下半区传感器接线方式修改，屏幕安装点过低或过高，按压上半区或下半区屏幕会造成误触发，未能得到解决

2026-07-09 18:52:49 +08:00
parent 7f68ef4677
commit 59d5c62b12
11 changed files with 910 additions and 353 deletions
@@ -51,9 +51,8 @@ uint8_t CRC_Sum(uint8_t *_pbuff, uint16_t _cmdLen);
 bool isAllZero(uint8_t *arr, int size);
 int fixWithMedianIterative(int arr[], int size, int windowSize, int threshold, int maxIterations, int verbose);
 int finalCheck(int arr[], int size, int threshold, int verbose);
-int weightedMovingAverageWithEnhance(int32_t arr[], int size, int windowSize,
-                                      int enhanceStart, int enhanceEnd, 
-                                      double enhanceFactor, int verbose);
+int weightedMovingAverageWithEnhance(int32_t arr[], int size, int windowSize,int enhanceStart, int enhanceEnd, double enhanceFactor, int verbose);
+int CompareAndCountAbs(const int32_t *arr1, const int32_t *arr2, uint16_t length,int32_t zero1, int32_t zero2, int32_t offset);
 #endif


@@ -213,6 +213,24 @@
 #define	CLR_TWIN_BIT1()						PORT_ResetBits(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)//拉低
 #define	GET_BIT1_DOUT()						PORT_GetBit(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)

+//<		BUZZER
+#define	BUZZER_PORTx							(PortB)
+#define	BUZZER_PINx								(Pin15)
+#define	BUZZER_ON()								PORT_SetBits(BUZZER_PORTx, BUZZER_PINx)//拉高
+#define	BUZZER_OFF()							PORT_ResetBits(BUZZER_PORTx, BUZZER_PINx)//拉低
+
+//< 		LED
+#define	LED_GREEN_PORTx						(PortA)
+#define	LED_GREEN_PINx							(Pin08)
+#define	LED_GREEN_ON()							PORT_SetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉高
+#define	LED_GREEN_OFF()						PORT_ResetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉低
+
+#define	LED_RED_PORTx							(PortA)
+#define	LED_RED_PINx							(Pin09)
+#define	LED_RED_ON()							PORT_SetBits(LED_RED_PORTx, LED_RED_PINx)//拉高
+#define	LED_RED_OFF()							PORT_ResetBits(LED_RED_PORTx, LED_RED_PINx)//拉低
+
+
 typedef struct {
 	int32_t ControlLevel;//控制等级
 	int32_t	DBGWaveOut;//调试波形输出
@@ -289,6 +307,8 @@ void ExtInt04IntEnable(void);
 void ExtInt04IntDisable(void);
 void ExtInt06IntEnable(void);
 void ExtInt06IntDisable(void);
+void Bit0AndBit1_OUT(void);
+void Bit0AndBit1_IN(void);
 #endif


@@ -11,26 +11,31 @@
 #define 	SLOPE_CNT			  20

 #define 	SLOPE_VPT				1000
-#define		PRESS_VPT				3
+#define		PRESS_VPT				10
 #define		FOLLOW_VPT			10
-#define		SHIELD_VPT			5000
+#define		SHIELD_VPT			2
 #define		EME_STOP_VPT		4000
-#define		CENTRE_VPT			2000
+
+#define		CENTRE_FRONT_CNT			0
+#define		CENTRE_FRONT_SUM			0
+#define		CENTRE_FRONT_VPT			0
+#define		CENTRE_VPT			0

 #define 	STOP_TIME_MS		500
+#define 	CENT_TIME_MS		200
 #define 	RUN_TIME_MS			0
 #define		EME_START_MS		0
 #define		EME_STOP_MS			2000
 #define		SLOPE_START_MS	3000

-#define		TRAVEL_TIME_MS	30000
+#define		TRAVEL_TIME_MS	50000

 #define		PEAK						1200		//1200mm
 #define		VALLEY					720			//720mm

 #define	BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
-#define BDC_UP()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
-#define	BDC_DOWN()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())
+#define BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
+#define	BDC_UP()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())

 //#define	BDC_STOP()				Motor_Control(MOTOR_CMD_STOP)
 //#define BDC_UP()					Motor_Control(MOTOR_CMD_FORWARD)
@@ -55,11 +60,6 @@ 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 LeftLowShieldVPT;	//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
@@ -135,6 +135,7 @@ typedef struct {
 	uint32_t Uart3RxTimeOut1mSCnt;
 	uint32_t StopCollDelay1mSCnt;
 	uint32_t RunCollDelay1mSCnt;
+	uint32_t CentCollDelay1mSCnt;
 	uint32_t EmergencyDelay1mSCnt;
 	uint32_t SlopeCollDelay1mSCnt;
 	uint32_t CailUp1mSCnt;
@@ -166,6 +167,11 @@ typedef struct {
 	int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
 	int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
 	
+	int32_t aaa;
+	int32_t bbb;
+	int32_t ccc;
+	int32_t ddd;
+	
 	bool WaitFlag;
 }AppDetect_t;
 extern AppDetect_t App;
@@ -4,6 +4,50 @@
 #include "Algorithm.h"
 #include "Debug.h"
 												 
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>  // 用于 abs() 函数
+
+/**
+ * @brief 比较两个数组对应位置的绝对值差值，统计满足条件的个数
+ * 
+ * 判断条件：|arr1[i] - zero1| + offset > |arr2[i] - zero2|
+ * 
+ * @param arr1          数组1指针
+ * @param arr2          数组2指针
+ * @param length        要比较的数组长度（截取值）
+ * @param zero1         数组1的零点值
+ * @param zero2         数组2的零点值
+ * @param offset        补偿值
+ * @return int          满足条件的个数
+ * 
+ * @note 如果 length 为0，返回0
+ * @note 如果 arr1 或 arr2 为 NULL，返回0
+ */
+int CompareAndCountAbs(const int32_t *arr1, const int32_t *arr2, uint16_t length,
+                        int32_t zero1, int32_t zero2, int32_t offset)
+{
+    // 参数校验
+    if (arr1 == NULL || arr2 == NULL || length == 0) {
+        return 0;
+    }
+    
+    int count = 0;
+    
+    for (uint16_t i = 0; i < length; i++) {
+        // 计算绝对值
+        int32_t abs1 = abs(arr1[i] - zero1);
+        int32_t abs2 = abs(arr2[i] - zero2);
+        
+        // 判断：|arr1[i] - zero1| + offset > |arr2[i] - zero2|
+        if (abs1 + offset > abs2) {
+            count++;
+        }
+    }
+    
+    return count;
+}
 /**
 * 加强特定区域的平滑处理（使用更小的权重衰减，更平滑的效果）
 * 
@@ -517,13 +517,43 @@ static void GPIO_Config(void)
 	PORT_Init(LEFTLOW_CS1237_SCLK_PORTx, LEFTLOW_CS1237_SCLK_PINx, &stcPortInit);
 	PORT_Init(RIGHTUP_CS1237_SCLK_PORTx, RIGHTUP_CS1237_SCLK_PINx, &stcPortInit);
 	PORT_Init(RIGHTLOW_CS1237_SCLK_PORTx, RIGHTLOW_CS1237_SCLK_PINx, &stcPortInit);
+	PORT_Init(BUZZER_PORTx, BUZZER_PINx, &stcPortInit);
+	PORT_Init(LED_GREEN_PORTx, LED_GREEN_PINx, &stcPortInit);
+	PORT_Init(LED_RED_PORTx, LED_RED_PINx, &stcPortInit);
+	LED_GREEN_OFF();
+	LED_RED_OFF();
 	
+	stcPortInit.enPullUp = Enable;//上拉
+}
+void Bit0AndBit1_OUT(void)
+{
+	stc_port_init_t stcPortInit;
+	MEM_ZERO_STRUCT(stcPortInit);
+	
+	/********************************** GPIO输出 ****************************************/
+		stcPortInit.enPinMode = Pin_Mode_Out;
+	stcPortInit.enPinOType = Pin_OType_Cmos;
+	stcPortInit.enPinDrv = Pin_Drv_H;
+	stcPortInit.enPullUp = Disable;//无上拉
+
 	stcPortInit.enPullUp = Enable;//上拉
 	PORT_Init(TWIN_BIT0_PORTx, TWIN_BIT0_PINx, &stcPortInit);
 	PORT_Init(TWIN_BIT1_PORTx, TWIN_BIT1_PINx, &stcPortInit);
 	SET_TWIN_BIT0();
 	SET_TWIN_BIT1();
 }
+void Bit0AndBit1_IN(void)
+{
+	stc_port_init_t stcPortInit;
+	MEM_ZERO_STRUCT(stcPortInit);
+	
+	/********************************** GPIO输入 ****************************************/
+	stcPortInit.enPinMode = Pin_Mode_In;
+	stcPortInit.enPullUp = Disable;//无上拉
+
+	PORT_Init(TWIN_BIT0_PORTx, TWIN_BIT0_PINx, &stcPortInit);
+	PORT_Init(TWIN_BIT1_PORTx, TWIN_BIT1_PINx, &stcPortInit);
+}
 /*********************************左上传感器
 *******************************************************************************
 ** \brief ExtInt00 callback function
@@ -1429,6 +1459,7 @@ void BSP_Init(void)
 	ExtiCh01_Init();
 	ExtiCh06_Init();
 	ExtiCh04_Init();
+	Bit0AndBit1_OUT();
 	
 	DbgUart_Config(700000);
 #if(USE_USART3 == 1)