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@@ -21,7 +21,7 @@ void can_report_power(u8 can) {
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s16 v = (s16)(vDC * 10.0f);
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s16 i = (s16)(iDC * 10.0f);
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encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Power));
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- encode_s16(data + 2, rpm);
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+ encode_s16(data + 2, ABS(rpm));
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encode_s16(data + 4, v);
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encode_s16(data + 6, i);
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can_send_message(get_indicator_can_id(can), data, sizeof(data), 0);
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@@ -110,7 +110,7 @@ void can_report_ext_status(u8 can) {
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data[1] = mc_is_start()?0:1;
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data[1] |= (PMSM_FOC_Is_CruiseEnabled()?1:0) << 3;
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data[1] |= ext_gear << 6;
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- encode_s16(data + 2, (s16)PMSM_FOC_GetSpeed());
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+ encode_s16(data + 2, ABS((s16)motor_encoder_get_speed()));
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float vDC = get_vbus_float();
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encode_s16(data + 4, (s16)(vDC*10));
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float iDC = PMSM_FOC_GetVbusCurrent();
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huhui