feat: 增加避障状态计时清除

app/gl_barrier.c

@@ -2,9 +2,9 @@
 #include "gl_headfile.h"
 
 enum barrier_type_e barrier_type = BARRIER_NONE;
-
-
-void CheckBarrier() {
+uint16 time_barrier;
+void CheckBarrier()
+{
     if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
         barrier_type = BARRIER_LEFT_BEGIN;
     }
@@ -13,54 +13,51 @@ void CheckBarrier() {
     }
 }
 
-void RunBarrier() {
-  if (barrier_type == BARRIER_LEFT_BEGIN) 
-  {
+void RunBarrier()
+{
+    if (barrier_type == BARRIER_LEFT_BEGIN) {
         track_type = TRACK_RIGHT;
-    if (Lpt0_found) 
-    {
+        if (Lpt0_found) {
             Lpt0_found_count++;
         }
-    if (Lpt0_found_count >= 1) 
-    {
+        if (Lpt0_found_count >= 1 && time_barrier >= 5000) {
             Lpt0_found_count = 0;
             barrier_type     = BARRIER_LEFT_RUNNING;
             track_type       = TRACK_RIGHT;
+            timer_clear(TIM_3);
+            timer_start(TIM_3);
         }
-  }
-  else if (barrier_type == BARRIER_LEFT_RUNNING)
-  {
+    } else if (barrier_type == BARRIER_LEFT_RUNNING) {
         track_type   = TRACK_RIGHT;
-    if (Lpt0_found)
-    {
+        time_barrier = timer_get(TIM_3);
+        if (time_barrier >= 5000) {
             barrier_type = BARRIER_NONE;
             track_type   = TRACK_RIGHT;
+            timer_start(TIM_3);
+            timer_clear(TIM_3);
         }
     }
 
-
-  if (barrier_type == BARRIER_RIGHT_BEGIN) 
-  {
+    if (barrier_type == BARRIER_RIGHT_BEGIN) {
         track_type = TRACK_LEFT;
-    if (Lpt1_found) 
-    {
+        if (Lpt1_found) {
             Lpt1_found_count++;
         }
-    if (Lpt1_found_count >= 1) 
-    {
+        if (Lpt1_found_count >= 1) {
             Lpt1_found_count = 0;
             barrier_type     = BARRIER_RIGHT_RUNNING;
             track_type       = TRACK_LEFT;
+            timer_clear(TIM_3);
+            timer_start(TIM_3);
         }
-  }
-  else if (barrier_type == BARRIER_RIGHT_RUNNING)
-  {
+    } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
         track_type   = TRACK_LEFT;
-    if (Lpt1_found)
-    {
+        time_barrier = timer_get(TIM_3);
+        if (time_barrier >= 5000) {
+            timer_start(TIM_3);
+            timer_clear(TIM_3);
             barrier_type = BARRIER_NONE;
             track_type   = TRACK_LEFT;
         }
     }
- 
 }

app/gl_barrier.h

@@ -10,7 +10,7 @@ enum barrier_type_e {
   BARRIER_LEFT_OUT,
   BARRIER_RIGHT_OUT,
 };
-
+extern uint16 time_barrier;
 extern enum barrier_type_e barrier_type;
 
 void CheckBarrier(void);

app/gl_circle.c

@@ -3,7 +3,6 @@
 
 enum circle_type_e circle_type = CIRCLE_NONE;
 
-
 int32_t Left_Border_None_Circle  = 0;
 int32_t Right_Border_None_Circle = 0;
 
@@ -16,8 +15,8 @@ int32_t Right_Border_ToLeft_Circle = 0;
 int32_t Left_Border_ToRight_Circle  = 0;
 int32_t Right_Border_ToRight_Circle = 0;
 
-
-void CheckCircle() {
+void CheckCircle()
+{
     // 非圆环模式下，单边L角点, 单边长直道
     if (circle_type == CIRCLE_NONE && Lpt0_found && !Lpt1_found && is_straight1) {
         circle_type = CIRCLE_LEFT_BEGIN;
@@ -27,8 +26,8 @@ void CheckCircle() {
     }
 }
 
-
-void RunCircle() {
+void RunCircle()
+{
     if (circle_type == CIRCLE_LEFT_BEGIN) // 左环开始，寻外直道右线
     {
         track_type = TRACK_RIGHT;
@@ -37,7 +36,7 @@ void RunCircle() {
         if (pts_resample_left_count < 0.1 / RESAMPLEDIST) {
             Left_Border_None_Circle++;
         }
-    if (pts_resample_left_count > 0.5 / RESAMPLEDIST &&Left_Border_None_Circle > FRAMENONE) {
+        if (pts_resample_left_count > 0.5 / RESAMPLEDIST && Left_Border_None_Circle > FRAMENONE) {
             Left_Border_Have_Circle++;
             if (Left_Border_Have_Circle > FRAMENONE) {
                 circle_type             = CIRCLE_LEFT_IN;
@@ -93,7 +92,6 @@ void RunCircle() {
             Right_Border_ToRight_Circle = 0;
         }
 
-    
     } else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道
     {
         track_type = TRACK_LEFT;
@@ -126,8 +124,8 @@ void RunCircle() {
         }
     } else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
     {
-    track_type = TRACK_LEFT;
-    // track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换
+        // track_type = TRACK_RIGHT;
+        track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
         if (Lpt0_found)          // 外环存在拐点，可再加拐点距离判据 (左 L 点)
         {
             pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;

app/main.c

@@ -49,7 +49,7 @@ int main(void)
     Page_Init();
 
     pit_ms_init(TIM1_PIT, 10);
-
+    timer_init(TIM_3, TIMER_MS);
     by_frame_init();
 
     printf("start running\r\n");

app/page/page_rtcam.c

@@ -62,6 +62,7 @@ static void Loop()
     ips200_show_uint(160, 205, Lpt0_found_barrier_in, 3);
     ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
     ips200_show_uint(200, 165, barrier_type, 3);
+    ips200_show_uint(200, 185, time_barrier, 5);
 }
 
 /**