From 7d5bee30d1307be61d8a92266d26d07b6afbb7fb 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, 23 Mar 2024 18:26:03 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E9=81=BF=E9=9A=9C=E5=8A=9F=E8=83=BD?=
 =?UTF-8?q?=E5=AE=9E=E7=8E=B0?=
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---
 app/gl_state.c    |  4 +++-
 app/gl_state.h    |  2 ++
 app/gl_tracking.c |  6 +++---
 app/jj_param.c    | 10 +++++++---
 app/jj_param.h    | 13 +++++++------
 5 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/app/gl_state.c b/app/gl_state.c
index b6365de..6ec18f9 100644
--- a/app/gl_state.c
+++ b/app/gl_state.c
@@ -4,4 +4,6 @@
 enum state_type_e state_type =0;
 float cricle_aim=0.2f;
 float cross_aim=0.49f;
-float common_aim=0.35f; 
\ No newline at end of file
+float common_aim=0.35f; 
+float barrier_aim=0.1f;
+float barrier_offset=4.0f;
\ No newline at end of file
diff --git a/app/gl_state.h b/app/gl_state.h
index e3a1cca..8d1799a 100644
--- a/app/gl_state.h
+++ b/app/gl_state.h
@@ -24,5 +24,7 @@ extern enum state_type_e state_type;
 extern float cricle_aim;
 extern float cross_aim;
 extern float common_aim;
+extern float barrier_aim;
+extern float barrier_offset;
 
 #endif /* STATE_H_ */
diff --git a/app/gl_tracking.c b/app/gl_tracking.c
index 4ad438b..fae8979 100644
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -29,7 +29,7 @@ void aim_distance_select(void)
     } else if (circle_type != CIRCLE_NONE) {
         aim_distance = cross_aim;
     } else if (barrier_type != BARRIER_NONE) {
-        aim_distance = 0.3f;
+        aim_distance = barrier_aim;
     } else {
         aim_distance = common_aim;
     }
@@ -138,10 +138,10 @@ void MidLineTrack()
         //  float error = -atan2f(dx, dy) * 180 / PI32;
 
         if (barrier_type == BARRIER_LEFT_BEGIN) {
-            dx_near    = rptsn[aim_idx_near][1] - cx;
+            dx_near    = rptsn[aim_idx_near][1] - cx +barrier_offset;
             pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
         } else if (barrier_type == BARRIER_RIGHT_BEGIN) {
-            dx_near    = rptsn[aim_idx_near][1] - cx;
+            dx_near    = rptsn[aim_idx_near][1] - cx - barrier_offset;
             pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
         } else {
             dx_near    = rptsn[aim_idx_near][1] - cx;
diff --git a/app/jj_param.c b/app/jj_param.c
index 777ecb3..5947df4 100644
--- a/app/jj_param.c
+++ b/app/jj_param.c
@@ -16,9 +16,13 @@ uint32_t *addre[2];
 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(aim_cross, &cross_aim, EFLOAT, 1, "cros:");                                                      // 注冊
-    PARAM_REG(aim_cricle, &cricle_aim, EFLOAT, 1, "cric:");                                                      // 注冊
-    PARAM_REG(aim_common, &common_aim, EFLOAT, 1, "comm:");                                                      // 注冊
+    PARAM_REG(aim_cross, &cross_aim, EFLOAT, 1, "cros:");                                                 // 注冊
+    PARAM_REG(aim_cricle, &cricle_aim, EFLOAT, 1, "cric:");                                               // 注冊
+    PARAM_REG(aim_common, &common_aim, EFLOAT, 1, "comm:");                                               // 注冊
+    PARAM_REG(aim_barrier, &barrier_aim, EFLOAT, 1, "barr:");
+    PARAM_REG(offset_barrier, &barrier_offset, EFLOAT, 1, "offs:");
+    PARAM_REG(delta_x, &pure_angle, EFLOAT, 2, "far:");
+    PARAM_REG(delta_y, &dx_near, EFLOAT, 2, "near:");
 
     jj_param_read(); // 注冊
 }
diff --git a/app/jj_param.h b/app/jj_param.h
index e744b5c..4f60104 100644
--- a/app/jj_param.h
+++ b/app/jj_param.h
@@ -16,15 +16,16 @@
 
 typedef enum {
 
-    Page1_head=0,
-   
-    aim_common=Page1_head,
+    Page1_head = 0,
+
+    aim_common = Page1_head,
     aim_cross,
     aim_cricle,
-
+    aim_barrier,
+    offset_barrier,
     Page2_head,
     // 第二页参数
-    imgax_Kp=Page2_head,
+    imgax_Kp = Page2_head,
     imgax_Ki,
     imgax_Kd,
 
@@ -52,7 +53,7 @@ typedef union {
 typedef struct {
     void *p_data;
     ENUM_TYPE type;
-    uint8_t cmd;//01:仅存储 00：仅显示 02：传输并显示
+    uint8_t cmd; // 01:仅存储 00：仅显示 02：传输并显示
     char *text;
 } PARAM_INFO;
 extern soft_iic_info_struct eeprom_param;