From 28f347c13f8154ea983fa13f7e56beb9c77d287f Mon Sep 17 00:00:00 2001 From: zsx <1543588107@qq.com> Date: Thu, 19 Sep 2024 18:02:18 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E8=9C=82=E9=B8=A3=E5=99=A8?= =?UTF-8?q?=E6=97=A0=E6=B3=95=E5=85=B3=E9=97=AD=E7=9A=84=E9=97=AE=E9=A2=98?= =?UTF-8?q?=20zsxfly20240919?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- projects/blezongkong/src/app_modbus.c | 6 +++--- projects/blezongkong/src/app_radar.c | 11 ++++++++--- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/projects/blezongkong/src/app_modbus.c b/projects/blezongkong/src/app_modbus.c index c6249d9..c87ea8c 100644 --- a/projects/blezongkong/src/app_modbus.c +++ b/projects/blezongkong/src/app_modbus.c @@ -122,9 +122,9 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_ break; } }else if(CMDCode == 0x06){ - sys_conf.VERSION =reg_val_num; - MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8; - MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff; + // sys_conf.VERSION =reg_val_num; + // MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8; + // MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff; break; } case 0x0003: // 系统自检(只读) diff --git a/projects/blezongkong/src/app_radar.c b/projects/blezongkong/src/app_radar.c index 52a784e..93a07a6 100644 --- a/projects/blezongkong/src/app_radar.c +++ b/projects/blezongkong/src/app_radar.c @@ -52,6 +52,8 @@ void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance){ //距 } } +static uint8_t new_state_cnt=3;//标记状态是否变化 + // 定时处理数和获取数据 static tmr_tk_t radar_timer_handler(tmr_id_t id){ (void)(id); @@ -60,17 +62,20 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){ radar_CMDSend_cnt =0; // 清空发送命令计数 DEBUG("ID =%d,distance =%d", radar_data.radar_id ,radar_data.distance); } - if((radar_CMDSend_cnt !=0)){ + if((radar_CMDSend_cnt !=0)||(1 ==new_state_cnt)){// DEBUG("Clear:CMD_cnt =%d", radar_CMDSend_cnt); radar_CMDSend_cnt =0; // 清空发送命令计数 - radar_AUTO_BrakeORSpeedCut(0 , 0);//复位自动刹车和减速状态 + radar_AUTO_BrakeORSpeedCut(radar_data.radar_id , 0);//复位自动刹车和减速状态 + } + if(new_state_cnt > 0){ + new_state_cnt--; } - // 进入游客模式开启雷达 //管理员模式优先于游客模式 if((0x01 == (sys_sta.Pmode | sys_sta.Smode)) && sys_sta.P_Radar_EN){ // 根据倒车状态确定雷达ID DEBUG("SendCMD:ID=%#02x", SYS_Back_STA ? RADAR_ID_Back : RADAR_ID_Front); app_radar_Sendcmd(SYS_Back_STA ? RADAR_ID_Back : RADAR_ID_Front,RADAR_MODE_Real); + new_state_cnt =3; radar_CMDSend_cnt++; }