_time == 0) // { // pmu.radar_buf[1] = -1; // obs_f_is_link = false; // } // else if (uavr11_info.heart_flag == false && mimo_f_info.heart_flag == false) // { // pmu.radar_buf[1] = -2; // obs_f_is_link = false; // } // else // { // if (uavr11_info.heart_flag == true) // { // if(Fobs_handle_function()) // { // pmu.radar_buf[1] = uavr11_info.distance_y; // pmu.radar_buf[2] = uavr11_info.distance_x; // } // else // { // pmu.radar_buf[1] = 0; // pmu.radar_buf[2] = 0; // } // } // if (mimo_f_info.heart_flag == true) // { // if(Fobs_handle_function()) // { // pmu.radar_buf[1] = mimo_f_info.distance_y; // pmu.radar_buf[2] = mimo_f_info.distance_x; // } // else // { // pmu.radar_buf[1] = 0; // pmu.radar_buf[2] = 0; // } // //printf("%d\n",ez_obs_distance_y); // // printf("%d %d %d %d\n",mimo_f_info.distance_y,keep_time,ez_count,ez_count2); // } // obs_f_is_link = true; // } // //后避障 // if (uavr12_info.heart_time == 0 && mimo_b_info.heart_time == 0) // { // pmu.radar_buf[3] = -1; // obs_b_is_link = false; // } // else if (uavr12_info.heart_flag == false && mimo_b_info.heart_flag == false) // { // pmu.radar_buf[3] = -2; // obs_b_is_link = false; // } // else // { // if (uavr12_info.heart_flag == true) // { // if(Bobs_handle_function()) // { // pmu.radar_buf[3] = uavr12_info.distance_y; // pmu.radar_buf[4] = uavr12_info.distance_x; // } // else // { // pmu.radar_buf[3] = 0; // pmu.radar_buf[4] = 0; // } // } // else if(mimo_b_info.heart_flag == true) // { // if(Bobs_handle_function()) // { // pmu.radar_buf[3] = mimo_b_info.distance_y; // pmu.radar_buf[4] = mimo_b_info.distance_x; // } // else // { // pmu.radar_buf[3] = 0; // pmu.radar_buf[4] = 0; // } // } // obs_b_is_link = true; // } memcpy(&msg_buf[index], &pmu.radar_buf[0], 10); index += 10; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_con_barttery_data * @brief PMU发送智能电池信息 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_barttery_data() { int index = 0; if (Dev.Bms_Link.connect_status == COMP_NORMAL) { uint8_t size_elong = 3 + 1 + 1 + bms_data.bms_num * 2; //前5字节:协议版本3 电池串数1 电池组数1 uint8_t size_elong2 = 1 + bms_data2.bms_num * 2; //电池串数 加 电压 msg_buf[index++] = 0xFE; msg_buf[index++] = 0; // 31 电池ID后的变量字节数 msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_BMS; bms_data.bms_version[0] = 'V'; bms_data.bms_version[1] = 'K'; bms_data.bms_version[2] = '3'; bms_data.bms_group = group_num; //一组电池 if (bms_data.bms_group == 1) { memcpy(&msg_buf[index], &bms_data, size_elong); //变长数组 赋值到最后一个电压 index += size_elong; memcpy(&msg_buf[index], &bms_data.bms_ids, 45); //从id 到状态 31字节 + 2字节 厂商编号 index += 45; //新加32字节 33+12=45 msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); } //两组电池 else if (bms_data.bms_group == 2) { memcpy(&msg_buf[index], &bms_data, size_elong); //变长数组 赋值到最后一个电压 index += size_elong; memcpy(&msg_buf[index], &bms_data.bms_ids, 45); //从id 到状态 31字节 index += 45; memcpy(&msg_buf[index], &bms_data2.bms_num, size_elong2); index += size_elong2; memcpy(&msg_buf[index], &bms_data2.bms_ids, 45); index += 45; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); } } } /** * @file pmu_to_con_engin_data * @brief PMU发送发动机信息 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_engine_data(void) { uint8_t index = 0; if(engine_link_status == COMP_NORMAL) { msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; //组件计数 msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSG_ENGIN; memcpy(&msg_buf[index],&engine_data.engine_type,sizeof(engine_data)); index += (sizeof(engine_data)); msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); } } // /** // * @file pmu_to_con_radar360_data // * @brief PMU发送360信息 // * @param none // * @details // * @author Zhang Sir // **/ // void pmu_to_con_radar360_data(void) // { // uint8_t index = 0; // uint32_t send_byte = 0; // if(mimo_360_info.connect_status == COMP_NORMAL) // { // msg_buf[index++] = 0xFE; // msg_buf[index++] = 0; // msg_buf[index++] = 0; // msg_buf[index++] = 0x00; // msg_buf[index++] = 0x00; // msg_buf[index++] = _MSGID_360RADAR; // radar360_proflag = 1; // send_byte = sizeof(mimo_360_data) * fmu_360info.total_tar + 2; // memcpy(&msg_buf[index],&fmu_360info,send_byte); // index += send_byte; // radar360_proflag = 0; // msg_buf[1] = index - 6; // crc = Get_Crc16(msg_buf, index); // msg_buf[index++] = crc; // msg_buf[index++] = (crc >> 8) & 0xff; // uart2_send_msg(msg_buf, index); // } // } /** * @file pmu_to_con_radar360_data * @brief PMU发送360信息 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_DMradar_data(void) { uint8_t index = 0; if(DM_status.connect_status == COMP_NORMAL) { msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_DMRADAR; DM_recv_flag = 1; memcpy(&msg_buf[index],&FMU_DM_info.target_num,3); index += 3; memcpy(&msg_buf[index],&FMU_DM_info.warn,2); index += 2; memcpy(&msg_buf[index],FMU_DM_info.buf,DM_T_info.target_num * 4); index += DM_T_info.target_num * 4; DM_recv_flag = 0; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; uart2_send_msg(msg_buf, index); } } /** * @file pmu_to_con_heart_data * @brief PMU_发送心跳 * @param none * @details * @author Zhang Sir **/ void pmu_to_con_heart_data() { int index = 0; uint32_t time = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = 21; msg_buf[index++] = _MSGID_HEART; ack_content = 0x56; memcpy(&msg_buf[index],&ack_content,2); index += 2; ack_content1 = uavinf.reset_reason; memcpy(&msg_buf[index],&ack_content1,2); index += 2; memcpy(&msg_buf[index],&ack_content2,2); index += 2; time = HAL_GetTick(); memcpy(&msg_buf[index],&time,4); index += 4; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_con_devtype_data * @brief PMU发送播撒、称重、水泵、离心喷头、在位传感器信息 * @param none * @details * @author Zhang Sir **/ // void check_and_put_msg(uint8_t *buf, uint16_t len) // { // buf[1] = len - 6; // uint16_t crc = Get_Crc16(buf, len); // msg_buf[len++] = crc; // msg_buf[len++] = (crc >> 8) & 0xff; // uart2_send_msg(msg_buf, len); // } void pmu_to_con_devtype_data(void) { uint16_t index = 0; bool send_flag = true; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; //组件计数 msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_DEV_INFO; if((Dev.Bms_Link.connect_status == COMP_NORMAL || _Aqx_bms_link.connect_status == COMP_NORMAL) && devinfo_time.bms == true) { if(Dev.Bms.facid == FAC_QX_BMS) msg_buf[index++] = DEV_QQ_BMS; else msg_buf[index++] = DEV_BMS; memcpy(&msg_buf[index],&Dev.Bms.facid,Dev.Bms.index + 1); index += Dev.Bms.index + 1; devinfo_time.bms = false; } else if(devinfo_time.flow == true) { msg_buf[index++] = DEV_FLOW; memcpy(&msg_buf[index],&Dev.Flow.facid,sizeof(Flow_info)); index += sizeof(Flow_info); devinfo_time.flow = false; } else if (devinfo_time.radar == true) { msg_buf[index++] = DEV_RADAR; memcpy(&msg_buf[index],&Dev.Radar.facid_T,sizeof(Radar_info)); index += sizeof(Radar_info); devinfo_time.radar = false; } else if(devinfo_time.checklow == true) { msg_buf[index++] = DEV_CHECKLOW; memcpy(&msg_buf[index],&Dev.Checklow.facid,sizeof(CheckLow_info)); index += sizeof(CheckLow_info); devinfo_time.checklow = false; } else if(Dev.Part_Tradar_Link.connect_status == COMP_NORMAL && devinfo_time.part_radar == true) { msg_buf[index++] = DEV_PART_RADAR; memcpy(&msg_buf[index],&Dev.Part_radarT.facid,sizeof(Part_Tradar)); index += sizeof(Part_Tradar); devinfo_time.part_radar = false; } // else if(Dev.Bms_Link.connect_status == COMP_NORMAL && devinfo_time.bms == true) // { // msg_buf[index++] = DEV_BMS; // memcpy(&msg_buf[index],&Dev.Bms.facid,Dev.Bms.index + 1); // index += Dev.Bms.index + 1; // devinfo_time.bms = false; // } else if(Dev.L_pump1_Link.connect_status == COMP_NORMAL && devinfo_time.L_pump1 == true) { msg_buf[index++] = DEV_L_PUMP1; memcpy(&msg_buf[index],&Dev.L_pump1.facid,sizeof(Linear_pump_info)); index += sizeof(Linear_pump_info); devinfo_time.L_pump1 = false; } else if(Dev.L_pump2_Link.connect_status == COMP_NORMAL && devinfo_time.L_pump2 == true) { msg_buf[index++] = DEV_L_PUMP2; memcpy(&msg_buf[index],&Dev.L_pump2.facid,sizeof(Linear_pump_info)); index += sizeof(Linear_pump_info); devinfo_time.L_pump2 = false; } else if(Dev.Weight_Link.connect_status == COMP_NORMAL && devinfo_time.weight == true) { msg_buf[index++] = DEV_WEIGHT; memcpy(&msg_buf[index],&Dev.Weight.facid,sizeof(Weight_info)); index += sizeof(Weight_info); devinfo_time.weight = false; } else if(Dev.Seed_Link.connect_status == COMP_NORMAL && devinfo_time.seed == true) { msg_buf[index++] = DEV_SEED; memcpy(&msg_buf[index],&Dev.Seed.facid,sizeof(Seed_info)); index += sizeof(Seed_info); devinfo_time.seed = false; } else if (Dev.Pump_Link.connect_status == COMP_NORMAL && devinfo_time.pump == true) { msg_buf[index++] = DEV_PUMP; memcpy(&msg_buf[index],&Dev.Pump.facid,sizeof(Pump_info)); index += sizeof(Pump_info); devinfo_time.pump = false; } else if (Dev.Nozzle_Link.connect_status == COMP_NORMAL && devinfo_time.nozzle == true) { msg_buf[index++] = DEV_NOZZLE; memcpy(&msg_buf[index],&Dev.Nozzle.facid,sizeof(Nozzle_info)); index += sizeof(Nozzle_info); devinfo_time.nozzle = false; } else if (Dev.Arm_Link.connect_status == COMP_NORMAL && devinfo_time.arm == true) { msg_buf[index++] = DEV_ARM; memcpy(&msg_buf[index],&Dev.Arm.facid,sizeof(Arm_info)); index += sizeof(Arm_info); devinfo_time.arm = false; } else if(Dev.Current_Link.connect_status == COMP_NORMAL && devinfo_time.current == true) { msg_buf[index++] = DEV_CURRENT; memcpy(&msg_buf[index],&Dev.Current.facid,sizeof(Current_info)); index += sizeof(Current_info); devinfo_time.current = false; } else { send_flag = false; } msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); msg_buf[index++] = crc; msg_buf[index++] = (crc >> 8) & 0xff; if(send_flag == true) uart2_send_msg(msg_buf, index); } /** * @file radar_version_check * @brief 更改雷达版本格式 * @param none * @details * @author Zhang Sir **/ void radar_version_check(void) { //前避障 if(uavr11_info.Link.connect_status == COMP_NORMAL || uavr11_info.Link.boot_flag == true) { if(uavr11_info.soft_verison == 0 && uavr11_info.get_radar_ver_flag == false) { uavr11_info.version[0] = 'M'; uavr11_info.version[1] = '1'; for(uint8_t i = 2;i < 10; i++) { uavr11_info.version[i] = '0'; } } memcpy(&radar_version[0][0],&uavr11_info.version[0],10); } else if (mimo_f_info.Link.connect_status == COMP_NORMAL) { if(mimo_f_info.Link.boot_flag == true) { memcpy(&mimo_f_info.version,"E100000000",10); } memcpy(&radar_version[0][0],&mimo_f_info.version[0],10); } else if(DM_f_info.Link.connect_status == COMP_NORMAL) { memcpy(&radar_version[0][0],&DM_f_info.version[0],10); } //后避障 if(uavr12_info.Link.connect_status == COMP_NORMAL ) { if(uavr12_info.soft_verison == 0 && uavr12_info.get_radar_ver_flag == false) { uavr12_info.version[0] = 'M'; uavr12_info.version[1] = '2'; for(uint8_t i = 2;i < 10; i++) { uavr12_info.version[i] = '0'; } } memcpy(&radar_version[1][0],&uavr12_info.version[0],10); } else if(mimo_b_info.Link.connect_status == COMP_NORMAL) { if(mimo_b_info.Link.boot_flag == true) { memcpy(&mimo_b_info.version,"E200000000",10); } memcpy(&radar_version[1][0],&mimo_b_info.version[0],10); } if(uavr56_info.Link.connect_status == COMP_NORMAL ) { if(uavr56_info.soft_verison == 0 && uavr56_info.get_radar_ver_flag == false) { uavr56_info.version[0] = 'M'; uavr56_info.version[1] = 'B'; for(uint8_t i = 2;i < 10; i++) { uavr56_info.version[i] = '0'; } } memcpy(&radar_version[2][0],&uavr56_info.version[0],10); } else if(mimo_ter_info.Link.connect_status == COMP_NORMAL) { if(mimo_ter_info.Link.boot_flag == true) { memcpy(&mimo_ter_info.version,"EB00000000",10); } memcpy(&radar_version[2][0],&mimo_ter_info.version[0],10); } else if(DM_ter_info.Link.connect_status == COMP_NORMAL) { memcpy(&radar_version[2][0],&DM_ter_info.version[0],10); } } /** * @file pmu_to_con_version_data * @brief PMU发送版本信息 * @param none * @details * @author Zhang Sir **/ char radar_version[3][10] = {0}; //0 前避障 1后避障 2仿地 void pmu_to_con_version_data() { //版本信息 0 - 5 硬件版本 IAP版本 APP版本 uint32_t ver_msg_buf[4] = {0}; int index = 0; ver_msg_buf[0] = serial.num; //硬件版本号 ver_msg_buf[1] = IAP_VERSION; //IAP版本号 ver_msg_buf[2] = APP_VERSION; //APP版本号 ver_msg_buf[3] = serial.num;//serial.num; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = MSGID_REQ_VERSION; radar_version_check(); memcpy(&msg_buf[index], ver_msg_buf, 16); index += 16; memcpy(&msg_buf[index], &radar_version[0][0], 10); index += 10; memcpy(&msg_buf[index], &radar_version[1][0], 10); index += 10; memcpy(&msg_buf[index], &radar_version[2][0], 10); index += 10; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_fcu_version_data * @brief 版本信息发送，新协议还没用 * @param none * @details * @author Zhang Sir **/ void pmu_to_fcu_version_data() { dev_version_content *ptr = NULL; for(uint8_t i = 0;i < dev_num;i++) { ptr = dev_ptr[i]; if(ptr->send_times > 0) { break; } if(i == dev_num - 1) { return; } } uint8_t index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_DEV_LIST; memcpy(&msg_buf[index],&ptr->num,sizeof(dev_version_content) - sizeof(regist_type) - 1); index += sizeof(dev_version_content) - sizeof(regist_type) - 1; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_fcu_key_data * @brief PMU发送秘钥信息 * @param none * @details 格式电池秘钥匹配 * @author Zhang Sir **/ void pmu_to_fcu_key_data(void) { uint8_t index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = _MSGID_SHA1; msg_buf[index++] = start_msg.Dev_type; msg_buf[index++] = start_msg.Id; msg_buf[index++] = start_msg.Id_content; // if(start_msg.Id == 4) // { // start_msg.key_info_checking = false; //发送状态后结束发送 // } memcpy(&msg_buf[index],&start_msg.key_data[0],20); index += 20; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_con_request_data * @brief PMU发送请求信息 * @param none * @details * @author Zhang Sir **/ char request_id = 0; short request_1_content = 0; int request_2_content = 0; void pmu_to_con_request_data() { int index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = 20; msg_buf[index++] = request_id; memcpy(&msg_buf[index],&request_1_content,2); index += 2; memcpy(&msg_buf[index],&request_2_content,4); index += 4; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /** * @file pmu_to_con_request_data * @brief PMU发送应答信息 * @param none * @details * @author Zhang Sir **/ char ack_id = 0; short ack_content = 0; short ack_content1 = 0; short ack_content2 = 0; void pmu_to_con_ack_data() { int index = 0; msg_buf[index++] = 0xFE; msg_buf[index++] = 0; msg_buf[index++] = 0; msg_buf[index++] = 0x00; msg_buf[index++] = 0x00; msg_buf[index++] = 21; msg_buf[index++] = ack_id; memcpy(&msg_buf[index],&ack_content,2); index += 2; memcpy(&msg_buf[index],&ack_content1,2); index += 2; memcpy(&msg_buf[index],&ack_content2,2); index += 2; msg_buf[1] = index - 6; crc = Get_Crc16(msg_buf, index); memcpy(&msg_buf[index], &crc, 2); index += 2; uart2_send_msg(msg_buf, index); } /******************void pmu_to_fcu()****************************** * ****************PMU发送信息给主控******************************** * ****************************************************************/ /** * @file pmu_to_fcu * @brief PMU发送信息给FMU * @param none * @details UART2 * @author Zhang Sir **/ uint8_t pmu_send = PMU_SEND_YAOCE; uint32_t utc_time = 0; void pmu_to_fcu() { //串口阻塞 和雷达升级不发送 if(uart_info.vk_dev_update_flag != true && EZup_par.update_flag != true && Rupdate.update_flag != true) { switch (pmu_send) { case PMU_SEND_YAOCE: //发送电压信息 if (vol_flag == true) { pmu_to_con_voltage_data(); vol_flag = false; } //发动机信息 else if (engine_flag == true) { pmu_to_con_engine_data(); engine_flag = false; } // //mimo360测试 // else if (mimo360_radar_flag == true) // { // pmu_to_con_radar360_data(); // mimo360_radar_flag = false; // } //电目雷达测试 else if(DM_radar_flag == true) { pmu_to_con_DMradar_data(); DM_radar_flag = false; } //CAN调试信息 else if(can_debug_flag == true) { Can_send_debug_to_app(); can_debug_flag = false; } //设备SN号,软硬件号 else if (dev_version_flag == true) { pmu_to_fcu_version_data(); dev_version_flag = false; } //设备信息 else if (devtype_flag == true) { pmu_to_con_devtype_data(); devtype_flag = false; } break; case PMU_SEND_REQINFO: pmu_to_con_request_data(); pmu_send = PMU_SEND_YAOCE; break; case PMU_SEND_ACK: pmu_to_con_ack_data(); pmu_send = PMU_SEND_YAOCE; break; case PMU_SEND_VERSION: pmu_to_con_version_data(); pmu_send = PMU_SEND_YAOCE; break; case PMU_SEND_SHA1: pmu_to_fcu_key_data(); pmu_send = PMU_SEND_YAOCE; break; case PMU_SEND_DEV_INFO: pmu_to_fcu_version_data(); pmu_send = PMU_SEND_YAOCE; break; default: break; } //心跳包单独发 if(pmu_heart_flag == true) { pmu_to_con_heart_data(); pmu_heart_flag = false; } } } void Check_Rst(void) { if(__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) != RESET ) // NRST 引脚复位 { uavinf.reset_reason = R_NRST; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } if(__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) != RESET ) // 上电掉电复位 { uavinf.reset_reason = R_POWER; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) != RESET ) // 软件复位 { uavinf.reset_reason = R_SOFT; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } if(__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) != RESET ) // 独立看门狗复位 { uavinf.reset_reason = R_IWD; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } if(__HAL_RCC_GET_FLAG(RCC_FLAG_WWDGRST) != RESET ) // 窗口看门狗复位 { uavinf.reset_reason = R_WWD; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } if(__HAL_RCC_GET_FLAG(RCC_FLAG_LPWRRST) != RESET ) // 低功耗复位 { uavinf.reset_reason = R_LOPWER; write_uav_information = true; __HAL_RCC_CLEAR_RESET_FLAGS(); } } /******************void check_fmu_link()************************ * ****************检查是否收到FMU信息************************************ * ****************************************************************/ static uint32_t fmu_link_time = 0; void check_fmu_link() { //FMU串口通讯连接检测 if(HAL_GetTick() > 15000) { if(recv_fmu_data == true && HAL_GetTick() - fmu_link_time > 3000) { recv_fmu_data = false; } } //FMU异常断电检测 if((planep.lock_status != STA_LOCK) && (recv_fmu_data == true) && (HAL_GetTick() - fmu_link_time > 500)) { uavinf.abnormal_outage_flag = 1; write_uav_information = true; recv_fmu_data = false; } Check_Rst(); } /******************void uart_recv_con_msg()************************ * ****************PMU收控制消息************************************ * ****************************************************************/ _pmu_pin pmu_pin; bool recv_fmu_data = false; Set_info msgidset; void uart_recv_con_msg() { check_fmu_link(); check_uart_data(&recv_rkfifo); if (uart_info.fcu_buf_flag == true) { uint32_t tem_32t = 0; FLASH_EraseInitTypeDef f; fmu_link_time = HAL_GetTick(); recv_fmu_data = true; switch (fcu_protocol.msg_id) { case _MSGID_PWM: memcpy(&pmu_pin.pump1, &fcu_protocol.payload[6], sizeof(_pmu_pin)); if(set_HWesc_ESCid == true && setESCidInfo.setESCidStep == SETESCID_SET) { memset(&pmu_pin.pump1,0,4); if(setESCidInfo.setESCidNum == 1) pmu_pin.pump1 = 1000; else if(setESCidInfo.setESCidNum == 2) pmu_pin.pump2 = 1000; } __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pmu_pin.pump1); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, pmu_pin.pump2); if(planep.UAV_type == VK_ALL_IN_ONE) { __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pmu_pin.nozz1_fm); __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pmu_pin.nozz2_zp); } else { __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pmu_pin.nozz1_fm); __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pmu_pin.nozz2_zp); } if(planep.UAV_type == VK_ALL_IN_ONE) { //分电板离心喷头 distributor.nozzle1 = pmu_pin.nozz1_fm; distributor.nozzle2 = pmu_pin.nozz2_zp; //离心喷头34 __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, pmu_pin.nozz3); // PB8 nozzle __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, pmu_pin.nozz4); // PB9 nozzle //前后灯 if((pmu_pin.aux_light & 0x1) > 0) HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET); else HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET); if((pmu_pin.aux_light & 0x2) > 0) HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET); else HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET); //摄像头舵机 __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, pmu_pin.aux_steer); } break; case _MSGID_LED: for(uint8_t i = 0; i < 7; i++) { if(planep.UAV_type != VK_ALL_IN_ONE ) //青岛机型不用LED { led_set_blink(i, fcu_protocol.payload[i*3+6], fcu_protocol.payload[i*3+7], fcu_protocol.payload[i*3+8]); } } break; //飞机姿态信息 case _MSGID_ATTITUDE: memcpy(&planep.yaw, &fcu_protocol.payload[6], sizeof(plane_para)); if(uavinf.uavtype != planep.UAV_type) { write_uav_information = true; } break; case _MSGID_TIME: //tem_32t = 1684136124; memcpy(&utc_time, &fcu_protocol.payload[6], 4); covUnixTimeStp2Beijing(utc_time,&beijing_time); pmu_set_ack(_MSGID_TIME,0,0,0); break; //eft播撒器 case _MSGID_EFT_CON: recv_fmu_seed_info = true; memcpy(&tppwm_value, &fcu_protocol.payload[6], 2); memcpy(&sow_rotate_value, &fcu_protocol.payload[8], 2); break; //请求信息包 case _MSGID_REQ: switch (fcu_protocol.payload[6]) { case MSGID_REQ_VERSION: pmu_send = PMU_SEND_VERSION; break; default: break; } break; //主控应答 case _MSGID_ACK: msgidset.content1 = fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]; switch (fcu_protocol.payload[6]) { case MSGID_ACK_HEART: uavinf.abnormal_outage_flag = 0; write_uav_information = true; break; case MSGID_ACK_VERSION: start_msg.version_info = true; break; case MSGID_ACK_DEV: { if(msgidset.content1 < DEVICE_END - 1) { dev_version_content *Pt = dev_ptr[msgidset.content1]; if(Pt->send_times > 0) Pt->send_times--; } } break; default: break; } break; //设置雷达灵敏度 case _MSGID_SET: msgidset.num = fcu_protocol.payload[6]; msgidset.content1 = fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]; msgidset.content2 = fcu_protocol.payload[9] + 256 * fcu_protocol.payload[10]; switch (msgidset.num) { //前雷达 case MSGID_SET_F_RADAR: if(uavr12_info.fcu_set_sensi_flag != true && uavr56_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr11_info.fcu_set_sensi_flag = true; } memcpy(&obsfradar_sensitivity, &fcu_protocol.payload[7], 2); if(obsfradar_sensitivity == uavr11_info.get_radar_sensi) { uavr11_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_F_RADAR,uavr11_info.get_radar_sensi,0); } break; //后雷达 case MSGID_SET_B_RADAR: if(uavr11_info.fcu_set_sensi_flag != true && uavr56_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr12_info.fcu_set_sensi_flag = true; } memcpy(&obsbradar_sensitivity, &fcu_protocol.payload[7], 2); if(obsbradar_sensitivity == uavr12_info.get_radar_sensi) { uavr12_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_B_RADAR,uavr12_info.get_radar_sensi,0); } break; //仿地 case MSGID_SET_T_RADAR: if(uavr11_info.fcu_set_sensi_flag != true && uavr12_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr56_info.fcu_set_sensi_flag = true; } memcpy(&uavr56_info.fcu_set_sensi, &fcu_protocol.payload[7], 2); if(uavr56_info.fcu_set_sensi == uavr56_info.get_radar_sensi) { uavr56_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_T_RADAR,uavr56_info.get_radar_sensi,0); } break; case MSGID_SET_TR_BLIND: { uint8_t can_buf[8] = {0}; uint32_t can_id = 0; if(msgidset.content1 == 0x11) can_id = 0xA81300; else if (msgidset.content1 == 0x56) can_id = 0x981300; put_date_to_can(can_buf,0x5,(msgidset.content2 & 0xff),((msgidset.content2 >> 8) & 0xff),0,0,0,0,0X7); can_send_msg_normal(&can_buf[0], 8, can_id); } break; case MSGID_SET_BR_POWER: { uint8_t can_buf[8] = {0}; uint32_t can_id = 0; if(msgidset.content1 == 0x11) can_id = 0xA81300; else if (msgidset.content1 == 0x56) can_id = 0x981300; put_date_to_can(can_buf,0x7,(msgidset.content2 & 0xff),((msgidset.content2 >> 8) & 0xff),0,0,0,0,0X7); can_send_msg_normal(&can_buf[0], 8, can_id); } break; case MSGID_SET_R_FUNC: { uint8_t can_buf[8] = {0}; uint32_t can_id = 0; if(msgidset.content1 == 3) can_id = 0x981300; else if(msgidset.content1 == 5) can_id = 0xA81300; put_date_to_can(can_buf,0x4,(msgidset.content1 & 0xff),((msgidset.content1 >> 8) & 0xff),0,0,0,0,0X7); can_send_msg_normal(&can_buf[0], 8, can_id); } break; case MSGID_SET_RAW_SWITCH: { uint8_t can_buf[8] = {0}; uint32_t can_id = 0; if(msgidset.content1 == 0x11) can_id = 0xA81300; else if (msgidset.content1 == 0x56) can_id = 0x981300; put_date_to_can(can_buf,0xA,(msgidset.content2 & 0xff),((msgidset.content2 >> 8) & 0xff),0,0,0,0,0X7); can_send_msg_normal(&can_buf[0], 8, can_id); } break; case MSGID_SET_GEELY: switch (fcu_protocol.payload[7]) { case SET_START_OR_STOP: if(0x1 == fcu_protocol.payload[9] + ((fcu_protocol.payload[10] << 8) & 0xff00)) { if (geely_engin_link.connect_status == COMP_NORMAL && geely_data.engine_control == 0) { sendto_geely.ExtenderControl = 1; } start_engine = 0x80; } else if(0x0 == fcu_protocol.payload[9] + ((fcu_protocol.payload[10] << 8) & 0xff00)) { if (geely_engin_link.connect_status == COMP_NORMAL && geely_data.engine_control == 1) { sendto_geely.ExtenderControl = 0; } start_engine = 0; } break; case SET_PROTECT_TIME: if (geely_engin_link.connect_status == COMP_NORMAL) { geely_set_tcd = true; sendto_geely.SettingParameter = fcu_protocol.payload[9] + ((fcu_protocol.payload[10] << 8) & 0xff00); } break; case SET_LOCK_TIME: if (geely_engin_link.connect_status == COMP_NORMAL) { geely_set_tlock = true; sendto_geely.SettingParameter = fcu_protocol.payload[9] + ((fcu_protocol.payload[10] << 8) & 0xff00); } break; case SET_LOWVOL_PROTECT: if(0x1 == fcu_protocol.payload[9] + ((fcu_protocol.payload[10] << 8) & 0xff00)) { if (geely_engin_link.connect_status == COMP_NORMAL) { sendto_geely.ExtenderControl = 1; geely_set_protect = true; } } else { geely_set_protect = false; } break; default: break; } break; case MSGID_SET_VOL: set_cali_voltage = (fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]) - (int)(ADC_gather() /100.0f) ; write_vol_information = true; pmu_set_ack(_MSGID_SET,MSGID_SET_VOL,0,0); break; case MSGID_SET_MIMO_FLOW: if(msgidset.content1 != 0) { if(Dev.Flow.facid == FAC_MIMO_SIG || Dev.Flow.facid == FAC_MIMO_DOU) { tem_32t = flow_mimo1.flow_k * msgidset.content1 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_mimo1.flow_calk = tem_32t; } else{ flow_mimo1.flow_calk = 10000; } flow_mimo1.send_k_count = 5; } else if(Dev.Flow.facid == FAC_QIFEI_SIG || Dev.Flow.facid == FAC_QIFEI_DOU) { tem_32t = flow_inf.ch1.k * msgidset.content1 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_inf.ch1.cal_k = tem_32t; } else{ flow_inf.ch1.cal_k = 10000; } flow_inf.ch1.set_k = true; } } if(msgidset.content2 != 0) { if(Dev.Flow.facid == FAC_MIMO_SIG || Dev.Flow.facid == FAC_MIMO_DOU) { tem_32t = flow_mimo2.flow_k * msgidset.content2 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_mimo2.flow_calk = tem_32t; } else{ flow_mimo2.flow_calk = 10000; } flow_mimo2.send_k_count = 5; } else if(Dev.Flow.facid == FAC_QIFEI_SIG || Dev.Flow.facid == FAC_QIFEI_DOU) { tem_32t = flow_inf.ch2.k * msgidset.content2 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_inf.ch2.cal_k = tem_32t; } else{ flow_inf.ch2.cal_k = 10000; } flow_inf.ch1.set_k = true; } } break; case MSGID_SET_FLOW_BACKGROUND: if(Dev.Flow.facid == FAC_MIMO_SIG) { flow_inf.ch1.clear_background = true; } if(Dev.Flow.facid == FAC_MIMO_DOU) { flow_inf.ch1.clear_background = true; flow_inf.ch2.clear_background = true; } break; case MSGID_SET_WEIGHT_K: //calib_aux = msgidset.content1 + (msgidset.content2 << 2); //bit 0-1 编号 2-15K值 weight_order.type = Weight_Set_K; weight_order.order_con1 = msgidset.content1; weight_order.order_con2 = msgidset.content2; break; case MSGID_SET_SEED_OUT_TYPE: recv_fmu_seed_info = true; seed_output_mode = msgidset.content1; pmu_set_ack(_MSGID_SET,MSGID_SET_SEED_OUT_TYPE,0,0); break; case MSGID_SET_SEED_CAL_TYPE: switch (msgidset.content1) { case Cal_Remove_Peel: weight_order.type = Weight_Peer; break; case Cal_Weight: weight_order.type = Weight_Kg; weight_order.order_con2 = msgidset.content2; break; case Cal_Seed_Back: weight_order.type = Weight_Bcak; break; default: break; } break; case MSGID_SET_WEIGHT_MODE: weight_order.type = Weight_Mode; weight_order.order_con1 = msgidset.content1; break; case MSGID_SET_MAX_RATE: weight_order.type = Weight_Drug_Rate; weight_order.order_con1 = msgidset.content1; break; case MSGID_SET_PMU_SERIAL: set_pmu_serail = msgidset.content1 + ((msgidset.content2 << 16) & 0xffff0000); if(serial.num == PMU_SERIAL || set_pmu_serail == PMU_SERIAL) { write_serial_information = true; pmu_set_ack(_MSGID_SET,MSGID_SET_PMU_SERIAL,0,0); dev_pmu.send_times += 5; } else if(set_pmu_serail == serial.num) { pmu_set_ack(_MSGID_SET,MSGID_SET_PMU_SERIAL,0,0); } break; case MSGID_SET_RADAR_FB: { uint8_t can_buf[8] = {0}; if(msgidset.content1 == 0x11) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X03,0X01,0X65,0X00); can_send_msg_normalstd(can_buf,7,0xFA); } else if (msgidset.content1 == 0x12) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X03,0X02,0X66,0X00); can_send_msg_normalstd(can_buf,7,0xFA); } else if(msgidset.content1 == 0x100) { if(msgidset.content2 == 0x11 || msgidset.content2 == 0x12) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X00,0X03,0X64,0X00); can_send_msg_normalstd(can_buf,7,0xFA); } else if(msgidset.content2 == 0x56) { put_date_to_can(can_buf,0x55,0XAA,0X02,0X60,0X03,0X63,0X00,0X00); can_send_msg_normalstd(can_buf,6,0xFA); } } } break; case MSGID_SET_LACKLOSS_CAL: { uint8_t can_buf[8] = {0}; if(Dev.Lackloss_Link.connect_status == COMP_NORMAL) { mimo_lackloss.cal_distance = mimo_lackloss.distance / 10 + 5; put_date_to_can(can_buf,0xFA,0x03,0x00,0xB1,0XC1,0x00,0X00,0X00); can_buf[6] = mimo_lackloss.cal_distance & 0xff; can_buf[5] = (mimo_lackloss.cal_distance >> 8) & 0xff; can_buf[7] = (can_buf[1]+can_buf[2]+can_buf[3]+can_buf[4]+can_buf[5]+can_buf[6]) & 0xff; can_send_msg_normalstd(can_buf,8,0xFA); } } break; case MSGID_SET_PUMP_ID: set_HWesc_ESCid = true; setESCidInfo.setESCidNum = 1; setESCidInfo.setESCidStep = SETESCID_INIT; pmu_set_ack(_MSGID_SET,MSGID_SET_PUMP_ID,0,2); break; case MSGID_SET_FRADAR_SN: { int radar_Sn = 0; uint8_t can_buf[8] = {0}; radar_Sn = msgidset.content1 + (msgidset.content2 << 16); can_buf[0] = 2; memcpy(&can_buf[1],&radar_Sn,4); can_buf[7] = 7; can_send_msg_normal(can_buf,8,0xA81300); DM_f_info.get_radar_ver_flag = false; dev_obsf.regist.sn = false; pmu_set_ack(_MSGID_SET,MSGID_SET_FRADAR_SN,msgidset.content1,msgidset.content2); } break; case MSGID_SET_BRADAR_SN: { int radar_Sn = 0; uint8_t can_buf[8] = {0}; radar_Sn = msgidset.content1 + (msgidset.content2 << 16); can_buf[0] = 2; memcpy(&can_buf[1],&radar_Sn,4); can_buf[7] = 7; can_send_msg_normal(can_buf,8,0xB81300); dev_obsb.regist.sn = false; //DM_b_info.get_radar_ver_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_BRADAR_SN,msgidset.content1,msgidset.content2); } break; case MSGID_SET_TRADAR_SN: { int radar_Sn = 0; uint8_t can_buf[8] = {0}; radar_Sn = msgidset.content1 + (msgidset.content2 << 16); can_buf[0] = 2; memcpy(&can_buf[1],&radar_Sn,4); can_buf[7] = 7; can_send_msg_normal(can_buf,8,0x981300); DM_ter_info.get_radar_ver_flag = false; dev_ter.regist.sn = false; //重新获取sn pmu_set_ack(_MSGID_SET,MSGID_SET_TRADAR_SN,msgidset.content1,msgidset.content2); } break; default: break; } break; case _MSGID_HEART: pmu_heart_flag = true; break; case _MSGID_SHA1: //智能电池秘钥 if(fcu_protocol.payload[6] == 1) { //有秘钥 if(fcu_protocol.payload[7] == 2 && fcu_protocol.payload[8] == 1) { if(start_msg.key_info_checking == true) { memcpy(&start_msg.key_data[0],&fcu_protocol.payload[9],20); start_msg.key_to_bms = true;//给电池发送秘钥 start_msg.key_info_checking = false; } } //无秘钥 else if(fcu_protocol.payload[7] == 2 && fcu_protocol.payload[8] == 2) { start_msg.key_info_checking = false; } //回馈，防止PMU一直发 else if(fcu_protocol.payload[7] == 3 || fcu_protocol.payload[7] == 4) { start_msg.key_info_checking = false; } } break; //升级固件标志 case _MSGID_UPDATA: { __disable_irq(); HAL_FLASH_Unlock(); __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_WRPERR | FLASH_FLAG_PGERR); f.TypeErase = FLASH_TYPEERASE_PAGES; f.PageAddress = UPDATE_FLAG; f.NbPages = 1; uint32_t PageError = 0; HAL_FLASHEx_Erase(&f, &PageError); uint16_t TempBuf = 0x01; HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, UPDATE_FLAG, TempBuf); HAL_FLASH_Lock(); __enable_irq(); HAL_NVIC_DisableIRQ(USART2_IRQn); HAL_Delay(100); //软件复位 HAL_NVIC_SystemReset(); } break; default: break; } uart_info.fcu_buf_flag = false; memset(fcu_protocol.payload, 0, 256); } } /******************void pmu_start_info()******************* * ****************上电时PMU发送的信息******************************* * ****************************************************************/ Start_info start_msg = {.key_info_checking = true, .Dev_type = 1, .Id = 1, }; void pmu_start_info() { static uint32_t circu_time_2hz = 0; if(Check_Timer_Ready(&circu_time_2hz,_2_HZ_)) { if(HAL_GetTick() > 10000 && start_msg.version_info == false) { pmu_send = PMU_SEND_VERSION; start_msg.version_info = true; } else if (start_msg.key_info_checking == true && Device1.Vkbms_Link.connect_status == COMP_NORMAL) { pmu_send = PMU_SEND_SHA1; } } }