MC100/Applications/app/factory.c

#include "factory.h"
#include "bsp/bsp_driver.h"
#include "prot/can_message.h"
#include "prot/can_foc_msg.h"
#include "foc/samples.h"
#include "libs/utils.h"
#include "libs/logger.h"
#include "os/os_task.h"

static u8 factory_mode = 0;

void can_process_factory_message(can_message_t *can_message){
	uint8_t response[32];
	uint8_t rsplen;
	encoder_can_key(response, can_message->key);
	response[2] = 0;
	rsplen = 3;
	switch(can_message->key) {
		case BUILD_CMD_KEY(0xE0):
			factory_mode = decode_u8(can_message->data);
			break;
		case BUILD_CMD_KEY(0xE1):
		{
			if (factory_mode == 0) {
				response[2] = 1;
				break;
			}
			u8 item = decode_u8(can_message->data);
			if (item == 1) { //3相驱动测试
				u8 mask = decode_u8((u8 *)can_message->data + 1);
				pwm_3phase_sides(mask);
			}else if (item == 2) {//获取所有电压的采集值
				can_response_vols(can_message->src, can_message->key);
				return;
			}else if (item == 3) { //读取gpio状态
				encode_u16(response + 3, GPIOA_VALUE);
				encode_u16(response + 5, GPIOB_VALUE);
				encode_u16(response + 7, GPIOC_VALUE);
				encode_u16(response + 9, GPIOD_VALUE);
				encode_u16(response + 11, GPIOE_VALUE);
				rsplen += 10;
			}else if (item == 4) { // u phase detect
				int count = 20;
				s16 uvw[3] = {0, 0, 0};
				s16 uvw_total[3] = {0, 0, 0};
				if (can_message->len < 2) {
					response[2] = 2; //长度错误
					break;
				}
				u8 detect = decode_u8((u8 *)can_message->data + 1);
				gpio_phase_u_detect(detect?true:false);
				while(count-- > 0) {
					delay_us(100);
					sample_uvw_phases_raw(uvw);
					uvw_total[0] += uvw[0];
					uvw_total[1] += uvw[1];
					uvw_total[2] += uvw[2];
				}
				encode_u16(response + 3, uvw_total[0]/20);
				encode_u16(response + 5, uvw_total[1]/20);
				encode_u16(response + 7, uvw_total[2]/20);
				gpio_phase_u_detect(false);
				rsplen += 6;
			}
			break;
		}
		default:
			rsplen = 0;
			break;
	}
	if (rsplen > 0) {
		can_send_response(can_message->src, response, rsplen);
	}
}

u8 factory_get_mode(void) {
	return factory_mode;
}

bool factory_is_running(void) {
	return (factory_mode == 0);
}