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

feat:

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

18
app/jj_param.c
View File

@@ -17,9 +17,9 @@ 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_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:");
PARAM_REG(gyro_Kp0, &gy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
@@ -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:");
@@ -63,7 +63,7 @@ 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_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:");
@@ -76,8 +76,10 @@ void jj_param_eeprom_init(void)
PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");
PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");
PARAM_REG(shock, &shock_stop, EFLOAT, 1, "shock:");
PARAM_REG(bug_stop, &bug_sw, EFLOAT, 1, "bug:"); // 注冊
PARAM_REG(out_stop, &out_sw, EFLOAT, 1, "out:"); // 注冊
PARAM_REG(shock_stop, &sho_sw, EFLOAT, 1, "shock:");
jj_param_read(); // 注冊
}
/**