diff --git a/custom/GPS/src/gps_config.c b/custom/GPS/src/gps_config.c index 6f6f7e6..760264e 100644 --- a/custom/GPS/src/gps_config.c +++ b/custom/GPS/src/gps_config.c @@ -14,7 +14,7 @@ #include "gps_config.h" #include "local_tts.h" -#if 1 +#if 0 #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[GPS]" fmt, ##args) #else diff --git a/custom/attr_broadcast/src/attr_broadcast.c b/custom/attr_broadcast/src/attr_broadcast.c index 07623a0..032e07f 100644 --- a/custom/attr_broadcast/src/attr_broadcast.c +++ b/custom/attr_broadcast/src/attr_broadcast.c @@ -16,7 +16,7 @@ #include "gps_config.h" #include "local_tts.h" -#if 1 +#if 0 #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[Broadcast]" fmt, ##args) #else @@ -320,8 +320,6 @@ static void play_attraction_info(AttractionNode* attraction, double distance) { static void attr_broadcast_task(void* arg) { (void)arg; // 避免未使用参数警告 BOOL should_play; //是否播放最后判断量 - BOOL introduc=true; //是否播报景区介绍 - DEBUG("task begin\r\n"); @@ -329,7 +327,6 @@ static void attr_broadcast_task(void* arg) { { safe_tts_play(park_desc,11); - introduc=false; } while (1) { diff --git a/custom/control_out/inc/control_out.h b/custom/control_out/inc/control_out.h index 7b44a9d..74dc236 100644 --- a/custom/control_out/inc/control_out.h +++ b/custom/control_out/inc/control_out.h @@ -130,7 +130,7 @@ typedef struct{ uint8_t IO_TX_brake :1; // 1:正常 0:刹车 uint8_t A_brake :1; // 1:自动刹车,0:手动刹车 uint8_t A_Speed_Cut :1; // 1:自动减速,0:手动减速 - uint8_t P_Radar_EN :1; // 1:雷达使能,0:雷达禁止 + uint8_t P_Radar_EN :1; // 2:雷达暂时关闭,1:雷达使能,0:雷达禁止 }; uint8_t IO_STA; }; diff --git a/custom/jt808/inc/jt808_protocol.h b/custom/jt808/inc/jt808_protocol.h index 4d88b28..2dd6ee7 100644 --- a/custom/jt808/inc/jt808_protocol.h +++ b/custom/jt808/inc/jt808_protocol.h @@ -26,6 +26,7 @@ typedef enum { ID_GetLocInfoResp = 0x0201, // 位置信息查询应答 ID_LocTrackingCtrl = 0x8202, // 临时位置跟踪控制 ID_TxtMsgdelivery = 0x8300, // 文本信息下发 + ID_Paly_Introduction =0x8302, //播放景区介绍 ID_Car_Ctrl = 0x8500, // 车辆控制 ID_Car_CtrlResp = 0x0500, // 车辆控制应答 ID_Set_Polygon_area = 0x8604, // 设置多边形区域 diff --git a/custom/jt808/inc/jt808_set_TermParam.h b/custom/jt808/inc/jt808_set_TermParam.h index df7cfb6..6d30cff 100644 --- a/custom/jt808/inc/jt808_set_TermParam.h +++ b/custom/jt808/inc/jt808_set_TermParam.h @@ -38,7 +38,7 @@ typedef enum { ID_BrakeLimit_B = 0xF006, //WORD 后退刹车距离 ID_SpeedCutLimit_B = 0xF007, //WORD 后退自动减速刹车距离 ID_Ban_Fence_Polygon_Delay_OFF = 0xF008, //BYTE 禁止围栏延时关闭时间, 单位秒 - ID_RadarEN = 0xF009, //BYTE 雷达使能位, 0 代表关闭, 1 代表开启 + ID_RadarEN = 0xF009, //BYTE 雷达使能位, 0 代表关闭, 1 代表开启 2代表临时关闭 }set_TermParamID_t; typedef struct{ uint32_t HeartBeatInterval;// DWORD, 终端心跳发送间隔(s) diff --git a/custom/jt808/src/jt808_set_TermParam.c b/custom/jt808/src/jt808_set_TermParam.c index 3900775..fe783fd 100644 --- a/custom/jt808/src/jt808_set_TermParam.c +++ b/custom/jt808/src/jt808_set_TermParam.c @@ -13,6 +13,7 @@ #include "local_tts.h" #include "control_out.h" +#include "radar.h" #define LOCAL_FENCE_COUNT (sizeof(local_fences) / sizeof(LocalFenceConfig_t)) @@ -148,7 +149,7 @@ void jt808_Set_CarStatus(uint8_t status){ } sys_sta.O_door_lock = (status & 0x01)? 1 : 0; // 设置电门锁状态 sys_sta.PLT_MODE = (status & 0x02)? 1 : 0; // 平台设置的模式 //1:游客模式,0:管理模式 - sys_sta.P_Radar_EN = (status & 0x04)? 1 : 0; // 1:雷达使能,0:雷达禁止 +// sys_sta.P_Radar_EN = (status & 0x04)? 1 : 0; // 1:雷达使能,0:雷达禁止 } // 获取车辆状态 @@ -361,8 +362,22 @@ int jt808_setTermParam(set_TermParamID_t param_id, void *param, uint8_t param_le break; } case ID_RadarEN:{// TODO: 雷达使能位 - jt808_term_param_item.set_term_param.RadarEN =param_val32 & 0xFF; - break; + uint8_t radar_en = param_val32 & 0xFF; + JT808_DEBUG("RadarEN=%d", radar_en); + + // 更新运行时状态（包括值2） + osMutexAcquire(radar_mutex, osWaitForever); + sys_sta.P_Radar_EN = radar_en; + osMutexRelease(radar_mutex); + + // 只保存0或1到持久化参数 + if(radar_en != 2) { + jt808_term_param_item.set_term_param.RadarEN = radar_en; + } else { + // 值2不保存，但可以记录日志 + JT808_DEBUG("Skip saving temporary RadarEN=2 state"); + } + break; } default:{ // TODO: 未知参数 @@ -517,7 +532,7 @@ void jt808_LocReport_param_update(void){ jt808_term_param_item.big_loc_report.basic_info.status.IO_TX_brake =sys_sta.IO_TX_brake; // 1:正常 0:刹车 jt808_term_param_item.big_loc_report.basic_info.status.A_brake =sys_sta.A_brake; // 1:自动刹车,0:手动刹车 jt808_term_param_item.big_loc_report.basic_info.status.A_Speed_Cut =sys_sta.A_Speed_Cut; // 1:自动减速,0:手动减速 - jt808_term_param_item.big_loc_report.basic_info.status.P_Radar_EN =sys_sta.P_Radar_EN; // 1:雷达使能,0:雷达禁止 + jt808_term_param_item.big_loc_report.basic_info.status.P_Radar_EN =sys_sta.P_Radar_EN; //2:雷达暂时关闭 1:雷达使能,0:雷达禁止 jt808_term_param_item.big_loc_report.basic_info.status.val32 = Swap32(jt808_term_param_item.big_loc_report.basic_info.status.val32); // 状态信息（转大端） jt808_term_param_item.big_loc_report.basic_info.alarm_flag.val32 = 0; // 清除报警标志 diff --git a/custom/radar/src/radar.c b/custom/radar/src/radar.c index b18b808..3e97bfc 100644 --- a/custom/radar/src/radar.c +++ b/custom/radar/src/radar.c @@ -26,6 +26,7 @@ static osThreadId_t os_RADAR_ThreadId; radar_data_t radar_data; +osMutexId_t radar_mutex; // 互斥锁 /****************************************************************************** @@ -126,10 +127,15 @@ void radar_CheckData(uint8_t *data, uint16_t data_len){ // 定时处理数和获取数据 static void RADAR_TaskHandle(void *param){ uint8_t temp_count =0; + uint16_t time_count =0; while(1){ - + + if(0==sys_sta.P_Radar_EN) + { + continue; + } - + osMutexAcquire(radar_mutex, osWaitForever); if (1==sys_sta.P_Radar_EN) { if(radar_CMDSend_cnt != radar_CMDReceive_cnt){ // 发送命令和接收命令计数不一致时，复位自动刹车和减速状态 @@ -155,6 +161,18 @@ static void RADAR_TaskHandle(void *param){ } + else if (2==sys_sta.P_Radar_EN) + { + time_count++; + if(time_count>=143) + { + sys_sta.P_Radar_EN=1; + time_count=0; + } + + } + + osMutexRelease(radar_mutex); osDelay(140/5); // 140ms } }