btl143/QD4C-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix: 分段pid的bug修复

Browse Source
This commit is contained in:
井明江
2024-03-28 19:55:43 +08:00
parent 2b214c4add
commit a9b488bc6e
6 changed files with 43 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
app/jj_blueteeth.c
View File

@@ -2,8 +2,8 @@
#include "jj_motion.h" #include "jj_motion.h"
#include "by_fan_control.h" #include "by_fan_control.h"
bool bt_rx_flag = false; bool bt_rx_flag = false;
uint8 bt_buffer; // 接收字符存入 uint8_t bt_buffer; // 接收字符存入
uint32_t bt_run_flag = 0; uint8_t bt_run_flag = 0;
uint8_t bt_fly_flag = 0; uint8_t bt_fly_flag = 0;
uint32_t bt_run = 0; uint32_t bt_run = 0;
uint32_t bt_fly = 500; uint32_t bt_fly = 500;

4
app/jj_blueteeth.h
View File

@@ -10,8 +10,8 @@
#define BT_UART_RX_PIN UART8_MAP0_RX_C5 #define BT_UART_RX_PIN UART8_MAP0_RX_C5
extern bool bt_rx_flag; extern bool bt_rx_flag;
extern uint8 bt_buffer; // 接收字符存入 extern uint8_t bt_buffer; // 接收字符存入
extern uint32_t bt_run_flag; extern uint8_t bt_run_flag;
extern uint8_t bt_fly_flag; extern uint8_t bt_fly_flag;
extern uint32_t bt_run; extern uint32_t bt_run;
extern uint32_t bt_fly; extern uint32_t bt_fly;

4
app/jj_param.c
View File

@@ -56,7 +56,7 @@ void jj_param_eeprom_init(void)
*/ */
void jj_param_write(void) void jj_param_write(void)
{ {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM - 1; i++) { for (uint8 i = 0; i < DATA_IN_FLASH_NUM ; i++) {
switch (Param_Data[i].type) { switch (Param_Data[i].type) {
case EFLOAT: case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data)); iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
@@ -80,7 +80,7 @@ void jj_param_write(void)
*/ */
void jj_param_read(void) void jj_param_read(void)
{ {
for (uint8 i = 0; i < DATA_IN_FLASH_NUM - 1; 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); eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
switch (Param_Data[i].type) { switch (Param_Data[i].type) {

1
app/jj_param.h
View File

@@ -43,6 +43,7 @@ typedef enum {
pos_Ki1, pos_Ki1,
pos_Kd1, pos_Kd1,
param_set_speed1, param_set_speed1,
DATA_IN_FLASH_NUM, DATA_IN_FLASH_NUM,
delta_x, delta_x,

7
app/page/page_param_pid0.c
View File

@@ -26,7 +26,7 @@ static void Setup()
{ {
ips200_clear(); ips200_clear();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = LINE_HEAD; i < LINE_END; i++) { for (int16 i = 0; i <= LINE_END; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i].text); ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
if (Param_Data[i].type == EINT32) if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5); ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
@@ -34,7 +34,6 @@ static void Setup()
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5); ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} }
/** /**
@@ -89,7 +88,7 @@ static void Event(page_event event)
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser].type == EFLOAT) { if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f,(float)index_power); *((float *)(Param_Data[Curser].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) { } else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) += 1; *((int32 *)(Param_Data[Curser].p_data)) += 1;
} else if (Param_Data[Curser].type == EUINT32) { } else if (Param_Data[Curser].type == EUINT32) {
@@ -97,7 +96,7 @@ static void Event(page_event event)
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser].type == EFLOAT) { if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) -=powf(10.0f,(float)index_power); *((float *)(Param_Data[Curser].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) { } else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) -= 1; *((int32 *)(Param_Data[Curser].p_data)) -= 1;
} else if (Param_Data[Curser].type == EUINT32) { } else if (Param_Data[Curser].type == EUINT32) {

53
app/page/page_param_pid1.c
View File

@@ -4,8 +4,8 @@
#include "page.h" #include "page.h"
#include <math.h> #include <math.h>
#define LINE_HEAD Page2_head #define LINE_HEAD 0
#define LINE_END DATA_IN_FLASH_NUM #define LINE_END DATA_IN_FLASH_NUM - 1 - Page2_head
static char Text[] = "Param_pid1"; static char Text[] = "Param_pid1";
static int event_flag = 0; static int event_flag = 0;
static int index_power = 0; static int index_power = 0;
@@ -26,15 +26,14 @@ static void Setup()
{ {
ips200_clear(); ips200_clear();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i <= DATA_IN_FLASH_NUM - Page2_head; i++) { for (int16 i = 0; i < 10; i++) {
ips200_show_string(0, i * 18 + 2, Param_Data[i+Page2_head].text); ips200_show_string(0, i * 18 + 2, Param_Data[i + 13].text);
if (Param_Data[i].type == EINT32) if (Param_Data[i + 13].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i+Page2_head].p_data)), 5); ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i + 13].p_data)), 5);
else if (Param_Data[i].type == EFLOAT) else if (Param_Data[i + 13].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i+Page2_head].p_data)), 4, 5); ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i + 13].p_data)), 4, 5);
} }
ips200_show_int(100, 2, index_power, 5); ips200_show_int(100, 2, index_power, 5);
} }
/** /**
@@ -88,20 +87,20 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { if (page_event_forward == event) {
if (Param_Data[Curser].type == EFLOAT) { if (Param_Data[Curser + 13].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f,(float)index_power); *((float *)(Param_Data[Curser + 13].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) { } else if (Param_Data[Curser + 13].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) += 1; *((int32 *)(Param_Data[Curser + 13].p_data)) += 1;
} else if (Param_Data[Curser].type == EUINT32) { } else if (Param_Data[Curser + 13].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) += 1; *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) += 1;
} }
} else if (page_event_backward == event) { } else if (page_event_backward == event) {
if (Param_Data[Curser].type == EFLOAT) { if (Param_Data[Curser + Page2_head].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) -=powf(10.0f,(float)index_power); *((float *)(Param_Data[Curser + Page2_head].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) { } else if (Param_Data[Curser + Page2_head].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) -= 1; *((int32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
} else if (Param_Data[Curser].type == EUINT32) { } else if (Param_Data[Curser + Page2_head].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) -= 1; *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
} }
} else if (page_event_press_short == event) { } else if (page_event_press_short == event) {
index_power++; index_power++;
@@ -118,12 +117,12 @@ static void Event(page_event event)
} }
static void jj_param_show() static void jj_param_show()
{ {
if (EINT32 == Param_Data[Curser+Page2_head].type) if (EINT32 == Param_Data[Curser + 13].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser+Page2_head].p_data)), 5); ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
else if (EUINT32 == Param_Data[Curser+Page2_head].type) else if (EUINT32 == Param_Data[Curser + 13].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser+Page2_head].p_data)), 5); ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
else if (EFLOAT == Param_Data[Curser+Page2_head].type) else if (EFLOAT == Param_Data[Curser + 13].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser+Page2_head].p_data)), 4, 5); ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + 13].p_data)), 4, 5);
} }
/** /**
* @brief 页面注册函数 * @brief 页面注册函数