控制器报错兼容第三方控制器协议

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/prot/can_foc_msg.c

@@ -123,7 +123,11 @@ void can_report_mpta_values(u8 can) {
 
 void can_report_ext_status(u8 can) {
 	u8 data[8] = {0x0, 0x0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
-	data[0] = (get_vbus_int()>60?1:0) << 5;
+	data[0] = 0;
+	data[0] |= (mc_critical_err_is_set(FOC_CRIT_Encoder_Err)?1:0) << 1;
+	data[0] |= (mc_critical_err_is_set(FOC_CRIT_THRO_Err)?1:0) << 2;
+	data[0] |= ((mc_get_critical_error() != 0)?1:0) << 3;
+	data[0] |= (get_vbus_int()>60?1:0) << 5;
 	data[0] |= (mc_is_epm()?1:0) << 6;
 	data[0] |= (mc_is_epm()?1:0) << 7;
 	data[1] = mc_is_start()?0:1;