完善智能分配

DcPillar/Src/SmartAllocation/Drv_SmartAllocation.c

@@ -58,7 +58,7 @@ extern void DcModuleCanInit(void);
 extern osMessageQId DcModeMsg;
 
 void SendCmdToDcModule(u8 addr, u8 cmd);
-void SendDataToDcModule(u8 addr, u8 cmd, u32 volt,u32 current);
+void SendDataToDcModule(u8 addr, u8 cmd, u32 volt, u32 current);
 
 
 void DcModuleManageProcess_SmartAllocation(void)
@@ -113,8 +113,9 @@ void DcModuleManageProcess_SmartAllocation(void)
 		}
 	}
 
-	if(CheckTick == 0) CheckTick = GetSystemTick();
-	
+	if (CheckTick == 0)
+		CheckTick = GetSystemTick();
+
 	if ((GetSystemTick() -CheckTick) < 100)
 		return;
 
@@ -215,7 +216,9 @@ void DcModuleManageProcess_SmartAllocation(void)
 		}
 		else if (DcModuleGroup[i].status == Hold_A)
 		{
-			if(DcModuleGroup[i].flag) continue;
+			if (DcModuleGroup[i].flag)
+				continue;
+
 			Volt_A				+= DcModuleGroup[i].Voltage;
 			Currt_A 			+= DcModuleGroup[i].Current;
 			Count_A 			+= DcModuleGroup[i].ValidNum;
@@ -223,7 +226,9 @@ void DcModuleManageProcess_SmartAllocation(void)
 		}
 		else if (DcModuleGroup[i].status == Hold_B)
 		{
-			if(DcModuleGroup[i].flag) continue;
+			if (DcModuleGroup[i].flag)
+				continue;
+
 			Volt_B				+= DcModuleGroup[i].Voltage;
 			Currt_B 			+= DcModuleGroup[i].Current;
 			Count_B 			+= DcModuleGroup[i].ValidNum;
@@ -271,15 +276,19 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 	static u8		LastFlag_A = 0;
 	static u8		LastFlag_B = 0;
 
-	static u32 Tick = 0;//
-        if(Tick==0) Tick=GetSystemTick();
+	static u32		Tick = 0;						//
+
+	if (Tick == 0)
+		Tick = GetSystemTick();
+
 	if ((GetSystemTick() -Tick) < 100)
-    {
-      return;
-     
-    }
-	Tick = GetSystemTick();
-	
+	{
+		return;
+
+	}
+
+	Tick				= GetSystemTick();
+
 	static StructDcModuleUsedStatus status[4] =
 	{
 		Invalid, Invalid, Invalid, Invalid
@@ -294,10 +303,11 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 	u8				addr;
 	u32 			Volt = 0;
 	u8				Cmd = 0;
-	//u32 			Value = 0;
+
+	//u32			Value = 0;
 	Temp				= 0;
 
-	
+
 	for (u8 i = 0; i < DcModuleGroupSize; i++)
 	{
 		if (status[i] != DcModuleGroup[i].status)
@@ -305,9 +315,9 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			Temp				= 1;
 			Volt				= DcModuleAbility.MinVolt * 100;
 
-			if (DcModuleGroup[i].status == Valid) //释放模块和继电器
+			if (DcModuleGroup[i].status == Valid) //释放模块,模块关机
 			{
-				//关机
+				//关机, 检测电流, 释放继电器
 				if (status[i] == Hold_A)
 				{
 					if (i == 0)
@@ -316,18 +326,6 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 						DcModuleManage.SetCurrt = DcModuleAbility.MinCurrt * 100;
 						DcModuleManage.Cmd	= 0xAA; //关机
 					}
-					else if (i == 1)
-					{
-						GPIO_ResetBits(RELAY_K1K2_Port, RELAY_K1K2_Pin);
-					}
-					else if (i == 2)
-					{
-						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
-					}
-					else //  if(i == 3)
-					{
-						GPIO_ResetBits(RELAY_K3K4_Port, RELAY_K3K4_Pin);
-					}
 				}
 				else if (status[i] == Hold_B)
 				{
@@ -337,81 +335,38 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 						DcModuleManage_B.SetCurrt = DcModuleAbility.MinCurrt * 100;
 						DcModuleManage_B.Cmd = 0xAA; //关机
 					}
-					else if (i == 0)
-					{
-						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
-					}
-					else if (i == 1)
-					{
-						GPIO_ResetBits(RELAY_K7K8_Port, RELAY_K7K8_Pin);
-					}
-					else // if(i == 3)
-					{
-						GPIO_ResetBits(RELAY_K9K10_Port, RELAY_K9K10_Pin);
-					}
 				}
 
-				//Volt = DcModuleAbility.MinVolt * 100;
 				Cmd 				= 0xAA; 		//关机
 				DcModuleGroup[i].flag = 0;
 			}
 			else if (DcModuleGroup[i].status == Hold_A) //分配到A枪的模块
 			{
+				// 开机, 升压, 切换继电器
 				if (i != 0) //升压
 				{
 					Volt				= DcModuleManage.SetVolt;
 				}
-
-				/*if (status[i] == Hold_B) //释放连到B枪的继电器
+				else if (status[i] == Hold_B)
 				{
-					if (i == 0)
-					{
-						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
-					}
-					else if (i == 1)
-					{
-						GPIO_ResetBits(RELAY_K7K8_Port, RELAY_K7K8_Pin);//不会走到这里
-					}
-					else if (i == 2)
-					{
-						//不会走到这里
-					}
-					else if (i == 3)
-					{
-						GPIO_ResetBits(RELAY_K9K10_Port, RELAY_K9K10_Pin);//不会走到这里
-					}
-					
-				}*/
+					//处理模块0组被B枪占用
+					//GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
+				}
 
 				Cmd 				= 0x55; 		//开机
 			}
 			else if (DcModuleGroup[i].status == Hold_B)
 			{
+				// 开机, 升压, 切换继电器
 				if (i != 2) //升压
 				{
 					Volt				= DcModuleManage_B.SetVolt;
 				}
-				
-				/*if (status[i] == Hold_A) //释放连到A枪的继电器
+				else if (status[i] == Hold_A)
 				{
-					if (i == 0)
-					{
-						//不会走到这里
-					}
-					else if (i == 1)
-					{
-						GPIO_ResetBits(RELAY_K1K2_Port, RELAY_K1K2_Pin); //不会走到这里
-					}
-					else if (i == 2)
-					{
-						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin); 
-					}
-					else if (i == 3)
-					{
-						GPIO_ResetBits(RELAY_K3K4_Port, RELAY_K3K4_Pin); //不会走到这里
-					}
-					
-				}*/
+					//处理模块组 2 被A枪占用
+					//GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin); 
+				}
 
 				Cmd 				= 0x55; 		//开机
 			}
@@ -424,43 +379,7 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			{
 				addr				= DcModuleGroup[i].modules[j].addr;
 
-				/*DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x00;
-				DataSend.Data[1]	= 0x00;
-				Value				= DcModuleAbility.MinCurrt * 100;
-				DataSend.Data[2]	= (u8) (Value >> 8);
-				DataSend.Data[3]	= (u8) (Value >> 0);
-				Value				= Volt; 		//DcModuleAbility.MinVolt * 100;
-				DataSend.Data[4]	= (u8) (Value >> 24);
-				DataSend.Data[5]	= (u8) (Value >> 16);
-				DataSend.Data[6]	= (u8) (Value >> 8);
-				DataSend.Data[7]	= (u8) (Value >> 0);
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}
-
-				DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x02;
-				DataSend.Data[1]	= 0x00;
-				DataSend.Data[2]	= 0x00;
-				DataSend.Data[3]	= 0x00;
-				DataSend.Data[4]	= 0x00;
-				DataSend.Data[5]	= 0x00;
-				DataSend.Data[6]	= 0x00;
-				DataSend.Data[7]	= Cmd;			//关机
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}*/
-
-				SendDataToDcModule(addr,Cmd,Volt,DcModuleAbility.MinCurrt * 100);
+				SendCmdToDcModule(addr, Cmd);
 			}
 
 			status[i]			= DcModuleGroup[i].status;
@@ -470,127 +389,68 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 
 	if (Temp)
 		return;
+
 	Temp				= 0;
-	//检测升压完成
-	
+
+	//检测升压 或者 降流
 	for (u8 i = 0; i < DcModuleGroupSize; i++)
 	{
 		if (DcModuleGroup[i].status == Hold_A && i != 0)
 		{
-			if(abs((s32)(DcModuleGroup[i].Voltage*100) - (s32)DcModuleManage.SetVolt) >10000) //差距在10V以内,升压完成
+
+			if (abs((s16) (DcModuleGroup[i].Voltage) - (s16) (DcModuleManage.SetVolt / 100)) > 100) //差距在10V以内,升压完成
 			{
 				Temp++;
+
 				for (u8 j = 0; j < DcModuleGroup[i].num; j++)
 				{
 					addr				= DcModuleGroup[i].modules[j].addr;
 
-					/*DataSend.Id 		= 0x1307C080 + addr;
-					DataSend.Len		= 8;
-					DataSend.Data[0]	= 0x00;
-					DataSend.Data[1]	= 0x00;
-
-					Value				= DcModuleAbility.MinCurrt * 100;
-					DataSend.Data[2]	= (u8) (Value >> 8);
-					DataSend.Data[3]	= (u8) (Value >> 0);
-					Value				= DcModuleManage.SetVolt;
-					DataSend.Data[4]	= (u8) (Value >> 24);
-					DataSend.Data[5]	= (u8) (Value >> 16);
-					DataSend.Data[6]	= (u8) (Value >> 8);
-					DataSend.Data[7]	= (u8) (Value >> 0);
-
-					//放入队列
-					if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-					{
-						//osDelay(10);
-					}
-
-					DcModuleManage.Cmd	= 0x55; 		//开机
-					DataSend.Id 		= 0x1307C080 + addr;
-					DataSend.Len		= 8;
-					DataSend.Data[0]	= 0x02;
-					DataSend.Data[1]	= 0x00;
-					DataSend.Data[2]	= 0x00;
-					DataSend.Data[3]	= 0x00;
-					DataSend.Data[4]	= 0x00;
-					DataSend.Data[5]	= 0x00;
-					DataSend.Data[6]	= 0x00;
-					DataSend.Data[7]	= DcModuleManage.Cmd;
-
-					//放入队列
-					if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-					{
-						//osDelay(10);
-					}*/
-					DcModuleManage.Cmd	= 0x55; 		//开机
-					SendDataToDcModule(addr,DcModuleManage.Cmd,DcModuleManage.SetVolt,DcModuleAbility.MinCurrt * 100);
+					DcModuleManage.Cmd	= 0x55; 	//开机
+					SendDataToDcModule(addr, DcModuleManage.Cmd, DcModuleManage.SetVolt, 
+						DcModuleAbility.MinCurrt * 100);
 				}
 			}
-			else
+			else 
 			{
+
 				DcModuleGroup[i].flag = 0;
 			}
+
+
 		}
 		else if (DcModuleGroup[i].status == Hold_B && i != 2)
 		{
-			if(abs((s32)(DcModuleGroup[i].Voltage*100) - (s32)DcModuleManage_B.SetVolt) >10000)//差距在10V以内,升压完成
+			if (abs((s32) (DcModuleGroup[i].Voltage) - (s32) (DcModuleManage_B.SetVolt / 100)) > 100) //差距在10V以内,升压完成
 			{
 				Temp++;
+
 				for (u8 j = 0; j < DcModuleGroup[i].num; j++)
 				{
 					addr				= DcModuleGroup[i].modules[j].addr;
 
-					/*DataSend.Id 		= 0x1307C080 + addr;
-					DataSend.Len		= 8;
-					DataSend.Data[0]	= 0x00;
-					DataSend.Data[1]	= 0x00;
-
-					Value				= DcModuleAbility.MinCurrt * 100;
-					DataSend.Data[2]	= (u8) (Value >> 8);
-					DataSend.Data[3]	= (u8) (Value >> 0);
-					Value				= DcModuleManage_B.SetVolt;
-					DataSend.Data[4]	= (u8) (Value >> 24);
-					DataSend.Data[5]	= (u8) (Value >> 16);
-					DataSend.Data[6]	= (u8) (Value >> 8);
-					DataSend.Data[7]	= (u8) (Value >> 0);
-
-					//放入队列
-					if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-					{
-						//osDelay(10);
-					}
-
-					DcModuleManage_B.Cmd	= 0x55; 		//开机
-					DataSend.Id 		= 0x1307C080 + addr;
-					DataSend.Len		= 8;
-					DataSend.Data[0]	= 0x02;
-					DataSend.Data[1]	= 0x00;
-					DataSend.Data[2]	= 0x00;
-					DataSend.Data[3]	= 0x00;
-					DataSend.Data[4]	= 0x00;
-					DataSend.Data[5]	= 0x00;
-					DataSend.Data[6]	= 0x00;
-					DataSend.Data[7]	= DcModuleManage_B.Cmd;
-
-					//放入队列
-					if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-					{
-						//osDelay(10);
-					}*/
-
-					
-					DcModuleManage_B.Cmd	= 0x55; 		//开机
-					SendDataToDcModule(addr,DcModuleManage_B.Cmd,DcModuleManage_B.SetVolt,DcModuleAbility.MinCurrt * 100);
+					DcModuleManage_B.Cmd = 0x55;	//开机
+					SendDataToDcModule(addr, DcModuleManage_B.Cmd, DcModuleManage_B.SetVolt, 
+						DcModuleAbility.MinCurrt * 100);
 				}
 			}
-			else
+			else 
 			{
 				DcModuleGroup[i].flag = 0;
 			}
 		}
+		else if (DcModuleGroup[i].status == Valid && i != 2 && i != 0)
+		{
+			if (DcModuleGroup[i].Current > 50) //大于5A
+			{
+				Temp++;
+			}
+		}
 	}
 
 	if (Temp)
 		return;
+
 	Temp				= 0;
 
 	//切换继电器输出
@@ -603,16 +463,44 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			if (DcModuleGroup[i].status == Valid)
 			{
 				//切换继电器
-				if (status[i] == Hold_A)
+				if (status1[i] == Hold_A)
 				{
+					if (i == 0)
+					{
 
+					}
+					else if (i == 1)
+					{
+						GPIO_ResetBits(RELAY_K1K2_Port, RELAY_K1K2_Pin);
+					}
+					else if (i == 2)
+					{
+						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
+					}
+					else //  if(i == 3)
+					{
+						GPIO_ResetBits(RELAY_K3K4_Port, RELAY_K3K4_Pin);
+					}
 				}
-				else if (status[i] == Hold_B)
+				else if (status1[i] == Hold_B)
 				{
+					if (i == 2)
+					{
 
+					}
+					else if (i == 0)
+					{
+						GPIO_ResetBits(RELAY_K5K6_Port, RELAY_K5K6_Pin);
+					}
+					else if (i == 1)
+					{
+						GPIO_ResetBits(RELAY_K7K8_Port, RELAY_K7K8_Pin);
+					}
+					else if (i == 3)
+					{
+						GPIO_ResetBits(RELAY_K9K10_Port, RELAY_K9K10_Pin);
+					}
 				}
-
-
 			}
 			else if (DcModuleGroup[i].status == Hold_A)
 			{
@@ -656,18 +544,19 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			}
 			else 
 			{
-				
-			}
 
+			}
 
-			status1[i]			= DcModuleGroup[i].status;
 		}
 
+		status1[i]			= DcModuleGroup[i].status;
 	}
 
+
+
 	if (Temp)
 		return;
-	
+
 	if (LastFlag_A != DcModuleCtrl.CtrlFlag)
 	{
 		LastFlag_A			= DcModuleCtrl.CtrlFlag;
@@ -736,46 +625,8 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			for (u8 j = 0; j < DcModuleGroup[i].num; j++)
 			{
 				addr				= DcModuleGroup[i].modules[j].addr;
-
-				/*DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x00;
-				DataSend.Data[1]	= 0x00;
-
-				Temp				= DcModuleManage.SetCurrt;
-				DataSend.Data[2]	= (u8) (Temp >> 8);
-				DataSend.Data[3]	= (u8) (Temp >> 0);
-				Temp				= DcModuleManage.SetVolt;
-				DataSend.Data[4]	= (u8) (Temp >> 24);
-				DataSend.Data[5]	= (u8) (Temp >> 16);
-				DataSend.Data[6]	= (u8) (Temp >> 8);
-				DataSend.Data[7]	= (u8) (Temp >> 0);
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}
-
 				DcModuleManage.Cmd	= 0x55; 		//开机
-				DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x02;
-				DataSend.Data[1]	= 0x00;
-				DataSend.Data[2]	= 0x00;
-				DataSend.Data[3]	= 0x00;
-				DataSend.Data[4]	= 0x00;
-				DataSend.Data[5]	= 0x00;
-				DataSend.Data[6]	= 0x00;
-				DataSend.Data[7]	= DcModuleManage.Cmd;
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}*/
-				DcModuleManage.Cmd = 0x55;//开机
-				SendDataToDcModule(addr,DcModuleManage.Cmd,DcModuleManage.SetVolt,DcModuleManage.SetCurrt);
+				SendDataToDcModule(addr, DcModuleManage.Cmd, DcModuleManage.SetVolt, DcModuleManage.SetCurrt);
 			}
 		}
 	}
@@ -832,45 +683,9 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 			{
 				addr				= DcModuleGroup[i].modules[j].addr;
 
-				/*DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x00;
-				DataSend.Data[1]	= 0x00;
-
-				Temp				= DcModuleManage_B.SetCurrt;
-				DataSend.Data[2]	= (u8) (Temp >> 8);
-				DataSend.Data[3]	= (u8) (Temp >> 0);
-				Temp				= DcModuleManage_B.SetVolt;
-				DataSend.Data[4]	= (u8) (Temp >> 24);
-				DataSend.Data[5]	= (u8) (Temp >> 16);
-				DataSend.Data[6]	= (u8) (Temp >> 8);
-				DataSend.Data[7]	= (u8) (Temp >> 0);
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}
-
 				DcModuleManage_B.Cmd = 0x55;		//开机
-				DataSend.Id 		= 0x1307C080 + addr;
-				DataSend.Len		= 8;
-				DataSend.Data[0]	= 0x02;
-				DataSend.Data[1]	= 0x00;
-				DataSend.Data[2]	= 0x00;
-				DataSend.Data[3]	= 0x00;
-				DataSend.Data[4]	= 0x00;
-				DataSend.Data[5]	= 0x00;
-				DataSend.Data[6]	= 0x00;
-				DataSend.Data[7]	= DcModuleManage_B.Cmd;
-
-				//放入队列
-				if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
-				{
-					//osDelay(10);
-				}*/
-				DcModuleManage_B.Cmd = 0x55;//开机
-				SendDataToDcModule(addr,DcModuleManage_B.Cmd,DcModuleManage_B.SetVolt,DcModuleManage_B.SetCurrt);
+				SendDataToDcModule(addr, DcModuleManage_B.Cmd, DcModuleManage_B.SetVolt, 
+					DcModuleManage_B.SetCurrt);
 			}
 		}
 
@@ -880,24 +695,26 @@ void DcModuleCtrlProcess_SmartAllocation(void)
 
 
 	}
+
 }
 
+
 void release_DcModule(u8 flag)
 {
 	for (u8 i = 0; i < 4; i++)
 	{
-		if(flag == 1)
+		if (flag == 1)
 		{
-			if(DcModuleGroup[i].status == Hold_A)
+			if (DcModuleGroup[i].status == Hold_A)
 			{
 				DcModuleGroup[i].status = Valid;
 				DcModuleManage_B.ValidNum -= DcModuleGroup[i].ValidNum;
 				DcModuleGroup[i].flag = 0;
 			}
 		}
-		else if(flag == 2)
+		else if (flag == 2)
 		{
-			if(DcModuleGroup[i].status == Hold_B)
+			if (DcModuleGroup[i].status == Hold_B)
 			{
 				DcModuleGroup[i].status = Valid;
 				DcModuleManage_B.ValidNum -= DcModuleGroup[i].ValidNum;
@@ -907,11 +724,13 @@ void release_DcModule(u8 flag)
 	}
 }
 
-void SendDataToDcModule(u8 addr, u8 cmd, u32 volt,u32 current)
+
+void SendDataToDcModule(u8 addr, u8 cmd, u32 volt, u32 current)
 {
-	
+
 	StructDcModuleSend DataSend;
-	u32 Temp;
+	u32 			Temp;
+
 	DataSend.Id 		= 0x1307C080 + addr;
 	DataSend.Len		= 8;
 	DataSend.Data[0]	= 0x00;
@@ -929,7 +748,7 @@ void SendDataToDcModule(u8 addr, u8 cmd, u32 volt,u32 current)
 	//放入队列
 	if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
 	{
-	//osDelay(10);
+		//osDelay(10);
 	}
 
 	DataSend.Id 		= 0x1307C080 + addr;
@@ -946,7 +765,31 @@ void SendDataToDcModule(u8 addr, u8 cmd, u32 volt,u32 current)
 	//放入队列
 	if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
 	{
-	//osDelay(10);
+		//osDelay(10);
+	}
+}
+
+
+void SendCmdToDcModule(u8 addr, u8 cmd)
+{
+
+	StructDcModuleSend DataSend;
+
+	DataSend.Id 		= 0x1307C080 + addr;
+	DataSend.Len		= 8;
+	DataSend.Data[0]	= 0x02;
+	DataSend.Data[1]	= 0x00;
+	DataSend.Data[2]	= 0x00;
+	DataSend.Data[3]	= 0x00;
+	DataSend.Data[4]	= 0x00;
+	DataSend.Data[5]	= 0x00;
+	DataSend.Data[6]	= 0x00;
+	DataSend.Data[7]	= cmd;
+
+	//放入队列
+	if (pdTRUE != xQueueSend(DcModeMsg, &DataSend, 0))
+	{
+		//osDelay(10);
 	}
 }