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feat: 开启速度闭环

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fix: 暂时修复通信卡死问题
This commit is contained in:
井明江
2024-03-05 21:28:08 +08:00
parent 6c0cfe1248
commit bab1667efb
7 changed files with 112 additions and 23 deletions
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1
app/by_frame.c
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@@ -88,6 +88,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
if (!cnt_crc) {
if (crc_cal == crc16_check(data_array_temp, 2 + data_num * sizeof(uint32_t))) {
memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t));
fifo_clear(&frame_fifo);
// lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞
memset(data_array_temp, 0, sizeof(data_array_temp));
// printf("parsed done!\r\n");

2
app/jj_blueteeth.c
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@@ -6,7 +6,7 @@ uint8 bt_buffer; // 接收字符存入
uint32_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0;
uint32_t bt_fly = 0;
uint32_t bt_fly = 500;
enum bt_order {
Fly_ctrl = 0x01, // 起飞转换
Fly_up = 0x02, // 起飞程度增加

19
app/jj_motion.c
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@@ -70,26 +70,27 @@ void sport_motion(void)
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
in_speed = sport_get_speed();
printf("rate:%d\r\n", (int16_t)in_speed);
in_speed = -sport_get_speed();
// printf("rate:%d\r\n", (int16_t)in_speed);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
if (bt_run_flag == 1) {
by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
(int32_t)(500 - out_pos - out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
// by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
// (int32_t)(500 - out_pos - out_gyro),
// (int32_t)(500 + out_speed + out_gyro),
// (int32_t)(500 + out_speed - out_gyro));
by_pwm_power_duty(500, 500, 500 + out_speed, 500 + out_speed);
} else {
by_pwm_power_duty(500, 500, 500, 500);
}
if (bt_fly_flag == 0) {
bt_fly = 0;
}
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
}
/**
* @brief 结构体初始化

9
app/main.c
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@@ -63,18 +63,9 @@ int main(void)
while (1) {
Page_Run();
by_frame_parse(2, &test_data[0].u32);
// uart_write_byte(UART_8, 0x1F);
by_buzzer_run();
jj_bt_run();
in_pos = test_data[1].f32;
in_angle = test_data[0].f32;
ips200_show_float(40, 40, test_data[0].f32, 4, 1);
ips200_show_float(40, 60, test_data[1].f32, 4, 1);
ips200_show_float(40, 80, in_gyro, 4, 2);
ips200_show_float(40, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang");
ips200_show_float(80, 120, out_angle, 4, 1);
ips200_show_string(0, 140, "outgyr");
ips200_show_float(80, 140, out_gyro, 4, 1);
}
}

2
app/page/page.c
View File

@@ -129,7 +129,7 @@ void Page_Init(void)
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);
PAGE_REG(page_dparam);
Page_Shift(page_menu);
pagelist[now_page].SetupCallback(); // 先构建一遍

1
app/page/page.h
View File

@@ -21,6 +21,7 @@ enum PageID {
page_menu,
//page_rtcam,
page_param,
page_dparam,
// page_argv,
// page_sys,
// page_run,

95
app/page/page_dparam.c Normal file
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@@ -0,0 +1,95 @@
#include "jj_param.h"
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"
#include <math.h>
#define LINE_HEAD 0
#define LINE_END DATA_NUM - 2
static char Text[] = "dParam";
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
/***************************************************************************************
*
* 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);
}
/**
* @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()
{
ips200_show_string(0, 40, "far");
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, "gyrz");
ips200_show_float(80, 80, in_gyro, 4, 2);
ips200_show_string(0, 100, "speed");
ips200_show_float(80, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang");
ips200_show_float(80, 120, out_angle, 4, 1);
ips200_show_string(0, 140, "outgyr");
ips200_show_float(80, 140, out_gyro, 4, 1);
ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1);
}
/**
* @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) {
sport_pid_init();
} 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_dparam(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}