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六无刷完赛版

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This commit is contained in:
井明江
2024-07-07 23:08:49 +08:00
parent 9f9aa26197
commit 0313c90c28
6 changed files with 90 additions and 190 deletions
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94
app/by_fan_control.c
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@@ -6,21 +6,10 @@
#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇 #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
// M4 // M4
#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 后 #define FAN_RB_PWM_PIN TIM10_PWM_MAP3_CH4_D7
#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // you后 #define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13
// M1
#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // zuo后
#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14// 后
// M3
// #define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧
// #define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧
// // M2
// #define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧
// #define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 左侧
//
#define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11 #define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11
#define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8 #define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8
int32_t pwm_duty_ls_g; int32_t pwm_duty_ls_g;
int32_t pwm_duty_rs_g; int32_t pwm_duty_rs_g;
int32_t pwm_duty_lb_g; int32_t pwm_duty_lb_g;
@@ -53,35 +42,8 @@ void by_pwm_init(void)
pwm_init(FAN_RL_PWM_PIN, 50, 500); pwm_init(FAN_RL_PWM_PIN, 50, 500);
pwm_init(FAN_LS_PWM_PIN, 50, 500); pwm_init(FAN_LS_PWM_PIN, 50, 500);
pwm_init(FAN_RS_PWM_PIN, 50, 500); pwm_init(FAN_RS_PWM_PIN, 50, 500);
#if FIX_DRIVE == 1 pwm_init(FAN_LB_PWM_PIN, 300, 300);
pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000); pwm_init(FAN_RB_PWM_PIN, 300, 300);
pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RS_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LB_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
while (1);
#elif FIX_DRIVE == 2
// pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000);
// pwm_init(FAN_LS_PWM_B_PIN, 30000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 30000, 1000);
// pwm_init(FAN_RS_PWM_B_PIN, 30000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 30000, 1000);
pwm_init(FAN_LB_PWM_B_PIN, 30000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000);
pwm_init(FAN_RB_PWM_B_PIN, 30000, 0);
while (1);
#endif
// pwm_init(FAN_LS_PWM_A_PIN, 40000, 0);
// pwm_init(FAN_LS_PWM_B_PIN, 40000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 40000, 0);
// pwm_init(FAN_RS_PWM_B_PIN, 40000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 40000, 0);
pwm_init(FAN_LB_PWM_B_PIN, 40000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 40000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 40000, 0);
} }
/** /**
@@ -110,46 +72,10 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_
{ {
bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000); bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000);
bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000); bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000);
// if(1000==bpwm_duty_ls)bpwm_duty_rs=600; bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
// if(1000==bpwm_duty_rs)bpwm_duty_ls=600; bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
bpwm_duty_lb = clip_s32(bpwm_duty_lb, 0, 7000);
bpwm_duty_rb = clip_s32(bpwm_duty_rb, 0, 7000);
pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls); pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs); pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs);
// pwm_duty_ls_g = pwm_duty_ls; pwm_set_duty(FAN_LB_PWM_PIN, bpwm_duty_lb);
// pwm_duty_rs_g = pwm_duty_rs; pwm_set_duty(FAN_RB_PWM_PIN, bpwm_duty_rb);
// pwm_duty_lb_g = pwm_duty_lb; }
// pwm_duty_rb_g = pwm_duty_rb;
// if (bpwm_duty_ls >= 0) {
// pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
// } else {
// pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
// pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
// }
// if (bpwm_duty_rs >= 0) {
// pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
// } else {
// pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
// pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
// }
if (bpwm_duty_lb >= 0) {
pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
}
if (bpwm_duty_rb >= 0) {
pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
}
}

2
app/jj_blueteeth.c
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@@ -6,7 +6,7 @@ uint8_t bt_buffer; // 接收字符存入
uint8_t bt_run_flag = 0; uint8_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0; uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0; uint32_t bt_run = 0;
float bt_fly = 250.f; float bt_fly = 160.f;
enum bt_order { enum bt_order {
Fly_ctrl = 0x01, // 起飞转换 Fly_ctrl = 0x01, // 起飞转换
Fly_up = 0x02, // 起飞程度增加 Fly_up = 0x02, // 起飞程度增加

179
app/jj_motion.c
View File

@@ -13,43 +13,65 @@ PID_TypeDef pos_pid;
PID_TypeDef far_gyro_pid; PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid; PID_TypeDef speed_pid;
PID_TypeDef cir_pos_pid; PID_TypeDef cir_pos_pid;
float ci_Kp0 = 200.f; ///////////////////////////////////////////
float ci_Ki0 = 0;
float ci_Kd0 = 0;
float out_ci;
// 弯道后面风扇角度环
float an_Kp0 = 54.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
// 直道后面风扇角度环 // 直道后面风扇角度环
float an_Kp1 = 45.0f; float an_Kp1 = 50.0f;
float an_Ki1 = 0.0f; float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f; float an_Kd1 = 0.0f;
// 直道角速度环
float gy_Kp1 = 6.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 13.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
////////////////////////////////////
// 避障后面角度环 // 避障后面角度环
float za_Kp = 50.f; float za_Kp = 50.f;
float za_Ki = 0; float za_Ki = 0;
float za_Kd = 0; float za_Kd = 0;
float zg_Kp = 7.f; float zg_Kp = 3.f;
float zg_Ki = 0; float zg_Ki = 0;
float zg_Kd = 0; float zg_Kd = 0;
float zp_Kp = 300.f; float zp_Kp = 30.f;
float zp_Ki = 0; float zp_Ki = 0;
float zp_Kd = 0; float zp_Kd = 0;
///////////////////////////////////////
// 弯道后面风扇角度环
float an_Kp0 = 60.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
// 弯道角速度环
float gy_Kp0 = 10.80f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 25.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
////////////////////////////////////////
// 圆环后面风扇角度环 // 圆环后面风扇角度环
float yu_Kp0 = 60.0f; float yu_Kp0 = 60.0f;
float yu_Ki0 = 0.0f; float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f; float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环 // 圆环角速度环
float cn_Kp1 = 400.0f; float ygy_Kp0 = 8.40f;
float cn_Ki1 = 0.f; float ygy_Ki0 = 0.0f;
float cn_Kd1 = 0.0f; float ygy_Kd0 = 0.0f;
// 直道侧面风扇角度环 // 速度环
float po_Kp1 = 200.0f; float sp_Kp = 2.0f;
float po_Ki1 = 0.0f; float sp_Ki = 4.f;
float po_Kd1 = 0.0f; float sp_Kd = 0.0f;
////////////////////////////////////////////////////
// 当前和输入量
float in_gyro;
float out_gyro;
// 期望和当前量 // 期望和当前量
float in_angle; float in_angle;
float set_angle = 0.0f; float set_angle = 0.0f;
@@ -57,36 +79,18 @@ float out_angle;
float in_pos; float in_pos;
float out_pos; float out_pos;
float set_pos = 0.0f; float set_pos = 0.0f;
// 弯道角速度环
float gy_Kp0 = 8.80f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 直道角速度环
float gy_Kp1 = 7.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 6.0f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 当前和输入量
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f; // float set_gyro = 0.0f;
// 速度环
float sp_Kp = 10.0f;
float sp_Ki = 60.f;
float sp_Kd = 0.0f;
float in_speed; float in_speed;
float out_speed; float out_speed;
float set_speed; float set_speed;
float set_speed0 = 900.0f; float set_speed0 = 657.0f;
float set_speed1 = 1200.0f; float set_speed1 = 1111.0f;
float set_speed2 = 700.f; float set_speed2 = 815.f;
float set_speed3 = 900.f; float set_speed3 = 666.f;
float set_speed4 = 500.f; float set_speed4 = 720.f;
int cnt1 = 0; int cnt1 = 0;
int cnt2 = 0; int cnt2 = 0;
int cnt3 = 0; int cnt3 = 0;
@@ -95,7 +99,8 @@ int cnt5 = 0;
int cnt6 = 0; int cnt6 = 0;
int cnt7 = 0; int cnt7 = 0;
int cnt8 = 0; int cnt8 = 0;
uint8_t cnt3_flag = 0; int if_start = 0;
float shock_stop=0;
uint8_t in_state = 0; uint8_t in_state = 0;
uint8_t in_stop = 0; uint8_t in_stop = 0;
uint8_t last_state = 0; uint8_t last_state = 0;
@@ -149,17 +154,17 @@ void sport_motion()
} else { } else {
cnt7 = 0; cnt7 = 0;
} }
if (cnt7 >= 100) { if (cnt7 >= 100&&shock_stop==1) {
bt_fly_flag = bt_run_flag = 0; bt_fly_flag = bt_run_flag = 0;
bt_printf("ting"); bt_printf("ting");
} }
// 斑马线停车 // 斑马线停车,摄像头识别
if (1 == in_stop) { if (1 == in_stop && if_start == 1) {
stop_flag = 1; stop_flag = 1;
} }
if (stop_flag == 1) { if (stop_flag == 1) {
cnt4++; cnt4++;
if (cnt4 >= 200) { if (cnt4 >= 100) {
bt_fly_flag = bt_run_flag = 0; bt_fly_flag = bt_run_flag = 0;
} }
} }
@@ -168,11 +173,15 @@ void sport_motion()
cnt1++; cnt1++;
cnt2++; cnt2++;
cnt5++; cnt5++;
if (if_start == 0) {
cnt8++;
if (cnt8 >= 10000) {
if_start = 1;
}
}
// pid参数切换 // pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 1;
cnt3 = 0;
bt_printf("to 直道"); bt_printf("to 直道");
set_speed = set_speed1; set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1); PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
@@ -182,7 +191,7 @@ void sport_motion()
if ((last_state != in_state) && in_state == 1) { // 弯道 if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯"); bt_printf("to 入弯");
set_speed = set_speed0; set_speed = set_speed0;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0); PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1); PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
@@ -193,7 +202,7 @@ void sport_motion()
set_speed = set_speed2; set_speed = set_speed2;
else else
set_speed = set_speed3; set_speed = set_speed3;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0); PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0); PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1); PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
@@ -201,7 +210,7 @@ void sport_motion()
if ((last_state != in_state) && in_state == 5) { // if ((last_state != in_state) && in_state == 5) { //
bt_printf("to 障碍"); bt_printf("to 障碍");
set_speed = set_speed4; set_speed = set_speed4;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd); PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd); PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd); PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
@@ -226,10 +235,10 @@ void sport_motion()
// 并级pid，限幅 // 并级pid，限幅
pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f); pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f);
pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f); pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 300.0f, 3000.f);
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3600 + pwm_duty_lb, 3600 + pwm_duty_rb);
} else { } else {
by_pwm_power_duty(0, 0, 0, 0); by_pwm_power_duty(0, 0, 0, 0);
@@ -238,56 +247,16 @@ void sport_motion()
if (bt_fly_flag == 0) { if (bt_fly_flag == 0) {
by_pwm_update_duty(500, 500); by_pwm_update_duty(500, 500);
} else { } else {
if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) {
cnt3++; if (in_state == 1) {
if (in_state == 3) { qd_down = 20;
if (cnt3 >= 1000) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed) {
qd_down = 25;
} else if (in_speed > set_speed - 100) {
qd_down = 10;
} else {
qd_down = 0;
}
} else if (in_state == 1) {
if (cnt3 >= 300) // 200ms
{
bt_printf("to 弯道");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed)
qd_down = (in_speed - set_speed) * 0.5 + 40;
else
qd_down = -10;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down); } else if (in_state == 4) {
} else { qd_down = 20;
if (in_state == 1) { // 消除s弯降气垫
if (in_speed >= set_speed / 1.2) {
qd_down = 40;
} else if (in_speed >= set_speed / 1.5) {
qd_down = 25;
} else if (in_speed >= set_speed / 2) {
qd_down = 10;
}else {
qd_down = 0;
}
} else {
qd_down = 0;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} }
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} }
} }
@@ -312,11 +281,11 @@ void sport_pid_init()
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量 PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 20); PID_SetSampleTime(&far_gyro_pid, 20);
PID_SetOutputLimits(&far_gyro_pid, -4800.0f, 4800.0f); PID_SetOutputLimits(&far_gyro_pid, -1200.0f, 1200.0f);
/* 速度控制 */ /* 速度控制 */
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT); PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 20); PID_SetSampleTime(&speed_pid, 20);
PID_SetOutputLimits(&speed_pid, -0.0f, 6000.0f); PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
} }

1
app/jj_motion.h
View File

@@ -57,6 +57,7 @@ extern float set_speed2;
extern float set_speed3; extern float set_speed3;
extern float set_speed; extern float set_speed;
extern float set_speed4; extern float set_speed4;
extern float shock_stop;
extern int32_t pwm_duty_ls; extern int32_t pwm_duty_ls;
extern int32_t pwm_duty_rs; extern int32_t pwm_duty_rs;
extern int32_t pwm_duty_lb; extern int32_t pwm_duty_lb;

2
app/jj_param.c
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@@ -76,6 +76,8 @@ void jj_param_eeprom_init(void)
PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:"); PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");
PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:"); PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");
PARAM_REG(shock, &shock_stop, EFLOAT, 1, "shock:");
jj_param_read(); // 注冊 jj_param_read(); // 注冊
} }
/** /**

2
app/jj_param.h
View File

@@ -76,6 +76,8 @@ typedef enum {
zhpo_Ki, zhpo_Ki,
zhpo_Kd, zhpo_Kd,
shock,
param_set_speed4, param_set_speed4,
DATA_IN_FLASH_NUM, DATA_IN_FLASH_NUM,