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Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_clover

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bmy
2024-03-02 16:17:34 +08:00
parent ee1ef42676
commit 00be00f85f
17 changed files with 646 additions and 313 deletions
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93
app/jj_param.c
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@@ -5,20 +5,67 @@
PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param;
TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
void jj_param_eeprom_init()
uint32_t *addre[2];
float data0 = 1.0f;
float data1 = 1.05f;
float data2 = 10.0f;
float data3 = 100.0f;
float data4 = 4.0f;
float data5 = 66.0f;
float data6 = 13.130f;
float data7 = 10.0f;
float data8 = 0.0f;
/**
* @brief 参数初始化注册
*
*/
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, &data0, EFLOAT, 1, "an_P:"); // 注冊
PARAM_REG(angle_Ki, &data1, EFLOAT, 1, "an_I:"); // 注冊
PARAM_REG(angle_Kd, &data2, EFLOAT, 1, "an_D:"); // 注冊
PARAM_REG(imgax_Kp, &data3, EFLOAT, 1, "im_P:"); // 注冊
PARAM_REG(imgax_Ki, &data4, EFLOAT, 1, "im_I:"); // 注冊
PARAM_REG(imgax_Kd, &data5, EFLOAT, 1, "im_D:");
PARAM_REG(other , &data6, EFLOAT, 1, "add:");
PARAM_REG(delta_x , &data7, EFLOAT, 2, "delta_x:");
PARAM_REG(delta_y , &data8, EFLOAT, 0, "delta_y:");
jj_param_read(); // 注冊
}
/**
* @brief 参数写入
*
*/
void jj_param_write(void)
{
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));
break;
case EUINT32:
iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
break;
case EINT32:
iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
break;
default:
break;
}
eep_soft_iic_write_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
system_delay_ms(10);
}
}
/**
* @brief 参数读出
*
*/
void jj_param_read(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"); // 注冊
// PARAM_REG(imgax_Kp, &im_Kp, EFLOAT, 1, "im_P"); // 注冊
// PARAM_REG(imgax_Ki, &im_Ki, EFLOAT, 1, "im_I"); // 注冊
// PARAM_REG(imgax_Kd, &im_Kd, EFLOAT, 1, "im_D"); // 注冊
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
soft_iic_read_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
switch (Param_Data[i].type) {
case EFLOAT:
*((float *)(Param_Data[i].p_data)) =
@@ -38,27 +85,3 @@ void jj_param_eeprom_init()
system_delay_ms(10);
}
}
/**
* @brief 参数更新
*
*/
void jj_param_update()
{
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));
break;
case EUINT32:
iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
break;
case EINT32:
iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
break;
default:
break;
}
soft_iic_write_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
system_delay_ms(10);
}
}