Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

app/by_buzzer.c

@@ -10,6 +10,7 @@ uint32_t a[40]      = {0};
 
 void queue_init(void)
 {
+    queue_long = 0;
     memset(a, 0, sizeof(a));
 }
 
@@ -22,7 +23,7 @@ void queue_add_element(int element)
 }
 void queue_pop_element(void)
 {
-    memmove(a, &a[1], queue_long * sizeof(a));
+    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0]));
     if (queue_long > 0) {
         queue_long--;
     }

app/jj_motion.c

@@ -22,7 +22,7 @@ float gy_Ki = 0.0f;
 float gy_Kd = 0.0f;
 float in_gyro;
 float out_gyro;
-//float set_gyro = 0.0f;
+// float set_gyro = 0.0f;
 
 float po_Kp = 1.0f;
 float po_Ki = 0.0f;
@@ -45,15 +45,17 @@ void sport_motion(void)
 
     cnt1++;
     in_gyro = imu660ra_gyro_z; // 陀螺仪输入
-    in_angle = 0;                                                     // 图像远端输入
+    // in_angle = 0;                                                     // 图像远端输入
-    in_pos   = 0;                                                     // 图像近端输入
+    // in_pos   = 0;                                                     // 图像近端输入
-    in_speed = encoder_get_count(TIM5_ENCOEDER) / 1024 / 0.01 * 0.25; // 速度输入，m/s
+    //  清除计数
-    encoder_clear_count(TIM5_ENCOEDER);                               // 清除计数
     PID_Compute(&far_gyro_pid);
 
     if (cnt1 >= 10) {
         PID_Compute(&far_angle_pid);
         PID_Compute(&speed_pid);
+        in_speed = encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
+       // printf("rate:%d\r\n", (int16)in_speed);
+        encoder_clear_count(TIM5_ENCOEDER);
         cnt1 = 0;
     }
 

app/jj_param.c

@@ -7,6 +7,7 @@
 PARAM_INFO Param_Data[DATA_NUM];
 soft_iic_info_struct eeprom_param;
 TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
+TYPE_UNION temp_frame_param[20];
 
 /**
  * @brief 参数初始化注册

app/jj_param.h

@@ -63,6 +63,7 @@ typedef struct {
 extern soft_iic_info_struct eeprom_param;
 extern PARAM_INFO Param_Data[DATA_NUM];
 extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
+extern TYPE_UNION temp_frame_param[20];
 void jj_param_eeprom_init(void);
 void jj_param_write(void);
 void jj_param_read(void);

app/main.c

@@ -37,13 +37,12 @@
 
 int main(void)
 {
-    TYPE_UNION test_data;
+    TYPE_UNION test_data[2];
-    TYPE_UNION test_data_last;
     clock_init(SYSTEM_CLOCK_120M);
     system_delay_init();
     debug_init();
 
-    encoder_dir_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
+    encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
     ips200_init(IPS200_TYPE_SPI);
     while (imu660ra_init())
         ;
@@ -63,17 +62,10 @@ int main(void)
     printf("ok\r\n");
 
     while (1) {
-        // Page_Run();
+        Page_Run();
-        by_frame_parse(1, &test_data.u32);
+        by_frame_parse(2, &test_data[1].u32);
 
-        if (test_data.u32 != test_data_last.u32) {
+        by_buzzer_run();
-            ips200_show_float(0, 50, test_data.f32, 4, 2);
+        jj_bt_run();
-            // printf("- %ld\r\n", (uint32_t)(test_data.f32 * 100));
-        }
-
-        test_data_last.u32 = test_data.u32;
-
-        // by_buzzer_run();
-        // jj_bt_run();
     }
 }

app/page/page_param.c

@@ -33,7 +33,7 @@ static void Setup()
         else if (Param_Data[i].type == EFLOAT)
             ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
     }
-    ips200_show_int(50, (DATA_IN_FLASH_NUM-1)* 18 + 2, index_power, 5);
+   ips200_show_int(100, 2, index_power, 5);
     
 }
 
@@ -108,7 +108,7 @@ static void Event(page_event event)
             if (index_power > 2) {
                 index_power = -2;
             }
-            ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
+            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);