From 55cc6b31f33cd2b92e332fc0be40221fd25611ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Thu, 23 May 2024 15:53:21 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E4=B8=8B=E4=BD=8D=E6=9C=BA=E5=8F=91?= =?UTF-8?q?=E8=BD=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_fan_control.c | 24 ++--- app/by_frame.c | 2 +- app/jj_motion.c | 187 ++++++++++++++++++++----------------- app/jj_motion.h | 5 +- app/jj_param.c | 6 +- app/jj_param.h | 3 + app/page/page_menu.c | 27 +++++- app/page/page_param_pid1.c | 2 +- 8 files changed, 150 insertions(+), 106 deletions(-) diff --git a/app/by_fan_control.c b/app/by_fan_control.c index 77612e4..cd34668 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -122,10 +122,10 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) */ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb) { - bpwm_duty_ls = clip_s32(bpwm_duty_ls, 0, 5000); - bpwm_duty_rs = clip_s32(bpwm_duty_rs, 0, 5000); - bpwm_duty_lb = clip_s32(bpwm_duty_lb, -3000, 8000); - bpwm_duty_rb = clip_s32(bpwm_duty_rb, -3000, 8000); + // bpwm_duty_ls = clip_s32(bpwm_duty_ls, 0, 5000); + // bpwm_duty_rs = clip_s32(bpwm_duty_rs, 0, 5000); + // bpwm_duty_lb = clip_s32(bpwm_duty_lb, -3000, 8000); + // bpwm_duty_rb = clip_s32(bpwm_duty_rb, -3000, 8000); // pwm_duty_ls_g = pwm_duty_ls; // pwm_duty_rs_g = pwm_duty_rs; @@ -136,19 +136,19 @@ void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_ pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls); pwm_set_duty(FAN_LS_PWM_B_PIN, 0); } - // else { - // pwm_set_duty(FAN_LS_PWM_A_PIN, 0); - // pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls); - // } + else { + pwm_set_duty(FAN_LS_PWM_A_PIN, 0); + pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls); + } if (bpwm_duty_rs >= 0) { pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs); pwm_set_duty(FAN_RS_PWM_B_PIN, 0); } - // else { - // pwm_set_duty(FAN_RS_PWM_A_PIN, 0); - // pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs); - // } + else { + pwm_set_duty(FAN_RS_PWM_A_PIN, 0); + pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs); + } if (bpwm_duty_lb >= 0) { pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb); diff --git a/app/by_frame.c b/app/by_frame.c index 6e399ef..5947e8d 100644 --- a/app/by_frame.c +++ b/app/by_frame.c @@ -19,7 +19,7 @@ void by_frame_init(void) uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE); } -void by_frame_send(uint32_t *data_array) +void by_frame_send(uint32_t* data_array) { uint16_t crc_cal = 0; const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t); diff --git a/app/jj_motion.c b/app/jj_motion.c index fad0e00..3e47862 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -8,49 +8,58 @@ #include "by_imu.h" PID_TypeDef far_angle_pid; +PID_TypeDef angle_pid; PID_TypeDef far_gyro_pid; PID_TypeDef near_pos_pid; PID_TypeDef speed_pid; -float an_Kp0 = 80.0f; -float an_Ki0 = 1.4f; -float an_Kd0 = 8.0f; +float an_Kp0 = 45.0f; +float an_Ki0 = 0.0f; +float an_Kd0 = 0.0f; -float an_Kp1 = 80.0f; -float an_Ki1 = 1.4f; -float an_Kd1 = 8.0f; +float an_Kp1 = 45.0f; +float an_Ki1 = 0.0f; +float an_Kd1 = 0.0f; float in_angle; float set_angle = 0.0f; float out_angle; -float gy_Kp0 = 2.0f; -float gy_Ki0 = 0.0f; -float gy_Kd0 = 0.3f; +float cn_Kp1 = 45.0f; +float cn_Ki1 = 0.f; +float cn_Kd1 = 0.0f; -float gy_Kp1 = 2.0f; +float out_cangle; + +float gy_Kp0 = 4.0f; +float gy_Ki0 = 0.0f; +float gy_Kd0 = 0.0f; + +float gy_Kp1 = 4.0f; float gy_Ki1 = 0.0f; -float gy_Kd1 = 0.3f; +float gy_Kd1 = 0.0f; float in_gyro; float out_gyro; // float set_gyro = 0.0f; -float po_Kp0 = 827.0f; -float po_Ki0 = 16.0f; -float po_Kd0 = 13.0f; +float po_Kp0 = 0.0f; +float po_Ki0 = 0.0f; +float po_Kd0 = 0.0f; -float po_Kp1 = 500.0f; +float po_Kp1 = 200.0f; float po_Ki1 = 2.0f; -float po_Kd1 = 1.0f; +float po_Kd1 = 0.0f; float in_pos; float out_pos; float set_pos = 0.0f; -float sp_Kp = 19.0f; -float sp_Ki = 0.5f; +float sp_Kp = 16.0f; +float sp_Ki = 10.f; float sp_Kd = 0.0f; float in_speed; float out_speed; +float temp_data = 0; +float set_speed = 100.0f; float set_speed0 = 200.0f; float set_speed1 = 300.0f; int cnt1 = 0; @@ -89,54 +98,43 @@ float sport_get_speed(void) void sport_motion(void) { - float temp; - float tt; - if (in_state == 1) { - temp = 2.5f;//fabs(tanf(myclip_f(in_angle, -45, 45)/ 180 * PI)); - tt = myclip_f(fabs(in_angle), 0, 50.f); - } else { - temp = 1.f; - tt = 0; - } - imu660ra_get_gyro(); - in_gyro = imu660ra_gyro_z * 0.8f + in_gyro * 0.2f; // 陀螺仪输入 + imu660ra_get_gyro(); + in_gyro = imu660ra_gyro_z; + // 停车 if (1 == in_stop) { bt_fly_flag = bt_run_flag = 0; } - // pid参数切换 - if (last_state == 1 && (in_state == 2 || in_state == 0)) { // 直道 - cnt3_flag = 0; - cnt3 = 0; - bt_printf("to 0"); - PID_SetTunings(&far_angle_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); - // PID_SetPoints(&speed_pid, &set_speed1); - } - if (last_state != 1 && in_state == 1) { // 弯道 - bt_printf("to 1"); - cnt3_flag = 1; - PID_SetTunings(&far_angle_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); - // PID_SetPoints(&speed_pid, &set_speed0); - } - last_state = in_state; - if (cnt3_flag == 1 && in_state == 1) { - cnt3++; - if (cnt3 >= 200) // 200ms - { - bt_printf("to 2"); - cnt3_flag = 2; - cnt3 = 0; - } - } /* 动力风扇设置 */ if (1 == bt_run_flag) { cnt1++; cnt2++; - + // pid参数切换 + if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 + cnt3_flag = 0; + cnt3 = 0; + bt_printf("to 0"); + set_speed = set_speed1; + PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1); + PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1); + } + if ((last_state != in_state) && (in_state == 1 || in_state == 3)) { // 弯道 + bt_printf("to 1"); + set_speed = set_speed0; + cnt3_flag = 1; + PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0); + PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0); + } + last_state = in_state; + if (cnt3_flag == 1 && in_state == 1) { + cnt3++; + if (cnt3 >= 500) // 200ms + { + bt_printf("to 2"); + cnt3_flag = 2; + cnt3 = 0; + } + } PID_Compute(&far_gyro_pid); PID_Compute(&near_pos_pid); if (cnt1 >= 10) { @@ -147,36 +145,48 @@ void sport_motion(void) if (cnt2 >= 20) { cnt2 = 0; PID_Compute(&far_angle_pid); + PID_Compute(&angle_pid); } + if (in_state == 0 || in_state == 2) { + pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f); + pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f); + pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); + } else if (in_state == 1) { - pwm_duty_ls = (int32_t)myclip_f(-1.5f * out_pos + temp * out_gyro, 0.0f, 6000.f); - pwm_duty_rs = (int32_t)myclip_f(1.5f * out_pos - temp * out_gyro, 0.0f, 6000.f); - pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); - pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); + pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f); + pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f); + pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); + + } else if (in_state == 3) { + if (out_gyro > 0) { + pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f); + pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f); + pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f); + } else { + pwm_duty_ls = (int32_t)myclip_f(-out_cangle, -7000.0f, 7000.f); + pwm_duty_rs = (int32_t)myclip_f(out_cangle, -7000.0f, 7000.f); + pwm_duty_lb = (int32_t)myclip_f(out_speed, 0.0f, 6000.f); + pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f); + } + } by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb); } else { by_pwm_power_duty(0, 0, 0, 0); } - /* 升力风扇设置 */ if (bt_fly_flag == 0) { by_pwm_update_duty(0 + 500, 0 + 500); } else { + if (in_state == 1 && cnt3_flag == 1) { + float tt = 150 * fabs(tanf(myclip_f(in_angle, -45.f, 45.f) / 180 * PI)); + by_pwm_update_duty(bt_fly + 500-tt, bt_fly + 500-tt); - if (cnt3_flag == 2) // 超时 - { - if (in_angle > 0) { - by_pwm_update_duty(bt_fly + 500 - 1.f * tt, bt_fly + 500 - 0.5f * tt); - } else { - by_pwm_update_duty(bt_fly + 500 - 0.5f * tt, bt_fly + 500 - 1.f * tt); - } } else { - if (in_angle > 0) { - by_pwm_update_duty(bt_fly + 500 - 3.f * tt, bt_fly + 500 - 1.f * tt); - } else { - by_pwm_update_duty(bt_fly + 500 - 1.f * tt, bt_fly + 500 - 3.f * tt); - } + by_pwm_update_duty(bt_fly + 500, bt_fly + 500); } } } @@ -188,30 +198,33 @@ void sport_motion(void) void sport_pid_init() { /* 角度控制 */ - PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_M, _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_SetSampleTime(&far_angle_pid, 20); + PID_SetSampleTime(&far_angle_pid, 10); PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); - // PID_Init(&far_angle_pid); + + PID(&angle_pid, &in_angle, &out_cangle, &set_angle, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); + PID_SetMode(&angle_pid, _PID_MODE_AUTOMATIC); + PID_SetSampleTime(&angle_pid, 10); + PID_SetOutputLimits(&angle_pid, -6000.0f, 6000.0f); /* 角速度控制 */ - PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_M, _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); // m是增量 PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); - PID_SetSampleTime(&far_gyro_pid, 1); - PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f); - // PID_Init(&far_gyro_pid); + PID_SetSampleTime(&far_gyro_pid, 10); + PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f); /* 近点控制 */ - PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_DIRECT); + PID(&near_pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC); - PID_SetSampleTime(&near_pos_pid, 1); - PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f); + PID_SetSampleTime(&near_pos_pid, 10); + PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f); // PID_Init(&near_pos_pid); /* 速度控制 */ - PID(&speed_pid, &in_speed, &out_speed, &set_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT); + PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&speed_pid, 10); - PID_SetOutputLimits(&speed_pid, -2500.0f, 3000.0f); + PID_SetOutputLimits(&speed_pid, -4000.0f, 6000.0f); // PID_Init(&speed_pid); } diff --git a/app/jj_motion.h b/app/jj_motion.h index 6a9d619..dd489ad 100644 --- a/app/jj_motion.h +++ b/app/jj_motion.h @@ -12,7 +12,9 @@ extern float an_Kd1; extern float in_angle; extern float set_angle; extern float out_angle; - +extern float cn_Kp1; +extern float cn_Ki1; +extern float cn_Kd1; extern float gy_Kp1; extern float gy_Ki1; extern float gy_Kd1; @@ -40,6 +42,7 @@ extern float in_speed; extern float out_speed; extern float set_speed0; extern float set_speed1; +extern float set_speed ; extern uint32_t pwm_duty_ls; extern uint32_t pwm_duty_rs; extern uint32_t pwm_duty_lb; diff --git a/app/jj_param.c b/app/jj_param.c index 35ec678..f209dff 100644 --- a/app/jj_param.c +++ b/app/jj_param.c @@ -46,9 +46,13 @@ void jj_param_eeprom_init(void) 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(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊 + PARAM_REG(can_Ki1, &cn_Ki1, EFLOAT, 1, "cn_I1:"); // 注冊 + PARAM_REG(can_Kd1, &cn_Kd1, EFLOAT, 1, "cn_D1:"); PARAM_REG(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:"); jj_param_read(); // 注冊 + set_speed=set_speed1; } /** * @brief 参数写入 diff --git a/app/jj_param.h b/app/jj_param.h index e8f1a9a..ffd5c8a 100644 --- a/app/jj_param.h +++ b/app/jj_param.h @@ -42,6 +42,9 @@ typedef enum { pos_Kp1, pos_Ki1, pos_Kd1, + can_Kp1, + can_Ki1, + can_Kd1, param_set_speed1, DATA_IN_FLASH_NUM, diff --git a/app/page/page_menu.c b/app/page/page_menu.c index 8605e47..248793d 100644 --- a/app/page/page_menu.c +++ b/app/page/page_menu.c @@ -1,14 +1,18 @@ #include "zf_common_headfile.h" #include "page_ui_widget.h" #include "page.h" +#include "by_frame.h" +#include "jj_blueteeth.h" #define LINE_HEAD 1 -#define LINE_END 7 +#define LINE_END 5 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[1]; static void Print_Menu_p(void); /*************************************************************************************** * @@ -25,7 +29,8 @@ static void Setup() { ips200_clear(); Print_Menu_p(); - Print_Curser(Curser, Curser_Last,RGB565_PURPLE); + Print_Curser(Curser, Curser_Last, RGB565_PURPLE); + reset[0]=0x01; } /** @@ -64,6 +69,22 @@ static void Event(page_event event) if (page_max > Curser && page_menu < Curser) { Page_Shift(Curser); // 切换到光标选中的页面 } + } else if (page_event_press_long == event) { + if(cnt==0) + { + by_frame_send(reset); + cnt=1; + } + else if(cnt==1) + { + cnt=2; + bt_fly_flag=1; + }else if(cnt==2) + { + cnt=0; + bt_run_flag=1; + } + } if (Curser < LINE_HEAD) { @@ -72,7 +93,7 @@ static void Event(page_event event) Curser = LINE_HEAD; } - Print_Curser(Curser, Curser_Last,RGB565_PURPLE); + Print_Curser(Curser, Curser_Last, RGB565_PURPLE); } /** diff --git a/app/page/page_param_pid1.c b/app/page/page_param_pid1.c index 786a0c4..769febd 100644 --- a/app/page/page_param_pid1.c +++ b/app/page/page_param_pid1.c @@ -26,7 +26,7 @@ static void Setup() { ips200_clear(); Print_Curser(Curser, Curser_Last, RGB565_PURPLE); - for (int16 i = 0; i < 10; i++) { + for (int16 i = 0; i < 13; 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);