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pref:弯道速度按曲率分段控制

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增加斑马线积分按键更改距离
优化按键调参加减方向
This commit is contained in:
井明江
2024-08-14 14:30:32 +08:00
parent 06004e9e0b
commit c825014599
10 changed files with 140 additions and 120 deletions
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45
app/jj_motion.c
View File

@@ -115,7 +115,8 @@ int32_t stop_cnt = 0;
int32_t last_lb = 0; int32_t last_lb = 0;
int32_t last_rb = 0; int32_t last_rb = 0;
float start_dis = 0; float start_dis = 0;
uint8_t go_cnt = 0;//0 停车 1 测试侧向风扇 2 启动 3成功运行 float set_dis=1.f;
uint8_t go_cnt = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
float bug_sw = 0; float bug_sw = 0;
float out_sw = 0; float out_sw = 0;
float sho_sw = 0; float sho_sw = 0;
@@ -157,12 +158,12 @@ void sport_motion()
////////////////////////////////////////停车任务/////////////////////////////////////////////// ////////////////////////////////////////停车任务///////////////////////////////////////////////
// 抖动停车，计次50 // 抖动停车，计次50
if (imu660ra_acc_z <= 900) { if (imu660ra_acc_z <= 800) {
cnt7++; cnt7++;
} else { } else {
cnt7 = 0; cnt7 = 0;
} }
if (cnt7 >= 10 && (uint8_t)sho_sw == 1) { if (cnt7 >= 50 && (uint8_t)sho_sw == 1) {
bt_fly_flag = bt_run_flag = 0; bt_fly_flag = bt_run_flag = 0;
bt_printf("up"); bt_printf("up");
go_cnt = 0; go_cnt = 0;
@@ -183,7 +184,7 @@ void sport_motion()
go_cnt = 0; go_cnt = 0;
} }
// 出界停车,已经积分路过斑马线，保证斑马线不会触发 // 出界停车,已经积分路过斑马线，保证斑马线不会触发
if (2 == in_stop && (start_dis >= 1 || bt_run_flag == 0) && (uint8_t)out_sw == 1) { if (2 == in_stop && (start_dis >= set_dis|| bt_run_flag == 0) && (uint8_t)out_sw == 1) {
bt_printf("out"); bt_printf("out");
go_cnt = 0; go_cnt = 0;
bt_fly_flag = bt_run_flag = 0; bt_fly_flag = bt_run_flag = 0;
@@ -195,7 +196,7 @@ void sport_motion()
cnt2++; cnt2++;
cnt5++; cnt5++;
// 斑马线积分,系数随便给的 // 斑马线积分,系数随便给的
start_dis += in_speed * 0.000001; start_dis += in_speed * 0.0000018f;
if (if_start == 0) { if (if_start == 0) {
cnt8++; cnt8++;
@@ -239,7 +240,11 @@ void sport_motion()
} }
if (in_state == 1) { if (in_state == 1) {
set_speed = set_speed0 - fabs(rate_K * powf(myclip_f(in_pos, -50.f, 50.f), 2)); if (fabs(in_pos) <= 12.0f) {
set_speed = set_speed0 - fabs(rate_K / 3 * myclip_f(in_pos, -50.f, 50.f));
} else {
set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -50.f, 50.f));
}
} }
// 记录上一次状态 // 记录上一次状态
last_state = in_state; last_state = in_state;
@@ -260,8 +265,9 @@ void sport_motion()
cnt5 = 0; cnt5 = 0;
} }
// 并级pid，限幅 // 并级pid，限幅
pwm_duty_ls = (int32_t)myclip_f(180 - out_pos, 100.0f, 500.f); pwm_duty_ls = (int32_t)myclip_f(240 - out_pos, 100.0f, 500.f);
pwm_duty_rs = (int32_t)myclip_f(180 + out_pos, 100.0f, 500.f); pwm_duty_rs = (int32_t)myclip_f(240 + out_pos, 100.0f, 500.f);
// 并级pid的缺点补偿
if (out_speed >= 1000) { if (out_speed >= 1000) {
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f); pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f); pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
@@ -289,17 +295,18 @@ void sport_motion()
by_pwm_update_duty(bt_fly + 500, bt_fly + 500); by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
if (bt_run_flag == 0) { if (bt_run_flag == 0) {
// 测试状态 // 测试状态
if (go_cnt == 1) { if (1 == go_cnt) {
by_pwm_power_duty(550, 550, 3000, 3000); by_pwm_power_duty(600, 600, 3000, 3000);
} } else if (2 == go_cnt) {
else if (2 == go_cnt) {
by_pwm_power_duty(550, 550, 4000, 4000);
cnt3++; cnt3++;
if(cnt3>=2000) if (cnt3 < 2000) {
{ by_pwm_power_duty(600, 600, 3000, 3000);
bt_run_flag=1; } else if (cnt3 >= 2000 && cnt3 < 3000) {
go_cnt=3; by_pwm_power_duty(600, 600, 4000, 4000);
cnt3=0; } else if (cnt3 >= 3000) {
bt_run_flag = 1;
go_cnt = 3;
cnt3 = 0;
} }
} }
} }
@@ -323,7 +330,7 @@ void sport_pid_init()
PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&pos_pid, 20); PID_SetSampleTime(&pos_pid, 20);
PID_SetOutputLimits(&pos_pid, -320.0f, 320.0f); PID_SetOutputLimits(&pos_pid, -260.0f, 260.0f);
/* 角速度控制 */ /* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量 PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量

1
app/jj_motion.h
View File

@@ -61,6 +61,7 @@ extern float last_angle;
extern float yuc_Kp; extern float yuc_Kp;
extern float rate_K; extern float rate_K;
extern float start_dis; extern float start_dis;
extern float set_dis;
extern int32_t pwm_duty_ls; extern int32_t pwm_duty_ls;
extern int32_t pwm_duty_rs; extern int32_t pwm_duty_rs;
extern int32_t pwm_duty_lb; extern int32_t pwm_duty_lb;

1
app/jj_param.c
View File

@@ -80,6 +80,7 @@ void jj_param_eeprom_init(void)
PARAM_REG(bug_stop, &bug_sw, EFLOAT, 1, "bug:"); // 注冊 PARAM_REG(bug_stop, &bug_sw, EFLOAT, 1, "bug:"); // 注冊
PARAM_REG(out_stop, &out_sw, EFLOAT, 1, "out:"); // 注冊 PARAM_REG(out_stop, &out_sw, EFLOAT, 1, "out:"); // 注冊
PARAM_REG(shock_stop, &sho_sw, EFLOAT, 1, "shock:"); PARAM_REG(shock_stop, &sho_sw, EFLOAT, 1, "shock:");
PARAM_REG(dis, &set_dis, EFLOAT, 1, "dis:");
jj_param_read(); // 注冊 jj_param_read(); // 注冊
} }
/** /**

1
app/jj_param.h
View File

@@ -82,6 +82,7 @@ typedef enum {
bug_stop = Page5_head, bug_stop = Page5_head,
shock_stop, shock_stop,
out_stop, out_stop,
dis,
DATA_IN_FLASH_NUM, DATA_IN_FLASH_NUM,

10
app/page/page_gocar.c
View File

@@ -37,8 +37,11 @@ static void Setup()
ips200_show_int(80, 180, bt_run_flag, 1); ips200_show_int(80, 180, bt_run_flag, 1);
ips200_show_string(10, 160, "fl_flag:"); ips200_show_string(10, 160, "fl_flag:");
ips200_show_int(80, 160, bt_fly_flag, 1); ips200_show_int(80, 160, bt_fly_flag, 1);
ips200_show_string(10, 18, "fan_test"); ips200_show_string(10, 18, "fan_test");
ips200_show_string(10, 2 * 18, "run"); ips200_show_string(10, 2 * 18, "run");
ips200_show_string(10, 3 * 18, "fly_close");
ips200_show_string(10, 4 * 18, "run_close");
} }
/** /**
@@ -95,6 +98,13 @@ static void Event(page_event event)
if (go_cnt == 1 && Curser == 2) { if (go_cnt == 1 && Curser == 2) {
go_cnt = 2; go_cnt = 2;
} }
if (Curser == 3 && bt_fly_flag != 0) {
bt_fly_flag = 0;
}
if (Curser == 4 && bt_run_flag != 0) {
bt_run_flag = 0;
go_cnt=0;
}
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
Page_Shift(page_menu); Page_Shift(page_menu);

44
app/page/page_param_pid0.c
View File

@@ -25,7 +25,7 @@ static void jj_param_show();
static void Setup() static void Setup()
{ {
ips200_clear(); ips200_clear();
ips200_show_string(0, 2,"turn"); ips200_show_string(0, 2, "turn");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < LINE_END; i++) { for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i].text); ips200_show_string(0, i * 18 + 20, Param_Data[i].text);
@@ -88,25 +88,25 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser-1].type == EFLOAT) { if (Param_Data[Curser - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser-1].p_data)) += powf(10.0f, (float)index_power); *((float *)(Param_Data[Curser - 1].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser-1].type == EINT32) { } else if (Param_Data[Curser - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser-1].p_data)) += 1; *((int32 *)(Param_Data[Curser - 1].p_data)) += 1;
} else if (Param_Data[Curser-1].type == EUINT32) { } else if (Param_Data[Curser - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser-1].p_data)) += 1; *((uint32 *)(Param_Data[Curser - 1].p_data)) += 1;
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser-1].type == EFLOAT) { if (Param_Data[Curser - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser-1].p_data)) -= powf(10.0f, (float)index_power); *((float *)(Param_Data[Curser - 1].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser-1].type == EINT32) { } else if (Param_Data[Curser - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser-1].p_data)) -= 1; *((int32 *)(Param_Data[Curser - 1].p_data)) -= 1;
} else if (Param_Data[Curser-1].type == EUINT32) { } else if (Param_Data[Curser - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser-1].p_data)) -= 1; *((uint32 *)(Param_Data[Curser - 1].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power--;
if (index_power > 2) { if (index_power < -2) {
index_power = -2; index_power = 2;
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
@@ -118,12 +118,12 @@ static void Event(page_event event)
} }
static void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser-1].type) if (EINT32 == Param_Data[Curser - 1].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5); ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser - 1].p_data)), 5);
else if (EUINT32 == Param_Data[Curser-1].type) else if (EUINT32 == Param_Data[Curser - 1].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser-1].p_data)), 5); ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser - 1].p_data)), 5);
else if (EFLOAT == Param_Data[Curser-1].type) else if (EFLOAT == Param_Data[Curser - 1].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser-1].p_data)), 4, 5); ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser - 1].p_data)), 4, 5);
} }
/** /**
* @brief 页面注册函数 * @brief 页面注册函数

46
app/page/page_param_pid1.c
View File

@@ -26,10 +26,10 @@ static void jj_param_show();
static void Setup() static void Setup()
{ {
ips200_clear(); ips200_clear();
ips200_show_string(0, 2,"straight"); ips200_show_string(0, 2, "straight");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < LINE_END; i++) { for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text); ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
if (Param_Data[i + Strat_param].type == EINT32) if (Param_Data[i + Strat_param].type == EINT32)
ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5); 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) else if (Param_Data[i + Strat_param].type == EFLOAT)
@@ -89,25 +89,25 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power--;
if (index_power > 2) { if (index_power < -2) {
index_power = -2; index_power = 2;
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
@@ -119,12 +119,12 @@ static void Event(page_event event)
} }
static void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser + Strat_param-1].type) 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); 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) 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); 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) 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); 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 * @brief 页面注册函数

46
app/page/page_param_pid2.c
View File

@@ -26,10 +26,10 @@ static void jj_param_show();
static void Setup() static void Setup()
{ {
ips200_clear(); ips200_clear();
ips200_show_string(0, 2,"circle"); ips200_show_string(0, 2, "circle");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < LINE_END; i++) { for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text); ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
if (Param_Data[i + Strat_param].type == EINT32) if (Param_Data[i + Strat_param].type == EINT32)
ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5); 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) else if (Param_Data[i + Strat_param].type == EFLOAT)
@@ -89,25 +89,25 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power--;
if (index_power > 2) { if (index_power < -2) {
index_power = -2; index_power = 2;
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
@@ -119,12 +119,12 @@ static void Event(page_event event)
} }
static void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser + Strat_param-1].type) 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); 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) 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); 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) 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); 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 * @brief 页面注册函数

46
app/page/page_param_pid3.c
View File

@@ -26,10 +26,10 @@ static void jj_param_show();
static void Setup() static void Setup()
{ {
ips200_clear(); ips200_clear();
ips200_show_string(0, 2,"barrir"); ips200_show_string(0, 2, "barrir");
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < LINE_END; i++) { for (int16 i = 0; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text); ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
if (Param_Data[i + Strat_param].type == EINT32) if (Param_Data[i + Strat_param].type == EINT32)
ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5); 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) else if (Param_Data[i + Strat_param].type == EFLOAT)
@@ -89,25 +89,25 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser + Strat_param-1].type == EFLOAT) { if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
*((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power); *((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) { } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
*((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} else if (Param_Data[Curser + Strat_param-1].type == EUINT32) { } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power--;
if (index_power > 2) { if (index_power < -2) {
index_power = -2; index_power = 2;
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
@@ -119,12 +119,12 @@ static void Event(page_event event)
} }
static void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser + Strat_param-1].type) 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); 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) 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); 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) 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); 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 * @brief 页面注册函数

6
app/page/page_stopcar.c
View File

@@ -105,9 +105,9 @@ static void Event(page_event event)
*((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1; *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power--;
if (index_power > 2) { if (index_power <-2) {
index_power = -2; index_power = 2;
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {