日常更新，适配3.5寸桨叶版，新加障碍分段参数

app/by_fan_control.c

@@ -42,7 +42,6 @@ inline static float clip_f32(float x, float low, float up)
 }
 
 #define FIX_DRIVE 0
-
 void by_pwm_init(void)
 {
     gpio_init(D4, GPO, 1, GPO_PUSH_PULL);
@@ -61,9 +60,9 @@ void by_pwm_init(void)
     pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
     while (1);
 #elif FIX_DRIVE == 2
-    pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
+    pwm_init(FAN_LS_PWM_A_PIN, 20000, 1000);
     pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 20000, 1000);
     pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
     pwm_init(FAN_LB_PWM_A_PIN, 20000,1000);
     pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);

app/jj_motion.c

@@ -8,8 +8,7 @@
 #include "by_imu.h"
 
 PID_TypeDef far_angle_pid;
-PID_TypeDef str_angle_pid;
+PID_TypeDef pos_pid;
-PID_TypeDef tur_cal_pid;
 PID_TypeDef far_gyro_pid;
 PID_TypeDef speed_pid;
 PID_TypeDef cir_pos_pid;
@@ -25,16 +24,29 @@ float an_Kd0 = 0.0f;
 float an_Kp1 = 45.0f;
 float an_Ki1 = 0.0f;
 float an_Kd1 = 0.0f;
+// 避障后面角度环
+float za_Kp = 50.f;
+float za_Ki = 0;
+float za_Kd = 0;
+
+float zg_Kp = 7.f;
+float zg_Ki = 0;
+float zg_Kd = 0;
+
+float zp_Kp = 300.f;
+float zp_Ki = 0;
+float zp_Kd = 0;
+
 // 圆环后面风扇角度环
-float yu_Kp0 = 53.0f;
+float yu_Kp0 = 60.0f;
 float yu_Ki0 = 0.0f;
 float yu_Kd0 = 0.0f;
 // 弯道侧面风扇角度环
-float cn_Kp1 = 300.0f;
+float cn_Kp1 = 400.0f;
 float cn_Ki1 = 0.f;
 float cn_Kd1 = 0.0f;
 // 直道侧面风扇角度环
-float po_Kp1 = 250.0f;
+float po_Kp1 = 200.0f;
 float po_Ki1 = 0.0f;
 float po_Kd1 = 0.0f;
 // 期望和当前量
@@ -44,7 +56,6 @@ float out_angle;
 float in_pos;
 float out_pos;
 float set_pos = 0.0f;
-float out_cal;
 // 弯道角速度环
 float gy_Kp0 = 8.80f;
 float gy_Ki0 = 0.0f;
@@ -54,7 +65,7 @@ float gy_Kp1 = 7.0f;
 float gy_Ki1 = 0.0f;
 float gy_Kd1 = 0.0f;
 // 圆环角速度环
-float ygy_Kp0 = 7.0f;
+float ygy_Kp0 = 6.0f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
 // 当前和输入量
@@ -63,7 +74,7 @@ float out_gyro;
 // float set_gyro = 0.0f;
 // 速度环
 float sp_Kp = 10.0f;
-float sp_Ki = 80.f;
+float sp_Ki = 60.f;
 float sp_Kd = 0.0f;
 
 float in_speed;
@@ -71,9 +82,10 @@ float out_speed;
 
 float set_speed;
 float set_speed0 = 900.0f;
-float set_speed1 = 1100.0f;
+float set_speed1 = 1200.0f;
-float set_speed2 = 830.f;
+float set_speed2 = 700.f;
 float set_speed3 = 900.f;
+float set_speed4 = 500.f;
 int cnt1         = 0;
 int cnt2         = 0;
 int cnt3         = 0;
@@ -129,13 +141,11 @@ void sport_motion()
     imu660ra_get_acc();
     get_vol();
     in_gyro = imu660ra_gyro_z;
-    // last_gy=in_gyro;
+    if (imu660ra_acc_z <= 800) {
-    // 抖动停车
-    // if (imu660ra_acc_z <= 300) {
 
-    //     bt_fly_flag = bt_run_flag = 0;
+        bt_fly_flag = bt_run_flag = 0;
-    //     bt_printf("ting");
+        bt_printf("ting");
-    // }
+    }
     // 斑马线停车
     if (1 == in_stop) {
         stop_flag = 1;
@@ -160,14 +170,18 @@ void sport_motion()
             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(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
         }
-        if ((last_state != in_state) && (in_state == 1 || in_state == 5)) { // 弯道或者障碍物，暂时没加障碍物的分段
+        if ((last_state != in_state) && in_state == 1) { // 弯道
             bt_printf("to 入弯");
             set_speed = set_speed0;
             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(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
         }
         if ((last_state != in_state) && in_state == 3) { // 圆环
             bt_printf("to 圆环");
@@ -176,6 +190,18 @@ void sport_motion()
             cnt3_flag = 1;
             PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
             PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
+
+            PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
+        }
+        if ((last_state != in_state) && in_state == 5) { // 圆环
+            bt_printf("to 障碍");
+            set_speed = set_speed4;
+
+            cnt3_flag = 1;
+            PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
+            PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
+
+            PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
         }
         last_state = in_state;
         // pid计算
@@ -185,30 +211,20 @@ void sport_motion()
         }
         if (cnt2 >= 10) {
             in_speed = sport_get_speed();
-
+            cnt2     = 0;
-            cnt2 = 0;
         }
         if (cnt5 >= 20) {
 
             PID_Compute(&far_angle_pid);
-            PID_Compute(&str_angle_pid);
+            PID_Compute(&pos_pid);
-            PID_Compute(&tur_cal_pid);
             PID_Compute(&speed_pid);
             cnt5 = 0;
         }
-        // 输出限幅
-        if (in_state == 0 || in_state == 2) {
-            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
-        } else if (in_state == 1 || in_state == 3 || in_state == 4 || in_state == 5) {
 
-            pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 7000.f);
+        pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f);
-            pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 7000.f);
+        pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.f);
-            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
+        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
-            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
+        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
-        }
 
         by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
 
@@ -223,12 +239,19 @@ void sport_motion()
 
             cnt3++;
             if (in_state == 3) {
-                if (cnt3 >= 400) // 200ms
+                if (cnt3 >= 250) // 200ms
                 {
                     bt_printf("to 环内");
                     cnt3_flag = 2;
                     cnt3      = 0;
                 }
+                if (in_speed > set_speed - 100) {
+                    qd_down = 5 * fabs(in_pos) + 75;
+                } else if (in_speed > set_speed - 200) {
+                    qd_down = 2.5 * fabs(in_pos) + 30;
+                } else {
+                    qd_down = 0;
+                }
             } else if (in_state == 1) {
                 if (cnt3 >= 500) // 200ms
                 {
@@ -236,27 +259,35 @@ void sport_motion()
                     cnt3_flag = 2;
                     cnt3      = 0;
                 }
+                if (in_speed > set_speed - 100) {
+                    qd_down = 5 * fabs(in_pos) + 50;
+                } else if (in_speed > set_speed - 200) {
+                    qd_down = 2.5 * fabs(in_pos) + 10;
+                } else {
+                    qd_down = 0;
+                }
             } else if (in_state == 5) {
-                if (cnt3 >= 200) // 200ms
+                if (cnt3 >= 400) // 200ms
                 {
-                    bt_printf("to 障碍");
+                    bt_printf("to 开张");
                     cnt3_flag = 2;
                     cnt3      = 0;
                 }
+                if (in_speed > set_speed - 100) {
+                    qd_down = 150;
+                } else if (in_speed > set_speed - 200) {
+                    qd_down = 75;
+                } else {
+                    qd_down = 25;
+                }
             }
-            if (in_speed > set_speed - 100) {
+
-                qd_down = 5 * fabs(in_pos) + 50;
-            } else if (in_speed > set_speed - 200) {
-                qd_down = 2.5 * fabs(in_pos)+10;
-            } else {
-                qd_down = 0;
-            }
             by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
         } else {
-          if(in_state==1) {
+            if (in_state == 1) {
                 qd_down = 15;
-            }else{
+            } else {
-                qd_down=0;
+                qd_down = 0;
             }
             if (in_state == 4) {
                 by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
@@ -279,21 +310,12 @@ void sport_pid_init()
     PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_angle_pid, 20);
     PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
-    // 直道侧面位置环
+    // 侧面位置环
-    PID(&str_angle_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(&str_angle_pid, _PID_MODE_AUTOMATIC);
+    PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&str_angle_pid, 20);
+    PID_SetSampleTime(&pos_pid, 20);
-    PID_SetOutputLimits(&str_angle_pid, -6000.0f, 6000.0f);
+    PID_SetOutputLimits(&pos_pid, -5000.0f, 5000.0f);
-    // 弯道侧面曲率环
+
-    PID(&tur_cal_pid, &in_angle, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
-    PID_SetMode(&tur_cal_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&tur_cal_pid, 20);
-    PID_SetOutputLimits(&tur_cal_pid, -6000.0f, 6000.0f);
-    // // 圆环
-    // PID(&cir_pos_pid, &in_angle, &out_ci, &set_pos, ci_Kp0, ci_Ki0, ci_Kd0, _PID_P_ON_E, _PID_CD_REVERSE);
-    // PID_SetMode(&cir_pos_pid, _PID_MODE_AUTOMATIC);
-    // PID_SetSampleTime(&cir_pos_pid, 20);
-    // PID_SetOutputLimits(&cir_pos_pid, -7000.0f, 7000.0f);
     /* 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_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);

app/jj_motion.h

@@ -12,7 +12,6 @@ extern float an_Kd1;
 extern float in_angle;
 extern float set_angle;
 extern float out_angle;
-extern float out_cal;
 extern float cn_Kp1;
 extern float cn_Ki1;
 extern float cn_Kd1;
@@ -37,6 +36,16 @@ extern float set_pos;
 extern float ygy_Kp0;
 extern float ygy_Ki0;
 extern float ygy_Kd0;
+extern float za_Kp;
+extern float za_Ki;
+extern float za_Kd;
+extern float zg_Kp;
+extern float zg_Ki;
+extern float zg_Kd;
+
+extern float zp_Kp;
+extern float zp_Ki;
+extern float zp_Kd;
 extern float sp_Kp;
 extern float sp_Ki;
 extern float sp_Kd;
@@ -47,6 +56,7 @@ extern float set_speed1;
 extern float set_speed2;
 extern float set_speed3;
 extern float set_speed;
+extern float set_speed4;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;

app/jj_param.c

@@ -17,7 +17,7 @@ TYPE_UNION temp_frame_param[20];
 void jj_param_eeprom_init(void)
 {
     soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
-
+////////////////////////////////////////////////////////////////////////
     PARAM_REG(angle_Kp0, &an_Kp0, EFLOAT, 1, "an_P0:"); // 注冊
     PARAM_REG(angle_Ki0, &an_Ki0, EFLOAT, 1, "an_I0:"); // 注冊
     PARAM_REG(angle_Kd0, &an_Kd0, EFLOAT, 1, "an_D0:");
@@ -33,7 +33,7 @@ void jj_param_eeprom_init(void)
     PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
 
     PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:");
-
+/////////////////////////////////////////////////////////////////////
     PARAM_REG(angle_Kp1, &an_Kp1, EFLOAT, 1, "an_P1:"); // 注冊
     PARAM_REG(angle_Ki1, &an_Ki1, EFLOAT, 1, "an_I1:"); // 注冊
     PARAM_REG(angle_Kd1, &an_Kd1, EFLOAT, 1, "an_D1:");
@@ -47,7 +47,7 @@ void jj_param_eeprom_init(void)
     PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_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:");
@@ -62,6 +62,20 @@ void jj_param_eeprom_init(void)
 
     PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
     PARAM_REG(param_set_speed3, &set_speed3, EFLOAT, 1, "rate3:");
+    /////////////////////////////////////////////////////////////
+   PARAM_REG(zhan_Kp, &za_Kp, EFLOAT, 1, "an_P:"); // 注冊
+    PARAM_REG(zhan_Ki, &za_Ki, EFLOAT, 1, "an_I:"); // 注冊
+    PARAM_REG(zhan_Kd, &za_Kd, EFLOAT, 1, "an_D:");
+
+    PARAM_REG(zhgy_Kp, &zg_Kp, EFLOAT, 1, "gy_P1:"); // 注冊
+    PARAM_REG(zhgy_Ki, &zg_Ki, EFLOAT, 1, "gy_I1:"); // 注冊
+    PARAM_REG(zhgy_Kd, &zg_Kd, EFLOAT, 1, "gy_D1:");
+
+    PARAM_REG(zhpo_Kp, &zp_Kp, EFLOAT, 1, "po_P1:"); // 注冊
+    PARAM_REG(zhpo_Ki, &zp_Ki, EFLOAT, 1, "po_I1:"); // 注冊
+    PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");
+
+    PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");
     jj_param_read(); // 注冊
 }
 /**

app/jj_param.h

@@ -62,6 +62,21 @@ typedef enum {
 
     param_set_speed2,
     param_set_speed3,
+
+    Page4_head,
+    zhgy_Kp = Page4_head,
+    zhgy_Ki,
+    zhgy_Kd,
+
+    zhan_Kp,
+    zhan_Ki,
+    zhan_Kd,
+
+    zhpo_Kp,
+    zhpo_Ki,
+    zhpo_Kd,
+
+    param_set_speed4,
     DATA_IN_FLASH_NUM,
 
     delta_x,

app/page/page.c

@@ -128,7 +128,7 @@ void Page_Init(void)
     PAGE_REG(page_param_pid0);
     PAGE_REG(page_param_pid1);
     PAGE_REG(page_param_pid2);
-
+    PAGE_REG(page_param_pid3);
     PAGE_REG(page_dparam);
     Page_Shift(page_menu);
 

app/page/page.h

@@ -23,6 +23,7 @@ enum PageID {
     page_param_pid0,
     page_param_pid1,
     page_param_pid2,
+    page_param_pid3,
     page_dparam,
     // page_argv,
     // page_sys,

app/page/page_dparam.c

@@ -60,10 +60,8 @@ static void Loop()
     ips200_show_float(80, 140, out_gyro, 4, 1);
     ips200_show_string(0, 160, "outpos");
     ips200_show_float(80, 160, out_pos, 4, 1);
-    ips200_show_string(0, 180, "outcal");
+    ips200_show_string(0, 180, "vol");
-    ips200_show_float(80, 180, out_cal, 4, 1);
+    ips200_show_float(80, 180, (float)now_vol, 4,2);
-    ips200_show_string(0, 200, "vol");
-    ips200_show_float(80, 200, (float)now_vol, 4,2);
 
     ips200_show_string(180, 0, "ls");
     ips200_show_float(220, 0, pwm_duty_ls, 4, 1);

app/page/page_menu.c

@@ -5,7 +5,7 @@
 #include "jj_blueteeth.h"
 
 #define LINE_HEAD 1
-#define LINE_END  4
+#define LINE_END  5
 
 static char Text[] = "Menu";
 

app/page/page_param_pid2.c

@@ -5,7 +5,7 @@
 #include <math.h>
 
 #define LINE_HEAD 1
-#define LINE_END  DATA_IN_FLASH_NUM  - Page3_head
+#define LINE_END  Page4_head  - Page3_head
 #define Strat_param Page3_head
 static char Text[]        = "cir_pid";
 static int event_flag     = 0;

app/page/page_param_pid3.c

@@ -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  - Page4_head
+#define Strat_param Page4_head
+static char Text[]        = "barr_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,"barrir");
+    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_pid3(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}