[$is_event_jimu]
2
[$group_e]
元件事件库.超声波测距模块



[$group]
元件库-传感器.$pname$
[$last_ver_update_time]
2021-04-03
[$min_need_ver]
1.23
[$p_list]

[$short_show_UIname]

[$code_area_type]
codes,exe_per_1ms,init_code
[$blocks_type]
line

[$name]
超声波测距模块的初始化积木

[$引脚占用列表，用于提示冲突]




[$寄存器占用列表，用于提示冲突，但=>后的值没变则不提示冲突]




[$中断函数号占用列表，用于提示冲突]

 
        

[$interrupt_1]




flag_$rnd_varname_pre$=1;




[$thread_do]



[$cs]


[$function_ref_define_in_headfile]
@@file=chaoshenbo.h

 



extern u8 flag_$rnd_varname_pre$; //标志定时器是否溢出

char do_a_jiance_$rnd_varname_pre$(struct pt *process_pt);



extern u16 resualt_$rnd_varname_pre$;
u16 get_distance_$rnd_varname_pre$();



[$init_code_for_define_area_once]
@@file=chaoshenbo.c



#include "protothread.h"
#include "app_process.h"
#include "sys/timer.h"
#include "Extline_Lib.h" 
#include "Lib_base.h"  //考虑PROCESS2_WAIT_UNTIL宏


[$init_code_for_define_area]
@@file=chaoshenbo.c

 
  struct timer timer_csb2_$rnd_varname_pre$;

u16 resualt_$rnd_varname_pre$;

     
u16 resualt_zong_$rnd_varname_pre$;

void Delay10us_$rnd_varname_pre$()
{
	u16 a;
         u8 b;  
	for(b=1;b>0;b--)
		for(a=#get_10us_delay_num_stm32f10x(group_xml,rand1,block_name,ref_complier,extinfo)%;a>0;a--);
}



//卡尔曼滤波变量设置
float P_$rnd_varname_pre$=1;
float P__$rnd_varname_pre$;  //公式中的p'
int   X_$rnd_varname_pre$=0;
float X__$rnd_varname_pre$;  //公式中的X'
float K_$rnd_varname_pre$=0;
float Q_$rnd_varname_pre$=0.01;//噪声
//R大，更相信预测，那么传感器反应就会迟钝，反之亦然
float R_$rnd_varname_pre$=0.2;//这里0.5算有点点大

//卡尔曼滤波函数
float KLM_$rnd_varname_pre$(float Z_$rnd_varname_pre$)
{
  X__$rnd_varname_pre$=X_$rnd_varname_pre$+0;
  
  P__$rnd_varname_pre$=P_$rnd_varname_pre$+Q_$rnd_varname_pre$;
  
  K_$rnd_varname_pre$=P__$rnd_varname_pre$/(P__$rnd_varname_pre$+R_$rnd_varname_pre$);
  
  X_$rnd_varname_pre$=X__$rnd_varname_pre$+K_$rnd_varname_pre$*(Z_$rnd_varname_pre$-X__$rnd_varname_pre$);
  
  P_$rnd_varname_pre$=P__$rnd_varname_pre$-K_$rnd_varname_pre$*P__$rnd_varname_pre$;
  
  return X_$rnd_varname_pre$;
} 





char do_a_jiance_$rnd_varname_pre$(struct pt *process_pt){




     PT_BEGIN(process_pt);

 


     IO_Write([($_xgm$tiger),type=pin] ,1) ;
 

Delay10us_$rnd_varname_pre$();


     IO_Write([($_xgm$tiger),type=pin] ,0) ;
	 
	 
	 
     resualt_$rnd_varname_pre$=0;
	 
	 
	 
    timer_set(&timer_csb2_$rnd_varname_pre$,  160 );

    timer_restart(&timer_csb2_$rnd_varname_pre$);
 
 
 
   //加|| timer_expired(&timer_csb2_$rnd_varname_pre$)!=0来防止线程死机：
    PROCESS2_WAIT_UNTIL(process_pt , IO_Read([($_xgm$value3),type=pin])!=0 || timer_expired(&timer_csb2_$rnd_varname_pre$)!=0); 
	
         


	 
	 
    timer_set(&timer_csb2_$rnd_varname_pre$,  250 );

    timer_restart(&timer_csb2_$rnd_varname_pre$);
	
	
   //加|| timer_expired(&timer_csb2_$rnd_varname_pre$)!=0来防止线程死机：
    PROCESS2_WAIT_UNTIL(process_pt , IO_Read([($_xgm$value3),type=pin])!=1|| timer_expired(&timer_csb2_$rnd_varname_pre$)!=0); 
	
	 


 
	
	
    resualt_zong_$rnd_varname_pre$= (u16)KLM_$rnd_varname_pre$((((float)resualt_$rnd_varname_pre$ * 0.0001) * 34000.000) / 2.000);

	PT_END(process_pt);
 

}





u16 get_distance_$rnd_varname_pre$(){


  return  resualt_zong_$rnd_varname_pre$;
  
	//340m/s= 34000cm/s  1ms=0.001s,100us=0.0001s
	//return (u16)KLM_$rnd_varname_pre$((((float)resualt_$rnd_varname_pre$ * 0.0001) * 34000.001) / 2.001);
	
     
 


}




[$init_code_for_init_val]
 
#get_P口_to_PxM1_PxM0_set_code(group_xml,rand1,block_name,ref_complier,extinfo,"[($_xgm$value3),type=pin]","0","echo超声信号输入")%


#get_P口_to_PxM1_PxM0_set_code(group_xml,rand1,block_name,ref_complier,extinfo,"[($_xgm$tiger),type=pin]","1","超声tiger信号输出")%




	
     IO_Write([($_xgm$value3),type=pin] ,1) ;
	 
	 
     IO_Write([($_xgm$tiger),type=pin] ,0) ;
	 
	 


  //TT_init_from_jimu([($_xgm$dev_no_to_use2),type=num],[($_xgm$value3),type=pin], u8 Rising1_or_Falling2_or_all3);




	



[$timer0_1ms_code]

  


[$timer0_100us_code]

if(IO_Read([($_xgm$value3),type=pin])==1){

resualt_$rnd_varname_pre$++;


}



[$toolbox_block_code]
<block type="drv_chaoshengbo_init"></block>


[$replace_map]
$_xgm$value3 = $field$echo ,mytype|pin, ptype|TIMES

$_xgm$tiger = $field$tiger ,mytype|pin, ptype|TIMES