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feat:增加圆环参数

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井明江
2024-06-07 21:55:55 +08:00
parent 5dd6ddd802
commit 81f0e13eae
13 changed files with 354 additions and 199 deletions
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36
app/jj_param.c
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@@ -3,6 +3,7 @@
#include "./page/page.h"
#include "zf_common_headfile.h"
#include "jj_motion.h"
#include "jj_blueteeth.h"
PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param;
@@ -25,13 +26,11 @@ void jj_param_eeprom_init(void)
PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
PARAM_REG(gyro_Kd0, &gy_Kd0, EFLOAT, 1, "gy_D0:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
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(pos_Kp0, &po_Kp0, EFLOAT, 1, "po_P0:"); // 注冊
PARAM_REG(pos_Ki0, &po_Ki0, EFLOAT, 1, "po_I0:"); // 注冊
PARAM_REG(pos_Kd0, &po_Kd0, EFLOAT, 1, "po_D0:");
PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:");
@@ -46,13 +45,24 @@ 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:");
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:");
PARAM_REG(yugyro_Kp0, &ygy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
PARAM_REG(yugyro_Ki0, &ygy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
PARAM_REG(yugyro_Kd0, &ygy_Kd0, EFLOAT, 1, "gy_D0:");
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
jj_param_read(); // 注冊
set_speed=set_speed1;
}
/**
* @brief 参数写入
@@ -60,7 +70,7 @@ void jj_param_eeprom_init(void)
*/
void jj_param_write(void)
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
switch (Param_Data[i].type) {
case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
@@ -84,7 +94,7 @@ void jj_param_write(void)
*/
void jj_param_read(void)
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
switch (Param_Data[i].type) {