From 9dfb7e8dc69bda2afd3db2fb9a6d5e0c0e42c0c2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Wed, 27 Mar 2024 13:26:35 +0800 Subject: [PATCH 1/5] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=94=B5=E6=9C=BA?= =?UTF-8?q?=E5=92=8Cpid=E9=99=90=E5=B9=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_fan_control.c | 8 ++++---- app/jj_motion.c | 20 ++++++++------------ 2 files changed, 12 insertions(+), 16 deletions(-) diff --git a/app/by_fan_control.c b/app/by_fan_control.c index 8a3dc53..cfca57d 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -72,10 +72,10 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) */ void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb) { - pwm_duty_ls = myclip(pwm_duty_ls, 0, 5000); - pwm_duty_rs = myclip(pwm_duty_rs, 0, 5000); - pwm_duty_lb = myclip(pwm_duty_lb, 0, 5000); - pwm_duty_rb = myclip(pwm_duty_rb, 0, 5000); + pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000); + pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000); + pwm_duty_lb = myclip(pwm_duty_lb, 0, 6000); + pwm_duty_rb = myclip(pwm_duty_rb, 0, 6000); pwm_duty_ls_g = pwm_duty_ls; pwm_duty_rs_g = pwm_duty_rs; diff --git a/app/jj_motion.c b/app/jj_motion.c index 568ad8e..548ecdf 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -92,10 +92,10 @@ void sport_motion(void) cnt2 = 0; PID_Compute(&far_angle_pid); } - uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + 1.5 * out_gyro, 0.0f, 5000.f); - uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - 1.5 * out_gyro, 0.0f, 5000.f); - uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 5000.f); - uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 5000.f); + uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + out_gyro, 0.0f, 8000.f); + uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - out_gyro, 0.0f, 8000.f); + uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 6000.f); + uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 6000.f); by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); // by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro); @@ -107,11 +107,7 @@ void sport_motion(void) if (bt_fly_flag == 0) { by_pwm_update_duty(0 + 500, 0 + 500); } else { - if (in_angle > 7.5 || in_angle < -7.5) { - by_pwm_update_duty(bt_fly + 450, bt_fly + 450); - } else { - by_pwm_update_duty(bt_fly + 500, bt_fly + 500); - } + by_pwm_update_duty(bt_fly + 500, bt_fly + 500); } } @@ -132,20 +128,20 @@ void sport_pid_init() PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&far_gyro_pid, 1); - PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f); + PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f); // PID_Init(&far_gyro_pid); /* 近点控制 */ PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&near_pos_pid, 10); - PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f); + PID_SetOutputLimits(&near_pos_pid, -4000.0f, 4000.0f); // PID_Init(&near_pos_pid); /* 速度控制 */ PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&speed_pid, 10); - PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f); + PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f); // PID_Init(&speed_pid); } From 8020561175e4ab1e2711280aaf1d79712b0be2cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Thu, 28 Mar 2024 04:24:59 +0800 Subject: [PATCH 2/5] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E5=88=86?= =?UTF-8?q?=E6=AE=B5pid?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_fan_control.c | 6 +- app/jj_motion.c | 70 ++++++---- app/jj_motion.h | 35 +++-- app/jj_param.c | 38 ++++-- app/jj_param.h | 32 +++-- app/main.c | 3 +- app/page/page.c | 3 +- app/page/page.h | 3 +- app/page/page_dparam.c | 9 ++ app/page/{page_param.c => page_param_pid0.c} | 16 +-- app/page/page_param_pid1.c | 136 +++++++++++++++++++ 11 files changed, 278 insertions(+), 73 deletions(-) rename app/page/{page_param.c => page_param_pid0.c} (90%) create mode 100644 app/page/page_param_pid1.c diff --git a/app/by_fan_control.c b/app/by_fan_control.c index cfca57d..cd4760e 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -1,6 +1,7 @@ #include #include "by_fan_control.h" #include "zf_common_headfile.h" +#include "jj_blueteeth.h" #define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6 // 左升力风扇 #define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7 // 右升力风扇 @@ -74,14 +75,13 @@ void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_ { pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000); pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000); - pwm_duty_lb = myclip(pwm_duty_lb, 0, 6000); - pwm_duty_rb = myclip(pwm_duty_rb, 0, 6000); + pwm_duty_lb = myclip(pwm_duty_lb, 0, 8000); + pwm_duty_rb = myclip(pwm_duty_rb, 0, 8000); pwm_duty_ls_g = pwm_duty_ls; pwm_duty_rs_g = pwm_duty_rs; pwm_duty_lb_g = pwm_duty_lb; pwm_duty_rb_g = pwm_duty_rb; - pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls); pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs); pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb); diff --git a/app/jj_motion.c b/app/jj_motion.c index 548ecdf..2ffa746 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -12,23 +12,35 @@ PID_TypeDef far_gyro_pid; PID_TypeDef near_pos_pid; PID_TypeDef speed_pid; -float an_Kp = 8.0f; -float an_Ki = 1.0f; -float an_Kd = 2.0f; +float an_Kp0 = 8.0f; +float an_Ki0 = 1.0f; +float an_Kd0 = 2.0f; + +float an_Kp1 = 8.0f; +float an_Ki1 = 1.0f; +float an_Kd1 = 2.0f; float in_angle; float set_angle = 0.0f; float out_angle; -float gy_Kp = 1.0f; -float gy_Ki = 0.0f; -float gy_Kd = 0.0f; +float gy_Kp0 = 1.0f; +float gy_Ki0 = 0.0f; +float gy_Kd0 = 0.0f; + +float gy_Kp1 = 1.0f; +float gy_Ki1 = 0.0f; +float gy_Kd1 = 0.0f; float in_gyro; float out_gyro; // float set_gyro = 0.0f; -float po_Kp = 1.0f; -float po_Ki = 0.0f; -float po_Kd = 0.0f; +float po_Kp0 = 1.0f; +float po_Ki0 = 0.0f; +float po_Kd0 = 0.0f; + +float po_Kp1 = 1.0f; +float po_Ki1 = 0.0f; +float po_Kd1 = 0.0f; float in_pos; float out_pos; float set_pos = 0.0f; @@ -38,10 +50,16 @@ float sp_Ki = 0.0f; float sp_Kd = 0.0f; float in_speed; float out_speed; -float set_speed = 0.0f; +float set_speed0 = 0.0f; +float set_speed1 = 0.0f; +int cnt1 = 0; +int cnt2 = 0; +uint32_t in_state = 0; -int cnt1 = 0; -int cnt2 = 0; +uint32_t pwm_duty_ls; +uint32_t pwm_duty_rs; +uint32_t pwm_duty_lb; +uint32_t pwm_duty_rb; static float myclip_f(float x, float low, float up) { @@ -67,6 +85,11 @@ float sport_get_speed(void) void sport_motion(void) { + if (1 == in_state) { + PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1); + } else { + PID_SetTunings(&far_gyro_pid, an_Kp0, an_Ki0, an_Kd0); + } /* 动力风扇设置 */ if (1 == bt_run_flag) { cnt1++; @@ -74,9 +97,6 @@ void sport_motion(void) imu660ra_get_gyro(); 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) { @@ -87,18 +107,16 @@ void sport_motion(void) cnt1 = 0; } - if (cnt2 >= 20) { cnt2 = 0; PID_Compute(&far_angle_pid); } - uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + out_gyro, 0.0f, 8000.f); - uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - out_gyro, 0.0f, 8000.f); - uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 6000.f); - uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 6000.f); - by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); + pwm_duty_ls = (uint32_t)myclip_f(-1.5f * out_pos + out_gyro, 0.0f, 8000.f); + pwm_duty_rs = (uint32_t)myclip_f(1.5f * out_pos - out_gyro, 0.0f, 8000.f); + pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f); + pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f); - // by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro); + by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); } else { by_pwm_power_duty(0, 0, 0, 0); } @@ -118,28 +136,28 @@ void sport_motion(void) void sport_pid_init() { /* 角度控制 */ - PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, _PID_P_ON_E, _PID_CD_REVERSE); + PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&far_angle_pid, 20); PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f); // PID_Init(&far_angle_pid); /* 角速度控制 */ - PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE); + PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&far_gyro_pid, 1); PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f); // PID_Init(&far_gyro_pid); /* 近点控制 */ - PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT); + PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_DIRECT); PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&near_pos_pid, 10); PID_SetOutputLimits(&near_pos_pid, -4000.0f, 4000.0f); // PID_Init(&near_pos_pid); /* 速度控制 */ - PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT); + PID(&speed_pid, &in_speed, &out_speed, &set_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT); PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&speed_pid, 10); PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f); diff --git a/app/jj_motion.h b/app/jj_motion.h index 5cc6af7..53cc5fc 100644 --- a/app/jj_motion.h +++ b/app/jj_motion.h @@ -3,23 +3,32 @@ #include "ch32v30x.h" #include "../3rd-lib/PID-Library/pid.h" -extern float an_Kp; -extern float an_Ki; -extern float an_Kd; +extern float an_Kp0; +extern float an_Ki0; +extern float an_Kd0; +extern float an_Kp1; +extern float an_Ki1; +extern float an_Kd1; extern float in_angle; extern float set_angle; extern float out_angle; -extern float gy_Kp; -extern float gy_Ki; -extern float gy_Kd; +extern float gy_Kp1; +extern float gy_Ki1; +extern float gy_Kd1; +extern float gy_Kp0; +extern float gy_Ki0; +extern float gy_Kd0; extern float in_gyro; extern float out_gyro; extern float set_gyro; -extern float po_Kp; -extern float po_Ki; -extern float po_Kd; +extern float po_Kp1; +extern float po_Ki1; +extern float po_Kd1; +extern float po_Kp0; +extern float po_Ki0; +extern float po_Kd0; extern float in_pos; extern float out_pos; extern float set_pos; @@ -29,8 +38,14 @@ extern float sp_Ki; extern float sp_Kd; extern float in_speed; extern float out_speed; -extern float set_speed; +extern float set_speed0; +extern float set_speed1; +extern uint32_t pwm_duty_ls; +extern uint32_t pwm_duty_rs; +extern uint32_t pwm_duty_lb; +extern uint32_t pwm_duty_rb; +extern uint32_t in_state; void sport_pid_init(); void sport_motion(void); #endif \ No newline at end of file diff --git a/app/jj_param.c b/app/jj_param.c index 6f4e0f3..c03f508 100644 --- a/app/jj_param.c +++ b/app/jj_param.c @@ -17,23 +17,37 @@ void jj_param_eeprom_init(void) { soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化 - PARAM_REG(angle_Kp, &an_Kp, EFLOAT, 1, "an_P:"); // 注冊 - PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊 - PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:"); + PARAM_REG(angle_Kp0, &an_Kp0, EFLOAT, 1, "an_P0:"); // 注冊 + PARAM_REG(angle_Ki0, &an_Ki0, EFLOAT, 1, "an_I0:"); // 注冊 + PARAM_REG(angle_Kd0, &an_Kd0, EFLOAT, 1, "an_D0:"); - 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(gyro_Kp0, &gy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊 + 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(pos_Kp, &po_Kp, EFLOAT, 1, "po_P:"); // 注冊 - PARAM_REG(pos_Ki, &po_Ki, EFLOAT, 1, "po_I:"); // 注冊 - PARAM_REG(pos_Kd, &po_Kd, EFLOAT, 1, "po_D:"); + 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(param_set_speed, &set_speed, EFLOAT, 1, "rate:"); + PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:"); + + PARAM_REG(angle_Kp1, &an_Kp1, EFLOAT, 1, "an_P1:"); // 注冊 + PARAM_REG(angle_Ki1, &an_Ki1, EFLOAT, 1, "an_I1:"); // 注冊 + PARAM_REG(angle_Kd1, &an_Kd1, EFLOAT, 1, "an_D1:"); + + PARAM_REG(gyro_Kp1, &gy_Kp1, EFLOAT, 1, "gy_P1:"); // 注冊 + PARAM_REG(gyro_Ki1, &gy_Ki1, EFLOAT, 1, "gy_I1:"); // 注冊 + PARAM_REG(gyro_Kd1, &gy_Kd1, EFLOAT, 1, "gy_D1:"); + + 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(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:"); jj_param_read(); // 注冊 } /** @@ -42,7 +56,7 @@ void jj_param_eeprom_init(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 - 1; i++) { switch (Param_Data[i].type) { case EFLOAT: iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data)); @@ -66,7 +80,7 @@ void jj_param_write(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 - 1; i++) { eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4); switch (Param_Data[i].type) { diff --git a/app/jj_param.h b/app/jj_param.h index de9e13a..525b6d2 100644 --- a/app/jj_param.h +++ b/app/jj_param.h @@ -18,21 +18,31 @@ typedef enum { Page1_head = 0, - angle_Kp = Page1_head, - angle_Ki, - angle_Kd, - gyro_Kp, - gyro_Ki, - gyro_Kd, + angle_Kp0 = Page1_head, + angle_Ki0, + angle_Kd0, + gyro_Kp0, + gyro_Ki0, + gyro_Kd0, speed_Kp, speed_Ki, speed_Kd, - pos_Kp, - pos_Ki, - pos_Kd, - param_set_speed, - + pos_Kp0, + pos_Ki0, + pos_Kd0, + param_set_speed0, + Page2_head, + angle_Kp1 = Page2_head, + angle_Ki1, + angle_Kd1, + gyro_Kp1, + gyro_Ki1, + gyro_Kd1, + pos_Kp1, + pos_Ki1, + pos_Kd1, + param_set_speed1, DATA_IN_FLASH_NUM, delta_x, diff --git a/app/main.c b/app/main.c index cdfe999..04f3302 100644 --- a/app/main.c +++ b/app/main.c @@ -59,7 +59,7 @@ int main(void) pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器 - printf("ok\r\n"); + bt_printf("ok\r\n"); while (1) { // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g); @@ -69,5 +69,6 @@ int main(void) jj_bt_run(); in_pos = test_data[1].f32; in_angle = test_data[0].f32; + in_state= test_data[2].u32; } } diff --git a/app/page/page.c b/app/page/page.c index 0cc6ab7..0c56a51 100644 --- a/app/page/page.c +++ b/app/page/page.c @@ -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); diff --git a/app/page/page.h b/app/page/page.h index 1791886..fe506f7 100644 --- a/app/page/page.h +++ b/app/page/page.h @@ -20,7 +20,8 @@ enum PageID { //...... page_menu, //page_rtcam, - page_param, + page_param_pid0, + page_param_pid1, page_dparam, // page_argv, // page_sys, diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c index e0c1f77..3a588cd 100644 --- a/app/page/page_dparam.c +++ b/app/page/page_dparam.c @@ -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 diff --git a/app/page/page_param.c b/app/page/page_param_pid0.c similarity index 90% rename from app/page/page_param.c rename to app/page/page_param_pid0.c index 35597d9..b5ac9e0 100644 --- a/app/page/page_param.c +++ b/app/page/page_param_pid0.c @@ -5,13 +5,13 @@ #include #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); } diff --git a/app/page/page_param_pid1.c b/app/page/page_param_pid1.c new file mode 100644 index 0000000..013e259 --- /dev/null +++ b/app/page/page_param_pid1.c @@ -0,0 +1,136 @@ +#include "jj_param.h" +#include "page_ui_widget.h" +#include "jj_motion.h" +#include "page.h" +#include + +#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); +} From 2b214c4add5e1358c4a636f40879ee01646b192d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Thu, 28 Mar 2024 04:30:33 +0800 Subject: [PATCH 3/5] =?UTF-8?q?pref:=20=E5=88=86=E6=AE=B5pid=E6=9B=B4?= =?UTF-8?q?=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/jj_motion.c | 45 +++++++++++++++++++++++------------------- app/page/page_dparam.c | 2 ++ 2 files changed, 27 insertions(+), 20 deletions(-) diff --git a/app/jj_motion.c b/app/jj_motion.c index 2ffa746..a60f9c5 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -12,46 +12,47 @@ PID_TypeDef far_gyro_pid; PID_TypeDef near_pos_pid; PID_TypeDef speed_pid; -float an_Kp0 = 8.0f; -float an_Ki0 = 1.0f; -float an_Kd0 = 2.0f; +float an_Kp0 = 80.0f; +float an_Ki0 = 1.4f; +float an_Kd0 = 8.0f; -float an_Kp1 = 8.0f; -float an_Ki1 = 1.0f; -float an_Kd1 = 2.0f; +float an_Kp1 = 80.0f; +float an_Ki1 = 1.4f; +float an_Kd1 = 8.0f; float in_angle; float set_angle = 0.0f; float out_angle; -float gy_Kp0 = 1.0f; +float gy_Kp0 = 2.0f; float gy_Ki0 = 0.0f; -float gy_Kd0 = 0.0f; +float gy_Kd0 = 0.3f; -float gy_Kp1 = 1.0f; +float gy_Kp1 = 2.0f; float gy_Ki1 = 0.0f; -float gy_Kd1 = 0.0f; +float gy_Kd1 = 0.3f; float in_gyro; float out_gyro; // float set_gyro = 0.0f; -float po_Kp0 = 1.0f; -float po_Ki0 = 0.0f; -float po_Kd0 = 0.0f; +float po_Kp0 = 827.0f; +float po_Ki0 = 16.0f; +float po_Kd0 = 13.0f; -float po_Kp1 = 1.0f; -float po_Ki1 = 0.0f; -float po_Kd1 = 0.0f; +float po_Kp1 = 500.0f; +float po_Ki1 = 2.0f; +float po_Kd1 = 1.0f; float in_pos; float out_pos; float set_pos = 0.0f; -float sp_Kp = 1.0f; -float sp_Ki = 0.0f; +float sp_Kp = 19.0f; +float sp_Ki = 0.5f; float sp_Kd = 0.0f; float in_speed; float out_speed; -float set_speed0 = 0.0f; -float set_speed1 = 0.0f; + +float set_speed0 = 460.0f; +float set_speed1 = 460.0f; int cnt1 = 0; int cnt2 = 0; uint32_t in_state = 0; @@ -87,8 +88,12 @@ void sport_motion(void) { if (1 == in_state) { PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1); + PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1); + PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1); } else { PID_SetTunings(&far_gyro_pid, an_Kp0, an_Ki0, an_Kd0); + PID_SetTunings(&near_pos_pid, po_Kp0, po_Ki0, po_Kd0); + PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0); } /* 动力风扇设置 */ if (1 == bt_run_flag) { diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c index 3a588cd..1fc0bdc 100644 --- a/app/page/page_dparam.c +++ b/app/page/page_dparam.c @@ -42,6 +42,8 @@ static void Exit() */ static void Loop() { + ips200_show_string(0, 20, "outsp:"); + ips200_show_float(80, 20, out_speed, 4, 1); ips200_show_string(0, 40, "angle"); ips200_show_float(80, 40, in_angle, 4, 1); ips200_show_string(0, 60, "near"); From a9b488bc6e53612d1b22c9a6fc1d17a429b50fd0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Thu, 28 Mar 2024 19:55:43 +0800 Subject: [PATCH 4/5] =?UTF-8?q?fix:=20=E5=88=86=E6=AE=B5pid=E7=9A=84bug?= =?UTF-8?q?=E4=BF=AE=E5=A4=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/jj_blueteeth.c | 6 ++-- app/jj_blueteeth.h | 4 +-- app/jj_param.c | 4 +-- app/jj_param.h | 1 + app/page/page_param_pid0.c | 13 ++++----- app/page/page_param_pid1.c | 59 +++++++++++++++++++------------------- 6 files changed, 43 insertions(+), 44 deletions(-) diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c index 85d59ea..8ebb6a6 100644 --- a/app/jj_blueteeth.c +++ b/app/jj_blueteeth.c @@ -2,9 +2,9 @@ #include "jj_motion.h" #include "by_fan_control.h" bool bt_rx_flag = false; -uint8 bt_buffer; // 接收字符存入 -uint32_t bt_run_flag = 0; -uint8_t bt_fly_flag = 0; +uint8_t bt_buffer; // 接收字符存入 +uint8_t bt_run_flag = 0; +uint8_t bt_fly_flag = 0; uint32_t bt_run = 0; uint32_t bt_fly = 500; enum bt_order { diff --git a/app/jj_blueteeth.h b/app/jj_blueteeth.h index 8c4d861..fe051a0 100644 --- a/app/jj_blueteeth.h +++ b/app/jj_blueteeth.h @@ -10,8 +10,8 @@ #define BT_UART_RX_PIN UART8_MAP0_RX_C5 extern bool bt_rx_flag; -extern uint8 bt_buffer; // 接收字符存入 -extern uint32_t bt_run_flag; +extern uint8_t bt_buffer; // 接收字符存入 +extern uint8_t bt_run_flag; extern uint8_t bt_fly_flag; extern uint32_t bt_run; extern uint32_t bt_fly; diff --git a/app/jj_param.c b/app/jj_param.c index c03f508..35ec678 100644 --- a/app/jj_param.c +++ b/app/jj_param.c @@ -56,7 +56,7 @@ void jj_param_eeprom_init(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) { case EFLOAT: iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data)); @@ -80,7 +80,7 @@ void jj_param_write(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); switch (Param_Data[i].type) { diff --git a/app/jj_param.h b/app/jj_param.h index 525b6d2..7882aa3 100644 --- a/app/jj_param.h +++ b/app/jj_param.h @@ -43,6 +43,7 @@ typedef enum { pos_Ki1, pos_Kd1, param_set_speed1, + DATA_IN_FLASH_NUM, delta_x, diff --git a/app/page/page_param_pid0.c b/app/page/page_param_pid0.c index b5ac9e0..3582974 100644 --- a/app/page/page_param_pid0.c +++ b/app/page/page_param_pid0.c @@ -7,8 +7,8 @@ #define LINE_HEAD 0 #define LINE_END Page2_head - 1 static char Text[] = "Param_pid0"; -static int event_flag = 0; -static int index_power = 0; +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(); @@ -26,15 +26,14 @@ static void Setup() { ips200_clear(); 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); if (Param_Data[i].type == EINT32) ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5); 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(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) { if (page_event_forward == event) { 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) { *((int32 *)(Param_Data[Curser].p_data)) += 1; } else if (Param_Data[Curser].type == EUINT32) { @@ -97,7 +96,7 @@ static void Event(page_event event) } } else if (page_event_backward == event) { 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) { *((int32 *)(Param_Data[Curser].p_data)) -= 1; } else if (Param_Data[Curser].type == EUINT32) { diff --git a/app/page/page_param_pid1.c b/app/page/page_param_pid1.c index 013e259..786a0c4 100644 --- a/app/page/page_param_pid1.c +++ b/app/page/page_param_pid1.c @@ -4,11 +4,11 @@ #include "page.h" #include -#define LINE_HEAD Page2_head -#define LINE_END DATA_IN_FLASH_NUM +#define LINE_HEAD 0 +#define LINE_END DATA_IN_FLASH_NUM - 1 - Page2_head static char Text[] = "Param_pid1"; -static int event_flag = 0; -static int index_power = 0; +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(); @@ -26,15 +26,14 @@ 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); + for (int16 i = 0; i < 10; i++) { + ips200_show_string(0, i * 18 + 2, Param_Data[i + 13].text); + if (Param_Data[i + 13].type == EINT32) + ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i + 13].p_data)), 5); + else if (Param_Data[i + 13].type == EFLOAT) + 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); } 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; + if (Param_Data[Curser + 13].type == EFLOAT) { + *((float *)(Param_Data[Curser + 13].p_data)) += powf(10.0f, (float)index_power); + } else if (Param_Data[Curser + 13].type == EINT32) { + *((int32 *)(Param_Data[Curser + 13].p_data)) += 1; + } else if (Param_Data[Curser + 13].type == EUINT32) { + *((uint32 *)(Param_Data[Curser + Page2_head].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; + if (Param_Data[Curser + Page2_head].type == EFLOAT) { + *((float *)(Param_Data[Curser + Page2_head].p_data)) -= powf(10.0f, (float)index_power); + } else if (Param_Data[Curser + Page2_head].type == EINT32) { + *((int32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1; + } else if (Param_Data[Curser + Page2_head].type == EUINT32) { + *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1; } } else if (page_event_press_short == event) { index_power++; @@ -118,12 +117,12 @@ static void Event(page_event event) } 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); + if (EINT32 == Param_Data[Curser + 13].type) + ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5); + else if (EUINT32 == Param_Data[Curser + 13].type) + ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5); + else if (EFLOAT == Param_Data[Curser + 13].type) + ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + 13].p_data)), 4, 5); } /** * @brief 页面注册函数 From add61d0af3a17e36835392237bf24e4cf7e26b9b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com> Date: Sat, 30 Mar 2024 11:51:14 +0800 Subject: [PATCH 5/5] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E9=80=9A?= =?UTF-8?q?=E4=BF=A1=E5=86=85=E5=AE=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/jj_motion.c | 16 ++++++++++------ app/jj_motion.h | 3 ++- app/jj_param.h | 2 +- app/main.c | 9 +++++++-- app/page/page_dparam.c | 22 ++++++++++++---------- 5 files changed, 32 insertions(+), 20 deletions(-) diff --git a/app/jj_motion.c b/app/jj_motion.c index a60f9c5..8a12ad2 100644 --- a/app/jj_motion.c +++ b/app/jj_motion.c @@ -51,11 +51,12 @@ float sp_Kd = 0.0f; float in_speed; float out_speed; -float set_speed0 = 460.0f; -float set_speed1 = 460.0f; -int cnt1 = 0; -int cnt2 = 0; -uint32_t in_state = 0; +float set_speed0 = 460.0f; +float set_speed1 = 460.0f; +int cnt1 = 0; +int cnt2 = 0; +uint8_t in_state = 0; +uint8_t in_stop = 0; uint32_t pwm_duty_ls; uint32_t pwm_duty_rs; @@ -86,7 +87,10 @@ float sport_get_speed(void) void sport_motion(void) { - if (1 == in_state) { + if (1 == in_stop) { + bt_fly_flag = bt_run_flag = 0; + } + if (0 == in_state || 2 == in_state) { PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1); PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1); PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1); diff --git a/app/jj_motion.h b/app/jj_motion.h index 53cc5fc..6a9d619 100644 --- a/app/jj_motion.h +++ b/app/jj_motion.h @@ -45,7 +45,8 @@ extern uint32_t pwm_duty_rs; extern uint32_t pwm_duty_lb; extern uint32_t pwm_duty_rb; -extern uint32_t in_state; +extern uint8_t in_state; +extern uint8_t in_stop; void sport_pid_init(); void sport_motion(void); #endif \ No newline at end of file diff --git a/app/jj_param.h b/app/jj_param.h index 7882aa3..e8f1a9a 100644 --- a/app/jj_param.h +++ b/app/jj_param.h @@ -61,7 +61,7 @@ typedef union { uint32_t u32; int32_t s32; float f32; - uint8_t u8; + uint8_t u8[4]; } TYPE_UNION; typedef struct { diff --git a/app/main.c b/app/main.c index 04f3302..2d92396 100644 --- a/app/main.c +++ b/app/main.c @@ -35,7 +35,7 @@ #include "by_frame.h" #include "by_rt_button.h" #include "by_fan_control.h" - +uint8_t last_state; int main(void) { TYPE_UNION test_data[BY_FRAME_DATA_NUM]; @@ -69,6 +69,11 @@ int main(void) jj_bt_run(); in_pos = test_data[1].f32; in_angle = test_data[0].f32; - in_state= test_data[2].u32; + in_state = test_data[2].u8[0]; + in_stop = test_data[2].u8[1]; + if (last_state != in_state) { + bt_printf("changing to%u\r\n",in_state); + } + last_state = in_state; } } diff --git a/app/page/page_dparam.c b/app/page/page_dparam.c index 1fc0bdc..69a76f1 100644 --- a/app/page/page_dparam.c +++ b/app/page/page_dparam.c @@ -42,8 +42,10 @@ static void Exit() */ static void Loop() { - ips200_show_string(0, 20, "outsp:"); - ips200_show_float(80, 20, out_speed, 4, 1); + ips200_show_string(0, 0, "sta:"); + ips200_show_float(80, 0, in_state, 4, 1); + ips200_show_string(0, 20, "sto:"); + ips200_show_float(80, 20, in_stop, 4, 1); ips200_show_string(0, 40, "angle"); ips200_show_float(80, 40, in_angle, 4, 1); ips200_show_string(0, 60, "near"); @@ -59,14 +61,14 @@ static void Loop() 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); + // 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