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This commit is contained in:
Glz
2024-06-16 21:52:42 +08:00
parent 3fe85dc7db
commit b155d3ce14
18 changed files with 205 additions and 108 deletions
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52
app/gl_barrier.c
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@@ -2,7 +2,13 @@
#include "gl_headfile.h"
enum barrier_type_e barrier_type = BARRIER_NONE;
enum s_type_e s_type = S_NONE;
uint16 time_barrier;
float (*mid_track_s)[2];
int32_t mid_track_count_s;
int temp_min_s;
int temp_max_s;
void CheckBarrier()
{
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
@@ -61,3 +67,49 @@ void RunBarrier()
}
}
}
void Check_s(){
if (track_type == TRACK_LEFT) {
mid_track_s = mid_left;
mid_track_count_s = mid_left_count;
} else {
mid_track_s = mid_right;
mid_track_count_s = mid_right_count;
}
int min_s = 1000;
int max_s = 1;
for (int i = 0; i < mid_track_count_s; i++)
{
if (mid_track_s[i][1] < min_s)
{
min_s = mid_track_s[i][1];
temp_min_s = min_s;
}
if (mid_track_s[i][1] > max_s)
{
max_s = mid_track_s[i][1];
temp_max_s = max_s;
}
}
if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5)
{
s_type = S_BEGIN;
}
}
void RunS(){
if (temp_max_s - temp_min_s >30 || (is_straight0 && is_straight1))
{
s_type = S_NONE;
}
}

14
app/gl_barrier.h
View File

@@ -10,10 +10,24 @@ enum barrier_type_e {
BARRIER_LEFT_OUT,
BARRIER_RIGHT_OUT,
};
enum s_type_e {
S_NONE,
S_BEGIN,
S_RUNNING,
S_OUT,
};
extern uint16 time_barrier;
extern enum barrier_type_e barrier_type;
extern enum s_type_e s_type;
extern float (*mid_track_s)[2];
extern int32_t mid_track_count_s;
extern int temp_min_s;
extern int temp_max_s;
void CheckBarrier(void);
void Check_s(void);
void RunBarrier(void);

3
app/gl_common.h
View File

@@ -4,12 +4,13 @@
#define IMAGE_H (MT9V03X_H)
#define IMAGE_W (MT9V03X_W)
#define BEGINH_L (61)
#define BEGINH_L_curvature (75)
#define BEGINH_R (61)
#define BEGINH_R_curvature (75)
#define BEGINW_L (-18)
#define BEGINW_R (-12)
#define PT_MAXLEN (75)
#define GET_PIX_1C(IMG, H, W) (IMG[(H) * MT9V03X_W + (W)]) // 获取像素点的值
#define FIX_BINTHRESHOLD (140) // 设置最开始的阈值
#define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小
#define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小

8
app/gl_data.c
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@@ -6,6 +6,11 @@ int32_t pts_left[PT_MAXLEN][2];
int32_t pts_right[PT_MAXLEN][2];
int32_t pts_left_count;
int32_t pts_right_count;
int32_t pts_left_curvature[PT_MAXLEN][2];
int32_t pts_right_curvature[PT_MAXLEN][2];
int32_t pts_left_count_curvature;
int32_t pts_right_count_curvature;
int32_t mid_s_count;
int32_t pts_far_left[PT_MAXLEN][2];
int32_t pts_far_right[PT_MAXLEN][2];
int32_t pts_far_left_count;
@@ -43,6 +48,8 @@ int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
float mid_s[PT_MAXLEN][2];
int32_t mid_left_count;
int32_t mid_right_count;
@@ -112,5 +119,6 @@ float rptsn[PT_MAXLEN][2];
int32_t rptsn_num;
float aim_distance;
float aim_judge_far=0.3f;
float FIX_BINTHRESHOLD = 140;
track_type_e track_type = TRACK_RIGHT;

7
app/gl_data.h
View File

@@ -16,10 +16,15 @@ extern int32_t pts_left[PT_MAXLEN][2];
extern int32_t pts_right[PT_MAXLEN][2];
extern int32_t pts_left_count;
extern int32_t pts_right_count;
extern int32_t pts_left_curvature[PT_MAXLEN][2];
extern int32_t pts_right_curvature[PT_MAXLEN][2];
extern int32_t pts_left_count_curvature;
extern int32_t pts_right_count_curvature;
extern int32_t pts_far_left[PT_MAXLEN][2];
extern int32_t pts_far_right[PT_MAXLEN][2];
extern int32_t pts_far_left_count;
extern int32_t pts_far_right_count;
extern int32_t mid_s_count;
//逆透视后边线数组
extern float pts_inv_l[PT_MAXLEN][2];
extern float pts_inv_r[PT_MAXLEN][2];
@@ -51,6 +56,7 @@ extern int32_t pts_far_resample_right_count;
extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2];
extern float mid_s[PT_MAXLEN][2];
extern int32_t mid_left_count;
extern int32_t mid_right_count;
@@ -125,5 +131,6 @@ extern float aim_distance;
extern float aim_judge_far;
extern track_type_e track_type;
extern float FIX_BINTHRESHOLD;
#endif

1
app/gl_handle_img.c
View File

@@ -237,3 +237,4 @@ int is_curve(float angle[], int n, float threshold) {
return 0; // 不是弯道
}

29
app/gl_img_process.c
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@@ -11,7 +11,7 @@
void img_processing() {
//
int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
pts_left_count = sizeof(pts_left) / sizeof(pts_left[0]);
for (; w1 > 0; w1--) {
@@ -23,6 +23,20 @@ void img_processing() {
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h1, w1, pts_left, &pts_left_count);
}
else pts_left_count = 0;
//算曲率
int w1_curvature = IMAGE_W / 2 - BEGINW_R, h1_curvature = BEGINH_L_curvature;
pts_left_count_curvature = sizeof(pts_left_curvature) / sizeof(pts_left_curvature[0]);
for (; w1_curvature > 0; w1_curvature--) {
if (GET_PIX_1C(mt9v03x_image_copy[0], h1_curvature, w1_curvature - 1) < FIX_BINTHRESHOLD)
break;
}
if (GET_PIX_1C(mt9v03x_image_copy[0], h1_curvature, w1_curvature) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h1_curvature, w1_curvature, pts_left_curvature, &pts_left_count_curvature);
}
else pts_left_count_curvature = 0;
int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
pts_right_count = sizeof(pts_right) / sizeof(pts_right[0]);
@@ -35,6 +49,18 @@ void img_processing() {
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h2, w2, pts_right, &pts_right_count);
}
else pts_right_count = 0;
//算曲率
int w2_curvature = IMAGE_W / 2 + BEGINW_L, h2_curvature = BEGINH_R_curvature;
pts_right_count_curvature = sizeof(pts_right_curvature) / sizeof(pts_right_curvature[0]);
for (; w2_curvature < IMAGE_W - 1; w2_curvature++) {
if (GET_PIX_1C(mt9v03x_image_copy[0], h2_curvature, w2_curvature + 1) < FIX_BINTHRESHOLD)
break;
}
if (GET_PIX_1C(mt9v03x_image_copy[0], h2_curvature, w2_curvature) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h2_curvature, w2_curvature, pts_right_curvature, &pts_right_count_curvature);
}
else pts_right_count_curvature = 0;
//透视变换
for (int i = 0; i < pts_left_count; i++) {
@@ -86,6 +112,7 @@ void img_processing() {
valid_points_count++;
}
}
pts_resample_right_count = valid_points_count;

6
app/gl_state.c
View File

@@ -2,8 +2,12 @@
#include "gl_headfile.h"
enum state_type_e state_type =0;
enum state_type_e last_state =0;
float cricle_aim=0.2f;
float cross_aim=0.49f;
float common_aim=0.35f;
float common_aim=0.35f;
float straight_aim=0.35f;
float turn_aim=0.35f;
float mid_aim=0.5f;
float barrier_aim=0.5f;
float barrier_offset=17.0f;

5
app/gl_state.h
View File

@@ -7,11 +7,14 @@ enum state_type_e {
STRAIGHT_STATE,
CIRCLE_STATE,
};
extern enum state_type_e last_state;
extern enum state_type_e state_type;
extern float cricle_aim;
extern float cross_aim;
extern float common_aim;
extern float straight_aim;
extern float turn_aim;
extern float mid_aim;
extern float barrier_aim;
extern float barrier_offset;

132
app/gl_tracking.c
View File

@@ -5,10 +5,11 @@ float (*mid_track)[2];
int32_t mid_track_count;
float pure_angle;
float dx_near;
float curvature;
float (*rpts)[2];
int rpts_num;
float last_pure_angle = 0.0f;
int8_t turn_flag = 0;
// 计算最小二乘法斜率的函数
float leastSquaresSlope(float points[][2], int n)
{
@@ -40,7 +41,8 @@ float leastSquaresSlope(float points[][2], int n)
return temp;
}
float calculateX(float a_x, float a_y, float slope, float b_y) {
float calculateX(float a_x, float a_y, float slope, float b_y)
{
float b_x = a_x - (b_y - a_y) * slope;
return b_x;
}
@@ -62,13 +64,11 @@ void tracking()
void aim_distance_select(void)
{
if (cross_type != CROSS_NONE) {
aim_distance = cricle_aim;
} else if (circle_type != CIRCLE_NONE) {
aim_distance = cross_aim;
} else if (circle_type != CIRCLE_NONE) {
aim_distance = cricle_aim;
} else if (barrier_type != BARRIER_NONE) {
aim_distance = barrier_aim;
} else {
aim_distance = common_aim;
}
}
@@ -81,6 +81,9 @@ void ElementJudge()
CheckBarrier();
if (barrier_type == BARRIER_NONE) {
CheckCircle();
if (circle_type == CIRCLE_NONE) {
Check_s();
}
}
}
}
@@ -112,6 +115,8 @@ void ElementRun()
RunCircle();
} else if (barrier_type != BARRIER_NONE) {
RunBarrier();
} else if (s_type != S_NONE) {
RunS();
}
}
@@ -141,59 +146,8 @@ void MidLineTrack()
float cx = InverseMapW[(int)(IMAGE_H * 0.8f)][70];
float cy = InverseMapH[(int)(IMAGE_H * 0.8f)][70];
// float slope = leastSquaresSlope(mid_track, mid_track_count);
int neary = mid_track[0][0];
int nearx = mid_track[0][1];
// float near_distance = calculateX(a_x, a_y, slope, cy);
int w1 = (int)cx;
int h1 = (int)cy;
int near_x1 = 0;
int near_x2 = 0;
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1) >= FIX_BINTHRESHOLD)
{
for(;w1>10; w1--)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
near_x1 = w1;
break;
}
}
for(;w1<130; w1++)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 1) < FIX_BINTHRESHOLD) {
near_x2 = w1;
break;
}
}
}
else
{
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - BEGINW_R) < FIX_BINTHRESHOLD)
{
for(;w1>10; w1--)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 2) > FIX_BINTHRESHOLD) {
near_x1 = w1;
near_x2 = cx;
break;
}
}
}
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + BEGINW_R) < FIX_BINTHRESHOLD)
{
for(;w1<130; w1++)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 1) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 2) > FIX_BINTHRESHOLD) {
near_x1 = cx;
near_x2 = w1;
break;
}
}
}
}
// 找最近点 (起始点中线归一化)
@@ -226,7 +180,7 @@ void MidLineTrack()
float dx1 = mid_track[3 * (mid_track_count / 4)][1] - mid_track[aim_idx_judge][1];
float dy1 = mid_track[3 * (mid_track_count / 4)][0] - mid_track[aim_idx_judge][0];
float dn1 = Q_sqrt(dx1 * dx1 + dy1 * dy1);
float dn1 = Q_sqrt(dx1 * dx1 + dy1 * dy1);
float dx2 = mid_track[aim_idx_judge][1] - nearx;
float dy2 = mid_track[aim_idx_judge][0] - neary;
float dn2 = Q_sqrt(dx2 * dx2 + dy2 * dy2);
@@ -235,6 +189,7 @@ void MidLineTrack()
float c2 = dx2 / dn2;
float s2 = dy2 / dn2;
float angle_1 = atan2f(c1 * s2 - c2 * s1, c2 * c1 + s2 * s1);
if (angle_1 >= 0.2f || angle_1 <= -0.2f) {
state_type = TURN_STATE;
} else {
@@ -242,58 +197,63 @@ void MidLineTrack()
}
// 计算远锚点偏差值
float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0]; // + 0.2f * PIXPERMETER;
float dn = (dx * dx + dy * dy);
float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0]; // + 0.2f * PIXPERMETER;
float dn = (dx * dx + dy * dy);
float temp_near = 0;
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20;
} else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) {
} else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20;
} else {
if (fabs(cx - near_x1) > fabs(cx - near_x2))
{
dx_near = near_x2 - cx - 45;
temp_near = dx_near;
}
if (fabs(cx - near_x1) < fabs(cx - near_x2))
{
dx_near = near_x1 - cx + 45;
temp_near = dx_near;
}
if (fabs(cx - near_x1) == fabs(cx - near_x2))
{
dx_near = 0;
temp_near = dx_near;
}
//pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
if (dy > 0) {
pure_angle = -atanf(dx / dy) / PI32 * 180.0f;
pure_angle = -atanf(dx / dy) / PI32 * 180.0f;
last_pure_angle = pure_angle;
} else {
pure_angle = last_pure_angle;
}
}
// // 计算近锚点偏差值
// dx_near = rptsn[aim_idx_near][1] - cx;
// // float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
// // float dn_near = Q_sqrt(dx_near * dx_near + dy_near * dy_near);
// // float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
// // //考虑近点
// // near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI32 * 180 ;
// // //考虑远点
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
}
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING) {
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_LEFT_BEGIN || circle_type == CIRCLE_RIGHT_BEGIN) {
state_type = CIRCLE_STATE;
}
if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN) {
state_type = STRAIGHT_STATE;
}
last_state = state_type;
if (state_type == STRAIGHT_STATE) {
aim_distance = straight_aim;
} else if (state_type == TURN_STATE) {
aim_distance = mid_aim;
}
// }else{
// aim_distance = common_aim;
// }
if (last_state == STRAIGHT_STATE && (state_type == TURN_STATE || state_type == CIRCLE_STATE)) {
turn_flag = 1;
timer_clear(TIM_3);
timer_start(TIM_3);
}
if (turn_flag == 1) {
aim_distance = turn_aim;
uint16 ti = timer_get(TIM_3);
if (ti >= 2000) {
turn_flag = 0;
timer_stop(TIM_3);
timer_clear(TIM_3);
}
}
}

2
app/gl_tracking.h
View File

@@ -6,6 +6,8 @@ extern int32_t mid_track_count;
extern float pure_angle;
extern float dx_near;
extern int8_t turn_flag ;
extern float curvature;
void aim_distance_select(void);
void tracking(void);
void ElementJudge(void);

4
app/isr.c
View File

@@ -92,6 +92,10 @@ void USART1_IRQHandler(void)
void USART2_IRQHandler(void)
{
if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
// uint8_t data = (uint8_t)USART_ReceiveData(USART2);
// by_frame_parse_uart_handle(data);
USART_ReceiveData(USART2);
NVIC_SystemReset();
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
}

6
app/jj_param.c
View File

@@ -3,6 +3,7 @@
#include "./page/page.h"
#include "gl_tracking.h"
#include "gl_state.h"
#include "gl_data.h"
#include "zf_common_headfile.h"
PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param;
@@ -20,10 +21,13 @@ void jj_param_eeprom_init(void)
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(aim_mid, &mid_aim, EFLOAT, 1, "mid:");
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:");
PARAM_REG(aim_straight, &straight_aim, EFLOAT, 1, "str:");
PARAM_REG(aim_turn, &turn_aim, EFLOAT, 1, "tur:");
PARAM_REG(baoguang, &FIX_BINTHRESHOLD, EFLOAT, 1, "bao:");
jj_param_read(); // 注冊
}
/**

7
app/jj_param.h
View File

@@ -23,11 +23,12 @@ typedef enum {
aim_cricle,
aim_barrier,
offset_barrier,
aim_straight,
aim_turn,
aim_mid,
Page2_head,
// 第二页参数
imgax_Kp = Page2_head,
imgax_Ki,
imgax_Kd,
baoguang = Page2_head,
Page3_head,
DATA_IN_FLASH_NUM,

2
app/main.c
View File

@@ -73,7 +73,7 @@ int main(void)
ElementJudge();
ElementRun();
MidLineTrack();
bt_printf("type= %d", circle_type);
//bt_printf("type= %d", circle_type);
}
}
}

3
app/page/page_dparam.c
View File

@@ -49,11 +49,12 @@ static void Loop()
{
// 刷新参数数值
ips200_show_float(90, 18 + 2, *((float *)(Param_Data[delta_x].p_data)), 4, 5);
ips200_show_float(90, 18 + 20, *((float *)(Param_Data[delta_y].p_data)), 4, 5);
ips200_show_float(90, 18 + 20, FIX_BINTHRESHOLD, 4, 5);
ips200_show_int(90, 18 + 38, track_type, 1);
ips200_show_int(90, 18 + 56, garage_type, 1);
ips200_show_int(90, 18 + 74, cross_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 1);
ips200_show_int(90, 18 + 110, s_type, 1);
}
/**
* @brief 页面事件

4
app/page/page_sparam1.c
View File

@@ -83,9 +83,9 @@ static void Event(page_event event)
Curser_Last = Curser;
if (page_event_forward == event) {
Curser++; // 光标上移
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser--; // 光标下移
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);

28
app/page/page_sparam2.c
View File

@@ -45,10 +45,18 @@ static void Setup()
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < palong; i++) {
ips200_show_string(20, i * 18 + 20, Param_Data[i + pafrist].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(60, i * 18 + 20, *((int32 *)(Param_Data[i + pafrist].p_data)), 5);
else if (Param_Data[i].type == EFLOAT)
if (Param_Data[i+ pafrist].type == EINT32)
{
ips200_show_int(60, i * 18 + 20, *((int32_t *)(Param_Data[i + pafrist].p_data)), 5);
}
else if (Param_Data[i+ pafrist].type == EFLOAT)
{
ips200_show_float(60, i * 18 + 20, *((float *)(Param_Data[i + pafrist].p_data)), 4, 5);
}
else if (Param_Data[i+ pafrist].type == EUINT32)
{
ips200_show_uint(60, i * 18 + 20, *((uint32_t *)(Param_Data[i + pafrist].p_data)), 4);
}
}
ips200_show_int(50, palong * 18 + 20, index_power, 5);
}
@@ -83,9 +91,9 @@ static void Event(page_event event)
Curser_Last = Curser;
if (page_event_forward == event) {
Curser++; // 光标上移
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser--; // 光标下移
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);
@@ -105,13 +113,13 @@ static void Event(page_event event)
if (page_event_forward == event) {
switch (Param_Data[Curser + pafrist - 1].type) {
case EFLOAT:
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) += powf(10, index_power);
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) += powf(10.0f, (float)index_power);
break;
case EINT32:
*((int32 *)(Param_Data[Curser + pafrist - 1].p_data)) += 1;
break;
case EUINT32:
*((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) += 1;
*((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) +=(uint32_t)powf(10, index_power);
break;
default:
break;
@@ -125,14 +133,14 @@ static void Event(page_event event)
*((int32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= 1;
break;
case EUINT32:
*((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= 1;
*((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= (uint32_t)powf(10, index_power);
break;
default:
break;
}
} else if (page_event_press_short == event) {
index_power++;
if (index_power > 2) {
if (index_power > 5) {
index_power = -2;
}
ips200_show_int(50, palong * 18 + 20, index_power, 5);
@@ -143,7 +151,7 @@ static void Event(page_event event)
if (EINT32 == Param_Data[Curser + pafrist - 1].type)
ips200_show_int(60, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
else if (EUINT32 == Param_Data[Curser + pafrist - 1].type)
ips200_show_uint(60, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
ips200_show_uint(60, Curser * 18 + 2, *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
else if (EFLOAT == Param_Data[Curser + pafrist - 1].type)
ips200_show_float(60, Curser * 18 + 2, *((float *)(Param_Data[Curser + pafrist - 1].p_data)), 4, 5);
}