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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

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DESKTOP-KQHDCM4\97555
2026-07-09 18:52:49 +08:00
parent 7f68ef4677
commit 59d5c62b12
11 changed files with 910 additions and 353 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+111 -19
View File
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>12</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -228,96 +228,168 @@
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.LU_HeightStress,0x0A</ItemText>
<ItemText>App.TD1mSDelayCnt,0x0A</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.LL_HeightStress,0x0A</ItemText>
<ItemText>App.Status</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.RU_HeightStress,0x0A</ItemText>
<ItemText>App.MotorPara.CaliNum,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.RL_HeightStress,0x0A</ItemText>
<ItemText>App.CailUp1mSCnt,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>App.TD1mSDelayCnt,0x0A</ItemText>
<ItemText>App.MotorPara.RestFlag,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>App.RxUart3Data.RxBuff,0x10</ItemText>
<ItemText>App.MotorPara.Current_height,0x0A</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>App.RxUart3Data.RxLen,0x0A</ItemText>
<ItemText>App.HeightContRolCnt,0x0A</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>App.Status</ItemText>
<ItemText>App.aaa,0x0A</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.CaliNum,0x0A</ItemText>
<ItemText>App.bbb,0x0A</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>App.CailUp1mSCnt,0x0A</ItemText>
<ItemText>App.ccc,0x0A</ItemText>
</Ww>
<Ww>
<count>24</count>
<WinNumber>1</WinNumber>
<ItemText>Oru_diff1,0x0A</ItemText>
<ItemText>App.ddd,0x0A</ItemText>
</Ww>
<Ww>
<count>25</count>
<WinNumber>1</WinNumber>
<ItemText>Orl_diff1,0x0A</ItemText>
<ItemText>App.ADTrack.LeftUpVPT,0x0A</ItemText>
</Ww>
<Ww>
<count>26</count>
<WinNumber>1</WinNumber>
<ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
<ItemText>App.ADTrack.LeftLowVPT,0x0A</ItemText>
</Ww>
<Ww>
<count>27</count>
<WinNumber>1</WinNumber>
<ItemText>ru_ad[0],0x0A</ItemText>
<ItemText>App.ADTrack.RightUpVPT,0x0A</ItemText>
</Ww>
<Ww>
<count>28</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.RestFlag,0x0A</ItemText>
<ItemText>App.ADTrack.RightLowVPT,0x0A</ItemText>
</Ww>
<Ww>
<count>29</count>
<WinNumber>1</WinNumber>
<ItemText>App.MotorPara.Current_height,0x0A</ItemText>
<ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
</Ww>
<Ww>
<count>30</count>
<WinNumber>1</WinNumber>
<ItemText>App.HeightContRolCnt,0x0A</ItemText>
<ItemText>App.MotorPara.Current_height,0x0A</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>Olu_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>Oll_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>Oru_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>Orl_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>2</WinNumber>
<ItemText>Olu_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>2</WinNumber>
<ItemText>Oll_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>2</WinNumber>
<ItemText>Oru_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>2</WinNumber>
<ItemText>Orl_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>2</WinNumber>
<ItemText>Olu_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>2</WinNumber>
<ItemText>Oll_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>2</WinNumber>
<ItemText>Oru_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>2</WinNumber>
<ItemText>Orl_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>2</WinNumber>
<ItemText>LeftDiff,0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>2</WinNumber>
<ItemText>RightDiff,0x0A</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
<aLwin>1</aLwin>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
@@ -1192,6 +1264,26 @@
</File>
</Group>
<Group>
<GroupName>BeepAndLed</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>55</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\source\Module\BeepAndLed\BeepAndLed.c</PathWithFileName>
<FilenameWithoutPath>BeepAndLed.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>Readme</GroupName>
<tvExp>0</tvExp>
Project/HC32F460/MDK/HC32F460.uvprojx
+25 -5
View File
@@ -10,14 +10,14 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::ARMCC</pArmCC>
<pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>HC32F460JETA</Device>
<Vendor>HDSC</Vendor>
<PackID>HDSC.HC32F460.1.0.12</PackID>
<PackID>HDSC.HC32F460.1.0.11</PackID>
<PackURL>https://raw.githubusercontent.com/hdscmcu/pack/master/</PackURL>
<Cpu>IRAM(0x1FFF8000,0x2F000) IRAM2(0x200F0000,0x1000) IROM(0x00000000,0x80000) IROM2(0x03000C00,0x003FC) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@@ -341,7 +341,7 @@
<MiscControls></MiscControls>
<Define>__DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA</Define>
<Undefine></Undefine>
<IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor</IncludePath>
<IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor;..\source\Module\BeepAndLed</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -677,6 +677,16 @@
</File>
</Files>
</Group>
<Group>
<GroupName>BeepAndLed</GroupName>
<Files>
<File>
<FileName>BeepAndLed.c</FileName>
<FileType>1</FileType>
<FilePath>..\source\Module\BeepAndLed\BeepAndLed.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Readme</GroupName>
</Group>
@@ -695,7 +705,7 @@
<TargetCommonOption>
<Device>HC32F460PETB</Device>
<Vendor>HDSC</Vendor>
<PackID>HDSC.HC32F460.1.0.12</PackID>
<PackID>HDSC.HC32F460.1.0.11</PackID>
<PackURL>https://raw.githubusercontent.com/hdscmcu/pack/master/</PackURL>
<Cpu>IROM(0x00000000,0x80000) IROM2(0x03000C00,0x3FC) IRAM2(0x200F0000,0x1000) IROM(0x00000000,0x80000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@@ -1355,6 +1365,16 @@
</File>
</Files>
</Group>
<Group>
<GroupName>BeepAndLed</GroupName>
<Files>
<File>
<FileName>BeepAndLed.c</FileName>
<FileType>1</FileType>
<FilePath>..\source\Module\BeepAndLed\BeepAndLed.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Readme</GroupName>
</Group>
Project/HC32F460/MDK/startup_hc32f460.s
+1 -1
View File
@@ -224,7 +224,7 @@ Reset_Handler PROC
IMPORT SystemInit
IMPORT __main
SET_SRAM3_WAIT
LDR R0, =0x40050804
1 LDR R0, =0x40050804
MOV R1, #0x77
STR R1, [R0]
Project/HC32F460/source/Module/BeepAndLed/BeepAndLed.c
+177
View File
@@ -0,0 +1,177 @@
#include "BeepAndLed.h"
#include "beepAndLed.h"
#include "main.h" // 包含BUZZER_ON/OFF, LED等宏定义
// ========== 变量定义 ==========
static BeeperCtrl_t g_beeper = {
.state = BEEPER_STATE_IDLE,
.is_active = 0,
.repeat = 0,
.repeat_done = 0,
.on_ms = 0,
.off_ms = 0
};
// 延时计数器（供滴答定时器使用）
uint32_t BeepAndLedCollDelay1mSCnt = 0;
// ========== 硬件控制函数（根据您的实际宏定义修改）==========
static void Beeper_HW_On(void)
{
BUZZER_ON(); // 请替换为您的实际宏
LED_GREEN_OFF(); // 请替换为您的实际宏
LED_RED_ON(); // 请替换为您的实际宏
}
static void Beeper_HW_Off(void)
{
BUZZER_OFF(); // 请替换为您的实际宏
LED_GREEN_ON(); // 请替换为您的实际宏
LED_RED_OFF(); // 请替换为您的实际宏
}
// ========== 实现函数 ==========
/**
* @brief 蜂鸣器初始化
*/
void Beeper_Init(void)
{
Beeper_Stop();
}
/**
* @brief 开始鸣响（非阻塞）
* @param on_ms 鸣响时间(ms)
* @param off_ms 间隔时间(ms)
* @param repeat 重复次数（0表示无效）
*
* @example Beeper_Start(200, 100, 3); // 鸣200ms，停100ms，重复3次
*/
void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat)
{
if (repeat == 0) return;
// 如果已经在鸣响，可以选择停止并重新开始
if (g_beeper.is_active) {
Beeper_Stop(); // 停止当前，重新开始新的
// return; // 或者选择忽略新请求
}
// 保存参数
g_beeper.on_ms = on_ms;
g_beeper.off_ms = off_ms;
g_beeper.repeat = repeat;
g_beeper.repeat_done = 0;
g_beeper.is_active = 1;
// 开启蜂鸣器
Beeper_HW_On();
// 设置延时计数器（开启状态延时）
BeepAndLedCollDelay1mSCnt = on_ms;
g_beeper.state = BEEPER_STATE_ON;
}
/**
* @brief 停止鸣响
*/
void Beeper_Stop(void)
{
// 关闭硬件
Beeper_HW_Off();
// 重置状态机
g_beeper.state = BEEPER_STATE_IDLE;
g_beeper.is_active = 0;
g_beeper.repeat = 0;
g_beeper.repeat_done = 0;
BeepAndLedCollDelay1mSCnt = 0;
}
/**
* @brief 蜂鸣器状态机更新（放在main.c的while(1)中循环调用）
* @note 必须在滴答定时器更新BeepAndLedCollDelay1mSCnt后才能正确工作
*/
void BeeperLoopHandler(void)
{
if (!g_beeper.is_active) {
return;
}
switch (g_beeper.state) {
case BEEPER_STATE_ON:
// 蜂鸣器开启状态，等待计数器归零
if (BeepAndLedCollDelay1mSCnt == 0) {
// 延时结束，关闭蜂鸣器
Beeper_HW_Off();
g_beeper.repeat_done++;
// 检查是否完成所有重复
if (g_beeper.repeat_done >= g_beeper.repeat) {
// 全部完成，结束
g_beeper.is_active = 0;
g_beeper.state = BEEPER_STATE_IDLE;
} else {
// 还有下次，进入等待状态
BeepAndLedCollDelay1mSCnt = g_beeper.off_ms;
g_beeper.state = BEEPER_STATE_OFF;
}
}
break;
case BEEPER_STATE_OFF:
// 蜂鸣器关闭等待状态（间隔时间）
if (BeepAndLedCollDelay1mSCnt == 0) {
// 间隔结束，开启下一次鸣响
Beeper_HW_On();
BeepAndLedCollDelay1mSCnt = g_beeper.on_ms;
g_beeper.state = BEEPER_STATE_ON;
}
break;
case BEEPER_STATE_WAIT:
case BEEPER_STATE_IDLE:
default:
break;
}
}
/**
* @brief 查询是否正在鸣响
* @return true:正在鸣响, false:空闲
*/
bool Beeper_IsPlaying(void)
{
return g_beeper.is_active;
}
/**
* @brief 手动开启蜂鸣器（不计入状态机）
*/
void Beeper_On(void)
{
Beeper_HW_On();
}
/**
* @brief 手动关闭蜂鸣器（不计入状态机）
*/
void Beeper_Off(void)
{
Beeper_HW_Off();
}
/**
* @brief 清除延时计数器（由滴答定时器调用）
* @note 这个函数放在滴答定时器的1ms中断中调用
*/
void Beeper_ClearDelay(void)
{
if (BeepAndLedCollDelay1mSCnt > 0) {
BeepAndLedCollDelay1mSCnt--;
}
}
Project/HC32F460/source/Module/BeepAndLed/BeepAndLed.h
+39
View File
@@ -0,0 +1,39 @@
#ifndef __BEEPANDLED_H
#define __BEEPANDLED_H
#include <stdint.h>
#include <stdbool.h>
#include "bsp.h"
// ========== 蜂鸣器状态机状态定义 ==========
typedef enum {
BEEPER_STATE_IDLE = 0, // 空闲
BEEPER_STATE_ON, // 蜂鸣器开启延时中
BEEPER_STATE_OFF, // 蜂鸣器关闭延时中
BEEPER_STATE_WAIT // 等待下一次鸣响
} BeeperState_t;
// ========== 蜂鸣器控制结构体 ==========
typedef struct {
BeeperState_t state; // 当前状态
uint16_t on_ms; // 鸣响时间(ms)
uint16_t off_ms; // 间隔时间(ms)
uint8_t repeat; // 重复次数
uint8_t repeat_done; // 已完成次数
uint8_t is_active; // 是否激活
} BeeperCtrl_t;
// ========== 外部可访问变量 ==========
extern uint32_t BeepAndLedCollDelay1mSCnt; // 延时计数器（在beepAndLed.c中定义）
// ========== API函数 ==========
void Beeper_Init(void); // 初始化
void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat); // 开始鸣响（非阻塞）
void Beeper_Stop(void); // 停止鸣响
void BeeperLoopHandler(void); // 状态机更新（放在while(1)中）
bool Beeper_IsPlaying(void); // 查询是否正在鸣响
void Beeper_On(void); // 手动开启蜂鸣器
void Beeper_Off(void); // 手动关闭蜂鸣器
void Beeper_ClearDelay(void); // 清除延时计数器（供滴答定时器使用）
#endif /* _BEEP_AND_LED_H_ */
Project/HC32F460/source/User/Inc/Algorithm.h
+2 -3
View File
@@ -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
Project/HC32F460/source/User/Inc/bsp.h
+20
View File
@@ -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
Project/HC32F460/source/User/Inc/main.h
+17 -11
View File
@@ -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;
Project/HC32F460/source/User/Src/Algorithm.c
+44
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@@ -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）
*
Project/HC32F460/source/User/Src/bsp.c
+31
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@@ -517,6 +517,24 @@ 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);
@@ -524,6 +542,18 @@ static void GPIO_Config(void)
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)
Project/HC32F460/source/User/Src/main.c
+443 -314
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