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feat: 增加分段pid

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This commit is contained in:
井明江
2024-03-28 04:24:59 +08:00
parent 99c582c53e
commit 8020561175
11 changed files with 278 additions and 73 deletions
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3
app/page/page.c
View File

@@ -125,7 +125,8 @@ void Page_Init(void)
{
PAGE_REG(page_menu);
// PAGE_REG(page_rtcam);
PAGE_REG(page_param);
PAGE_REG(page_param_pid0);
PAGE_REG(page_param_pid1);
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);

3
app/page/page.h
View File

@@ -20,7 +20,8 @@ enum PageID {
//......
page_menu,
//page_rtcam,
page_param,
page_param_pid0,
page_param_pid1,
page_dparam,
// page_argv,
// page_sys,

9
app/page/page_dparam.c
View File

@@ -56,6 +56,15 @@ static void Loop()
ips200_show_float(80, 140, out_gyro, 4, 1);
ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1);
ips200_show_string(0, 180, "ls");
ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
ips200_show_string(0, 200, "rs");
ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
ips200_show_string(0, 220, "lb");
ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
ips200_show_string(100, 0, "rb");
ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
}
/**
* @brief 页面事件

16
app/page/page_param.c → app/page/page_param_pid0.c
View File

@@ -5,13 +5,13 @@
#include <math.h>
#define LINE_HEAD 0
#define LINE_END DATA_NUM - 2
static char Text[] = "RealTime Param";
int event_flag = 0;
int32_t index_power = 0;
#define LINE_END Page2_head - 1
static char Text[] = "Param_pid0";
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
void jj_param_show();
static void jj_param_show();
/***************************************************************************************
*
* 以下为页面模板函数
@@ -26,7 +26,7 @@ static void Setup()
{
ips200_clear();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < DATA_IN_FLASH_NUM - 1; i++) {
for (int16 i = LINE_HEAD; i < LINE_END; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
@@ -116,7 +116,7 @@ static void Event(page_event event)
jj_param_show();
}
}
void jj_param_show()
static void jj_param_show()
{
if (EINT32 == Param_Data[Curser].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
@@ -130,7 +130,7 @@ void jj_param_show()
*
* @param pageID
*/
void PageRegister_page_param(unsigned char pageID)
void PageRegister_page_param_pid0(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}

136
app/page/page_param_pid1.c Normal file
View File

@@ -0,0 +1,136 @@
#include "jj_param.h"
#include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h"
#include <math.h>
#define LINE_HEAD Page2_head
#define LINE_END DATA_IN_FLASH_NUM
static char Text[] = "Param_pid1";
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();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i <= DATA_IN_FLASH_NUM - Page2_head; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i+Page2_head].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i+Page2_head].p_data)), 5);
else if (Param_Data[i].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i+Page2_head].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].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f,(float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) += 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) += 1;
}
} else if (page_event_backward == event) {
if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) -=powf(10.0f,(float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) -= 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].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+Page2_head].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser+Page2_head].p_data)), 5);
else if (EUINT32 == Param_Data[Curser+Page2_head].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser+Page2_head].p_data)), 5);
else if (EFLOAT == Param_Data[Curser+Page2_head].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser+Page2_head].p_data)), 4, 5);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_param_pid1(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}