btl143/QD4C-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

Browse Source
This commit is contained in:
bmy
2024-04-09 10:59:28 +08:00
parent fcaa8e3e57 add61d0af3
commit fbed8b272e
13 changed files with 315 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
app/by_fan_control.c
View File

@@ -1,6 +1,7 @@
#include <stdio.h> #include <stdio.h>
#include "by_fan_control.h" #include "by_fan_control.h"
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "jj_blueteeth.h"
#define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6 // 左升力风扇 #define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7 // 右升力风扇 #define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7 // 右升力风扇
@@ -72,16 +73,15 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
*/ */
void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb) void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
{ {
pwm_duty_ls = myclip(pwm_duty_ls, 0, 5000); pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000);
pwm_duty_rs = myclip(pwm_duty_rs, 0, 5000); pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000);
pwm_duty_lb = myclip(pwm_duty_lb, 0, 5000); pwm_duty_lb = myclip(pwm_duty_lb, 0, 8000);
pwm_duty_rb = myclip(pwm_duty_rb, 0, 5000); pwm_duty_rb = myclip(pwm_duty_rb, 0, 8000);
pwm_duty_ls_g = pwm_duty_ls; pwm_duty_ls_g = pwm_duty_ls;
pwm_duty_rs_g = pwm_duty_rs; pwm_duty_rs_g = pwm_duty_rs;
pwm_duty_lb_g = pwm_duty_lb; pwm_duty_lb_g = pwm_duty_lb;
pwm_duty_rb_g = pwm_duty_rb; pwm_duty_rb_g = pwm_duty_rb;
pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls); pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs); pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);
pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb); pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb);

4
app/jj_blueteeth.c
View File

@@ -2,8 +2,8 @@
#include "jj_motion.h" #include "jj_motion.h"
#include "by_fan_control.h" #include "by_fan_control.h"
bool bt_rx_flag = false; bool bt_rx_flag = false;
uint8 bt_buffer; // 接收字符存入 uint8_t bt_buffer; // 接收字符存入
uint32_t bt_run_flag = 0; uint8_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0; uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0; uint32_t bt_run = 0;
uint32_t bt_fly = 500; uint32_t bt_fly = 500;

4
app/jj_blueteeth.h
View File

@@ -10,8 +10,8 @@
#define BT_UART_RX_PIN UART8_MAP0_RX_C5 #define BT_UART_RX_PIN UART8_MAP0_RX_C5
extern bool bt_rx_flag; extern bool bt_rx_flag;
extern uint8 bt_buffer; // 接收字符存入 extern uint8_t bt_buffer; // 接收字符存入
extern uint32_t bt_run_flag; extern uint8_t bt_run_flag;
extern uint8_t bt_fly_flag; extern uint8_t bt_fly_flag;
extern uint32_t bt_run; extern uint32_t bt_run;
extern uint32_t bt_fly; extern uint32_t bt_fly;

89
app/jj_motion.c
View File

@@ -12,36 +12,56 @@ PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid; PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid; PID_TypeDef speed_pid;
float an_Kp = 8.0f; float an_Kp0 = 80.0f;
float an_Ki = 1.0f; float an_Ki0 = 1.4f;
float an_Kd = 2.0f; float an_Kd0 = 8.0f;
float an_Kp1 = 80.0f;
float an_Ki1 = 1.4f;
float an_Kd1 = 8.0f;
float in_angle; float in_angle;
float set_angle = 0.0f; float set_angle = 0.0f;
float out_angle; float out_angle;
float gy_Kp = 1.0f; float gy_Kp0 = 2.0f;
float gy_Ki = 0.0f; float gy_Ki0 = 0.0f;
float gy_Kd = 0.0f; float gy_Kd0 = 0.3f;
float gy_Kp1 = 2.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.3f;
float in_gyro; float in_gyro;
float out_gyro; float out_gyro;
// float set_gyro = 0.0f; // float set_gyro = 0.0f;
float po_Kp = 1.0f; float po_Kp0 = 827.0f;
float po_Ki = 0.0f; float po_Ki0 = 16.0f;
float po_Kd = 0.0f; float po_Kd0 = 13.0f;
float po_Kp1 = 500.0f;
float po_Ki1 = 2.0f;
float po_Kd1 = 1.0f;
float in_pos; float in_pos;
float out_pos; float out_pos;
float set_pos = 0.0f; float set_pos = 0.0f;
float sp_Kp = 1.0f; float sp_Kp = 19.0f;
float sp_Ki = 0.0f; float sp_Ki = 0.5f;
float sp_Kd = 0.0f; float sp_Kd = 0.0f;
float in_speed; float in_speed;
float out_speed; float out_speed;
float set_speed = 0.0f;
float set_speed0 = 460.0f;
float set_speed1 = 460.0f;
int cnt1 = 0; int cnt1 = 0;
int cnt2 = 0; int cnt2 = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
uint32_t pwm_duty_lb;
uint32_t pwm_duty_rb;
static float myclip_f(float x, float low, float up) static float myclip_f(float x, float low, float up)
{ {
@@ -67,6 +87,18 @@ float sport_get_speed(void)
void sport_motion(void) void sport_motion(void)
{ {
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(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
} else {
PID_SetTunings(&far_gyro_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&near_pos_pid, po_Kp0, po_Ki0, po_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
}
/* 动力风扇设置 */ /* 动力风扇设置 */
if (1 == bt_run_flag) { if (1 == bt_run_flag) {
cnt1++; cnt1++;
@@ -74,9 +106,6 @@ void sport_motion(void)
imu660ra_get_gyro(); imu660ra_get_gyro();
in_gyro = imu660ra_gyro_z; // 陀螺仪输入 in_gyro = imu660ra_gyro_z; // 陀螺仪输入
// in_angle = 0; // 图像远端输入
// in_pos = 0; // 图像近端输入
// 清除计数
PID_Compute(&far_gyro_pid); PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) { if (cnt1 >= 10) {
@@ -87,18 +116,16 @@ void sport_motion(void)
cnt1 = 0; cnt1 = 0;
} }
if (cnt2 >= 20) { if (cnt2 >= 20) {
cnt2 = 0; cnt2 = 0;
PID_Compute(&far_angle_pid); PID_Compute(&far_angle_pid);
} }
uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + 1.5 * out_gyro, 0.0f, 5000.f); pwm_duty_ls = (uint32_t)myclip_f(-1.5f * out_pos + out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - 1.5 * out_gyro, 0.0f, 5000.f); pwm_duty_rs = (uint32_t)myclip_f(1.5f * out_pos - out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 5000.f); pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f);
uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 5000.f); pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
// by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro); by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
} else { } else {
by_pwm_power_duty(0, 0, 0, 0); by_pwm_power_duty(0, 0, 0, 0);
} }
@@ -106,14 +133,10 @@ void sport_motion(void)
/* 升力风扇设置 */ /* 升力风扇设置 */
if (bt_fly_flag == 0) { if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500); by_pwm_update_duty(0 + 500, 0 + 500);
} else {
if (in_angle > 7.5 || in_angle < -7.5) {
by_pwm_update_duty(bt_fly + 450, bt_fly + 450);
} else { } else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500); by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
} }
} }
}
/** /**
* @brief 结构体初始化 * @brief 结构体初始化
@@ -122,30 +145,30 @@ void sport_motion(void)
void sport_pid_init() void sport_pid_init()
{ {
/* 角度控制 */ /* 角度控制 */
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, _PID_P_ON_E, _PID_CD_REVERSE); PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_angle_pid, 20); PID_SetSampleTime(&far_angle_pid, 20);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
// PID_Init(&far_angle_pid); // PID_Init(&far_angle_pid);
/* 角速度控制 */ /* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE); PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 1); PID_SetSampleTime(&far_gyro_pid, 1);
PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f); PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
// PID_Init(&far_gyro_pid); // PID_Init(&far_gyro_pid);
/* 近点控制 */ /* 近点控制 */
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&near_pos_pid, 10); PID_SetSampleTime(&near_pos_pid, 10);
PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f); PID_SetOutputLimits(&near_pos_pid, -4000.0f, 4000.0f);
// PID_Init(&near_pos_pid); // PID_Init(&near_pos_pid);
/* 速度控制 */ /* 速度控制 */
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID(&speed_pid, &in_speed, &out_speed, &set_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 10); PID_SetSampleTime(&speed_pid, 10);
PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f); PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f);
// PID_Init(&speed_pid); // PID_Init(&speed_pid);
} }

36
app/jj_motion.h
View File

@@ -3,23 +3,32 @@
#include "ch32v30x.h" #include "ch32v30x.h"
#include "../3rd-lib/PID-Library/pid.h" #include "../3rd-lib/PID-Library/pid.h"
extern float an_Kp; extern float an_Kp0;
extern float an_Ki; extern float an_Ki0;
extern float an_Kd; extern float an_Kd0;
extern float an_Kp1;
extern float an_Ki1;
extern float an_Kd1;
extern float in_angle; extern float in_angle;
extern float set_angle; extern float set_angle;
extern float out_angle; extern float out_angle;
extern float gy_Kp; extern float gy_Kp1;
extern float gy_Ki; extern float gy_Ki1;
extern float gy_Kd; extern float gy_Kd1;
extern float gy_Kp0;
extern float gy_Ki0;
extern float gy_Kd0;
extern float in_gyro; extern float in_gyro;
extern float out_gyro; extern float out_gyro;
extern float set_gyro; extern float set_gyro;
extern float po_Kp; extern float po_Kp1;
extern float po_Ki; extern float po_Ki1;
extern float po_Kd; extern float po_Kd1;
extern float po_Kp0;
extern float po_Ki0;
extern float po_Kd0;
extern float in_pos; extern float in_pos;
extern float out_pos; extern float out_pos;
extern float set_pos; extern float set_pos;
@@ -29,8 +38,15 @@ extern float sp_Ki;
extern float sp_Kd; extern float sp_Kd;
extern float in_speed; extern float in_speed;
extern float out_speed; extern float out_speed;
extern float set_speed; extern float set_speed0;
extern float set_speed1;
extern uint32_t pwm_duty_ls;
extern uint32_t pwm_duty_rs;
extern uint32_t pwm_duty_lb;
extern uint32_t pwm_duty_rb;
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

38
app/jj_param.c
View File

@@ -17,23 +17,37 @@ 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 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_Kp, &an_Kp, EFLOAT, 1, "an_P:"); // 注冊 PARAM_REG(angle_Kp0, &an_Kp0, EFLOAT, 1, "an_P0:"); // 注冊
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊 PARAM_REG(angle_Ki0, &an_Ki0, EFLOAT, 1, "an_I0:"); // 注冊
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:"); PARAM_REG(angle_Kd0, &an_Kd0, EFLOAT, 1, "an_D0:");
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "gy_P:"); // 注冊 PARAM_REG(gyro_Kp0, &gy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "gy_I:"); // 注冊 PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "gy_D:"); 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_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 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(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
PARAM_REG(pos_Kp, &po_Kp, EFLOAT, 1, "po_P:"); // 注冊 PARAM_REG(pos_Kp0, &po_Kp0, EFLOAT, 1, "po_P0:"); // 注冊
PARAM_REG(pos_Ki, &po_Ki, EFLOAT, 1, "po_I:"); // 注冊 PARAM_REG(pos_Ki0, &po_Ki0, EFLOAT, 1, "po_I0:"); // 注冊
PARAM_REG(pos_Kd, &po_Kd, EFLOAT, 1, "po_D:"); PARAM_REG(pos_Kd0, &po_Kd0, EFLOAT, 1, "po_D0:");
PARAM_REG(param_set_speed, &set_speed, EFLOAT, 1, "rate:"); 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:");
PARAM_REG(gyro_Kp1, &gy_Kp1, EFLOAT, 1, "gy_P1:"); // 注冊
PARAM_REG(gyro_Ki1, &gy_Ki1, EFLOAT, 1, "gy_I1:"); // 注冊
PARAM_REG(gyro_Kd1, &gy_Kd1, EFLOAT, 1, "gy_D1:");
PARAM_REG(pos_Kp1, &po_Kp1, EFLOAT, 1, "po_P1:"); // 注冊
PARAM_REG(pos_Ki1, &po_Ki1, EFLOAT, 1, "po_I1:"); // 注冊
PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_D1:");
PARAM_REG(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:");
jj_param_read(); // 注冊 jj_param_read(); // 注冊
} }
/** /**
@@ -42,7 +56,7 @@ void jj_param_eeprom_init(void)
*/ */
void jj_param_write(void) void jj_param_write(void)
{ {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM-1; i++) { for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
switch (Param_Data[i].type) { switch (Param_Data[i].type) {
case EFLOAT: case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data)); iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
@@ -66,7 +80,7 @@ void jj_param_write(void)
*/ */
void jj_param_read(void) void jj_param_read(void)
{ {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM-1; 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); eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
switch (Param_Data[i].type) { switch (Param_Data[i].type) {

33
app/jj_param.h
View File

@@ -18,21 +18,32 @@ typedef enum {
Page1_head = 0, Page1_head = 0,
angle_Kp = Page1_head, angle_Kp0 = Page1_head,
angle_Ki, angle_Ki0,
angle_Kd, angle_Kd0,
gyro_Kp, gyro_Kp0,
gyro_Ki, gyro_Ki0,
gyro_Kd, gyro_Kd0,
speed_Kp, speed_Kp,
speed_Ki, speed_Ki,
speed_Kd, speed_Kd,
pos_Kp, pos_Kp0,
pos_Ki, pos_Ki0,
pos_Kd, pos_Kd0,
param_set_speed, param_set_speed0,
Page2_head, Page2_head,
angle_Kp1 = Page2_head,
angle_Ki1,
angle_Kd1,
gyro_Kp1,
gyro_Ki1,
gyro_Kd1,
pos_Kp1,
pos_Ki1,
pos_Kd1,
param_set_speed1,
DATA_IN_FLASH_NUM, DATA_IN_FLASH_NUM,
delta_x, delta_x,
@@ -50,7 +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 {

10
app/main.c
View File

@@ -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];
@@ -59,7 +59,7 @@ int main(void)
pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器 pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器
printf("ok\r\n"); bt_printf("ok\r\n");
while (1) { while (1) {
// printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g); // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
@@ -69,5 +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].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;
} }
} }

3
app/page/page.c
View File

@@ -125,7 +125,8 @@ void Page_Init(void)
{ {
PAGE_REG(page_menu); PAGE_REG(page_menu);
// PAGE_REG(page_rtcam); // PAGE_REG(page_rtcam);
PAGE_REG(page_param); PAGE_REG(page_param_pid0);
PAGE_REG(page_param_pid1);
// PAGE_REG(page_argv); // PAGE_REG(page_argv);
// PAGE_REG(page_sys); // PAGE_REG(page_sys);
// PAGE_REG(page_run); // PAGE_REG(page_run);

3
app/page/page.h
View File

@@ -20,7 +20,8 @@ enum PageID {
//...... //......
page_menu, page_menu,
//page_rtcam, //page_rtcam,
page_param, page_param_pid0,
page_param_pid1,
page_dparam, page_dparam,
// page_argv, // page_argv,
// page_sys, // page_sys,

13
app/page/page_dparam.c
View File

@@ -42,6 +42,10 @@ static void Exit()
*/ */
static void Loop() static void Loop()
{ {
ips200_show_string(0, 0, "sta:");
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");
@@ -56,6 +60,15 @@ static void Loop()
ips200_show_float(80, 140, out_gyro, 4, 1); ips200_show_float(80, 140, out_gyro, 4, 1);
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_float(80, 180, pwm_duty_ls, 4, 1);
// ips200_show_string(0, 200, "rs");
// ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
// ips200_show_string(0, 220, "lb");
// ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
// ips200_show_string(100, 0, "rb");
// ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
} }
/** /**
* @brief 页面事件 * @brief 页面事件

17
app/page/page_param.c → app/page/page_param_pid0.c
View File

@@ -5,13 +5,13 @@
#include <math.h> #include <math.h>
#define LINE_HEAD 0 #define LINE_HEAD 0
#define LINE_END DATA_NUM - 2 #define LINE_END Page2_head - 1
static char Text[] = "RealTime Param"; static char Text[] = "Param_pid0";
int event_flag = 0; static int event_flag = 0;
int32_t index_power = 0; static int index_power = 0;
static int8_t Curser = LINE_HEAD; // 定义光标位置 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 int8_t Curser_Last = LINE_HEAD; // 定义光标位置
void jj_param_show(); static void jj_param_show();
/*************************************************************************************** /***************************************************************************************
* *
* 以下为页面模板函数 * 以下为页面模板函数
@@ -26,7 +26,7 @@ static void Setup()
{ {
ips200_clear(); ips200_clear();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < DATA_IN_FLASH_NUM - 1; i++) { for (int16 i = 0; i <= LINE_END; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i].text); ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
if (Param_Data[i].type == EINT32) 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 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
@@ -34,7 +34,6 @@ static void Setup()
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5); ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} }
/** /**
@@ -116,7 +115,7 @@ static void Event(page_event event)
jj_param_show(); jj_param_show();
} }
} }
void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser].type) if (EINT32 == Param_Data[Curser].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5); ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
@@ -130,7 +129,7 @@ void jj_param_show()
* *
* @param pageID * @param pageID
*/ */
void PageRegister_page_param(unsigned char pageID) void PageRegister_page_param_pid0(unsigned char pageID)
{ {
Page_Register(pageID, Text, Setup, Loop, Exit, Event); Page_Register(pageID, Text, Setup, Loop, Exit, Event);
} }

135
app/page/page_param_pid1.c Normal file
View File

@@ -0,0 +1,135 @@
#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_IN_FLASH_NUM - 1 - Page2_head
static char Text[] = "Param_pid1";
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();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < 10; 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);
}
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 + 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;
}
} 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;
}
} 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 + 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);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_param_pid1(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}