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feat:

Browse Source 
增加发车和停车菜单
增加停车相关条件开关功能
pref:
弯道速度控制一次函数->二次函数
删除图像下发无意义的0状态
fix:
修复下位机多次复位才能触发上位机复位
This commit is contained in:
井明江
2024-08-12 18:08:46 +08:00
parent 92eaf372ff
commit 06004e9e0b
14 changed files with 378 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
app/page/page.c
View File

@@ -130,6 +130,8 @@ void Page_Init(void)
PAGE_REG(page_param_pid2);
PAGE_REG(page_param_pid3);
PAGE_REG(page_dparam);
PAGE_REG(page_gocar);
PAGE_REG(page_stopcar);
Page_Shift(page_menu);
pagelist[now_page].SetupCallback(); // 先构建一遍

3
app/page/page.h
View File

@@ -25,6 +25,9 @@ enum PageID {
page_param_pid2,
page_param_pid3,
page_dparam,
page_stopcar,
page_gocar,
// page_argv,
// page_sys,
// page_run,

10
app/page/page_dparam.c
View File

@@ -2,7 +2,7 @@
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"
#include"jj_voltage.h"
#include "jj_voltage.h"
#include <math.h>
#define LINE_HEAD 0
@@ -61,9 +61,11 @@ static void Loop()
ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1);
ips200_show_string(0, 180, "vol");
ips200_show_float(80, 180, (float)now_vol, 4,2);
ips200_show_string(0, 200, "setsp");
ips200_show_float(80, 200, set_speed, 4,2);
ips200_show_float(80, 180, (float)now_vol, 4, 2);
ips200_show_string(0, 200, "setsp");
ips200_show_float(80, 200, set_speed, 4, 2);
ips200_show_string(0, 220, "dis");
ips200_show_float(80, 220, start_dis, 4, 2);
ips200_show_string(180, 0, "ls");
ips200_show_float(220, 0, pwm_duty_ls, 4, 1);

120
app/page/page_gocar.c Normal file
View File

@@ -0,0 +1,120 @@
#include "zf_common_headfile.h"
#include "page_ui_widget.h"
#include "page.h"
#include "by_frame.h"
#include "jj_blueteeth.h"
#include "jj_motion.h"
#define LINE_HEAD 1
#define LINE_END 6
static char Text[] = "gocar";
static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
static int8_t last_go = 0;
static int8_t last_cnt = 0;
static int8_t last_fly = 0;
/***************************************************************************************
*
* 以下为页面模板函数
*
***************************************************************************************/
/**
* @brief 页面初始化事件
* @param 无
* @retval 无
*/
static void Setup()
{
ips200_clear();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
ips200_show_string(10, 200, "go_flag:");
ips200_show_int(80, 200, go_cnt, 1);
ips200_show_string(10, 180, "ru_flag:");
ips200_show_int(80, 180, bt_run_flag, 1);
ips200_show_string(10, 160, "fl_flag:");
ips200_show_int(80, 160, bt_fly_flag, 1);
ips200_show_string(10, 18, "fan_test");
ips200_show_string(10, 2 * 18, "run");
}
/**
* @brief 页面退出事件
* @param 无
* @retval 无
*/
static void Exit()
{
}
/**
* @brief 页面循环执行的内容
* @param 无
* @retval 无
*/
static void Loop()
{
if (last_cnt != go_cnt) {
ips200_show_int(80, 200, go_cnt, 1);
}
last_cnt = go_cnt;
if (last_go != bt_run_flag) {
ips200_show_int(80, 180, bt_run_flag, 1);
}
last_go = bt_run_flag;
if (last_fly != bt_fly_flag) {
ips200_show_int(80, 160, bt_fly_flag, 1);
}
last_fly = bt_fly_flag;
}
/**
* @brief 页面事件
* @param btn:发出事件的按键
* @param event:事件编号
* @retval 无
*/
static void Event(page_event event)
{
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
} else if (page_event_press_short == event) {
if (go_cnt == 1 && Curser == 1) {
go_cnt = 0; // 起步拖动失败。重新开始
} else if (go_cnt == 0 && Curser == 1) {
go_cnt = 1;
bt_fly_flag = 1;
}
if (go_cnt == 1 && Curser == 2) {
go_cnt = 2;
}
} else if (page_event_press_long == event) {
Page_Shift(page_menu);
}
if (Curser < LINE_HEAD) {
Curser = LINE_END;
} else if (Curser > LINE_END) {
Curser = LINE_HEAD;
}
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_gocar(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}

27
app/page/page_menu.c
View File

@@ -6,15 +6,13 @@
#include "jj_motion.h"
#define LINE_HEAD 1
#define LINE_END 5
#define LINE_END 7
static char Text[] = "Menu";
static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
uint32_t cnt = 0;
uint32_t reset[3];
static void Print_Menu_p(void);
/***************************************************************************************
*
@@ -29,10 +27,10 @@ static void Print_Menu_p(void);
*/
static void Setup()
{
ips200_clear();
Print_Menu_p();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
reset[0] = 0x01;
}
/**
@@ -51,15 +49,6 @@ static void Exit()
*/
static void Loop()
{
ips200_show_string(0, 200, "go_flag:");
ips200_show_int(180, 200, go_flag, 2);
if (go_flag == 1) {
bt_fly_flag = 1;
} else if (go_flag == 2) {
system_delay_ms(2000);
bt_run_flag = 1;
}
}
/**
@@ -81,18 +70,6 @@ static void Event(page_event event)
Page_Shift(Curser); // 切换到光标选中的页面
}
} else if (page_event_press_long == event) {
if (go_flag == 0) {
go_flag = 1;
} else if (go_flag == 1) {
go_flag = 2;
}
// uint32_t temp = 0x5c;
// for (int i = 0; i < 3; i++) {
// by_frame_send(&temp);
// }
// ips200_clear();
}
if (Curser < LINE_HEAD) {

2
app/page/page_param_pid3.c
View File

@@ -5,7 +5,7 @@
#include <math.h>
#define LINE_HEAD 1
#define LINE_END DATA_IN_FLASH_NUM - Page4_head
#define LINE_END Page5_head - Page4_head
#define Strat_param Page4_head
static char Text[] = "barr_pid";
static int event_flag = 0;

137
app/page/page_stopcar.c Normal file
View File

@@ -0,0 +1,137 @@
#include "jj_param.h"
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"
#include <math.h>
#define LINE_HEAD 1
#define LINE_END DATA_IN_FLASH_NUM - Page5_head
#define Strat_param Page5_head
static char Text[] = "stop_sw";
static int event_flag = 0;
static int index_power = 0;
static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
static void jj_param_show();
/***************************************************************************************
*
* 以下为页面模板函数
*
***************************************************************************************/
/**
* @brief 页面初始化事件
* @param 无
* @retval 无
*/
static void Setup()
{
ips200_clear();
ips200_show_string(0, 2,"barrir");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text);
if (Param_Data[i + Strat_param].type == EINT32)
ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
else if (Param_Data[i + Strat_param].type == EFLOAT)
ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].p_data)), 4, 5);
}
ips200_show_int(100, 2, index_power, 5);
}
/**
* @brief 页面退出事件
* @param 无
* @retval 无
*/
static void Exit()
{
}
/**
* @brief 页面循环执行的内容
* @param 无
* @retval 无
*/
static void Loop()
{
}
/**
* @brief 页面事件
* @param btn:发出事件的按键
* @param event:事件编号
* @retval 无
*/
static void Event(page_event event)
{
if (0 == event_flag) {
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
} else if (page_event_press_short == event) {
event_flag = 1; // 选中参数
Print_Curser(Curser, Curser_Last, RGB565_RED);
return;
} else if (page_event_press_long == event) {
jj_param_write();
sport_pid_init();
Page_Shift(page_menu);
return;
}
if (Curser < LINE_HEAD) {
Curser = LINE_END;
} else if (Curser > LINE_END) {
Curser = LINE_HEAD;
}
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) {
if (page_event_forward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
}
} else if (page_event_backward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
}
} else if (page_event_press_short == event) {
index_power++;
if (index_power > 2) {
index_power = -2;
}
ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) {
event_flag = 0;
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}
jj_param_show();
}
}
static void jj_param_show()
{
if (EINT32 == Param_Data[Curser + Strat_param-1].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
else if (EUINT32 == Param_Data[Curser + Strat_param-1].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
else if (EFLOAT == Param_Data[Curser + Strat_param-1].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param-1].p_data)), 4, 5);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_stopcar(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}