feat:

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

app/jj_blueteeth.c

@@ -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;
+uint8_t bt_fly_flag = 0;
-uint32_t bt_run      = 0;
+uint32_t bt_run     = 0;
-float bt_fly      = 160.f;
+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
+    fly_close  = 0x04, // 加速
-    Speed_down = 0x05, // 减速
+    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:
+            case run_close:
-                bt_run += 50;
+                bt_run_flag = 0;
+                go_cnt      = 0;
                 break;
-            case Speed_down:
+            case fly_close:
-                bt_run -= 50;
+                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]);
     }
 }

app/jj_blueteeth.h

@@ -13,6 +13,7 @@ extern bool bt_rx_flag;
 extern uint8_t bt_buffer; // 接收字符存入
 extern uint8_t bt_run_flag;
 extern uint8_t bt_fly_flag;
+extern uint8_t bt_ce_flag;
 extern uint32_t bt_run;
 extern float bt_fly;
 

app/jj_motion.c

@@ -86,23 +86,23 @@ float in_speed;
 float out_speed;
 float last_angle;
 float set_speed;
-float set_speed0   = 657.0f;
+float set_speed0 = 657.0f;
-float set_speed1   = 1111.0f;
+float set_speed1 = 1111.0f;
-float set_speed2   = 815.f;
+float set_speed2 = 815.f;
-float set_speed3   = 666.f;
+float set_speed3 = 666.f;
-float set_speed4   = 720.f;
+float set_speed4 = 720.f;
-int cnt1           = 0;
+int cnt1         = 0;
-int cnt2           = 0;
+int cnt2         = 0;
-int cnt3           = 0; //
+int cnt3         = 0; 
-int cnt4           = 0; //
+int cnt4         = 0; //
-int cnt5           = 0;
+int cnt5         = 0;
-int cnt6           = 0; //
+int cnt6         = 0; //
-int cnt7           = 0;
+int cnt7         = 0;
-int cnt8           = 0;
+int cnt8         = 0;
-int cnt9           = 0; //
+int cnt9         = 0; //
-int cnt10          = 0; //
+int cnt10        = 0; //
-int if_start       = 0;
+int if_start     = 0;
-float shock_stop   = 0;
+
 uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
 uint8_t last_state = 0;
@@ -111,12 +111,14 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-int32_t stop_cnt       = 0;
+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;
-int32_t game_over_flag = 0; // 任务结束
+uint8_t go_cnt   = 0;//0 停车 1 测试侧向风扇 2 启动 3成功运行
-uint8_t go_flag           = 0;
+float bug_sw     = 0;
+float out_sw     = 0;
+float sho_sw     = 0;
 /*
 0:无状态
 1:弯道
@@ -154,33 +156,36 @@ void sport_motion()
     in_gyro = imu660ra_gyro_z;
 
     ////////////////////////////////////////停车任务///////////////////////////////////////////////
-    // 抖动停车
+    // 抖动停车，计次50
-    if (imu660ra_acc_z <= 800) {
+    if (imu660ra_acc_z <= 900) {
         cnt7++;
     } else {
         cnt7 = 0;
     }
-    if (cnt7 >= 50 && ((uint32_t)shock_stop == 1 || (uint32_t)shock_stop == 2)) {
+    if (cnt7 >= 10 && (uint8_t)sho_sw == 1) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("up");
+        go_cnt = 0;
     }
     // 異常值停车
-    if (fabs(in_angle - last_angle) > 45.f && ((uint32_t)shock_stop == 1 || (uint32_t)shock_stop == 3)) {
+    if (fabs(in_angle - last_angle) > 45.f && (uint8_t)bug_sw == 1) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("bug");
+        go_cnt = 0;
     }
-    // 斑马线停车,摄像头识别
+    // 斑马线停车,摄像头识别，屏蔽发车前的十秒钟
     if (1 == in_stop && if_start == 1) {
         stop_flag = 1;
     }
     if (stop_flag == 1) {
         bt_printf("finish");
         bt_fly_flag = bt_run_flag = 0;
-        game_over_flag            = 1;
+        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
-    if (2 == in_stop && start_dis >= 1) {
+    if (2 == in_stop && (start_dis >= 1 || bt_run_flag == 0) && (uint8_t)out_sw == 1) {
         bt_printf("out");
+        go_cnt      = 0;
         bt_fly_flag = bt_run_flag = 0;
     }
 
@@ -189,15 +194,17 @@ void sport_motion()
         cnt1++;
         cnt2++;
         cnt5++;
+        // 斑马线积分,系数随便给的
+        start_dis += in_speed * 0.000001;
         if (if_start == 0) {
             cnt8++;
-            start_dis += in_speed * 0.000001; // 斑马线积分
+
             if (cnt8 >= 5000) {
                 if_start = 1;
             }
         }
         // pid参数切换
-        if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
+        if ((last_state != in_state) && (in_state == 2)) { // 直道
 
             bt_printf("to 直道");
             set_speed = set_speed1;
@@ -232,9 +239,9 @@ void sport_motion()
         }
 
         if (in_state == 1) {
-            set_speed = set_speed0 - fabs(rate_K * myclip_f(in_pos, -100.f, 100.f));
+            set_speed = set_speed0 - fabs(rate_K * powf(myclip_f(in_pos, -50.f, 50.f), 2));
         }
-
+        // 记录上一次状态
         last_state = in_state;
         // pid计算
         if (cnt1 >= 2) {
@@ -278,28 +285,26 @@ void sport_motion()
         by_pwm_power_duty(0, 0, 0, 0);
     }
     ///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
-    if (bt_fly_flag == 0) {
+    if (bt_fly_flag == 1) {
-        if (game_over_flag == 0) {
+        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
-            by_pwm_update_duty(500, 500);
+        if (bt_run_flag == 0) {
-        } else {
+            // 测试状态
-            by_pwm_update_duty(700, 700);
+            if (go_cnt == 1) {
+                by_pwm_power_duty(550, 550, 3000, 3000);
+            }
+            else if (2 == go_cnt) {
+                by_pwm_power_duty(550, 550, 4000, 4000);
+                cnt3++;
+                if(cnt3>=2000)
+                {
+                    bt_run_flag=1;
+                    go_cnt=3;
+                    cnt3=0;
+                }
+            }
         }
-
     } else {
-        if (in_state == 1) {
+        by_pwm_update_duty(500, 500);
-            by_pwm_update_duty(bt_fly + 500 + in_pos, bt_fly + 500 + in_pos);
-        } else {
-            by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
-        }
-
-        // 防止起步拉满
-        if (bt_run_flag == 0&&go_flag==1) {
-            by_pwm_power_duty(550, 550, 3000, 3000);
-        }
-        else if(bt_run_flag == 0&&go_flag==2)
-        {
-            by_pwm_power_duty(550, 550, 4000, 4000);
-        }
     }
 }
 

app/jj_motion.h

@@ -57,17 +57,20 @@ extern float set_speed2;
 extern float set_speed3;
 extern float set_speed;
 extern float set_speed4;
-extern float shock_stop;
 extern float last_angle;
 extern float yuc_Kp;
 extern float rate_K;
+extern float start_dis;
 extern int32_t pwm_duty_ls;
 extern int32_t pwm_duty_rs;
 extern int32_t pwm_duty_lb;
 extern int32_t pwm_duty_rb;
-extern uint8_t go_flag;
+extern uint8_t go_cnt;
 extern uint8_t in_state;
 extern uint8_t in_stop;
+extern float bug_sw;
+extern float out_sw;
+extern float sho_sw;
 void sport_pid_init();
 void sport_motion(void);
 #endif

app/jj_param.c

@@ -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_Kp0, &an_Kp0, EFLOAT, 1, "an_P0:");                                                   // 注冊
-    PARAM_REG(angle_Ki0, &an_Ki0, EFLOAT, 1, "an_I0:"); // 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:");
 
@@ -77,7 +77,9 @@ void jj_param_eeprom_init(void)
 
     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
 }
 /**

app/jj_param.h

@@ -76,9 +76,13 @@ typedef enum {
     zhpo_Ki,
     zhpo_Kd,
 
-    shock,
-
     param_set_speed4,
+
+    Page5_head,
+    bug_stop = Page5_head,
+    shock_stop,
+    out_stop,
+
     DATA_IN_FLASH_NUM,
 
     delta_x,

app/main.c

@@ -45,7 +45,7 @@ int main(void)
     system_delay_init();
     debug_init();
     by_frame_init();
-    for (int i = 0; i < 3; i++) {
+    for (int i = 0; i < 6; i++) {
         by_frame_send(&send_reset);
     }
     encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);

app/page/page.c

@@ -130,6 +130,8 @@ void Page_Init(void)
     PAGE_REG(page_param_pid2);
     PAGE_REG(page_param_pid3);
     PAGE_REG(page_dparam);
+    PAGE_REG(page_gocar);
+    PAGE_REG(page_stopcar);
     Page_Shift(page_menu);
 
     pagelist[now_page].SetupCallback(); // 先构建一遍

app/page/page.h

@@ -25,6 +25,9 @@ enum PageID {
     page_param_pid2,
     page_param_pid3,
     page_dparam,
+    page_stopcar,
+    page_gocar,
+
     // page_argv,
     // page_sys,
     // page_run,

app/page/page_dparam.c

@@ -2,7 +2,7 @@
 #include "page_ui_widget.h"
 #include "jj_motion.h"
 #include "page.h"
-#include"jj_voltage.h"
+#include "jj_voltage.h"
 #include <math.h>
 
 #define LINE_HEAD 0
@@ -61,9 +61,11 @@ static void Loop()
     ips200_show_string(0, 160, "outpos");
     ips200_show_float(80, 160, out_pos, 4, 1);
     ips200_show_string(0, 180, "vol");
-    ips200_show_float(80, 180, (float)now_vol, 4,2);
+    ips200_show_float(80, 180, (float)now_vol, 4, 2);
-      ips200_show_string(0, 200, "setsp");
+    ips200_show_string(0, 200, "setsp");
-    ips200_show_float(80, 200, set_speed, 4,2);
+    ips200_show_float(80, 200, set_speed, 4, 2);
+    ips200_show_string(0, 220, "dis");
+    ips200_show_float(80, 220, start_dis, 4, 2);
 
     ips200_show_string(180, 0, "ls");
     ips200_show_float(220, 0, pwm_duty_ls, 4, 1);

app/page/page_gocar.c

@@ -0,0 +1,120 @@
+#include "zf_common_headfile.h"
+#include "page_ui_widget.h"
+#include "page.h"
+#include "by_frame.h"
+#include "jj_blueteeth.h"
+#include "jj_motion.h"
+
+#define LINE_HEAD 1
+#define LINE_END  6
+
+static char Text[] = "gocar";
+
+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 last_go     = 0;
+static int8_t last_cnt    = 0;
+static int8_t last_fly    = 0;
+/***************************************************************************************
+ *
+ *                                  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);
+    ips200_show_string(10, 200, "go_flag:");
+    ips200_show_int(80, 200, go_cnt, 1);
+    ips200_show_string(10, 180, "ru_flag:");
+    ips200_show_int(80, 180, bt_run_flag, 1);
+    ips200_show_string(10, 160, "fl_flag:");
+    ips200_show_int(80, 160, bt_fly_flag, 1);
+    ips200_show_string(10, 18, "fan_test");
+    ips200_show_string(10, 2 * 18, "run");
+}
+
+/**
+ * @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()
+{
+    if (last_cnt != go_cnt) {
+        ips200_show_int(80, 200, go_cnt, 1);
+    }
+    last_cnt = go_cnt;
+    if (last_go != bt_run_flag) {
+        ips200_show_int(80, 180, bt_run_flag, 1);
+    }
+    last_go = bt_run_flag;
+    if (last_fly != bt_fly_flag) {
+        ips200_show_int(80, 160, bt_fly_flag, 1);
+    }
+    last_fly = bt_fly_flag;
+}
+
+/**
+ * @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)
+{
+    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) {
+        if (go_cnt == 1 && Curser == 1) {
+            go_cnt = 0; // 起步拖动失败。重新开始
+        } else if (go_cnt == 0 && Curser == 1) {
+            go_cnt      = 1;
+            bt_fly_flag = 1;
+        }
+        if (go_cnt == 1 && Curser == 2) {
+            go_cnt = 2;
+        }
+
+    } else if (page_event_press_long == event) {
+        Page_Shift(page_menu);
+    }
+
+    if (Curser < LINE_HEAD) {
+        Curser = LINE_END;
+    } else if (Curser > LINE_END) {
+        Curser = LINE_HEAD;
+    }
+
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_gocar(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}

app/page/page_menu.c

@@ -6,15 +6,13 @@
 #include "jj_motion.h"
 
 #define LINE_HEAD 1
-#define LINE_END  5
+#define LINE_END  7
 
 static char Text[] = "Menu";
 
 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
-uint32_t cnt              = 0;
 
-uint32_t reset[3];
 static void Print_Menu_p(void);
 /***************************************************************************************
  *
@@ -29,10 +27,10 @@ static void Print_Menu_p(void);
  */
 static void Setup()
 {
+
     ips200_clear();
     Print_Menu_p();
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    reset[0] = 0x01;
 }
 
 /**
@@ -51,15 +49,6 @@ static void Exit()
  */
 static void Loop()
 {
-    ips200_show_string(0, 200, "go_flag:");
-    ips200_show_int(180, 200, go_flag, 2);
-    if (go_flag == 1) {
-        bt_fly_flag = 1;
-
-    } else if (go_flag == 2) {
-        system_delay_ms(2000);
-        bt_run_flag = 1;
-    }
 }
 
 /**
@@ -81,18 +70,6 @@ static void Event(page_event event)
             Page_Shift(Curser); // 切换到光标选中的页面
         }
     } else if (page_event_press_long == event) {
-        if (go_flag == 0) {
-            go_flag = 1;
-        } else if (go_flag == 1) {
-            go_flag = 2;
-        }
-
-        // uint32_t temp = 0x5c;
-        // for (int i = 0; i < 3; i++) {
-        //     by_frame_send(&temp);
-        // }
-
-        // ips200_clear();
     }
 
     if (Curser < LINE_HEAD) {

app/page/page_param_pid3.c

@@ -5,7 +5,7 @@
 #include <math.h>
 
 #define LINE_HEAD 1
-#define LINE_END  DATA_IN_FLASH_NUM  - Page4_head
+#define LINE_END  Page5_head  - Page4_head
 #define Strat_param Page4_head
 static char Text[]        = "barr_pid";
 static int event_flag     = 0;

app/page/page_stopcar.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  - Page5_head
+#define Strat_param Page5_head
+static char Text[]        = "stop_sw";
+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_stopcar(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}