#include "beep_logic_app.h"
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#include "led.h"
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#include "beep.h"
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#include "global_param.h"
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#include "dw_app.h"
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#define ONTIME1 1 // 100ms
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#define OFFTIME1 0 // 100ms
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#define ONTIME2 1 // 100ms
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#define OFFTIME2 0 // 100ms
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#define ONTIME3 5 // 500ms
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#define OFFTIME3 5 // 500ms
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int32_t min_dist1,min_dist2;
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extern u16 JDQ_time;
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u8 JDQgroup1_state,JDQgroup2_state;
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void Relay1Task(void)
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{
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static u8 distoffset1=0,distoffset2=0;
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static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
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if (min_dist1 <= g_com_map[ALARM_DISTANCE2]+distoffset1)
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{
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JDQgroup1_state=2;
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}
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else if (min_dist1 <= g_com_map[ALARM_DISTANCE3]+distoffset2)
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{
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JDQgroup1_state=1;
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}
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else{
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JDQgroup1_state=0;
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}
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if (min_dist2 <= g_com_map[RELAY2_DISTANCE2]+distoffset1)
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{
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JDQgroup2_state=2;
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}
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else if (min_dist2 <= g_com_map[RELAY2_DISTANCE3]+distoffset2)
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{
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JDQgroup2_state=1;
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}
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else{
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JDQgroup2_state=0;
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}
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if(JDQgroup1_state==2||JDQgroup2_state==2)
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{
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beep_ontime = 1;
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beep_offtime = 0;
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beep_state=2;
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distoffset1=0;
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distoffset2=0;
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beep_timer = 0;
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timer_state = 1;
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}else if(JDQgroup1_state==1||JDQgroup2_state==1)
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{
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beep_ontime = JDQ_time;
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beep_offtime = JDQ_time;
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beep_state=1;
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distoffset1=0;
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distoffset2=0;
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}else{
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beep_state=0;
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distoffset1=0;
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distoffset2=0;
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beep_timer = 0;
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timer_state = 1;
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}
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if(beep_state!=0)
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{
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if(timer_state==1)
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{
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if(beep_timer++ < beep_ontime)
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{
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RELAY2_ON;
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RELAY1_ON;
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}else{
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timer_state=0;
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beep_timer=0;
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}
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}else{
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if(beep_timer++ < beep_offtime)
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{
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RELAY2_OFF;
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RELAY1_OFF;
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}else{
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timer_state=1;
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beep_timer=0;
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}
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}
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}else {
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RELAY1_OFF;
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RELAY2_OFF;
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}
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}
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void Relay2Task(u16 min_dist)
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{
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static u8 distoffset12=0,distoffset22=0;
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static uint8_t beep_state2,timer_state2,beep_timer2,beep_ontime2,beep_offtime2;
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if (min_dist <= g_com_map[RELAY2_DISTANCE2]+distoffset12)
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{
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beep_ontime2 = 1;
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beep_offtime2 = 0;
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beep_state2=2;
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distoffset12=0;
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distoffset22=0;
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timer_state2=1;
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beep_timer2=0;
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}
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else if (min_dist <= g_com_map[RELAY2_DISTANCE3]+distoffset22)
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{
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beep_ontime2 = JDQ_time;
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beep_offtime2 = JDQ_time;
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beep_state2=1;
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distoffset12=0;
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distoffset22=0;
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}
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else{
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beep_state2=0;
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distoffset12=0;
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distoffset22=0;
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timer_state2=1;
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beep_timer2=0;
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}
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if(beep_state2!=0)
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{
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if(timer_state2==1)
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{
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if(beep_timer2++ < beep_ontime2)
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{
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RELAY2_ON;
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}else{
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timer_state2=0;
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beep_timer2=0;
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}
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}else{
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if(beep_timer2++ < beep_offtime2)
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{
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RELAY2_OFF;
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}else{
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timer_state2=1;
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beep_timer2=0;
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}
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}
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}else {
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// RELAY1_OFF;
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RELAY2_OFF;
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}
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}
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#define RELAY2IDHEAD 9
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extern int16_t tag_angle[TAG_NUM_IN_SYS],alarm_angle;
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extern u16 tagid_list[TAG_NUM_IN_SYS];
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void main_logic(void) //Ö÷Âß¼ÔÚÕâÀïÖ´ÐÐ
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{
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uint16_t i;
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//³ýUWBÖ®ÍâµÄÆäËû´úÂë...
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static uint16_t beep_judge_cnt = 0;
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if(g_com_map[ALARM_DISTANCE1]!=0||g_com_map[ALARM_DISTANCE2]!=0||g_com_map[ALARM_DISTANCE3]!=0||g_com_map[RELAY2_DISTANCE1]!=0||g_com_map[RELAY2_DISTANCE2]!=0||g_com_map[RELAY2_DISTANCE3]!=0)
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{
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if(beep_judge_cnt++ >= 100)
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{
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beep_judge_cnt = 0;
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min_dist1=0x1ffff;
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min_dist2=0x1ffff;
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for(i = 0; i < TAG_NUM_IN_SYS;i++)
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{
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if((tagid_list[i]>>12)!=RELAY2IDHEAD)
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{
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if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
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{
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if(tag_angle[i]>alarm_angle)
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min_dist1=g_Tagdist[i];
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}
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}else{
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if(g_Tagdist[i] < min_dist2&&g_Tagdist[i]>g_com_map[RELAY2_DISTANCE1])
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{
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if(tag_angle[i]>alarm_angle)
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min_dist2=g_Tagdist[i];
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}
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}
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}
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Relay1Task();
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// Relay2Task(min_dist2);
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}
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}else{
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if(g_com_map[RELAY1ON_INDEX]==1)
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{
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RELAY1_ON;
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}else if(g_com_map[RELAY1ON_INDEX]==0)
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{
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RELAY1_OFF;
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}
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if(g_com_map[RELAY2ON_INDEX]==1)
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{
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RELAY2_ON;
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}else if(g_com_map[RELAY2ON_INDEX]==0)
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{
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RELAY2_OFF;
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}
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}
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}
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