雷达、景点播报功能测试完成，暂时关闭禁区锁车播报等功能，电子围栏删除、位置信息上报功能待完善。

custom/control_out/src/control_out.c

@@ -6,6 +6,8 @@
 
 #include "local_tts.h"
 #include "control_out.h"
+#include "radar.h"
+
 
 #define ADC_DAC_DEBUG_ENABLE 0
 
@@ -224,7 +226,7 @@ void control_out_task(void *argument){
             sys_sta.IO_RX_back = level; // 0:倒车模式,1:正常模式
             // DEBUG("IO_RX_back:%d\r\n",level);
         }
-        // 刹车状态
+        // 刹车状态  
         if(1 == sys_sta.A_brake){ // 自动刹车触发
             cm_gpio_set_direction(IO_TX_BRAKE, CM_GPIO_DIRECTION_OUTPUT);
             cm_gpio_set_level(IO_TX_BRAKE, 0); // 打开刹车
@@ -294,11 +296,15 @@ void control_out_task(void *argument){
             cm_gpio_set_level(OUT_Door_lock, 1); // 打开电门锁
             uint8_t acc_percent =0;
             if((1 == sys_sta.MAG_MODE)&&(1 == sys_sta.PLT_MODE )){ // 游客模式
+                    
+                osMutexAcquire(radar_mutex, osWaitForever);    
                 if(sys_sta.A_Speed_Cut){ // 自动减速
                     acc_percent = (in_acc_percent * SYS_CONF_SPEED_CUT_ACC) / 100.0;
                 }else{
                     acc_percent = (in_acc_percent * SYS_CONF_TOURIST_ACC) / 100.0;
                 }
+                osMutexRelease(radar_mutex);  
+
             }else{ // 管理员模式
                 acc_percent = (in_acc_percent * SYS_CONF_MANAGER_ACC) / 100.0;
             }

custom/jt808/src/jt808_set_TermParam.c

@@ -530,14 +530,14 @@ void jt808_LocReport_param_update(void){
 				delay_off_count++;
 				if(delay_off_count >= jt808_term_param_item.set_term_param.Ban_Fence_Polygon_Delay_OFF){ // 30S
 					delay_off_count = 0;
-					sys_sta.O_door_lock = 0; // 锁车
+				//	sys_sta.O_door_lock = 0; // 锁车
-					Rsp_locked_condition = 1; // 锁车状态
+				//	Rsp_locked_condition = 1; // 锁车状态
-					local_tts_text_play("已锁车，请联系管理员解除禁止入内限制！",0,0);
+				//	local_tts_text_play("已锁车，请联系管理员解除禁止入内限制！",0,0);
 				}
 				ban_Fence_Polygon_count++;
 				if(ban_Fence_Polygon_count >= 10){ // 7S
 					ban_Fence_Polygon_count = 0;
-					local_tts_text_play("您已进入禁区,请尽快离开！",0,0);
+				//	local_tts_text_play("您已进入禁区,请尽快离开！",0,0);
 				}
 			}else{
 				delay_off_count = 0;

custom/radar/src/radar.c

@@ -59,6 +59,7 @@ static void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance)
     uint16_t Brake_Distance     = ((radar_id == RADAR_ID_Back )? SYS_CONF_BRAKE_LIMIT_B : SYS_CONF_BRAKE_LIMIT);
     // 自动减速距离
     uint16_t Speed_Cut_Distance = ((radar_id == RADAR_ID_Back )? SYS_CONF_SPEED_CUT_LIMIT_B : SYS_CONF_SPEED_CUT_LIMIT);
+      
 
     if((35 < Car_Distance) && Car_Distance < Brake_Distance){//小于自动刹车距离时
         if(!sys_sta.A_brake){
@@ -84,6 +85,8 @@ static void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance)
         sys_sta.A_brake =0;
         sys_sta.A_Speed_Cut=0;
     }
+   
+  
 }
 
 static uint8_t radar_CMDSend_cnt=0; // 发送命令计数
@@ -130,12 +133,18 @@ static void RADAR_TaskHandle(void *param){
     uint16_t time_count =0;
     while(1){
        
+
+ 
       if(0==sys_sta.P_Radar_EN)
      {
         sys_sta.A_Speed_Cut =0; // 清空自动减速状态
         sys_sta.A_brake =0; // 清空自动刹车状态
+        DEBUG("radar close\r\n"); // 任务开始
+
         continue;
      }
+    
+     DEBUG("radar open\r\n"); // 任务开始
 
     osMutexAcquire(radar_mutex, osWaitForever);    
     if (1==sys_sta.P_Radar_EN)
@@ -150,16 +159,22 @@ static void RADAR_TaskHandle(void *param){
                 radar_AUTO_BrakeORSpeedCut(radar_data.radar_id , 0); // 复位自动刹车和减速状态
             }
         }
+        
 
         // 进入游客模式开启雷达 //管理员模式优先于游客模式
         if(((0 != sys_sta.O_door_lock) && ((1 == sys_sta.MAG_MODE)&&(1 == sys_sta.PLT_MODE ))) && (1 == sys_sta.P_Radar_EN)){
             // 根据倒车状态确定雷达ID
             // DEBUG("SendCMD:ID=%#02x", (0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front);
             radar_Sendcmd((0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front, RADAR_MODE_Real);
+            
+
         }else{
             sys_sta.A_Speed_Cut =0; // 清空自动减速状态
             sys_sta.A_brake =0; // 清空自动刹车状态
         }
+        
+
+
 
       }
 
@@ -169,15 +184,18 @@ static void RADAR_TaskHandle(void *param){
       sys_sta.A_Speed_Cut =0; // 清空自动减速状态
       sys_sta.A_brake =0; // 清空自动刹车状态
 
-        if(time_count>=100)
+        if(time_count>=1000)
       {
         sys_sta.P_Radar_EN=1;
         time_count=0;
         
       }
-      
+    
+  
+
     }
-     
+     DEBUG("radar done\r\n"); // 任务结束
+ 
         osMutexRelease(radar_mutex);  
         osDelay(140/5); // 140ms
    }