btl143/QD4C-firmware
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feat: 增加通信内容

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井明江
2024-03-30 11:51:14 +08:00
parent a9b488bc6e
commit add61d0af3
5 changed files with 32 additions and 20 deletions
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16
app/jj_motion.c
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@@ -51,11 +51,12 @@ float sp_Kd = 0.0f;
float in_speed; float in_speed;
float out_speed; float out_speed;
float set_speed0 = 460.0f; float set_speed0 = 460.0f;
float set_speed1 = 460.0f; float set_speed1 = 460.0f;
int cnt1 = 0; int cnt1 = 0;
int cnt2 = 0; int cnt2 = 0;
uint32_t in_state = 0; uint8_t in_state = 0;
uint8_t in_stop = 0;
uint32_t pwm_duty_ls; uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs; uint32_t pwm_duty_rs;
@@ -86,7 +87,10 @@ float sport_get_speed(void)
void sport_motion(void) void sport_motion(void)
{ {
if (1 == in_state) { if (1 == in_stop) {
bt_fly_flag = bt_run_flag = 0;
}
if (0 == in_state || 2 == in_state) {
PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1); PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1); PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1); PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);

3
app/jj_motion.h
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@@ -45,7 +45,8 @@ extern uint32_t pwm_duty_rs;
extern uint32_t pwm_duty_lb; extern uint32_t pwm_duty_lb;
extern uint32_t pwm_duty_rb; extern uint32_t pwm_duty_rb;
extern uint32_t in_state; extern uint8_t in_state;
extern uint8_t in_stop;
void sport_pid_init(); void sport_pid_init();
void sport_motion(void); void sport_motion(void);
#endif #endif

2
app/jj_param.h
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@@ -61,7 +61,7 @@ typedef union {
uint32_t u32; uint32_t u32;
int32_t s32; int32_t s32;
float f32; float f32;
uint8_t u8; uint8_t u8[4];
} TYPE_UNION; } TYPE_UNION;
typedef struct { typedef struct {

9
app/main.c
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@@ -35,7 +35,7 @@
#include "by_frame.h" #include "by_frame.h"
#include "by_rt_button.h" #include "by_rt_button.h"
#include "by_fan_control.h" #include "by_fan_control.h"
uint8_t last_state;
int main(void) int main(void)
{ {
TYPE_UNION test_data[BY_FRAME_DATA_NUM]; TYPE_UNION test_data[BY_FRAME_DATA_NUM];
@@ -69,6 +69,11 @@ int main(void)
jj_bt_run(); jj_bt_run();
in_pos = test_data[1].f32; in_pos = test_data[1].f32;
in_angle = test_data[0].f32; in_angle = test_data[0].f32;
in_state= test_data[2].u32; in_state = test_data[2].u8[0];
in_stop = test_data[2].u8[1];
if (last_state != in_state) {
bt_printf("changing to%u\r\n",in_state);
}
last_state = in_state;
} }
} }

22
app/page/page_dparam.c
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@@ -42,8 +42,10 @@ static void Exit()
*/ */
static void Loop() static void Loop()
{ {
ips200_show_string(0, 20, "outsp:"); ips200_show_string(0, 0, "sta:");
ips200_show_float(80, 20, out_speed, 4, 1); ips200_show_float(80, 0, in_state, 4, 1);
ips200_show_string(0, 20, "sto:");
ips200_show_float(80, 20, in_stop, 4, 1);
ips200_show_string(0, 40, "angle"); ips200_show_string(0, 40, "angle");
ips200_show_float(80, 40, in_angle, 4, 1); ips200_show_float(80, 40, in_angle, 4, 1);
ips200_show_string(0, 60, "near"); ips200_show_string(0, 60, "near");
@@ -59,14 +61,14 @@ static void Loop()
ips200_show_string(0, 160, "outpos"); ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1); ips200_show_float(80, 160, out_pos, 4, 1);
ips200_show_string(0, 180, "ls"); // ips200_show_string(0, 180, "ls");
ips200_show_float(80, 180, pwm_duty_ls, 4, 1); // ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
ips200_show_string(0, 200, "rs"); // ips200_show_string(0, 200, "rs");
ips200_show_float(80, 200, pwm_duty_rs, 4, 1); // ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
ips200_show_string(0, 220, "lb"); // ips200_show_string(0, 220, "lb");
ips200_show_float(80, 220, pwm_duty_lb, 4, 1); // ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
ips200_show_string(100, 0, "rb"); // ips200_show_string(100, 0, "rb");
ips200_show_float(180, 0, pwm_duty_rb, 4, 1); // ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
} }
/** /**
* @brief 页面事件 * @brief 页面事件