diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 74babe2..bb5bad4 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -101,7 +101,9 @@
0
0
1
- 2
+ 0
+ 0
+ 12
@@ -151,72 +153,7 @@
-
-
- 0
- 0
- 235
- 1
- 24890
- 0
- 0
- 0
- 0
- 0
- 1
- ..\source\User\Src\main.c
-
- \\BombSensor\../source/User/Src/main.c\235
-
-
- 1
- 0
- 211
- 1
- 24642
- 0
- 0
- 0
- 0
- 0
- 1
- ..\source\User\Src\main.c
-
- \\BombSensor\../source/User/Src/main.c\211
-
-
- 2
- 0
- 185
- 1
- 24380
- 0
- 0
- 0
- 0
- 0
- 1
- ..\source\User\Src\main.c
-
- \\BombSensor\../source/User/Src/main.c\185
-
-
- 3
- 0
- 163
- 1
- 24122
- 0
- 0
- 0
- 0
- 0
- 1
- ..\source\User\Src\main.c
-
- \\BombSensor\../source/User/Src/main.c\163
-
-
+
0
@@ -353,6 +290,7 @@
1
+ 0
0
2
5000000
@@ -440,6 +378,8 @@
0
0
1
+ 0
+ 0
-1
diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx
index 47814fb..0850732 100644
--- a/Project/HC32F460/MDK/HC32F460.uvprojx
+++ b/Project/HC32F460/MDK/HC32F460.uvprojx
@@ -184,6 +184,9 @@
0
0
2
+ 0
+ 0
+ 0
1
1
8
@@ -324,6 +327,7 @@
0
0
1
+ 0
0
3
3
@@ -349,7 +353,7 @@
0
0
0
- 0
+ 4
@@ -858,6 +862,9 @@
0
0
1
+ 0
+ 0
+ 0
1
1
8
@@ -998,6 +1005,7 @@
0
0
1
+ 0
0
0
0
@@ -1023,7 +1031,7 @@
0
0
0
- 0
+ 4
diff --git a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
index d0352e7..74af911 100644
--- a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
+++ b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
@@ -1,6 +1,6 @@
/*
- * Auto generated Run-Time-Environment Component Configuration File
+ * Auto generated Run-Time-Environment Configuration File
* *** Do not modify ! ***
*
* Project: 'HC32F460'
@@ -17,4 +17,5 @@
#define CMSIS_device_header "HC32F460JETA.h"
+
#endif /* RTE_COMPONENTS_H */
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 700c12b..7ab3222 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -4,18 +4,18 @@
#include "bsp.h"
-#define USE_FILE_SYSTEM 1
+#define USE_FILE_SYSTEM 1
#define SDCARD_BLOCK_MAX (10000)
-#define OSC_CNT 40
-#define SLOPE_CNT 40
+#define OSC_CNT 40
+#define SLOPE_CNT 40
-#define STOP_TIME_MS 500
-#define RUN_TIME_MS 0
+#define STOP_TIME_MS 500
+#define RUN_TIME_MS 0
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
-#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
+#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_DOWN() Motor_Control(MOTOR_CMD_REVERSE)
typedef struct{
@@ -26,6 +26,11 @@ typedef struct{
int32_t RightUpVPT;//右上设备阈值
int32_t RightLowVPT;//右下设备阈值
+ int32_t LeftUpShieldVPT; //左上屏蔽阈值
+ int32_t LeftLowpShieldVPT; //左下屏蔽阈值
+ int32_t RightUpShieldVPT; //右上屏蔽阈值
+ int32_t RightLowShieldVPT; //右下屏蔽阈值
+
int32_t LeftUp_Org_AdZero;//左上设备原始AD零点
int32_t LeftLow_Org_AdZero;//左下设备原始AD零点
int32_t RightUp_Org_AdZero;//右上设备原始AD零点
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 349f4bc..eac3b17 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -154,8 +154,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT)))
{
- if((abs(Olu_diff1) > abs(Orl_diff1) + 10000)
- && (abs(Oll_diff1) > abs(Oru_diff1) + 10000))
+ if((abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
+ && (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowpShieldVPT))
{
BDC_UP();
App.UpFlag = true;
@@ -177,8 +177,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)))
{
- if((abs(Oll_diff1) > abs(Oru_diff1) + 10000)
- && (abs(Olu_diff1) > abs(Orl_diff1) + 10000))
+ if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
+ && (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
@@ -204,8 +204,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff2 <= -App.ADTrack.RightLowVPT)
&& (Orl_diff3 <= -App.ADTrack.RightLowVPT)))
{
- if((abs(Orl_diff1) > abs(Olu_diff1) + 10000)
- && (abs(Oru_diff1) > abs(Oll_diff1) + 10000))
+ if((abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
+ && (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT))
{
BDC_UP();
App.UpFlag = true;
@@ -228,8 +228,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
)
{
- if((abs(Oru_diff1) > abs(Oll_diff1) + 10000)
- && (abs(Orl_diff1) > abs(Olu_diff1) + 10000))
+ if((abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
+ && (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
@@ -550,7 +550,11 @@ static void AppLoopHandler(void)
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
- App.ADTrack.RightLowVPT = 40000;
+ App.ADTrack.RightLowVPT = 40000;
+ App.ADTrack.LeftUpShieldVPT = 10000;
+ App.ADTrack.LeftLowpShieldVPT = 10000;
+ App.ADTrack.RightUpShieldVPT = 10000;
+ App.ADTrack.RightLowShieldVPT = 10000;
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];