fix: 修复蜂鸣器bug及日常更新

app/by_buzzer.c

@@ -10,6 +10,7 @@ uint32_t a[40]      = {0};
 
 void queue_init(void)
 {
+    queue_long = 0;
     memset(a, 0, sizeof(a));
 }
 
@@ -22,7 +23,7 @@ void queue_add_element(int element)
 }
 void queue_pop_element(void)
 {
-    memmove(a, &a[1], queue_long * sizeof(a));
+    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0]));
     if (queue_long > 0) {
         queue_long--;
     }

app/jj_motion.c

@@ -22,7 +22,7 @@ float gy_Ki = 0.0f;
 float gy_Kd = 0.0f;
 float in_gyro;
 float out_gyro;
-//float set_gyro = 0.0f;
+// float set_gyro = 0.0f;
 
 float po_Kp = 1.0f;
 float po_Ki = 0.0f;
@@ -47,16 +47,18 @@ void sport_motion(void)
 {
 
     cnt1++;
-    in_gyro  = imu660ra_gyro_z;                                       // 陀螺仪输入
-    in_angle = 0;                                                     // 图像远端输入
-    in_pos   = 0;                                                     // 图像近端输入
-    in_speed = encoder_get_count(TIM5_ENCOEDER) / 1024 / 0.01 * 0.25; // 速度输入,m/s
-    encoder_clear_count(TIM5_ENCOEDER);                               // 清除计数
+    in_gyro = imu660ra_gyro_z; // 陀螺仪输入
+    // in_angle = 0;                                                     // 图像远端输入
+    // in_pos   = 0;                                                     // 图像近端输入
+    //  清除计数
     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
+       // printf("rate:%d\r\n", (int16)in_speed);
+        encoder_clear_count(TIM5_ENCOEDER);
         cnt1 = 0;
     }
 

app/jj_param.c

@@ -7,6 +7,7 @@
 PARAM_INFO Param_Data[DATA_NUM];
 soft_iic_info_struct eeprom_param;
 TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
+TYPE_UNION temp_frame_param[20];
 
 /**
  * @brief 参数初始化注册

app/jj_param.h

@@ -63,6 +63,7 @@ typedef struct {
 extern soft_iic_info_struct eeprom_param;
 extern PARAM_INFO Param_Data[DATA_NUM];
 extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
+extern TYPE_UNION temp_frame_param[20];
 void jj_param_eeprom_init(void);
 void jj_param_write(void);
 void jj_param_read(void);

app/main.c

@@ -41,7 +41,7 @@ int main(void)
     system_delay_init();
     debug_init();
 
-    encoder_dir_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
+    encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
     ips200_init(IPS200_TYPE_SPI);
     while (imu660ra_init())
         ;
@@ -49,8 +49,8 @@ int main(void)
     jj_bt_init();
     by_rb_init();
     by_pwm_init();
-    //  by_buzzer_init();
-    
+    by_buzzer_init();
+
     by_tiny_frame_init();
     Page_Init();
     sport_pid_init();
@@ -59,10 +59,12 @@ int main(void)
     pit_ms_init(TIM1_PIT, 1);  // 运动解算，bianmaqi
 
     printf("ok\r\n");
-    
+
     while (1) {
         Page_Run();
-        //by_buzzer_run();
+        ips200_show_float(40, 40, in_angle, 4, 5);
+        ips200_show_float(40, 60, in_pos, 4, 5);
+        by_buzzer_run();
         jj_bt_run();
         by_tiny_frame_run();
     }

app/page/page_param.c

@@ -33,7 +33,7 @@ static void Setup()
         else if (Param_Data[i].type == EFLOAT)
             ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
     }
-    ips200_show_int(50, (DATA_IN_FLASH_NUM-1)* 18 + 2, index_power, 5);
+   ips200_show_int(100, 2, index_power, 5);
     
 }
 
@@ -108,7 +108,7 @@ static void Event(page_event event)
             if (index_power > 2) {
                 index_power = -2;
             }
-            ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
+            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);

app/tiny_frame/by_tiny_frame_slave_read_write.c

@@ -7,6 +7,7 @@
 #include "by_tiny_frame_pack.h"
 
 #include "jj_motion.h"
+#include "jj_param.h"
 
 void by_tiny_frame_read_write_run(void)
 {
@@ -35,15 +36,17 @@ void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status
         case 0x06:
             // 添加写入接口，操作完成后应答
             switch (frame_pack_s.reg_addr) {
-                case 0x00:
-                    in_angle = (float)frame_s.data;
+                case 0x0000:
+                    temp_frame_param[0].u32 = frame_s.data;
+                    in_angle=temp_frame_param[0].f32;
                     break;
-                case 0x01:
+                case 0x0001:
                     in_pos = (float)frame_s.data;
                     break;
                 default:
                     break;
             }
+            frame_pack_s.data=frame_s.data;
             by_tiny_frame_pack_send(&frame_pack_s);
             break;
         default: