btl143/QD4C-firmware
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Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

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This commit is contained in:
bmy
2024-03-11 19:35:02 +08:00
parent 6a6be1469b 14441fb25f
commit 681b47736c
8 changed files with 135 additions and 33 deletions
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5
app/by_frame.c
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@@ -49,7 +49,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
uint16_t crc_cal = 0;
uint32_t read_length = 50;
if (fifo_used(&frame_fifo) >= 12) {
if (fifo_used(&frame_fifo) >= 4 + 4 * data_num) {
fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN);
while (1) {
if (cnt_ptr < 50) {
@@ -88,8 +88,9 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array)
if (!cnt_crc) {
if (crc_cal == crc16_check(data_array_temp, 2 + data_num * sizeof(uint32_t))) {
memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t));
fifo_clear(&frame_fifo); // TODO 确认是否有必要清除
// lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞
memset(data_array_temp, 0, sizeof(data_array_temp));
// printf("parsed done!\r\n");
for (uint8_t i = 0; i < data_num; i++) {
for (uint8_t j = 0; j < 4; j++) {
uart_write_byte(DEBUG_UART_INDEX, data_array[i] >> (j * 8));

2
app/jj_blueteeth.c
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@@ -6,7 +6,7 @@ uint8 bt_buffer; // 接收字符存入
uint32_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0;
uint32_t bt_fly = 0;
uint32_t bt_fly = 500;
enum bt_order {
Fly_ctrl = 0x01, // 起飞转换
Fly_up = 0x02, // 起飞程度增加

42
app/jj_motion.c
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@@ -39,7 +39,7 @@ float out_speed;
float set_speed = 0.0f;
int cnt1 = 0;
int cnt2 = 0;
float sport_get_speed(void)
{
#define ALPHA (0.97f)
@@ -60,6 +60,7 @@ void sport_motion(void)
{
cnt1++;
cnt2++;
imu660ra_get_gyro();
in_gyro = imu660ra_gyro_z; // 陀螺仪输入
// in_angle = 0; // 图像远端输入
@@ -68,27 +69,40 @@ void sport_motion(void)
PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) {
PID_Compute(&far_angle_pid);
PID_Compute(&speed_pid);
// in_speed = -encoder_get_count(TIM5_ENCOEDER); // 速度输入，m/s
in_speed = sport_get_speed();
in_speed = -sport_get_speed();
// printf("rate:%d\r\n", (int16_t)in_speed);
PID_Compute(&near_pos_pid);
cnt1 = 0;
}
if (cnt2 >= 20) {
cnt2 = 0;
PID_Compute(&far_angle_pid);
}
if (bt_run_flag == 1) {
by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
(int32_t)(500 - out_pos - out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
if (out_gyro > 0) {
by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
(int32_t)(500 + 1 * out_pos - 0 * out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
} else if (out_gyro <= 0) {
by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
(int32_t)(500 + 1 * out_pos - 0 * out_gyro),
(int32_t)(500 + out_speed + out_gyro),
(int32_t)(500 + out_speed - out_gyro));
}
// by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
} else {
by_pwm_power_duty(500, 500, 500, 500);
}
if (bt_fly_flag == 0) {
bt_fly = 0;
by_pwm_update_duty(0 + 500, 0 + 500);
} else {
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
}
/**
@@ -98,7 +112,7 @@ void sport_motion(void)
void sport_pid_init()
{
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 1);
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 1, 1);
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
PID_Init(&far_angle_pid);
PID_Init(&far_gyro_pid);
@@ -109,13 +123,13 @@ void sport_pid_init()
PID_SetMode(&far_gyro_pid, 1);
PID_SetMode(&far_angle_pid, 1);
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 0, 0);
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 1, 0);
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0);
PID_Init(&near_pos_pid);
PID_Init(&speed_pid);
PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
PID_SetOutputLimits(&speed_pid, -400.0f, 400.0f);
PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);
PID_SetMode(&near_pos_pid, 1);
PID_SetMode(&speed_pid, 1);

6
app/jj_param.c
View File

@@ -21,9 +21,9 @@ void jj_param_eeprom_init(void)
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:");
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "im_P:"); // 注冊
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "im_I:"); // 注冊
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "im_D:");
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "gy_P:"); // 注冊
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "gy_I:"); // 注冊
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "gy_D:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊

9
app/main.c
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@@ -63,18 +63,9 @@ int main(void)
while (1) {
Page_Run();
by_frame_parse(2, &test_data[0].u32);
// uart_write_byte(UART_8, 0x1F);
by_buzzer_run();
jj_bt_run();
in_pos = test_data[1].f32;
in_angle = test_data[0].f32;
ips200_show_float(40, 40, test_data[0].f32, 4, 1);
ips200_show_float(40, 60, test_data[1].f32, 4, 1);
ips200_show_float(40, 80, in_gyro, 4, 2);
ips200_show_float(40, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang");
ips200_show_float(80, 120, out_angle, 4, 1);
ips200_show_string(0, 140, "outgyr");
ips200_show_float(80, 140, out_gyro, 4, 1);
}
}

6
app/page/page.c
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@@ -90,7 +90,7 @@ uint8_t Page_GetStatus(void)
void Page_Run(void)
{
uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态
if(temp_status){
if (temp_status) {
pagelist[now_page].EventCallback(temp_status);
}
@@ -124,12 +124,12 @@ void Page_Run(void)
void Page_Init(void)
{
PAGE_REG(page_menu);
// PAGE_REG(page_rtcam);
// PAGE_REG(page_rtcam);
PAGE_REG(page_param);
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);
PAGE_REG(page_dparam);
Page_Shift(page_menu);
pagelist[now_page].SetupCallback(); // 先构建一遍

1
app/page/page.h
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@@ -21,6 +21,7 @@ enum PageID {
page_menu,
//page_rtcam,
page_param,
page_dparam,
// page_argv,
// page_sys,
// page_run,

95
app/page/page_dparam.c Normal file
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@@ -0,0 +1,95 @@
#include "jj_param.h"
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"
#include <math.h>
#define LINE_HEAD 0
#define LINE_END DATA_NUM - 2
static char Text[] = "dParam";
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
/***************************************************************************************
*
* 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);
}
/**
* @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()
{
ips200_show_string(0, 40, "far");
ips200_show_float(80, 40, in_angle, 4, 1);
ips200_show_string(0, 60, "near");
ips200_show_float(80, 60, in_pos, 4, 1);
ips200_show_string(0, 80, "gyrz");
ips200_show_float(80, 80, in_gyro, 4, 2);
ips200_show_string(0, 100, "speed");
ips200_show_float(80, 100, in_speed, 4, 4);
ips200_show_string(0, 120, "outang");
ips200_show_float(80, 120, out_angle, 4, 1);
ips200_show_string(0, 140, "outgyr");
ips200_show_float(80, 140, out_gyro, 4, 1);
ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1);
}
/**
* @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) {
sport_pid_init();
} 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_dparam(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}