保存flash的命令在电机运行过程中不能处理

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

Applications/foc/commands.c

@@ -117,6 +117,21 @@ static void process_ext_command(foc_cmd_body_t *command) {
 	
 }
 
+static u8 ignore_with_speed[] = {Foc_Set_Gear_Limit, Foc_Conf_Pid, Foc_Set_Throttle_throld, Foc_Set_Config, Foc_Set_eBrake_Throld, Foc_Start_Write_TRQ_Table, Foc_Write_TRQ_Table, Foc_End_Write_TRQ_Table, Foc_SN_Write};
+
+static bool _can_process_with_speed(u8 cmd) {
+	int size = ARRAY_SIZE(ignore_with_speed);
+	if (!mc_is_start() || PMSM_FOC_GetSpeed() < 0.1f) {
+		return true;
+	}
+	for (int i = 0; i < size; i++) {
+		if (ignore_with_speed[i] == cmd) {
+			return false;
+		}
+	}
+	return true;
+}
+
 static void process_foc_command(foc_cmd_body_t *command) {
 	u8 erroCode = 0;
 	u8 response[32];
@@ -125,6 +140,10 @@ static void process_foc_command(foc_cmd_body_t *command) {
 		process_ext_command(command);
 		return;
 	}
+	if (!_can_process_with_speed(command->cmd)) {
+		erroCode = FOC_NowAllowed_With_Speed;
+		goto cmd_end;
+	}
 	switch (command->cmd) {
 		case Foc_Start_Motor:
 		{
@@ -503,6 +522,7 @@ static void process_foc_command(foc_cmd_body_t *command) {
 			break;
 		}
 	}
+cmd_end:
 	sys_debug("err = %d\n", erroCode);
 	response[0] = command->cmd;
 	response[1] = CAN_MY_ADDRESS;