UWB_SmallModule_F103.git

			@@ -12,41 +12,27 @@

			#define ONTIME3 5 // 500ms
			#define OFFTIME3 5 // 500ms
			u8 distoffset1=0,distoffset2=0;
			uint16_t min_dist;
			void main_logic(void) //ä¸»é»è¾å¨è¿éæ§è¡

			int32_t min_dist1,min_dist2;
			extern u16 JDQ_time;
			void Relay1Task(u16 min_dist)
			{
			static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
			uint16_t i;
			//é¤UWBä¹å¤çå¶ä»ä»£ç ...
			static uint16_t beep_judge_cnt = 0;
			if(g_com_map[ALARM_DISTANCE1]!=0\|\|g_com_map[ALARM_DISTANCE2]!=0\|\|g_com_map[ALARM_DISTANCE3]!=0)
			{
			if(beep_judge_cnt++ >= 100)
			{
			beep_judge_cnt = 0;
			min_dist=0xffff;
			for(i = 0; i < 255;i++)
			{
			if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
			{
			min_dist=g_Tagdist[i];
			}

			}

			static u8 distoffset1=0,distoffset2=0;
			static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
			if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
			{
			beep_ontime = ONTIME2;
			beep_offtime = OFFTIME2;
			beep_ontime = 1;
			beep_offtime = 0;
			beep_state=2;
			distoffset1=0;
			distoffset2=0;
			beep_timer = 0;
			timer_state = 1;
			}
			else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
			{
			beep_ontime = ONTIME3;
			beep_offtime = OFFTIME3;
			beep_ontime = JDQ_time;
			beep_offtime = JDQ_time;
			beep_state=1;
			distoffset1=0;
			distoffset2=0;
			@@ -55,6 +41,8 @@
			beep_state=0;
			distoffset1=0;
			distoffset2=0;
			beep_timer = 0;
			timer_state = 1;
			}

			if(beep_state!=0)
			@@ -64,7 +52,7 @@
			if(beep_timer++ < beep_ontime)
			{
			RELAY1_ON;
			RELAY2_ON;

			}else{
			timer_state=0;
			beep_timer=0;
			@@ -73,18 +61,103 @@
			if(beep_timer++ < beep_offtime)
			{
			RELAY1_OFF;
			RELAY2_OFF;

			}else{
			timer_state=1;
			beep_timer=0;
			}

			}

			} else {
			}else {
			RELAY1_OFF;
			// RELAY2_OFF;
			}
			}
			void Relay2Task(u16 min_dist)
			{
			static u8 distoffset12=0,distoffset22=0;
			static uint8_t beep_state2,timer_state2,beep_timer2,beep_ontime2,beep_offtime2;
			if (min_dist <= g_com_map[RELAY2_DISTANCE2]+distoffset12)
			{
			beep_ontime2 = 1;
			beep_offtime2 = 0;
			beep_state2=2;
			distoffset12=0;
			distoffset22=0;
			timer_state2=1;
			beep_timer2=0;
			}
			else if (min_dist <= g_com_map[RELAY2_DISTANCE3]+distoffset22)
			{
			beep_ontime2 = JDQ_time;
			beep_offtime2 = JDQ_time;
			beep_state2=1;
			distoffset12=0;
			distoffset22=0;
			}
			else{
			beep_state2=0;
			distoffset12=0;
			distoffset22=0;
			timer_state2=1;
			beep_timer2=0;
			}

			if(beep_state2!=0)
			{
			if(timer_state2==1)
			{
			if(beep_timer2++ < beep_ontime2)
			{
			RELAY2_ON;

			}else{
			timer_state2=0;
			beep_timer2=0;
			}
			}else{
			if(beep_timer2++ < beep_offtime2)
			{
			RELAY2_OFF;

			}else{
			timer_state2=1;
			beep_timer2=0;
			}

			}
			}else {
			// RELAY1_OFF;
			RELAY2_OFF;
			}
			}
			void main_logic(void) //ä¸»é»è¾å¨è¿éæ§è¡
			{
			uint16_t i;
			//é¤UWBä¹å¤çå¶ä»ä»£ç ...
			static uint16_t beep_judge_cnt = 0;
			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)
			{
			if(beep_judge_cnt++ >= 100)
			{
			beep_judge_cnt = 0;
			min_dist1=0x1ffff;
			min_dist2=0x1ffff;
			for(i = 0; i < 255;i++)
			{
			if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
			{
			min_dist1=g_Tagdist[i];
			}
			if(g_Tagdist[i] < min_dist2&&g_Tagdist[i]>g_com_map[RELAY2_DISTANCE1])
			{
			min_dist2=g_Tagdist[i];
			}

			}
			Relay1Task(min_dist1);
			Relay2Task(min_dist2);

			}
			}else{
			if(g_com_map[RELAY1ON_INDEX]==1)
			@@ -100,8 +173,7 @@
			}else if(g_com_map[RELAY2ON_INDEX]==0)
			{
			RELAY2_OFF;
			}

			}
			}
			}