btl143/QD4C-firmware
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feat:

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增加发车和停车菜单
增加停车相关条件开关功能
pref:
弯道速度控制一次函数->二次函数
删除图像下发无意义的0状态
fix:
修复下位机多次复位才能触发上位机复位
This commit is contained in:
井明江
2024-08-12 18:08:46 +08:00
parent 92eaf372ff
commit 06004e9e0b
14 changed files with 378 additions and 110 deletions
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38
app/jj_blueteeth.c
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@@ -4,15 +4,15 @@
bool bt_rx_flag = false;
uint8_t bt_buffer; // 接收字符存入
uint8_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0;
float bt_fly = 160.f;
uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0;
float bt_fly = 160.f;
enum bt_order {
Fly_ctrl = 0x01, // 起飞转换
Fly_up = 0x02, // 起飞程度增加
Fly_dowm = 0x03, // 起飞程度减小
Speed_up = 0x04, // 加速
Speed_down = 0x05, // 减速
fly_close = 0x04, // 加速
run_close = 0x05, // 全关
Speed_ctrl = 0x06, // 速度开关
Reset,
};
@@ -34,10 +34,21 @@ void jj_bt_run()
if (bt_rx_flag) {
switch (bt_buffer) {
case Fly_ctrl:
bt_fly_flag = !bt_fly_flag;
if (go_cnt == 0) {
go_cnt = 1;
bt_fly_flag = 1;
}
else if (go_cnt == 1) {
go_cnt = 0;
}
break;
case Speed_ctrl:
bt_run_flag = !bt_run_flag;
if (go_cnt == 1) {
go_cnt = 2;
}
break;
case Fly_up:
bt_fly += 10;
@@ -45,11 +56,13 @@ void jj_bt_run()
case Fly_dowm:
bt_fly -= 10;
break;
case Speed_up:
bt_run += 50;
case run_close:
bt_run_flag = 0;
go_cnt = 0;
break;
case Speed_down:
bt_run -= 50;
case fly_close:
bt_fly_flag = 0;
go_cnt = 0;
break;
case Reset:
NVIC_SystemReset();
@@ -70,8 +83,7 @@ void bt_printf(const char *format, ...)
va_end(args);
for (uint16_t i = 0; i < strlen(sbuf); i++) {
while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_7], USART_FLAG_TC) == RESET)
;
while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_7], USART_FLAG_TC) == RESET);
USART_SendData((USART_TypeDef *)uart_index[UART_7], sbuf[i]);
}
}