杂项提交 zsxfly20240602

projects/blezongkong/src/app_bat.c

@@ -55,9 +55,9 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
             // bat_str_len =sprintf((char *)bat_str, "ACC=%d%%\n", in_acc_percent);
             // uart_send(UART1_PORT,bat_str_len,bat_str);
 
-            if(in_acc_percent <= 5){ // 油门小于2%时，才判断是否在充电
+            if(in_acc_percent <= 3){ // 油门小于2%时，才判断是否在充电
                 // uart_putc(UART1_PORT,'A');
-                if(Bat_Voltage >= (Bat_Voltage_Last + 15)){
+                if(Bat_Voltage >= (Bat_Voltage_Last + 15)){// 电压
                     BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xFC)|Bat_Charge_STA;
                 }
             }else{

projects/blezongkong/src/app_control_out.c

@@ -185,7 +185,7 @@ bool SYS_AUTO_Speed_Cut=0;
 void Control_procedure(void){
    
     //电门锁
-    Set_Status(OUT_Door_lock,(PAD_User_Mode || PAD_Manager_Mode || Get_Status(IN_GPS) || Get_Status(IN_Manager_Mode) ));
+    Set_Status(OUT_Door_lock,(PAD_User_Mode || PAD_Manager_Mode || Get_Status(IN_GPS) || Get_Status(IN_Manager_Mode)));
 
     // 倒车
     Set_Status(OUT_Back_car,Get_Status(IN_Back));
@@ -194,5 +194,9 @@ void Control_procedure(void){
     Set_Status(OUT_High_brake,(Get_Status(IN_Brake) || SYS_AUTO_brake));
 
     //油门控制
+    if(Get_Status(OUT_Door_lock)){
         set_out_acc_percent((SYS_AUTO_Speed_Cut?0.5:1)*get_in_acc_percent()*((PAD_Manager_Mode || Get_Status(IN_Manager_Mode)) ? sys_conf_info.M_mode_sLim : sys_conf_info.U_mode_sLim) / 100.0);
+    }else{
+        set_out_acc_percent(0);
+    }
 }

projects/blezongkong/src/app_radar.c

@@ -25,17 +25,27 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
     if(Get_Status(OUT_Door_lock)){
         // 定时发送状态信息
         if(radar_flag_cnt > 4){
-            uint8_t ret_data[12]={0,0};
+            uint8_t ret_data[20]={0,0};
             radar_flag_cnt =0;
             ret_data[radar_flag_cnt++] =BAT_Message.Bat_STA; // 电池状态
             ret_data[radar_flag_cnt++] =BAT_Message.Bat_Voltage >> 8; //电池电压
             ret_data[radar_flag_cnt++] =BAT_Message.Bat_Voltage & 0xff;
             ret_data[radar_flag_cnt++] =get_in_acc_percent();// 当前油门百分比
+            ret_data[radar_flag_cnt++] =radar_daraframe.Front_data /100;// 前雷达距离信息
+            ret_data[radar_flag_cnt++] =radar_daraframe.Back_data/100;// 后雷达距离信息
+            // 读取系统配置
+            ret_data[radar_flag_cnt++]=sys_conf_info.M_mode_sLim;
+            ret_data[radar_flag_cnt++]=sys_conf_info.U_mode_sLim;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Brake_Distance;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Speed_Cut_Distance;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Brake_Distance_B;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Speed_Cut_Distance_B;
             ret_data[radar_flag_cnt++] =(Get_Status(IN_GPS)<<0) | (Get_Status(IN_Back)<<1) | (Get_Status(OUT_Low_brake)<<2)
-                                      | (Get_Status(IN_Manager_Mode)<<3) | (Get_Status(PAD_Manager_Mode)<<4) 
+                                      | (Get_Status(IN_Manager_Mode)<<3) | ((PAD_Manager_Mode)<<4) 
-                                      | (Get_Status(PAD_User_Mode)<<5);
+                                      | ((PAD_User_Mode)<<5) | ((SYS_AUTO_Speed_Cut)<<6) | ((SYS_AUTO_brake)<<7);
             app_uart_Sendcmd(UART1_PORT,0x10,0x01,ret_data,radar_flag_cnt);
             radar_flag_cnt =0;
+            goto radar_end;
         }else {
             radar_flag_cnt++;
         }
@@ -87,7 +97,7 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
         SYS_AUTO_brake =0;
         SYS_AUTO_Speed_Cut=0;
     }
-
+radar_end:
     return _MS(300);//300ms
 }
 

projects/blezongkong/src/app_uart.c

@@ -91,14 +91,12 @@ static void app_uart1_hande(void){
             }
             app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,0x01,uart1_daraframe.data,uart1_daraframe.length);
         break;
-        case 0x04: 
+        // case 0x04: 
             
-
+        // break;
-            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,0x01,uart1_daraframe.data,uart1_daraframe.length);
-        break;
 
         default :
-
+            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,uart1_daraframe.reg_addr,uart1_daraframe.data,uart1_daraframe.length);
         break;
         /*
             其他功能....

projects/blezongkong/src/app_uart.h

@@ -9,8 +9,8 @@
 
 #define MAX_LEN 32
 
-//0:失能数据校验
+//1:失能数据校验
-#define DISABLE_CRC8 1
+#define DISABLE_CRC8 0
 
 typedef struct uart_daraframe
 {

projects/blezongkong/src/main.c

@@ -136,8 +136,8 @@ int main(void)
   // read flash
   flash_read(bank, (uint32_t *)(&sys_conf_info),sizeof(sys_conf_info)/sizeof(uint32_t));
 
-  if(0xAA !=sys_conf_info.HEAD){
+  if(0xA5 !=sys_conf_info.HEAD){
-    sys_conf_info.HEAD=0xAA;
+    sys_conf_info.HEAD=0xA5;
     sys_conf_info.M_mode_sLim = M_DEFAULT_sLim,//read flash
     sys_conf_info.U_mode_sLim = U_DEFAULT_sLim,//read flash
     sys_conf_info.AUTO_Brake_Distance =DEF_AUTO_Brake_Distance,//自动刹车距离

projects/blezongkong/src/sys_config.h

@@ -38,9 +38,9 @@ void write_cfg(SYS_CONF_t *sys_config_info_t);
 
 /*****************************速度************************/
 // 管理员模式默认速度极限(0-100%)
-#define M_DEFAULT_sLim 80
+#define M_DEFAULT_sLim 100
 // 管理员模式默认速度极限(0-100%)
-#define U_DEFAULT_sLim 60
+#define U_DEFAULT_sLim 50
 
 
 /*****************************刹车************************/