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feat:增加圆环参数

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This commit is contained in:
井明江
2024-06-07 21:55:55 +08:00
parent 5dd6ddd802
commit 81f0e13eae
13 changed files with 354 additions and 199 deletions
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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_fly_flag = 0;
uint32_t bt_run = 0;
uint32_t bt_fly = 250;
float bt_fly = 250.f;
enum bt_order {
Fly_ctrl = 0x01, // 起飞转换
Fly_up = 0x02, // 起飞程度增加

2
app/jj_blueteeth.h
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@@ -14,7 +14,7 @@ extern uint8_t bt_buffer; // 接收字符存入
extern uint8_t bt_run_flag;
extern uint8_t bt_fly_flag;
extern uint32_t bt_run;
extern uint32_t bt_fly;
extern float bt_fly;
void jj_bt_init();
void jj_bt_run();

139
app/jj_motion.c
View File

@@ -10,58 +10,62 @@
PID_TypeDef far_angle_pid;
PID_TypeDef angle_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid;
float an_Kp0 = 45.0f;
// 弯道后面风扇角度环
float an_Kp0 = 51.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
float an_Kp1 = 45.0f;
// 直道后面风扇角度环
float an_Kp1 = 42.0f;
float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f;
// 圆环后面风扇角度环
float yu_Kp0 = 40.0f;
float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 420.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 600.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
// 期望和当前量
float in_angle;
float set_angle = 0.0f;
float out_angle;
float cn_Kp1 = 45.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
float out_cangle;
float gy_Kp0 = 4.0f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
float gy_Kp1 = 4.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;
float po_Kp0 = 0.0f;
float po_Ki0 = 0.0f;
float po_Kd0 = 0.0f;
float po_Kp1 = 200.0f;
float po_Ki1 = 2.0f;
float po_Kd1 = 0.0f;
float in_pos;
float out_pos;
float set_pos = 0.0f;
// 弯道角速度环
float gy_Kp0 = 2.50f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 直道角速度环
float gy_Kp1 = 4.2f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 0.0f;
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;
// 速度环
float sp_Kp = 16.0f;
float sp_Ki = 10.f;
float sp_Ki = 42.f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float temp_data = 0;
float set_speed = 100.0f;
float set_speed0 = 200.0f;
float set_speed1 = 300.0f;
float set_speed2 = 500.f;
float set_speed;
float set_speed0 = 520.0f;
float set_speed1 = 900.0f;
float set_speed2 = 550.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0;
@@ -70,7 +74,7 @@ uint8_t cnt3_flag = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint8_t last_state = 0;
uint8_t stop_flag = 0;
uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
uint32_t pwm_duty_lb;
@@ -97,20 +101,29 @@ float sport_get_speed(void)
#undef ALPHA
}
void sport_motion(void)
void sport_motion()
{
imu660ra_get_gyro();
imu660ra_get_acc();
in_gyro = imu660ra_gyro_z;
// 停车
if (1 == in_stop) {
if (imu660ra_acc_z <= 1000) {
bt_fly_flag = bt_run_flag = 0;
}
if (1 == in_stop) {
stop_flag = 1;
}
if (stop_flag == 1) {
cnt4++;
if (cnt4 >= 200) {
bt_fly_flag = bt_run_flag = 0;
}
}
/* 动力风扇设置 */
if (1 == bt_run_flag) {
cnt1++;
cnt2++;
cnt4++;
// pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 0;
@@ -119,6 +132,8 @@ void sport_motion(void)
set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
PID_SetTunings(&angle_pid, po_Kp1, po_Ki1, po_Kd1);
}
if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯");
@@ -126,13 +141,17 @@ void sport_motion(void)
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 3) { // 弯道
if ((last_state != in_state) && in_state == 3) { // 圆环
bt_printf("to 圆环");
set_speed = set_speed2;
cnt3_flag = 1;
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_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&angle_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
last_state = in_state;
if (cnt3_flag == 1 && (in_state == 1 || in_state == 3)) {
@@ -150,43 +169,25 @@ void sport_motion(void)
cnt1 = 0;
}
if (cnt2 >= 10) {
cnt2 = 0;
PID_Compute(&near_pos_pid);
}
if (cnt4 >= 10) {
in_speed = sport_get_speed();
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid);
PID_Compute(&angle_pid);
cnt4 = 0;
cnt2 = 0;
}
if (in_state == 0 || in_state == 2) {
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 6000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
} else if (in_state == 1||in_state == 3) {
} else if (in_state == 1 || in_state == 3) {
pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, -6000.0f, 6000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, -6000.0f, 6000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, -6000.0f, 6000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, -6000.0f, 6000.f);
}
// else if (in_state == 3) {
// if (out_gyro > 0) {
// pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
// pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
// pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
// pwm_duty_rb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
// } else {
// pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -6000.0f, 6000.f);
// pwm_duty_rs = (int32_t)myclip_f(out_cangle, -6000.0f, 6000.f);
// pwm_duty_lb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f);
// pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
// }
// }
by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
} else {
@@ -218,7 +219,7 @@ void sport_pid_init()
PID_SetSampleTime(&far_angle_pid, 10);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
PID(&angle_pid, &in_angle, &out_cangle, &set_angle, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID(&angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&angle_pid, 10);
PID_SetOutputLimits(&angle_pid, -6000.0f, 6000.0f);
@@ -229,17 +230,9 @@ void sport_pid_init()
PID_SetSampleTime(&far_gyro_pid, 10);
PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
/* 近点控制 */
PID(&near_pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&near_pos_pid, 10);
PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f);
// PID_Init(&near_pos_pid);
/* 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_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10);
PID_SetOutputLimits(&speed_pid, -4000.0f, 5000.0f);
// PID_Init(&speed_pid);
}

12
app/jj_motion.h
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@@ -24,17 +24,18 @@ extern float gy_Kd0;
extern float in_gyro;
extern float out_gyro;
extern float set_gyro;
extern float out_cangle;
extern float po_Kp1;
extern float po_Ki1;
extern float po_Kd1;
extern float po_Kp0;
extern float po_Ki0;
extern float po_Kd0;
extern float yu_Kp0;
extern float yu_Ki0;
extern float yu_Kd0;
extern float in_pos;
extern float out_pos;
extern float set_pos;
extern float ygy_Kp0;
extern float ygy_Ki0;
extern float ygy_Kd0;
extern float sp_Kp;
extern float sp_Ki;
extern float sp_Kd;
@@ -42,6 +43,7 @@ extern float in_speed;
extern float out_speed;
extern float set_speed0;
extern float set_speed1;
extern float set_speed2;
extern float set_speed ;
extern uint32_t pwm_duty_ls;
extern uint32_t pwm_duty_rs;

34
app/jj_param.c
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@@ -3,6 +3,7 @@
#include "./page/page.h"
#include "zf_common_headfile.h"
#include "jj_motion.h"
#include "jj_blueteeth.h"
PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param;
@@ -25,13 +26,11 @@ void jj_param_eeprom_init(void)
PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
PARAM_REG(gyro_Kd0, &gy_Kd0, EFLOAT, 1, "gy_D0:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊
PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
PARAM_REG(pos_Kp0, &po_Kp0, EFLOAT, 1, "po_P0:"); // 注冊
PARAM_REG(pos_Ki0, &po_Ki0, EFLOAT, 1, "po_I0:"); // 注冊
PARAM_REG(pos_Kd0, &po_Kd0, EFLOAT, 1, "po_D0:");
PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:");
@@ -47,12 +46,23 @@ void jj_param_eeprom_init(void)
PARAM_REG(pos_Ki1, &po_Ki1, EFLOAT, 1, "po_I1:"); // 注冊
PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_D1:");
PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊
PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:");
PARAM_REG(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:");
PARAM_REG(yuan_Kp0, &yu_Kp0, EFLOAT, 1, "an_P0:"); // 注冊
PARAM_REG(yuan_Ki0, &yu_Ki0, EFLOAT, 1, "an_I0:"); // 注冊
PARAM_REG(yuan_Kd0, &yu_Kd0, EFLOAT, 1, "an_D0:");
PARAM_REG(yugyro_Kp0, &ygy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
PARAM_REG(yugyro_Ki0, &ygy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
PARAM_REG(yugyro_Kd0, &ygy_Kd0, EFLOAT, 1, "gy_D0:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
jj_param_read(); // 注冊
set_speed=set_speed1;
}
/**
* @brief 参数写入
@@ -60,7 +70,7 @@ void jj_param_eeprom_init(void)
*/
void jj_param_write(void)
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
switch (Param_Data[i].type) {
case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
@@ -84,7 +94,7 @@ void jj_param_write(void)
*/
void jj_param_read(void)
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
switch (Param_Data[i].type) {

38
app/jj_param.h
View File

@@ -17,36 +17,50 @@
typedef enum {
Page1_head = 0,
// 完道pid
angle_Kp0 = Page1_head,
angle_Ki0,
angle_Kd0,
gyro_Kp0,
gyro_Ki0,
gyro_Kd0,
speed_Kp,
speed_Ki,
speed_Kd,
pos_Kp0,
pos_Ki0,
pos_Kd0,
param_set_speed0,
can_Kp1,
can_Ki1,
can_Kd1,
fly_pwm,
param_set_speed0,
// 直道pid
Page2_head,
angle_Kp1 = Page2_head,
angle_Ki1,
angle_Kd1,
gyro_Kp1,
gyro_Ki1,
gyro_Kd1,
pos_Kp1,
pos_Ki1,
pos_Kd1,
can_Kp1,
can_Ki1,
can_Kd1,
param_set_speed1,
param_set_speed1,
// 圆环皮带
Page3_head,
yuan_Kp0 = Page3_head,
yuan_Ki0,
yuan_Kd0,
yugyro_Kp0,
yugyro_Ki0,
yugyro_Kd0,
speed_Kp,
speed_Ki,
speed_Kd,
param_set_speed2,
DATA_IN_FLASH_NUM,
delta_x,

7
app/page/page.c
View File

@@ -124,12 +124,11 @@ void Page_Run(void)
void Page_Init(void)
{
PAGE_REG(page_menu);
// PAGE_REG(page_rtcam);
PAGE_REG(page_param_pid0);
PAGE_REG(page_param_pid1);
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);
PAGE_REG(page_param_pid2);
PAGE_REG(page_dparam);
Page_Shift(page_menu);

17
app/page/page.h
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@@ -19,9 +19,10 @@ enum PageID {
PAGE_NULL = -1,
//......
page_menu,
//page_rtcam,
// page_rtcam,
page_param_pid0,
page_param_pid1,
page_param_pid2,
page_dparam,
// page_argv,
// page_sys,
@@ -30,7 +31,7 @@ enum PageID {
page_max,
};
typedef enum page_event{
typedef enum page_event {
page_event_forward = rotate_button_forward,
page_event_backward = rotate_button_backward,
page_event_press_short = rotate_button_press_short,
@@ -47,12 +48,12 @@ typedef struct {
EventFunction_t EventCallback;
} PAGE_LIST;
//页面注册函数
#define PAGE_REG(name)\
do{\
extern void PageRegister_##name(unsigned char pageID);\
PageRegister_##name(name);\
}while(0)
// 页面注册函数
#define PAGE_REG(name) \
do { \
extern void PageRegister_##name(unsigned char pageID); \
PageRegister_##name(name); \
} while (0)
void Page_Register(uint8_t pageID, char *pageText,
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,

12
app/page/page_dparam.c
View File

@@ -44,14 +44,14 @@ static void Loop()
{
ips200_show_string(0, 0, "sta:");
ips200_show_float(80, 0, in_state, 4, 1);
ips200_show_string(0, 20, "outca:");
ips200_show_float(80, 20, out_cangle, 4, 1);
ips200_show_string(0, 20, "outsp:");
ips200_show_float(80, 20, out_speed, 4, 1);
ips200_show_string(0, 40, "angle");
ips200_show_float(80, 40, in_angle, 4, 1);
ips200_show_string(0, 60, "near");
ips200_show_float(80, 60, in_pos, 4, 1);
ips200_show_string(0, 80, "gyroz");
ips200_show_float(80, 80, in_gyro, 4, 2);
ips200_show_string(0, 60, "accz");
ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1);
ips200_show_string(0, 80, "accy");
ips200_show_float(80, 80, (float)imu660ra_acc_y, 4, 2);
ips200_show_string(0, 100, "speed");
ips200_show_float(80, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang");

30
app/page/page_menu.c
View File

@@ -5,13 +5,14 @@
#include "jj_blueteeth.h"
#define LINE_HEAD 1
#define LINE_END 5
#define LINE_END 4
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;
uint8_t go_flag = 0;
uint32_t reset[3];
static void Print_Menu_p(void);
/***************************************************************************************
@@ -30,7 +31,7 @@ static void Setup()
ips200_clear();
Print_Menu_p();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
reset[0]=0x01;
reset[0] = 0x01;
}
/**
@@ -49,6 +50,14 @@ static void Exit()
*/
static void Loop()
{
if (go_flag == 1) {
system_delay_ms(1000);
bt_fly_flag = 1;
system_delay_ms(1000);
bt_run_flag = 1;
go_flag = 0;
}
}
/**
@@ -70,21 +79,8 @@ 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(cnt==0)
{
by_frame_send(reset);
cnt=1;
}
else if(cnt==1)
{
cnt=2;
bt_fly_flag=1;
}else if(cnt==2)
{
cnt=0;
bt_run_flag=1;
}
go_flag = 1;
ips200_clear();
}
if (Curser < LINE_HEAD) {

51
app/page/page_param_pid0.c
View File

@@ -4,9 +4,9 @@
#include "page.h"
#include <math.h>
#define LINE_HEAD 0
#define LINE_END Page2_head - 1
static char Text[] = "Param_pid0";
#define LINE_HEAD 1
#define LINE_END Page2_head
static char Text[] = "turn_pid";
static int event_flag = 0;
static int index_power = 0;
static int8_t Curser = LINE_HEAD; // 定义光标位置
@@ -25,13 +25,14 @@ static void jj_param_show();
static void Setup()
{
ips200_clear();
ips200_show_string(0, 2,"turn");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i <= LINE_END; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i].p_data)), 5);
else if (Param_Data[i].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i].p_data)), 4, 5);
}
ips200_show_int(100, 2, index_power, 5);
}
@@ -87,20 +88,20 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) {
if (page_event_forward == event) {
if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) += 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) += 1;
if (Param_Data[Curser-1].type == EFLOAT) {
*((float *)(Param_Data[Curser-1].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser-1].type == EINT32) {
*((int32 *)(Param_Data[Curser-1].p_data)) += 1;
} else if (Param_Data[Curser-1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser-1].p_data)) += 1;
}
} else if (page_event_backward == event) {
if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) -= 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) -= 1;
if (Param_Data[Curser-1].type == EFLOAT) {
*((float *)(Param_Data[Curser-1].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser-1].type == EINT32) {
*((int32 *)(Param_Data[Curser-1].p_data)) -= 1;
} else if (Param_Data[Curser-1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser-1].p_data)) -= 1;
}
} else if (page_event_press_short == event) {
index_power++;
@@ -117,12 +118,12 @@ static void Event(page_event event)
}
static void jj_param_show()
{
if (EINT32 == Param_Data[Curser].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
else if (EUINT32 == Param_Data[Curser].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
else if (EFLOAT == Param_Data[Curser].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser].p_data)), 4, 5);
if (EINT32 == Param_Data[Curser-1].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5);
else if (EUINT32 == Param_Data[Curser-1].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5);
else if (EFLOAT == Param_Data[Curser-1].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser-1].p_data)), 4, 5);
}
/**
* @brief 页面注册函数

56
app/page/page_param_pid1.c
View File

@@ -4,9 +4,10 @@
#include "page.h"
#include <math.h>
#define LINE_HEAD 0
#define LINE_END DATA_IN_FLASH_NUM - 1 - Page2_head
static char Text[] = "Param_pid1";
#define LINE_HEAD 1
#define LINE_END Page3_head - Page2_head
#define Strat_param Page2_head
static char Text[] = "stra_pid";
static int event_flag = 0;
static int index_power = 0;
static int8_t Curser = LINE_HEAD; // 定义光标位置
@@ -25,13 +26,14 @@ static void jj_param_show();
static void Setup()
{
ips200_clear();
ips200_show_string(0, 2,"straight");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < 13; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i + 13].text);
if (Param_Data[i + 13].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i + 13].p_data)), 5);
else if (Param_Data[i + 13].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i + 13].p_data)), 4, 5);
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);
}
@@ -87,20 +89,20 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) {
if (page_event_forward == event) {
if (Param_Data[Curser + 13].type == EFLOAT) {
*((float *)(Param_Data[Curser + 13].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser + 13].type == EINT32) {
*((int32 *)(Param_Data[Curser + 13].p_data)) += 1;
} else if (Param_Data[Curser + 13].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Page2_head].p_data)) += 1;
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 + Page2_head].type == EFLOAT) {
*((float *)(Param_Data[Curser + Page2_head].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser + Page2_head].type == EINT32) {
*((int32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
} else if (Param_Data[Curser + Page2_head].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
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++;
@@ -117,12 +119,12 @@ static void Event(page_event event)
}
static void jj_param_show()
{
if (EINT32 == Param_Data[Curser + 13].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
else if (EUINT32 == Param_Data[Curser + 13].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
else if (EFLOAT == Param_Data[Curser + 13].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + 13].p_data)), 4, 5);
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

137
app/page/page_param_pid2.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 - Page3_head
#define Strat_param Page3_head
static char Text[] = "cir_pid";
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,"circle");
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_param_pid2(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}