QDAC-firmware/app/gl_barrier.c

#include "zf_common_headfile.h"
#include "gl_headfile.h"

enum barrier_type_e barrier_type = BARRIER_NONE;
uint16 time_barrier;
void CheckBarrier()
{
    if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
        barrier_type = BARRIER_LEFT_BEGIN;
    }
    if (barrier_type == BARRIER_NONE && !Lpt0_found_barrier_in && Lpt1_found_barrier_in && is_straight0) {
        barrier_type = BARRIER_RIGHT_BEGIN;
    }
}

void RunBarrier()
{
    if (barrier_type == BARRIER_LEFT_BEGIN) {
        track_type = TRACK_RIGHT;
        if (Lpt0_found) {
            Lpt0_found_count++;
        }
        if (Lpt0_found_count >= 1 && time_barrier >= 5000) {
            Lpt0_found_count = 0;
            barrier_type     = BARRIER_LEFT_RUNNING;
            track_type       = TRACK_RIGHT;
            timer_clear(TIM_3);
            timer_start(TIM_3);
        }
    } else if (barrier_type == BARRIER_LEFT_RUNNING) {
        track_type   = TRACK_RIGHT;
        time_barrier = timer_get(TIM_3);
        if (time_barrier >= 5000) {
            barrier_type = BARRIER_NONE;
            track_type   = TRACK_RIGHT;
            timer_start(TIM_3);
            timer_clear(TIM_3);
        }
    }

    if (barrier_type == BARRIER_RIGHT_BEGIN) {
        track_type = TRACK_LEFT;
        if (Lpt1_found) {
            Lpt1_found_count++;
        }
        if (Lpt1_found_count >= 1) {
            Lpt1_found_count = 0;
            barrier_type     = BARRIER_RIGHT_RUNNING;
            track_type       = TRACK_LEFT;
            timer_clear(TIM_3);
            timer_start(TIM_3);
        }
    } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
        track_type   = TRACK_LEFT;
        time_barrier = timer_get(TIM_3);
        if (time_barrier >= 5000) {
            timer_start(TIM_3);
            timer_clear(TIM_3);
            barrier_type = BARRIER_NONE;
            track_type   = TRACK_LEFT;
        }
    }
}