fix:ce mian max 1000->999

增加斑马线积分按键更改距离
优化按键调参加减方向

.eide/eide.json

@@ -68,10 +68,9 @@
         "libList": [
           "libraries/zf_device"
         ],
-        "sourceDirList": [],
         "defineList": []
       }
     }
   },
-  "version": "3.3"
+  "version": "3.4"
 }

app/by_fan_control.c

@@ -2,22 +2,14 @@
 #include "by_fan_control.h"
 #include "zf_common_headfile.h"
 #include "jj_blueteeth.h"
-
+#include "jj_motion.h"
 #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
 // M4
-#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧动力风扇
+#define FAN_RB_PWM_PIN TIM10_PWM_MAP3_CH4_D7
-#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
+#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13
-// M1
+#define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11
-#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇
+#define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8
-#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧动力风扇
-// M3
-#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇
-#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后动力风扇
-// M2
-#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右后动力风扇
-#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右后动力风扇
-
 int32_t pwm_duty_ls_g;
 int32_t pwm_duty_rs_g;
 int32_t pwm_duty_lb_g;
@@ -41,59 +33,17 @@ inline static float clip_f32(float x, float low, float up)
                                   : x);
 }
 
+#define FIX_DRIVE 0
 void by_pwm_init(void)
 {
+    gpio_init(D4, GPO, 1, GPO_PUSH_PULL);
+    gpio_init(C8, GPO, 1, GPO_PUSH_PULL);
     pwm_init(FAN_LL_PWM_PIN, 50, 500);
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
-
+    pwm_init(FAN_LS_PWM_PIN, 50, 500);
-    // 测试鸣叫
+    pwm_init(FAN_RS_PWM_PIN, 50, 500);
-    pwm_init(FAN_LS_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_LB_PWM_PIN, 300, 300);
-    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_PIN, 300, 300);
-    pwm_init(FAN_RS_PWM_A_PIN, 1500, 100);
-    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 1500, 100);
-    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 1500, 100);
-    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
-    system_delay_ms(300);
-    pwm_init(FAN_LS_PWM_A_PIN, 2000, 100);
-    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 2000, 100);
-    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 2000, 100);
-    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 2000, 100);
-    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
-    system_delay_ms(300);
-    pwm_init(FAN_LS_PWM_A_PIN, 2500, 100);
-    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 2500, 100);
-    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 2500, 100);
-    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 2500, 100);
-    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
-    system_delay_ms(300);
-
-    pwm_init(FAN_LS_PWM_A_PIN, 4000, 0);
-    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
-    // system_delay_ms(3000);
-    // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
-    // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
-    // // pwm_init(FAN_LB_PWM_PIN, 50, 1000); // 动力风扇左 2
-    // // pwm_init(FAN_RB_PWM_PIN, 50, 1000); // 动力风扇右 2
-    // // system_delay_ms(5000);
-    //  pwm_set_duty(FAN_LS_PWM_PIN, 600);
-    // pwm_set_duty(FAN_RS_PWM_PIN, 600);
-    // pwm_set_duty(FAN_LB_PWM_PIN, 600);
-    // pwm_set_duty(FAN_RB_PWM_PIN, 600);
-    // while(1);
 }
 
 /**
@@ -118,47 +68,14 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
  * @param pwm_duty_lb
  * @param pwm_duty_rb
  */
-void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb)
+void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb)
 {
-    pwm_duty_ls = clip_s32(pwm_duty_ls, 0, 8000);
+    bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 999);
-    pwm_duty_rs = clip_s32(pwm_duty_rs, 0, 8000);
+    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 999);
-    pwm_duty_lb = clip_s32(pwm_duty_lb, 0, 8000);
+    bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
-    pwm_duty_rb = clip_s32(pwm_duty_rb, 0, 8000);
+    bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
-
+    pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
-    pwm_duty_ls_g = pwm_duty_ls;
+    pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs);
-    pwm_duty_rs_g = pwm_duty_rs;
+    pwm_set_duty(FAN_LB_PWM_PIN, bpwm_duty_lb);
-    pwm_duty_lb_g = pwm_duty_lb;
+    pwm_set_duty(FAN_RB_PWM_PIN, bpwm_duty_rb);
-    pwm_duty_rb_g = pwm_duty_rb;
-
-    if (pwm_duty_ls >= 0) {
-        pwm_set_duty(FAN_LS_PWM_A_PIN, pwm_duty_ls);
-        pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
-    }
-
-    if (pwm_duty_rs >= 0) {
-        pwm_set_duty(FAN_RS_PWM_A_PIN, pwm_duty_rs);
-        pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
-    }
-
-    if (pwm_duty_lb >= 0) {
-        pwm_set_duty(FAN_LB_PWM_A_PIN, pwm_duty_lb);
-        pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * pwm_duty_lb);
-    }
-
-    if (pwm_duty_rb >= 0) {
-        pwm_set_duty(FAN_RB_PWM_A_PIN, pwm_duty_rb);
-        pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
-    } else {
-        pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
-        pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * pwm_duty_rb);
-    }
 }

app/by_frame.c

@@ -22,7 +22,7 @@ void by_frame_init(void)
 void by_frame_send(uint32_t* data_array)
 {
     uint16_t crc_cal            = 0;
-    const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
+    const uint8_t data_byte_num = 1 * sizeof(uint32_t);
 
     frame_buffer_send[0] = BY_FRAME_HEAD_1;
     frame_buffer_send[1] = BY_FRAME_HEAD_2;

app/isr.c

@@ -130,14 +130,15 @@ void UART7_IRQHandler(void)
 {
     if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
         wireless_module_uart_handler();
+        uart_query_byte(UART_7, &bt_buffer);
+        bt_rx_flag = true;
         USART_ClearITPendingBit(UART7, USART_IT_RXNE);
     }
 }
 void UART8_IRQHandler(void)
 {
     if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
-        uart_query_byte(UART_8, &bt_buffer);
+
-        bt_rx_flag = true;
         USART_ClearITPendingBit(UART8, USART_IT_RXNE);
     }
 }
@@ -272,8 +273,7 @@ void EXTI15_10_IRQHandler(void)
 void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-        by_buzzer_run();
+
-        sport_motion();
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
     }
 }
@@ -309,7 +309,8 @@ void TIM5_IRQHandler(void)
 void TIM6_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
-        // ICM_getEulerianAngles();
+        by_buzzer_run();
+        sport_motion();
         TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
     }
 }

app/jj_blueteeth.c

@@ -6,13 +6,13 @@ 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;
+float bt_fly        = 160.f;
 enum bt_order {
     Fly_ctrl   = 0x01, // 起飞转换
     Fly_up     = 0x02, // 起飞程度增加
     Fly_dowm   = 0x03, // 起飞程度减小
-    Speed_up   = 0x04, // 加速
+    fly_close  = 0x04, // 加速
-    Speed_down = 0x05, // 减速
+    run_close  = 0x05, // 全关
     Speed_ctrl = 0x06, // 速度开关
     Reset,
 };
@@ -24,7 +24,7 @@ void jj_bt_init()
 {
     uart_init(BT_UART_INDEX, BT_UART_BAUDRATE, BT_UART_TX_PIN, BT_UART_RX_PIN);
     //   uart_tx_interrupt(UART_2, 1);
-    uart_rx_interrupt(UART_8, ENABLE);
+    uart_rx_interrupt(BT_UART_INDEX, ENABLE);
 }
 /**
  *@brief 蓝牙中断回调函数
@@ -34,22 +34,35 @@ void jj_bt_run()
     if (bt_rx_flag) {
         switch (bt_buffer) {
             case Fly_ctrl:
-                bt_fly_flag = !bt_fly_flag;
+
+                if (go_cnt == 0) {
+                    go_cnt      = 1;
+                    bt_fly_flag = 1;
+                }
+                else if (go_cnt == 1) {
+                    go_cnt = 0;
+                }
+
                 break;
             case Speed_ctrl:
-                bt_run_flag = !bt_run_flag;
+                if (go_cnt == 1) {
+                    go_cnt = 2;
+                }
+
                 break;
             case Fly_up:
-                bt_fly += 50;
+                bt_fly += 10;
                 break;
             case Fly_dowm:
-                bt_fly -= 50;
+                bt_fly -= 10;
                 break;
-            case Speed_up:
+            case run_close:
-                bt_run += 50;
+                bt_run_flag = 0;
+                go_cnt      = 0;
                 break;
-            case Speed_down:
+            case fly_close:
-                bt_run -= 50;
+                bt_fly_flag = 0;
+                go_cnt      = 0;
                 break;
             case Reset:
                 NVIC_SystemReset();
@@ -70,8 +83,7 @@ void bt_printf(const char *format, ...)
     va_end(args);
 
     for (uint16_t i = 0; i < strlen(sbuf); i++) {
-        while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_8], USART_FLAG_TC) == RESET)
+        while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_7], USART_FLAG_TC) == RESET);
-            ;
+        USART_SendData((USART_TypeDef *)uart_index[UART_7], sbuf[i]);
-        USART_SendData((USART_TypeDef *)uart_index[UART_8], sbuf[i]);
     }
 }

app/jj_blueteeth.h

@@ -4,17 +4,18 @@
 #include "stdio.h"
 #include "zf_driver_uart.h"
 
-#define BT_UART_INDEX UART_8
+#define BT_UART_INDEX UART_7
 #define BT_UART_BAUDRATE 115200
-#define BT_UART_TX_PIN  UART8_MAP0_TX_C4
+#define BT_UART_TX_PIN  UART7_MAP1_TX_A6
-#define BT_UART_RX_PIN  UART8_MAP0_RX_C5
+#define BT_UART_RX_PIN  UART7_MAP1_RX_A7
 
 extern bool bt_rx_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 uint8_t bt_ce_flag;
 extern uint32_t bt_run;
-extern uint32_t bt_fly;
+extern float bt_fly;
 
 void jj_bt_init();
 void jj_bt_run();

app/jj_motion.c

@@ -1,68 +1,138 @@
 #include "jj_motion.h"
-
+#include <math.h>
 #include "zf_common_headfile.h"
 #include "pid.h"
-
+#include "jj_voltage.h"
 #include "jj_blueteeth.h"
 #include "by_fan_control.h"
 #include "by_imu.h"
+#include "by_frame.h"
 
 PID_TypeDef far_angle_pid;
+PID_TypeDef pos_pid;
 PID_TypeDef far_gyro_pid;
-PID_TypeDef near_pos_pid;
 PID_TypeDef speed_pid;
+PID_TypeDef cir_pos_pid;
+///////////////////////////////////////////
+// 直道后面风扇角度环
+float an_Kp1 = 46.0f;
+float an_Ki1 = 0.0f;
+float an_Kd1 = 0.0f;
+// 直道角速度环
+float gy_Kp1 = 1.530f;
+float gy_Ki1 = 0.0f;
+float gy_Kd1 = 0.0f;
+// 直道侧面风扇角度环
+float po_Kp1 = 2.10f;
+float po_Ki1 = 0.0f;
+float po_Kd1 = 0.0f;
+////////////////////////////////////
+// 弯道后面风扇角度环
+float an_Kp0 = 53.0f;
+float an_Ki0 = 0.0f;
+float an_Kd0 = 0.0f;
 
-float an_Kp0 = 80.0f;
+// 弯道角速度环
-float an_Ki0 = 1.4f;
+float gy_Kp0 = 2.2180f;
-float an_Kd0 = 8.0f;
+float gy_Ki0 = 0.0f;
+float gy_Kd0 = 0.0f;
 
-float an_Kp1 = 80.0f;
+// 弯道侧面风扇角度环
-float an_Ki1 = 1.4f;
+float cn_Kp1 = 7.0f;
-float an_Kd1 = 8.0f;
+float cn_Ki1 = 0.f;
+float cn_Kd1 = 0.0f;
+////////////////////////////////////////
+// 避障后面角度环
+float za_Kp = 55.f;
+float za_Ki = 0;
+float za_Kd = 0;
+
+float zg_Kp = 2.f;
+float zg_Ki = 0;
+float zg_Kd = 0;
+
+float zp_Kp = 6.f;
+float zp_Ki = 0;
+float zp_Kd = 0;
+///////////////////////////////////////
+// 圆环后面风扇角度环
+float yu_Kp0 = 58.0f;
+float yu_Ki0 = 0.0f;
+float yu_Kd0 = 0.0f;
+// 圆环角速度环
+float ygy_Kp0 = 2.20f;
+float ygy_Ki0 = 0.0f;
+float ygy_Kd0 = 0.0f;
+// 圆环侧面角度环
+float yuc_Kp = 4.4f;
+// 速度环
+float sp_Kp = 3.40f;
+float sp_Ki = 3.6f;
+float sp_Kd = 0.0f;
+////////////////////////////////////////////////////
+// 当前和输入量
+float in_gyro;
+float out_gyro;
+// 期望和当前量
 float in_angle;
 float set_angle = 0.0f;
 float out_angle;
-
-float gy_Kp0 = 2.0f;
-float gy_Ki0 = 0.0f;
-float gy_Kd0 = 0.3f;
-
-float gy_Kp1 = 2.0f;
-float gy_Ki1 = 0.0f;
-float gy_Kd1 = 0.3f;
-float in_gyro;
-float out_gyro;
-// float set_gyro = 0.0f;
-
-float po_Kp0 = 827.0f;
-float po_Ki0 = 16.0f;
-float po_Kd0 = 13.0f;
-
-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 set_gyro = 0.0f;
-float sp_Kp = 19.0f;
+float rate_K1 = 0;
-float sp_Ki = 0.5f;
+float rate_K2 = 0;
-float sp_Kd = 0.0f;
 float in_speed;
 float out_speed;
-
+float last_angle;
-float set_speed0 = 460.0f;
+float set_speed;
-float set_speed1 = 460.0f;
+float set_speed0 = 657.0f;
+float set_speed1 = 1111.0f;
+float set_speed2 = 815.f;
+float set_speed3 = 666.f;
+float set_speed4 = 720.f;
 int cnt1         = 0;
 int cnt2         = 0;
+int cnt3         = 0;
+int cnt4         = 0; //
+int cnt5         = 0;
+int cnt6         = 0; //
+int cnt7         = 0;
+int cnt8         = 0;
+int cnt9         = 0; //
+int cnt10        = 0; //
+int if_start     = 0;
+
 uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
-
+uint8_t last_state = 0;
-uint32_t pwm_duty_ls;
+uint8_t stop_flag  = 0;
-uint32_t pwm_duty_rs;
+int32_t pwm_duty_ls;
-uint32_t pwm_duty_lb;
+int32_t pwm_duty_rs;
-uint32_t pwm_duty_rb;
+int32_t pwm_duty_lb;
-
+int32_t pwm_duty_rb;
+int32_t stop_cnt         = 0;
+int32_t last_lb          = 0;
+int32_t last_rb          = 0;
+float start_dis          = 0;
+float set_dis            = 1.f;
+uint8_t go_cnt           = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
+float bug_sw             = 0;
+float out_sw             = 0;
+float sho_sw             = 0;
+uint8_t bug_show_flag    = 0;
+uint8_t out_show_flag    = 0;
+uint8_t up_show_flag     = 0;
+uint8_t finish_show_flag = 0;
+/*
+0:无状态
+1:弯道
+2:直道
+3:入环
+4:环内
+5:障碍
+*/
 static float myclip_f(float x, float low, float up)
 {
     return (x > up ? up : x < low ? low
@@ -84,56 +154,177 @@ float sport_get_speed(void)
 #undef ALPHA
 }
 
-void sport_motion(void)
+void sport_motion()
 {
-    if (1 == in_stop) {
+    imu660ra_get_gyro();
+    imu660ra_get_acc();
+    get_vol();
+    in_gyro = imu660ra_gyro_z;
+
+    ////////////////////////////////////////停车任务///////////////////////////////////////////////
+    // 抖动停车，计次50
+    if (imu660ra_acc_z <= 800) {
+        cnt7++;
+    } else {
+        cnt7 = 0;
+    }
+    if (cnt7 >= 50 && (uint8_t)sho_sw == 1) {
+        bt_fly_flag = bt_run_flag = 0;
+        bt_printf("up");
+        up_show_flag = 1;
+        go_cnt       = 0;
+    }
+    // 異常值停车
+    if (fabs(in_angle - last_angle) > 45.f && (uint8_t)bug_sw == 1) {
+        bt_fly_flag = bt_run_flag = 0;
+        bt_printf("bug");
+        bug_show_flag = 1;
+        go_cnt        = 0;
+    }
+    // 斑马线停车,摄像头识别，屏蔽发车前的十秒钟
+    if (1 == in_stop && if_start == 1) {
+        stop_flag = 1;
+    }
+    if (stop_flag == 1) {
+        bt_printf("finish");
+        finish_show_flag = 1;
+        bt_fly_flag = bt_run_flag = 0;
+        go_cnt                    = 0;
+    }
+    // 出界停车,已经积分路过斑马线，保证斑马线不会触发
+    if (2 == in_stop && ((start_dis >= set_dis) || bt_run_flag == 0) && (uint8_t)out_sw == 1) {
+        bt_printf("out");
+        out_show_flag = 1;
+        go_cnt        = 0;
         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);
+    //////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
-        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) {
         cnt1++;
         cnt2++;
+        cnt5++;
+        // 斑马线积分,系数随便给的
+        start_dis += in_speed * 0.0000018f;
+        if (if_start == 0) {
+            cnt8++;
 
-        imu660ra_get_gyro();
+            if (cnt8 >= 5000) {
-        in_gyro = imu660ra_gyro_z; // 陀螺仪输入
+                if_start = 1;
+            }
+        }
+        // pid参数切换
+        if ((last_state != in_state) && (in_state == 2)) { // 直道
+
+            bt_printf("to 直道");
+            set_speed = set_speed1;
+
+            PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
+            PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
+            PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
+        } else if ((last_state != in_state) && in_state == 1) { // 弯道
+            bt_printf("to 入弯");
+            if (fabs(in_pos) <= 12.0f) {
+                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
+            } else {
+                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
+            }
+
+            PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
+            PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
+            PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
+        } else if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环
+            bt_printf("to 圆环");
+            if (in_state == 3)
+                set_speed = set_speed2;
+            else
+                set_speed = set_speed3;
+
+            PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
+            PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
+            PID_SetTunings(&pos_pid, yuc_Kp, cn_Ki1, cn_Kd1);
+        } else if ((last_state != in_state) && in_state == 5) { //
+            bt_printf("to 障碍");
+            set_speed = set_speed4;
+            start_dis = 0;
+            PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
+            PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
+            PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
+        }
+
+        if (in_state == 1) {
+            if (fabs(in_pos) <= 12.0f) {
+                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
+            } else {
+                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
+            }
+        }
+        // 记录上一次状态
+        last_state = in_state;
+        // pid计算
+        if (cnt1 >= 2) {
             PID_Compute(&far_gyro_pid);
-
-        if (cnt1 >= 10) {
-            in_speed = -1 * sport_get_speed();
-            PID_Compute(&speed_pid);
-
-            PID_Compute(&near_pos_pid);
-
             cnt1 = 0;
         }
-        if (cnt2 >= 20) {
+        if (cnt2 >= 10) {
+            in_speed = sport_get_speed();
             cnt2     = 0;
             PID_Compute(&far_angle_pid);
         }
-        pwm_duty_ls = (uint32_t)myclip_f(-1.5f * out_pos + out_gyro, 0.0f, 8000.f);
+        if (cnt5 >= 20) {
-        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((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
+            PID_Compute(&pos_pid);
+            PID_Compute(&speed_pid);
+            cnt5 = 0;
+        }
+        // 并级pid，限幅
+        pwm_duty_ls = (int32_t)myclip_f(240 - out_pos, 100.0f, 500.f);
+        pwm_duty_rs = (int32_t)myclip_f(240 + out_pos, 100.0f, 500.f);
+        // 并级pid的缺点补偿
+        if (out_speed >= 1000) {
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
+        } else {
+            pwm_duty_lb = (int32_t)myclip_f(out_speed + 4 * out_gyro, 1000.0f, 3000.f);
+            pwm_duty_rb = (int32_t)myclip_f(out_speed - 4 * out_gyro, 1000.0f, 3000.f);
+        }
+
+        if (pwm_duty_lb - last_lb > 1000) {
+            pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
+        }
+        if (pwm_duty_rb - last_rb > 1000) {
+            pwm_duty_rb = (pwm_duty_rb + last_rb) / 2;
+        }
+
+        last_rb = pwm_duty_rb;
+        last_lb = pwm_duty_lb;
+
+        by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3000 + pwm_duty_lb, 3000 + pwm_duty_rb);
     } else {
         by_pwm_power_duty(0, 0, 0, 0);
     }
-
+    ///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
-    /* 升力风扇设置 */
+    if (bt_fly_flag == 1) {
-    if (bt_fly_flag == 0) {
-        by_pwm_update_duty(0 + 500, 0 + 500);
-    } else {
         by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
+        if (bt_run_flag == 0) {
+            // 测试状态
+            if (1 == go_cnt) {
+                by_pwm_power_duty(600, 600, 3000, 3000);
+            } else if (2 == go_cnt) {
+                cnt3++;
+                if (cnt3 < 2000) {
+                    by_pwm_power_duty(600, 600, 3000, 3000);
+                } else if (cnt3 >= 2000 && cnt3 < 3000) {
+                    by_pwm_power_duty(600, 600, 4000, 4000);
+                } else if (cnt3 >= 3000) {
+                    bt_run_flag = 1;
+                    go_cnt      = 3;
+                    cnt3        = 0;
+                }
+            }
+        }
+    } else {
+        by_pwm_update_duty(500, 500);
     }
 }
 
@@ -146,28 +337,23 @@ void sport_pid_init()
     /* 角度控制 */
     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_SetSampleTime(&far_angle_pid, 10);
-    PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
+    PID_SetOutputLimits(&far_angle_pid, -6000.0f, 6000.0f);
-    // PID_Init(&far_angle_pid);
+    // 侧面位置环
+    PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
+    PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
+    PID_SetSampleTime(&pos_pid, 20);
+    PID_SetOutputLimits(&pos_pid, -260.0f, 260.0f);
 
     /* 角速度控制 */
-    PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _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); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&far_gyro_pid, 1);
+    PID_SetSampleTime(&far_gyro_pid, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -2100.0f, 2100.0f);
-    // PID_Init(&far_gyro_pid);
-
-    /* 近点控制 */
-    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_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+    PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
-    PID_SetSampleTime(&speed_pid, 10);
+    PID_SetSampleTime(&speed_pid, 20);
-    PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 2500.0f);
-    // PID_Init(&speed_pid);
 }

app/jj_motion.h

@@ -12,7 +12,9 @@ extern float an_Kd1;
 extern float in_angle;
 extern float set_angle;
 extern float out_angle;
-
+extern float cn_Kp1;
+extern float cn_Ki1;
+extern float cn_Kd1;
 extern float gy_Kp1;
 extern float gy_Ki1;
 extern float gy_Kd1;
@@ -22,17 +24,28 @@ extern float gy_Kd0;
 extern float in_gyro;
 extern float out_gyro;
 extern float set_gyro;
-
 extern float po_Kp1;
 extern float po_Ki1;
 extern float po_Kd1;
-extern float po_Kp0;
+extern float yu_Kp0;
-extern float po_Ki0;
+extern float yu_Ki0;
-extern float po_Kd0;
+extern float yu_Kd0;
 extern float in_pos;
 extern float out_pos;
 extern float set_pos;
+extern float ygy_Kp0;
+extern float ygy_Ki0;
+extern float ygy_Kd0;
+extern float za_Kp;
+extern float za_Ki;
+extern float za_Kd;
+extern float zg_Kp;
+extern float zg_Ki;
+extern float zg_Kd;
 
+extern float zp_Kp;
+extern float zp_Ki;
+extern float zp_Kd;
 extern float sp_Kp;
 extern float sp_Ki;
 extern float sp_Kd;
@@ -40,13 +53,30 @@ extern float in_speed;
 extern float out_speed;
 extern float set_speed0;
 extern float set_speed1;
-extern uint32_t pwm_duty_ls;
+extern float set_speed2;
-extern uint32_t pwm_duty_rs;
+extern float set_speed3;
-extern uint32_t pwm_duty_lb;
+extern float set_speed;
-extern uint32_t pwm_duty_rb;
+extern float set_speed4;
-
+extern float last_angle;
+extern float yuc_Kp;
+extern float rate_K1;
+extern float rate_K2;
+extern float start_dis;
+extern float set_dis;
+extern int32_t pwm_duty_ls;
+extern int32_t pwm_duty_rs;
+extern int32_t pwm_duty_lb;
+extern int32_t pwm_duty_rb;
+extern uint8_t go_cnt;
 extern uint8_t in_state;
 extern uint8_t in_stop;
+extern float bug_sw;
+extern float out_sw;
+extern float sho_sw;
+extern uint8_t bug_show_flag;
+extern uint8_t out_show_flag;
+extern uint8_t up_show_flag;
+extern uint8_t finish_show_flag;
 void sport_pid_init();
 void sport_motion(void);
 #endif

app/jj_param.c

@@ -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;
@@ -16,25 +17,23 @@ TYPE_UNION temp_frame_param[20];
 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_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_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(gyro_Kd0, &rate_K2, EFLOAT, 1, "ra_K2:");
 
-    PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
+    PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
-    PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
+    PARAM_REG(can_Ki1, &yuc_Kp, EFLOAT, 1, "yu_P1:"); // 注冊
-    PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
+    PARAM_REG(can_Kd1, &rate_K1, EFLOAT, 1, "ra_K1:");
 
-    PARAM_REG(pos_Kp0, &po_Kp0, EFLOAT, 1, "po_P0:"); // 注冊
+    PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");
-    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_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:");
@@ -48,6 +47,40 @@ void jj_param_eeprom_init(void)
     PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_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:");
+    PARAM_REG(param_set_speed3, &set_speed3, EFLOAT, 1, "rate3:");
+    /////////////////////////////////////////////////////////////
+    PARAM_REG(zhan_Kp, &za_Kp, EFLOAT, 1, "an_P:"); // 注冊
+    PARAM_REG(zhan_Ki, &za_Ki, EFLOAT, 1, "an_I:"); // 注冊
+    PARAM_REG(zhan_Kd, &za_Kd, EFLOAT, 1, "an_D:");
+
+    PARAM_REG(zhgy_Kp, &zg_Kp, EFLOAT, 1, "gy_P1:"); // 注冊
+    PARAM_REG(zhgy_Ki, &zg_Ki, EFLOAT, 1, "gy_I1:"); // 注冊
+    PARAM_REG(zhgy_Kd, &zg_Kd, EFLOAT, 1, "gy_D1:");
+
+    PARAM_REG(zhpo_Kp, &zp_Kp, EFLOAT, 1, "po_P1:"); // 注冊
+    PARAM_REG(zhpo_Ki, &zp_Ki, EFLOAT, 1, "po_I1:"); // 注冊
+    PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");
+
+    PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");
+
+    PARAM_REG(bug_stop, &bug_sw, EFLOAT, 1, "bug:"); // 注冊
+    PARAM_REG(out_stop, &out_sw, EFLOAT, 1, "out:"); // 注冊
+    PARAM_REG(shock_stop, &sho_sw, EFLOAT, 1, "shock:");
+    PARAM_REG(dis, &set_dis, EFLOAT, 1, "dis:");
     jj_param_read(); // 注冊
 }
 /**

app/jj_param.h

@@ -17,32 +17,72 @@
 typedef enum {
 
     Page1_head = 0,
-
+    // 完道pid
     angle_Kp0 = Page1_head,
     angle_Ki0,
     angle_Kd0,
+
     gyro_Kp0,
     gyro_Ki0,
     gyro_Kd0,
-    speed_Kp,
-    speed_Ki,
-    speed_Kd,
-    pos_Kp0,
-    pos_Ki0,
-    pos_Kd0,
-    param_set_speed0,
 
+    can_Kp1,
+    can_Ki1,
+    can_Kd1,
+    fly_pwm,
+    param_set_speed0,
+    // 直道pid
     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,
+    // 圆环皮带
+    Page3_head,
+    yuan_Kp0 = Page3_head,
+    yuan_Ki0,
+    yuan_Kd0,
+
+    yugyro_Kp0,
+    yugyro_Ki0,
+    yugyro_Kd0,
+
+    speed_Kp,
+    speed_Ki,
+    speed_Kd,
+
+    param_set_speed2,
+    param_set_speed3,
+
+    Page4_head,
+    zhgy_Kp = Page4_head,
+    zhgy_Ki,
+    zhgy_Kd,
+
+    zhan_Kp,
+    zhan_Ki,
+    zhan_Kd,
+
+    zhpo_Kp,
+    zhpo_Ki,
+    zhpo_Kd,
+
+    param_set_speed4,
+
+    Page5_head,
+    bug_stop = Page5_head,
+    shock_stop,
+    out_stop,
+    dis,
 
     DATA_IN_FLASH_NUM,
 

app/jj_voltage.c

@@ -0,0 +1,13 @@
+#include "jj_voltage.h"
+#include "zf_driver_adc.h"
+
+#define GET_VOL_PIN ADC2_IN5_A5
+float now_vol;
+void vol_init(void)
+{
+    adc_init(GET_VOL_PIN,ADC_12BIT);
+}
+void get_vol()
+{
+    now_vol=0.003377f*adc_convert(GET_VOL_PIN)+0.36f;
+}

app/jj_voltage.h

@@ -0,0 +1,9 @@
+#ifndef _JJ_VOLTAGE_H_
+#define _JJ_VOLTAGE_H_
+
+#include "stdio.h"
+#include "zf_driver_uart.h"
+extern float now_vol;
+void vol_init();
+void get_vol();
+#endif

app/main.c

@@ -28,6 +28,7 @@
 #include "jj_param.h"
 #include "jj_motion.h"
 #include "jj_blueteeth.h"
+#include "jj_voltage.h"
 
 #include "by_imu.h"
 #include "by_vofa.h"
@@ -35,29 +36,33 @@
 #include "by_frame.h"
 #include "by_rt_button.h"
 #include "by_fan_control.h"
-uint8_t last_state;
+
+uint32_t send_reset = 0x0D;
 int main(void)
 {
     TYPE_UNION test_data[BY_FRAME_DATA_NUM];
     clock_init(SYSTEM_CLOCK_144M);
     system_delay_init();
     debug_init();
-
+    by_frame_init();
+    for (int i = 0; i < 6; i++) {
+        by_frame_send(&send_reset);
+    }
     encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
     ips200_init(IPS200_TYPE_SPI);
-    while (imu660ra_init())
+    while (imu660ra_init());
-        ;
     jj_param_eeprom_init();
     jj_bt_init();
+    vol_init();
     by_rb_init();
-    // by_pwm_init();
     by_buzzer_init();
-    by_frame_init();
+
+    by_pwm_init();
 
     Page_Init();
     sport_pid_init();
 
-    pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器
+    pit_ms_init(TIM6_PIT, 1); // 运动解算，编码器
 
     bt_printf("ok\r\n");
 
@@ -66,13 +71,10 @@ int main(void)
         Page_Run();
         by_frame_parse(&test_data[0].u32);
         jj_bt_run();
-        in_pos   = test_data[1].f32;
+        last_angle=in_angle;
+        in_pos   = 1000.f * test_data[1].f32;
         in_angle = test_data[0].f32;
         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;
     }
 }

app/page/page.c

@@ -124,13 +124,14 @@ void Page_Run(void)
 void Page_Init(void)
 {
     PAGE_REG(page_menu);
-    // PAGE_REG(page_rtcam);
+
     PAGE_REG(page_param_pid0);
     PAGE_REG(page_param_pid1);
-    // PAGE_REG(page_argv);
+    PAGE_REG(page_param_pid2);
-    // PAGE_REG(page_sys);
+    PAGE_REG(page_param_pid3);
-    // PAGE_REG(page_run);
     PAGE_REG(page_dparam);
+    PAGE_REG(page_gocar);
+    PAGE_REG(page_stopcar);
     Page_Shift(page_menu);
 
     pagelist[now_page].SetupCallback(); // 先构建一遍

app/page/page.h

@@ -22,7 +22,12 @@ enum PageID {
     // page_rtcam,
     page_param_pid0,
     page_param_pid1,
+    page_param_pid2,
+    page_param_pid3,
     page_dparam,
+    page_stopcar,
+    page_gocar,
+
     // page_argv,
     // page_sys,
     // page_run,

app/page/page_dparam.c

@@ -2,7 +2,7 @@
 #include "page_ui_widget.h"
 #include "jj_motion.h"
 #include "page.h"
-
+#include "jj_voltage.h"
 #include <math.h>
 
 #define LINE_HEAD 0
@@ -44,14 +44,14 @@ static void Loop()
 {
     ips200_show_string(0, 0, "sta:");
     ips200_show_float(80, 0, in_state, 4, 1);
-    ips200_show_string(0, 20, "sto:");
+    ips200_show_string(0, 20, "outsp:");
-    ips200_show_float(80, 20, in_stop, 4, 1);
+    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");
+    ips200_show_string(0, 60, "cal");
-    ips200_show_float(80, 60, in_pos, 4, 1);
+    ips200_show_float(80, 60, in_pos, 3, 5);
-    ips200_show_string(0, 80, "gyroz");
+    ips200_show_string(0, 80, "accy");
-    ips200_show_float(80, 80, in_gyro, 4, 2);
+    ips200_show_float(80, 80, (float)imu660ra_gyro_z, 4, 2);
     ips200_show_string(0, 100, "speed");
     ips200_show_float(80, 100, in_speed, 4, 4);
     ips200_show_string(0, 120, "outang");
@@ -60,15 +60,31 @@ 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, "vol");
-    // ips200_show_string(0, 180, "ls");
+    ips200_show_float(80, 180, (float)now_vol, 4, 2);
-    // ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
+    ips200_show_string(0, 200, "setsp");
-    // ips200_show_string(0, 200, "rs");
+    ips200_show_float(80, 200, set_speed, 4, 2);
-    // ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
+    ips200_show_string(0, 220, "dis");
-    // ips200_show_string(0, 220, "lb");
+    ips200_show_float(80, 220, start_dis, 4, 2);
-    // ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
+    if (up_show_flag == 1) {
-    // ips200_show_string(100, 0, "rb");
+        ips200_show_string(180, 200, "up    ");
-    // ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
+    } else if (out_show_flag == 1) {
+        ips200_show_string(180, 200, "out   ");
+    } else if (bug_show_flag == 1) {
+        ips200_show_string(180, 200, "bug   ");
+    } else if (finish_show_flag == 1) {
+        ips200_show_string(180, 200, "finish");
+    } else {
+        ips200_show_string(180, 200, "      ");
+    }
+    ips200_show_string(180, 0, "ls");
+    ips200_show_float(220, 0, pwm_duty_ls, 4, 1);
+    ips200_show_string(180, 20, "rs");
+    ips200_show_float(220, 20, pwm_duty_rs, 4, 1);
+    ips200_show_string(180, 40, "lb");
+    ips200_show_float(220, 40, pwm_duty_lb, 4, 1);
+    ips200_show_string(180, 60, "rb");
+    ips200_show_float(220, 60, pwm_duty_rb, 4, 1);
 }
 /**
  * @brief  页面事件

app/page/page_gocar.c

@@ -0,0 +1,131 @@
+#include "zf_common_headfile.h"
+#include "page_ui_widget.h"
+#include "page.h"
+#include "by_frame.h"
+#include "jj_blueteeth.h"
+#include "jj_motion.h"
+
+#define LINE_HEAD 1
+#define LINE_END  6
+
+static char Text[] = "gocar";
+
+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 int8_t last_go     = 0;
+static int8_t last_cnt    = 0;
+static int8_t last_fly    = 0;
+/***************************************************************************************
+ *
+ *                                  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();
+    ips200_show_string(0, 2, "gocar");
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+    ips200_show_string(10, 200, "go_flag:");
+    ips200_show_int(80, 200, go_cnt, 1);
+    ips200_show_string(10, 180, "ru_flag:");
+    ips200_show_int(80, 180, bt_run_flag, 1);
+    ips200_show_string(10, 160, "fl_flag:");
+    ips200_show_int(80, 160, bt_fly_flag, 1);
+
+    ips200_show_string(10, 18, "fan_test");
+    ips200_show_string(10, 2 * 18, "run");
+    ips200_show_string(10, 3 * 18, "fly_close");
+    ips200_show_string(10, 4 * 18, "run_close");
+}
+
+/**
+ * @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()
+{
+    if (last_cnt != go_cnt) {
+        ips200_show_int(80, 200, go_cnt, 1);
+    }
+    last_cnt = go_cnt;
+    if (last_go != bt_run_flag) {
+        ips200_show_int(80, 180, bt_run_flag, 1);
+    }
+    last_go = bt_run_flag;
+    if (last_fly != bt_fly_flag) {
+        ips200_show_int(80, 160, bt_fly_flag, 1);
+    }
+    last_fly = bt_fly_flag;
+}
+
+/**
+ * @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)
+{
+    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) {
+        if (go_cnt == 1 && Curser == 1) {
+            go_cnt = 0; // 起步拖动失败。重新开始
+        } else if (go_cnt == 0 && Curser == 1) {
+            go_cnt      = 1;
+            bt_fly_flag = 1;
+        }
+        if (go_cnt == 1 && Curser == 2) {
+            go_cnt = 2;
+        }
+        if (Curser == 3 && bt_fly_flag != 0) {
+            bt_fly_flag = 0;
+        }
+        if (Curser == 4 && bt_run_flag != 0) {
+            bt_run_flag = 0;
+            go_cnt      = 0;
+        }
+
+    } else if (page_event_press_long == event) {
+        Page_Shift(page_menu);
+    }
+
+    if (Curser < LINE_HEAD) {
+        Curser = LINE_END;
+    } else if (Curser > LINE_END) {
+        Curser = LINE_HEAD;
+    }
+
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+}
+
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_gocar(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}

app/page/page_menu.c

@@ -1,6 +1,9 @@
 #include "zf_common_headfile.h"
 #include "page_ui_widget.h"
 #include "page.h"
+#include "by_frame.h"
+#include "jj_blueteeth.h"
+#include "jj_motion.h"
 
 #define LINE_HEAD 1
 #define LINE_END  7
@@ -9,6 +12,7 @@ static char Text[] = "Menu";
 
 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 Print_Menu_p(void);
 /***************************************************************************************
  *
@@ -23,6 +27,7 @@ static void Print_Menu_p(void);
  */
 static void Setup()
 {
+
     ips200_clear();
     Print_Menu_p();
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
@@ -64,6 +69,7 @@ static void Event(page_event event)
         if (page_max > Curser && page_menu < Curser) {
             Page_Shift(Curser); // 切换到光标选中的页面
         }
+    } else if (page_event_press_long == event) {
     }
 
     if (Curser < LINE_HEAD) {

app/page/page_param_pid0.c

@@ -4,9 +4,9 @@
 #include "page.h"
 #include <math.h>
 
-#define LINE_HEAD 0
+#define LINE_HEAD 1
-#define LINE_END  Page2_head - 1
+#define LINE_END  Page2_head
-static char Text[]        = "Param_pid0";
+static char Text[]        = "turn_pid";
 static int event_flag     = 0;
 static int index_power    = 0;
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
@@ -25,13 +25,14 @@ static void jj_param_show();
 static void Setup()
 {
     ips200_clear();
+    ips200_show_string(0, 2, "turn");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    for (int16 i = 0; 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 + 20, Param_Data[i].text);
         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 + 20, *((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_float(50, i * 18 + 20, *((float *)(Param_Data[i].p_data)), 4, 5);
     }
     ips200_show_int(100, 2, index_power, 5);
 }
@@ -87,25 +88,25 @@ 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) {
+            if (Param_Data[Curser - 1].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) += powf(10.0f, (float)index_power);
+                *((float *)(Param_Data[Curser - 1].p_data)) += powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser].type == EINT32) {
+            } else if (Param_Data[Curser - 1].type == EINT32) {
-                *((int32 *)(Param_Data[Curser].p_data)) += 1;
+                *((int32 *)(Param_Data[Curser - 1].p_data)) += 1;
-            } else if (Param_Data[Curser].type == EUINT32) {
+            } else if (Param_Data[Curser - 1].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser].p_data)) += 1;
+                *((uint32 *)(Param_Data[Curser - 1].p_data)) += 1;
             }
         } else if (page_event_backward == event) {
-            if (Param_Data[Curser].type == EFLOAT) {
+            if (Param_Data[Curser - 1].type == EFLOAT) {
-                *((float *)(Param_Data[Curser].p_data)) -= powf(10.0f, (float)index_power);
+                *((float *)(Param_Data[Curser - 1].p_data)) -= powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser].type == EINT32) {
+            } else if (Param_Data[Curser - 1].type == EINT32) {
-                *((int32 *)(Param_Data[Curser].p_data)) -= 1;
+                *((int32 *)(Param_Data[Curser - 1].p_data)) -= 1;
-            } else if (Param_Data[Curser].type == EUINT32) {
+            } else if (Param_Data[Curser - 1].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser].p_data)) -= 1;
+                *((uint32 *)(Param_Data[Curser - 1].p_data)) -= 1;
             }
         } else if (page_event_press_short == event) {
-            index_power++;
+            index_power--;
-            if (index_power > 2) {
+            if (index_power < -2) {
-                index_power = -2;
+                index_power = 2;
             }
             ips200_show_int(100, 2, index_power, 5);
         } else if (page_event_press_long == event) {
@@ -117,12 +118,12 @@ static void Event(page_event event)
 }
 static void jj_param_show()
 {
-    if (EINT32 == Param_Data[Curser].type)
+    if (EINT32 == Param_Data[Curser - 1].type)
-        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser - 1].p_data)), 5);
-    else if (EUINT32 == Param_Data[Curser].type)
+    else if (EUINT32 == Param_Data[Curser - 1].type)
-        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser - 1].p_data)), 5);
-    else if (EFLOAT == Param_Data[Curser].type)
+    else if (EFLOAT == Param_Data[Curser - 1].type)
-        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser].p_data)), 4, 5);
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser - 1].p_data)), 4, 5);
 }
 /**
  * @brief 页面注册函数

app/page/page_param_pid1.c

@@ -4,9 +4,10 @@
 #include "page.h"
 #include <math.h>
 
-#define LINE_HEAD 0
+#define LINE_HEAD   1
-#define LINE_END  DATA_IN_FLASH_NUM - 1 - Page2_head
+#define LINE_END    Page3_head - Page2_head
-static char Text[]        = "Param_pid1";
+#define Strat_param Page2_head
+static char Text[]        = "stra_pid";
 static int event_flag     = 0;
 static int index_power    = 0;
 static int8_t Curser      = LINE_HEAD; // 定义光标位置
@@ -25,13 +26,14 @@ static void jj_param_show();
 static void Setup()
 {
     ips200_clear();
+    ips200_show_string(0, 2, "straight");
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
-    for (int16 i = 0; i < 10; i++) {
+    for (int16 i = 0; i < LINE_END; i++) {
-        ips200_show_string(0, i * 18 + 2, Param_Data[i + 13].text);
+        ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
-        if (Param_Data[i + 13].type == EINT32)
+        if (Param_Data[i + Strat_param].type == EINT32)
-            ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i + 13].p_data)), 5);
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
-        else if (Param_Data[i + 13].type == EFLOAT)
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
-            ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i + 13].p_data)), 4, 5);
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].p_data)), 4, 5);
     }
     ips200_show_int(100, 2, index_power, 5);
 }
@@ -87,25 +89,25 @@ 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 + 13].type == EFLOAT) {
+            if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
-                *((float *)(Param_Data[Curser + 13].p_data)) += powf(10.0f, (float)index_power);
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) += powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser + 13].type == EINT32) {
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
-                *((int32 *)(Param_Data[Curser + 13].p_data)) += 1;
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
-            } else if (Param_Data[Curser + 13].type == EUINT32) {
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) += 1;
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
             }
         } else if (page_event_backward == event) {
-            if (Param_Data[Curser + Page2_head].type == EFLOAT) {
+            if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
-                *((float *)(Param_Data[Curser + Page2_head].p_data)) -= powf(10.0f, (float)index_power);
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) -= powf(10.0f, (float)index_power);
-            } else if (Param_Data[Curser + Page2_head].type == EINT32) {
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
-                *((int32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
-            } else if (Param_Data[Curser + Page2_head].type == EUINT32) {
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
-                *((uint32 *)(Param_Data[Curser + Page2_head].p_data)) -= 1;
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
             }
         } else if (page_event_press_short == event) {
-            index_power++;
+            index_power--;
-            if (index_power > 2) {
+            if (index_power < -2) {
-                index_power = -2;
+                index_power = 2;
             }
             ips200_show_int(100, 2, index_power, 5);
         } else if (page_event_press_long == event) {
@@ -117,12 +119,12 @@ static void Event(page_event event)
 }
 static void jj_param_show()
 {
-    if (EINT32 == Param_Data[Curser + 13].type)
+    if (EINT32 == Param_Data[Curser + Strat_param - 1].type)
-        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
-    else if (EUINT32 == Param_Data[Curser + 13].type)
+    else if (EUINT32 == Param_Data[Curser + Strat_param - 1].type)
-        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + 13].p_data)), 5);
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
-    else if (EFLOAT == Param_Data[Curser + 13].type)
+    else if (EFLOAT == Param_Data[Curser + Strat_param - 1].type)
-        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + 13].p_data)), 4, 5);
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param - 1].p_data)), 4, 5);
 }
 /**
  * @brief 页面注册函数

app/page/page_param_pid2.c

@@ -0,0 +1,137 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+#include <math.h>
+
+#define LINE_HEAD   1
+#define LINE_END    Page4_head - Page3_head
+#define Strat_param Page3_head
+static char Text[]        = "cir_pid";
+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();
+    ips200_show_string(0, 2, "circle");
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+    for (int16 i = 0; i < LINE_END; i++) {
+        ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
+        if (Param_Data[i + Strat_param].type == EINT32)
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].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 + Strat_param - 1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
+            }
+        } else if (page_event_backward == event) {
+            if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].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 + Strat_param - 1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser + Strat_param - 1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser + Strat_param - 1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param - 1].p_data)), 4, 5);
+}
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_param_pid2(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}

app/page/page_param_pid3.c

@@ -0,0 +1,137 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+#include <math.h>
+
+#define LINE_HEAD   1
+#define LINE_END    Page5_head - Page4_head
+#define Strat_param Page4_head
+static char Text[]        = "barr_pid";
+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();
+    ips200_show_string(0, 2, "barrir");
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+    for (int16 i = 0; i < LINE_END; i++) {
+        ips200_show_string(0, i * 18 + 20, Param_Data[i + Strat_param].text);
+        if (Param_Data[i + Strat_param].type == EINT32)
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].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 + Strat_param - 1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].p_data)) += 1;
+            }
+        } else if (page_event_backward == event) {
+            if (Param_Data[Curser + Strat_param - 1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param - 1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param - 1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)) -= 1;
+            } else if (Param_Data[Curser + Strat_param - 1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param - 1].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 + Strat_param - 1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser + Strat_param - 1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param - 1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser + Strat_param - 1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param - 1].p_data)), 4, 5);
+}
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_param_pid3(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}

app/page/page_stopcar.c

@@ -0,0 +1,137 @@
+#include "jj_param.h"
+#include "page_ui_widget.h"
+#include "jj_motion.h"
+#include "page.h"
+#include <math.h>
+
+#define LINE_HEAD 1
+#define LINE_END  DATA_IN_FLASH_NUM  - Page5_head
+#define Strat_param Page5_head
+static char Text[]        = "stop_sw";
+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();
+     ips200_show_string(0, 2,"stopsw");
+    Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
+    for (int16 i = 0; i < LINE_END; i++) {
+        ips200_show_string(0, i * 18 + 20, Param_Data[i +Strat_param ].text);
+        if (Param_Data[i + Strat_param].type == EINT32)
+            ips200_show_int(50, i * 18 + 20, *((int32 *)(Param_Data[i + Strat_param].p_data)), 5);
+        else if (Param_Data[i + Strat_param].type == EFLOAT)
+            ips200_show_float(50, i * 18 + 20, *((float *)(Param_Data[i + Strat_param].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 + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) += powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].p_data)) += 1;
+            }
+        } else if (page_event_backward == event) {
+            if (Param_Data[Curser + Strat_param-1].type == EFLOAT) {
+                *((float *)(Param_Data[Curser + Strat_param-1].p_data)) -= powf(10.0f, (float)index_power);
+            } else if (Param_Data[Curser + Strat_param-1].type == EINT32) {
+                *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)) -= 1;
+            } else if (Param_Data[Curser + Strat_param-1].type == EUINT32) {
+                *((uint32 *)(Param_Data[Curser + Strat_param-1].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 + Strat_param-1].type)
+        ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EUINT32 == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + Strat_param-1].p_data)), 5);
+    else if (EFLOAT == Param_Data[Curser + Strat_param-1].type)
+        ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser + Strat_param-1].p_data)), 4, 5);
+}
+/**
+ * @brief 页面注册函数
+ *
+ * @param pageID
+ */
+void PageRegister_page_stopcar(unsigned char pageID)
+{
+    Page_Register(pageID, Text, Setup, Loop, Exit, Event);
+}

libraries/zf_device/zf_device_imu660ra.c

@@ -266,7 +266,7 @@ uint8 imu660ra_init(void)
         }
         imu660ra_write_register(IMU660RA_PWR_CTRL, 0x0E); // 开启性能模式  使能陀螺仪、加速度、温度传感器
         imu660ra_write_register(IMU660RA_ACC_CONF, 0xA7); // 加速度采集配置 性能模式 正常采集 50Hz  采样频率
-        imu660ra_write_register(IMU660RA_GYR_CONF, 0xAC); // 陀螺仪采集配置 性能模式 正常采集 1600Hz 采样频率
+        imu660ra_write_register(IMU660RA_GYR_CONF, 0xA9); // 陀螺仪采集配置 性能模式 正常采集 1600Hz 采样频率
 
         // IMU660RA_ACC_SAMPLE 寄存器
         // 设置为 0x00 加速度计量程为 ±2  g   获取到的加速度计数据除以 16384  可以转化为带物理单位的数据 单位 g(m/s^2)