btl143/QDAC-firmware
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fix:修復幾個bug

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This commit is contained in:
井明江
2024-07-05 21:29:03 +08:00
parent be37b5d206
commit 336d1bc100
4 changed files with 43 additions and 40 deletions
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54
app/gl_barrier.c
View File

@@ -23,7 +23,7 @@ void CheckBarrier()
void RunBarrier()
{
if (barrier_type == BARRIER_LEFT_BEGIN) {
if (barrier_type == BARRIER_LEFT_BEGIN||barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
@@ -54,20 +54,20 @@ void RunBarrier()
Lpt0_found_count = 0;
barrier_type = BARRIER_LEFT_RUNNING;
track_type = TRACK_RIGHT;
timer_clear(TIM_1);
timer_start(TIM_1);
timer_clear(TIM_2);
timer_start(TIM_2);
} else if (barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
if (timer_get(TIM_1) >= 220) {
if (timer_get(TIM_2) >= 500) {
barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT;
timer_stop(TIM_1);
timer_clear(TIM_1);
timer_stop(TIM_2);
timer_clear(TIM_2);
}
}
}
if (barrier_type == BARRIER_RIGHT_BEGIN) {
if (barrier_type == BARRIER_RIGHT_BEGIN||barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
@@ -98,13 +98,13 @@ void RunBarrier()
Lpt1_found_count = 0;
barrier_type = BARRIER_RIGHT_RUNNING;
track_type = TRACK_LEFT;
timer_clear(TIM_1);
timer_start(TIM_1);
timer_clear(TIM_2);
timer_start(TIM_2);
} else if (barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
if (timer_get(TIM_1) >= 220) {
timer_stop(TIM_1);
timer_clear(TIM_1);
if (timer_get(TIM_2) >= 500) {
timer_stop(TIM_2);
timer_clear(TIM_2);
barrier_type = BARRIER_NONE;
track_type = TRACK_LEFT;
}
@@ -150,21 +150,21 @@ void RunS()
}
void Check_shield(){
if (begin_flag == 1)
{
shield_type = SHIELD_BEGIN;
timer_clear(TIM_3);
timer_start(TIM_3);
begin_flag = 0;
}
if (timer_get(TIM_3) > 1000 && shield_type == SHIELD_BEGIN)
{
shield_type = SHIELD_NONE;
timer_stop(TIM_3);
timer_clear(TIM_3);
}
// void Check_shield(){
// if (begin_flag == 1)
// {
// shield_type = SHIELD_BEGIN;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// begin_flag = 0;
// }
// if (timer_get(TIM_3) > 1000 && shield_type == SHIELD_BEGIN)
// {
// shield_type = SHIELD_NONE;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
}
// }

21
app/gl_tracking.c
View File

@@ -113,11 +113,11 @@ void aim_distance_select(void)
void ElementJudge()
{
if(begin_flag == 1){
shield_type = SHIELD_BEGIN;
begin_flag = 0;
return;
}
// if(begin_flag == 1){
// shield_type = SHIELD_BEGIN;
// begin_flag = 0;
// return;
// }
if (shield_type == SHIELD_NONE) {
CheckGarage();
@@ -168,11 +168,12 @@ void ElementRun()
void MidLineTrack()
{
if (shield_type == SHIELD_BEGIN) {
shield_type = SHIELD_NONE;
system_delay_ms(1000); // 斑马线发车延时
}
else if (cross_type == CROSS_IN) {
// if (shield_type == SHIELD_BEGIN) {
// shield_type = SHIELD_NONE;
// pure_angle = 0.f;
// system_delay_ms(3500); // 斑马线发车延时
// }
if (cross_type == CROSS_IN) {
if (track_type == TRACK_LEFT) {
mid_track = mid_left; // 这是为了预先分配内存
GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);

3
app/isr.c
View File

@@ -34,6 +34,7 @@
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "gl_headfile.h"
#include "by_button.h"
#include "by_buzzer.h"
#include "by_frame.h"
@@ -285,8 +286,8 @@ void EXTI15_10_IRQHandler(void)
void TIM1_UP_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
by_frame_send(&tiny_frame_param[0].u32);
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
by_frame_send(&tiny_frame_param[0].u32);
by_led_warn_blink();
}
}

3
app/main.c
View File

@@ -50,13 +50,14 @@ int main(void)
pit_ms_init(TIM1_PIT, 10);
timer_init(TIM_3, TIMER_MS);
timer_init(TIM_2, TIMER_MS);
by_frame_init();
printf("start running\r\n");
while (1) {
memset(recv_data, 0, sizeof(recv_data));
by_frame_parse(&recv_data[0].u32);
if(0xEB == recv_data[0].u32) {
if (0x0D == recv_data[0].u32) {
NVIC_SystemReset();
} else if (0x5C == recv_data[0].u32) {
begin_flag = 1;