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feat 更新角度闭环相关功能

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井明江
2024-01-16 20:03:21 +08:00
parent 16ead48bba
commit 3bc5e3cf93
19 changed files with 908 additions and 92 deletions
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59
app/jj_blueteeth.c
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@@ -1,12 +1,23 @@
#include "jj_blueteeth.h"
#include "jj_motion.h"
#include "by_fan_control.h"
bool bt_rx_flag = false;
uint8 bt_buffer;//接收字符存入
uint8 bt_buffer; // 接收字符存入
float bt_angle = 0.0f;
uint32_t bt_run_flag = 0;
uint8_t bt_flow_flag = 0;
uint32_t bt_fly = 0;
uint32_t bt_flow = 0;
enum bt_order {
Start_work = 0x01,
Turn_Left = 0x02,
Turn_Right = 0x03,
Speed_up = 0x04,
Speed_down = 0x05,
Stop_fly = 0x06,
Flow_on = 0x08,
Flow_up = 0x09,
Flow_down = 0x10,
};
/**
* @brief 蓝牙初始化
@@ -15,7 +26,7 @@ enum bt_order {
void jj_bt_init()
{
uart_init(UART_2, 115200, UART2_MAP1_TX_D5, UART2_MAP1_RX_D6);
// uart_tx_interrupt(UART_2, 1);
// uart_tx_interrupt(UART_2, 1);
uart_rx_interrupt(UART_2, ENABLE);
}
/**
@@ -26,24 +37,56 @@ void jj_bt_run()
if (bt_rx_flag) {
switch (bt_buffer) {
case Start_work:
printf("1\r\n");
bt_angle = 0.0f;
break;
case Turn_Left:
printf("2\r\n");
bt_angle = 10.0f;
break;
case Turn_Right:
printf("3\r\n");
bt_angle = -10.0f;
break;
case Speed_down:
printf("5\r\n");
bt_fly -= 10;
break;
case Speed_up:
printf("4\r\n");
bt_fly += 10;
break;
case Stop_fly:
bt_run_flag = !bt_run_flag;
break;
case Flow_on:
bt_flow_flag = !bt_flow_flag;
break;
case Flow_up:
bt_flow += 20;
break;
case Flow_down:
bt_flow -= 20;
break;
default:
break;
}
uart_write_byte(UART_2,bt_buffer);
if (bt_flow_flag == 0) {
bt_flow = 0;
}
by_pwm_update_duty(bt_flow + 500, bt_flow + 500);
bt_rx_flag = false;
}
}
void bt_printf(const char *format, ...)
{
char sbuf[40];
va_list args;
va_start(args, format);
vsnprintf(sbuf, 40, format, args);
va_end(args);
for (uint16_t i = 0; i < strlen(sbuf); i++) {
while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_2], USART_FLAG_TC) == RESET)
;
USART_SendData((USART_TypeDef *)uart_index[UART_2], sbuf[i]);
}
}