#include "soft_version.h" #include "soft_obstacle.h" #include "soft_terrain.h" #include "stm32f1xx_hal.h" #include "soft_flow.h" #include "soft_can.h" #include "soft_p_2_c.h" #include "config.h" #include "soft_eft.h" #include "string.h" #include "soft_bms.h" #include "soft_seed_device.h" #include "soft_water_device.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_part_tradar; dev_version_content dev_tradar_f; dev_version_content dev_tradar_b; dev_version_content dev_h_bmsA; dev_version_content dev_h_bmsB; dev_version_content dev_remoteid; 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, &dev_part_tradar, &dev_tradar_f, &dev_tradar_b, &dev_h_bmsA, &dev_h_bmsB, &dev_remoteid, }; short dev_num = sizeof( dev_ptr )/sizeof( void * ); /** * @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}; static uint8_t mimo_area_40flag = 10; //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_normal(radar_can_buf, 1, 0x00eeff11); } else if(uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; can_send_msg_normal(radar_can_buf, 1, 0x210); } if(uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x12; can_send_msg_normal(radar_can_buf, 1, 0x00eeff12); } else if(uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; can_send_msg_normal(radar_can_buf, 1, 0x220); } if(uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_ver_flag == false) { radar_can_buf[0] = 0x0b; can_send_msg_normal(radar_can_buf, 1, 0x00eeff0b); } else if(uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_sn_flag == false) { radar_can_buf[0] = 0x85; can_send_msg_normal(radar_can_buf, 1, 0x230); } if(mimo_f_info.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_normalstd(radar_can_buf, 7, 0xFA); } else if(mimo_b_info.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_normalstd(radar_can_buf, 7, 0xFA); } else if(mimo_ter_info.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_normalstd(radar_can_buf, 7, 0xFA); } if(DM_ter_info.Link.connect_status == COMP_NORMAL && DM_ter_info.get_radar_ver_flag == false) { radar_can_buf[0] = 1; radar_can_buf[7] = 7; can_send_msg_normal(radar_can_buf, 8, 0x981300); } else if(DM_f_info.Link.connect_status == COMP_NORMAL && DM_f_info.get_radar_ver_flag == false) { radar_can_buf[0] = 1; radar_can_buf[7] = 7; can_send_msg_normal(radar_can_buf, 8, 0XA81300); } // else if(DM_B_info.Link.connect_status == COMP_NORMAL && DM_B_info.get_radar_ver_flag == false) // { // radar_can_buf[0] = 1; // radar_can_buf[7] = 7; // can_send_msg_normal(radar_can_buf, 8, 0XB81300); // } //恩曌一批雷达盲区20cm有问题，盲区需要改成40CM if(mimo_ter_info.Link.connect_status == COMP_NORMAL && memcmp(mimo_ter_info.version,"EB00190110",10) == 0 && mimo_area_40flag > 0) { radar_can_buf[0] = 0x4D; radar_can_buf[1] = 0x69; radar_can_buf[2] = 0x6E; radar_can_buf[3] = 0x44; radar_can_buf[4] = 0x69; radar_can_buf[5] = 0x73; radar_can_buf[6] = 0x28; radar_can_buf[7] = 0x34; can_send_msg_normalstd(radar_can_buf, 8, 0x500); radar_can_buf[0] = 0x30; radar_can_buf[1] = 0x29; radar_can_buf[2] = 0x0D; radar_can_buf[3] = 0x0A;; can_send_msg_normalstd(radar_can_buf, 4, 0x500); mimo_area_40flag--; } } /** * @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_count < 10 && 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_normalstd(can_buf, 8, 0xFA); 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_normalstd(can_buf, 8, 0xFA); 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_normalstd(can_buf, 8, 0xFA); can_buf[7] = 0; flow_mimo1.get_k_count++; } else if(flow_mimo2.get_k_count < 10 && 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_normalstd(can_buf, 8, 0xFA); 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_normalstd(can_buf, 8, 0xFA); 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_normalstd(can_buf, 8, 0xFA); can_buf[7] = 0; flow_mimo2.get_k_count++; } //设置流量计K if(flow_mimo1.send_k_count > 0 && 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]; } flow_mimo1.send_k_count--; can_send_msg_normalstd(can_buf, 8, 0xFA); HAL_Delay(50); } if(flow_mimo2.send_k_count > 0 && 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]; } flow_mimo2.send_k_count--; can_send_msg_normalstd(can_buf, 8, 0xFA); } 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_normalstd(can_buf, 8, 0xFA); } 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_normalstd(can_buf, 8, 0xFA); } } } /** * @file get_seed_version_and_sn * @brief 获取播撒器版本和SN号 * @param none * @details * @author Zhang Sir **/ void get_seed_version_and_sn(void) { } /** * @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(); //获取播撒器版本和SN号 get_seed_version_and_sn(); } } /** * @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++; } };