V9_PMU/Src/soft_eft.c

#include "soft_eft.h"
#include "common.h"
#include "soft_p_2_c.h"
#include "string.h"
#include "soft_seed_device.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 
 **/

_mimo_lackloss mimo_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;
    
    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);
    }
}