From 2cb63340687ae2ada98c545227ffb247f48f3a9a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 11 五月 2023 11:05:41 +0800
Subject: [PATCH] V1.9

---
 源码/核心板/Src/application/beep_logic_app.c |   97 ++++++++++++++++++++++++++++++++++++------------
 1 files changed, 73 insertions(+), 24 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
index 546618f..d618754 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
@@ -13,33 +13,60 @@
 #define ONTIME3 5   // 500ms
 #define OFFTIME3 5  // 500ms
 
-uint16_t min_dist;
+int32_t min_dist1,min_dist2;
 extern u16 JDQ_time;
+u8 JDQgroup1_state,JDQgroup2_state;
 void Relay1Task(void)
 {
     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)
+         if (min_dist1 <= g_com_map[ALARM_DISTANCE2]+distoffset1)
                 {
-                    beep_ontime = JDQ_time;
-                    beep_offtime = JDQ_time;
+                   JDQgroup1_state=2;
+                }
+         else if (min_dist1 <= g_com_map[ALARM_DISTANCE3]+distoffset2)
+                {
+                   JDQgroup1_state=1;
+                }
+                else{
+                    JDQgroup1_state=0;
+                }
+								
+				if (min_dist2 <= g_com_map[RELAY2_DISTANCE2]+distoffset1)
+                {
+                   JDQgroup2_state=2;
+                }
+         else if (min_dist2 <= g_com_map[RELAY2_DISTANCE3]+distoffset2)
+                {
+                   JDQgroup2_state=1;
+                }
+                else{
+                    JDQgroup2_state=0;
+                }
+								
+								if(JDQgroup1_state==2||JDQgroup2_state==2)
+								{
+								 beep_ontime = 1;
+                    beep_offtime = 0;
                     beep_state=2;
                     distoffset1=0;
                     distoffset2=0;
-                }
-         else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
-                {
-                    beep_ontime = JDQ_time;
+                    beep_timer = 0;
+                    timer_state = 1;
+								}else if(JDQgroup1_state==1||JDQgroup2_state==1)
+								{
+								 beep_ontime = JDQ_time;
                     beep_offtime = JDQ_time;
                     beep_state=1;
                     distoffset1=0;
                     distoffset2=0;
-                }
-                else{
-                    beep_state=0;
+								}else{
+									beep_state=0;
                     distoffset1=0;
                     distoffset2=0;
-                }
+                    beep_timer = 0;
+                    timer_state = 1;
+								}
                 
                 if(beep_state!=0)
                 {
@@ -47,6 +74,7 @@
                     {
                         if(beep_timer++ < beep_ontime)
                         {
+													RELAY2_ON;
                             RELAY1_ON;
                            		
                         }else{
@@ -56,6 +84,7 @@
                     }else{
                         if(beep_timer++ < beep_offtime)
                             {
+															RELAY2_OFF;
                                 RELAY1_OFF;
                        
                             }else{
@@ -64,21 +93,26 @@
                             }
                         
                     }
+                }else {
+                    RELAY1_OFF;
+                     RELAY2_OFF;
                 }
 }
-void Relay2Task(void)
+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[ALARM_DISTANCE2]+distoffset12)
+         if (min_dist <= g_com_map[RELAY2_DISTANCE2]+distoffset12)
                 {
-                    beep_ontime2 = JDQ_time;
-                    beep_offtime2 = JDQ_time;
+                    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[ALARM_DISTANCE3]+distoffset22)
+         else if (min_dist <= g_com_map[RELAY2_DISTANCE3]+distoffset22)
                 {
                     beep_ontime2 = JDQ_time;
                     beep_offtime2 = JDQ_time;
@@ -90,6 +124,8 @@
                     beep_state2=0;
                     distoffset12=0;
                     distoffset22=0;
+                    timer_state2=1;
+                    beep_timer2=0;
                 }
                 
                 if(beep_state2!=0)
@@ -115,29 +151,42 @@
                             }
                         
                     }
+                }else {
+                   // RELAY1_OFF;
+                     RELAY2_OFF;
                 }
 }
+#define RELAY2IDHEAD  9 
+extern int16_t tag_angle[TAG_NUM_IN_SYS],tag_dist[TAG_NUM_IN_SYS],alarm_angle;
+extern u16 tagid_list[TAG_NUM_IN_SYS];
 void main_logic(void)	//主逻辑在这里执行
 {	
 	uint16_t i;
 	//除UWB之外的其他代码...
 	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(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_dist=0xffff;
-                for(i = 0; i < 255;i++)
+                min_dist1=0x1ffff;
+                min_dist2=0x1ffff;
+                for(i = 0; i < TAG_NUM_IN_SYS;i++)
                 {
-                    if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
+
+                    if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
                     {
-                        min_dist=g_Tagdist[i];
+                            min_dist1=g_Tagdist[i];
+                    }                           
+                    if(tag_dist[i] < min_dist2&&tag_dist[i]>g_com_map[RELAY2_DISTANCE1])
+                    {
+                         if(tag_angle[i]>alarm_angle)
+                            min_dist2=tag_dist[i];
                     }
-                   
+						                   
                 }
                 Relay1Task();
-                Relay2Task();
+                Relay2Task(min_dist2);
          
             }
     }else{

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