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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

32
app/jj_blueteeth.c
View File

@@ -11,8 +11,8 @@ 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]);
}
}

1
app/jj_blueteeth.h
View File

@@ -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;

69
app/jj_motion.c
View File

@@ -93,7 +93,7 @@ float set_speed3 = 666.f;
float set_speed4 = 720.f;
int cnt1 = 0;
int cnt2 = 0;
int cnt3 = 0; //
int cnt3 = 0;
int cnt4 = 0; //
int cnt5 = 0;
int cnt6 = 0; //
@@ -102,7 +102,7 @@ int cnt8 = 0;
int cnt9 = 0; //
int cnt10 = 0; //
int if_start = 0;
float shock_stop = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint8_t last_state = 0;
@@ -115,8 +115,10 @@ int32_t stop_cnt = 0;
int32_t last_lb = 0;
int32_t last_rb = 0;
float start_dis = 0;
int32_t game_over_flag = 0; // 任务结束
uint8_t go_flag = 0;
uint8_t go_cnt = 0;//0 停车 1 测试侧向风扇 2 启动 3成功运行
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
if (imu660ra_acc_z <= 800) {
// 抖动停车，计次50
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) {
@@ -278,30 +285,28 @@ void sport_motion()
by_pwm_power_duty(0, 0, 0, 0);
}
///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
if (bt_fly_flag == 0) {
if (game_over_flag == 0) {
by_pwm_update_duty(500, 500);
} else {
by_pwm_update_duty(700, 700);
}
} else {
if (in_state == 1) {
by_pwm_update_duty(bt_fly + 500 + in_pos, bt_fly + 500 + in_pos);
} else {
if (bt_fly_flag == 1) {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
// 防止起步拉满
if (bt_run_flag == 0&&go_flag==1) {
if (bt_run_flag == 0) {
// 测试状态
if (go_cnt == 1) {
by_pwm_power_duty(550, 550, 3000, 3000);
}
else if(bt_run_flag == 0&&go_flag==2)
{
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 {
by_pwm_update_duty(500, 500);
}
}
/**
* @brief 结构体初始化

7
app/jj_motion.h
View File

@@ -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

4
app/jj_param.c
View File

@@ -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
}
/**

8
app/jj_param.h
View File

@@ -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,

2
app/main.c
View File

@@ -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);

2
app/page/page.c
View File

@@ -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

3
app/page/page.h
View File

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

2
app/page/page_dparam.c
View File

@@ -64,6 +64,8 @@ static void Loop()
ips200_show_float(80, 180, (float)now_vol, 4, 2);
ips200_show_string(0, 200, "setsp");
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);

120
app/page/page_gocar.c Normal file
View File

@@ -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);
}

27
app/page/page_menu.c
View File

@@ -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) {

2
app/page/page_param_pid3.c
View File

@@ -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;

137
app/page/page_stopcar.c Normal file
View File

@@ -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);
}