90 lines
2.9 KiB
C
90 lines
2.9 KiB
C
#include "jj_param.h"
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#include "./page/page_ui_widget.h"
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#include "./page/page.h"
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#include "gl_tracking.h"
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#include "zf_common_headfile.h"
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PARAM_INFO Param_Data[DATA_NUM];
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soft_iic_info_struct eeprom_param;
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TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
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TYPE_UNION tiny_frame_param[20];
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uint32_t *addre[2];
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float data0 = 1.0f;
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float data1 = 1.05f;
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float data2 = 10.0f;
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float data3 = 100.0f;
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float data4 = 4.0f;
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float data5 = 66.0f;
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float data6 = 13.130f;
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float data7 = 10.0f;
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float data8 = 0.0f;
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/**
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* @brief 参数初始化注册
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*
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*/
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void jj_param_eeprom_init(void)
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{
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soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
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PARAM_REG(angle_Kp, &data0, EFLOAT, 1, "an_P:"); // 注冊
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PARAM_REG(angle_Ki, &data1, EFLOAT, 1, "an_I:"); // 注冊
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PARAM_REG(angle_Kd, &data2, EFLOAT, 1, "an_D:"); // 注冊
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PARAM_REG(imgax_Kp, &data3, EFLOAT, 1, "im_P:"); // 注冊
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PARAM_REG(imgax_Ki, &data4, EFLOAT, 1, "im_I:"); // 注冊
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PARAM_REG(imgax_Kd, &data5, EFLOAT, 1, "im_D:");
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PARAM_REG(other , &data6, EFLOAT, 1, "add:");
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PARAM_REG(delta_x , &dx, EFLOAT, 2, "far:");
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PARAM_REG(delta_y , &dx_near, EFLOAT, 0, "near:");
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jj_param_read(); // 注冊
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}
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/**
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* @brief 参数写入
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*
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*/
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void jj_param_write(void)
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{
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for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
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switch (Param_Data[i].type) {
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case EFLOAT:
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iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
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break;
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case EUINT32:
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iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
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break;
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case EINT32:
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iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
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break;
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default:
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break;
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}
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eep_soft_iic_write_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
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system_delay_ms(10);
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}
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}
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/**
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* @brief 参数读出
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*
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*/
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void jj_param_read(void)
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{
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for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
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eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
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switch (Param_Data[i].type) {
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case EFLOAT:
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*((float *)(Param_Data[i].p_data)) =
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iic_buffer[i].f32;
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break;
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case EUINT32:
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*((uint32 *)(Param_Data[i].p_data)) =
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iic_buffer[i].u32;
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break;
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case EINT32:
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*((int32 *)(Param_Data[i].p_data)) =
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iic_buffer[i].s32;
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break;
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default:
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break;
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}
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system_delay_ms(10);
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}
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}
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