速度上报取绝对值

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

Applications/prot/can_foc_msg.c

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