实现EPM功能

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

Applications/foc/commands.c

@@ -70,10 +70,10 @@ static void process_ext_command(foc_cmd_body_t *command) {
 			PMSM_FOC_EnableCruise(false);
 		}
 
-		u8 epm = decode_8bits(b1, 2, 3);
-		if (epm == 1) {
+		u8 epm = decode_8bits(b0, 2, 3);
+		if (epm == 2) {
 			mc_start_epm(true);
-		}else if(epm == 2) {
+		}else if(epm == 1) {
 			mc_start_epm(false);
 		}
 

Applications/prot/can_foc_msg.c

@@ -107,6 +107,7 @@ 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] |= (mc_is_epm()?1:0) << 6;
+	data[0] |= (mc_is_epm()?1:0) << 7;
 	data[1] = mc_is_start()?0:1;
 	data[1] |= (PMSM_FOC_Is_CruiseEnabled()?1:0) << 3;
 	data[1] |= ext_gear << 6;