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origincar_controller/BALANCE/show.c
cyy_mac 93ca37e36c 完善阿克曼控制与高速串口遥测 
- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
2026-08-12 18:51:48 +08:00

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#include "show.h"
int Voltage_Show;
unsigned char i;
unsigned char Send_Count;
extern SEND_DATA Send_Data;
extern int MPU9250ErrorCount, EncoderA_Count, EncoderB_Count, EncoderC_Count, EncoderD_Count;
extern int MPU9250SensorCountA, MPU9250SensorCountB, MPU9250SensorCountC, MPU9250SensorCountD;
extern int Time_count;
/**************************************************************************
Function: Read the battery voltage, buzzer alarm, start the self-test, send data to APP, OLED display task
Input : none
Output : none
函数功能：读取电池电压、蜂鸣器报警、开启自检、向APP发送数据、OLED显示屏显示任务
入口参数：无
返回 值：无
**************************************************************************/
int Buzzer_count=25;
void show_task(void *pvParameters)
{
u32 lastWakeTime = getSysTickCnt();
while(1)
{
int i=0;
static int LowVoltage_1=0, LowVoltage_2=0;
vTaskDelayUntil(&lastWakeTime, F2T(RATE_10_HZ));//This task runs at 10Hz //此任务以10Hz的频率运行
//开机时蜂鸣器短暂蜂鸣，开机提醒
//The buzzer will beep briefly when the machine is switched on
if(Time_count<(CONTROL_FREQUENCY/2))Buzzer=1;
else if(Time_count>=(CONTROL_FREQUENCY/2) && Time_count<CONTROL_FREQUENCY)Buzzer=0;
if(LowVoltage_1==1 || LowVoltage_2==1)Buzzer_count=0;
if(Buzzer_count<5)Buzzer_count++;
if(Buzzer_count<5)Buzzer=1; //The buzzer is buzzing //蜂鸣器蜂鸣
else if(Buzzer_count==5)Buzzer=0;
//Read the battery voltage //读取电池电压
for(i=0;i<10;i++)
{
Voltage_All+=Get_battery_volt();
}
Voltage=Voltage_All/10;
Voltage_All=0;
if(LowVoltage_1==1)LowVoltage_1++; //Make sure the buzzer only rings for 0.5 seconds //确保蜂鸣器只响0.5秒
if(LowVoltage_2==1)LowVoltage_2++; //Make sure the buzzer only rings for 0.5 seconds //确保蜂鸣器只响0.5秒
if(Voltage>=12.6f)Voltage=12.6f;
else if(10<=Voltage && Voltage<10.5f && LowVoltage_1<2)LowVoltage_1++; //10.5V, first buzzer when low battery //10.5V，低电量时蜂鸣器第一次报警
else if(Voltage<10 && LowVoltage_1<2)LowVoltage_2++; //10V, when the car is not allowed to control, the buzzer will alarm the second time //10V，小车禁止控制时蜂鸣器第二次报警
APP_Show(); //Send data to the APP //向APP发送数据
oled_show(); //Tasks are displayed on the screen //显示屏显示任务
}
}
/**************************************************************************
Function: The OLED display displays tasks
Input : none
Output : none
函数功能：OLED显示屏显示任务
入口参数：无
返回 值：无
**************************************************************************/
void oled_show(void)
{
static int count=0;
int Car_Mode_Show;
//Collect the tap information of the potentiometer,
//and display the car model to be fitted when the car starts up in real time
//采集电位器档位信息，实时显示小车开机时要适配的小车型号
Divisor_Mode=2048/CAR_NUMBER+5;
Car_Mode_Show=(int) ((Get_adc_Average(Potentiometer,10))/Divisor_Mode);
if(Car_Mode_Show>5)Car_Mode_Show=5;
//Car_Mode_Show=0;
Voltage_Show=Voltage*100;
count++;
if(Check==0)//The car displays normally when the self-check mode is not enabled //没有开启自检模式时小车正常显示
{
//The first line of the display displays the content//
//显示屏第1行显示内容//
switch(Car_Mode_Show)
{
case Mec_Car: OLED_ShowString(0,0,"Mec "); break;
case Omni_Car: OLED_ShowString(0,0,"Omni"); break;
case Akm_Car: OLED_ShowString(0,0,"Akm "); break;
case Diff_Car: OLED_ShowString(0,0,"Diff"); break;
case FourWheel_Car: OLED_ShowString(0,0,"4WD "); break;
case Tank_Car: OLED_ShowString(0,0,"Tank"); break;
}
if(Car_Mode==Mec_Car||Car_Mode==Omni_Car)
{
//The Mec_car and omni_car show Z-axis angular velocity
//麦轮、全向轮小车显示Z轴角速度
OLED_ShowString(55,0,"GZ");
if( gyro[2]<0) OLED_ShowString(80,0,"-"),OLED_ShowNumber(90,0,-gyro[2],5,12);
else OLED_ShowString(80,0,"+"),OLED_ShowNumber(90,0, gyro[2],5,12);
}
else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==FourWheel_Car||Car_Mode==Tank_Car)
{
//Akm_Car, Diff_Car, FourWheel_Car and Tank_Car Displays gyroscope zero
//阿克曼、差速、四驱、履带车显示陀螺仪零点
OLED_ShowString(55,0,"BIAS");
if( Deviation_gyro[2]<0) OLED_ShowString(90,0,"-"),OLED_ShowNumber(100,0,-Deviation_gyro[2],3,12); //Zero-drift data of gyroscope Z axis
else OLED_ShowString(90,0,"+"),OLED_ShowNumber(100,0, Deviation_gyro[2],3,12); //陀螺仪z轴零点漂移数据
}
//The first line of the display displays the content//
//显示屏第1行显示内容//
//The second line of the display displays the content//
//显示屏第2行显示内容//
if(Car_Mode==Mec_Car||Car_Mode==Omni_Car||Car_Mode==FourWheel_Car)
{
//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor A
//麦轮、全向轮、四驱车显示电机A的目标速度和当前实际速度
OLED_ShowString(0,10,"A");
if( MOTOR_A.Target<0) OLED_ShowString(15,10,"-"),
OLED_ShowNumber(20,10,-MOTOR_A.Target*1000,5,12);
else OLED_ShowString(15,10,"+"),
OLED_ShowNumber(20,10, MOTOR_A.Target*1000,5,12);
if( MOTOR_A.Encoder<0)OLED_ShowString(60,10,"-"),
OLED_ShowNumber(75,10,-MOTOR_A.Encoder*1000,5,12);
else OLED_ShowString(60,10,"+"),
OLED_ShowNumber(75,10, MOTOR_A.Encoder*1000,5,12);
}
else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==Tank_Car)
{
//The Akm_Car, Diff_Car and Tank_Car show Z-axis angular velocity
//阿克曼、差速、坦克小车显示Z轴角速度
OLED_ShowString(00,10,"GYRO_Z:");
if( gyro[2]<0) OLED_ShowString(60,10,"-"),
OLED_ShowNumber(75,10,-gyro[2],5,12);
else OLED_ShowString(60,10,"+"),
OLED_ShowNumber(75,10, gyro[2],5,12);
}
//The second line of the display displays the content//
//显示屏第2行显示内容//
//Lines 3 and 4 of the display screen display content//
//显示屏第3、4行显示内容//
if(Car_Mode==Mec_Car||Car_Mode==Omni_Car||Car_Mode==FourWheel_Car)
{
//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor B
//麦轮、全向轮、四驱车显示电机B的目标速度和当前实际速度
OLED_ShowString(0,20,"B");
if( MOTOR_B.Target<0) OLED_ShowString(15,20,"-"),
OLED_ShowNumber(20,20,-MOTOR_B.Target*1000,5,12);
else OLED_ShowString(15,20,"+"),
OLED_ShowNumber(20,20, MOTOR_B.Target*1000,5,12);
if( MOTOR_B.Encoder<0)OLED_ShowString(60,20,"-"),
OLED_ShowNumber(75,20,-MOTOR_B.Encoder*1000,5,12);
else OLED_ShowString(60,20,"+"),
OLED_ShowNumber(75,20, MOTOR_B.Encoder*1000,5,12);
//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor C
//麦轮、全向轮、四驱车显示电机C的目标速度和当前实际速度
OLED_ShowString(0,30,"C");
if( MOTOR_C.Target<0) OLED_ShowString(15,30,"-"),
OLED_ShowNumber(20,30,- MOTOR_C.Target*1000,5,12);
else OLED_ShowString(15,30,"+"),
OLED_ShowNumber(20,30, MOTOR_C.Target*1000,5,12);
if( MOTOR_C.Encoder<0)OLED_ShowString(60,30,"-"),
OLED_ShowNumber(75,30,-MOTOR_C.Encoder*1000,5,12);
else OLED_ShowString(60,30,"+"),
OLED_ShowNumber(75,30, MOTOR_C.Encoder*1000,5,12);
}
else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==Tank_Car)
{
//Akm_Car, Diff_Car and Tank_Car Display the target speed and current actual speed of motor A
//阿克曼、差速、履带车显示电机A的目标速度和当前实际速度
OLED_ShowString(0,20,"L:");
if( MOTOR_A.Target<0) OLED_ShowString(15,20,"-"),
OLED_ShowNumber(20,20,-MOTOR_A.Target*1000,5,12);
else OLED_ShowString(15,20,"+"),
OLED_ShowNumber(20,20, MOTOR_A.Target*1000,5,12);
if( MOTOR_A.Encoder<0) OLED_ShowString(60,20,"-"),
OLED_ShowNumber(75,20,-MOTOR_A.Encoder*1000,5,12);
else OLED_ShowString(60,20,"+"),
OLED_ShowNumber(75,20, MOTOR_A.Encoder*1000,5,12);
//Akm_Car, Diff_Car and Tank_Car Display the target speed and current actual speed of motor B
//阿克曼、差速、履带车显示电机B的目标速度和当前实际速度
OLED_ShowString(0,30,"R:");
if( MOTOR_B.Target<0) OLED_ShowString(15,30,"-"),
OLED_ShowNumber(20,30,-MOTOR_B.Target*1000,5,12);
else OLED_ShowString(15,30,"+"),
OLED_ShowNumber(20,30, MOTOR_B.Target*1000,5,12);
if( MOTOR_B.Encoder<0) OLED_ShowString(60,30,"-"),
OLED_ShowNumber(75,30,-MOTOR_B.Encoder*1000,5,12);
else OLED_ShowString(60,30,"+"),
OLED_ShowNumber(75,30, MOTOR_B.Encoder*1000,5,12);
// if( Remoter_Ch1<0) OLED_ShowString(15,20,"-"),
// OLED_ShowNumber(20,20,-Remoter_Ch1,5,12);
// else OLED_ShowString(15,20,"+"),
// OLED_ShowNumber(20,20, Remoter_Ch1,5,12);
// if( Remoter_Ch2<0) OLED_ShowString(60,20,"-"),
// OLED_ShowNumber(75,20,-Remoter_Ch2,5,12);
// else OLED_ShowString(60,20,"+"),
// OLED_ShowNumber(75,20, Remoter_Ch2,5,12);
// if( Remoter_Ch3<0) OLED_ShowString(15,30,"-"),
// OLED_ShowNumber(20,30,-Remoter_Ch3,5,12);
// else OLED_ShowString(15,30,"+"),
// OLED_ShowNumber(20,30, Remoter_Ch3,5,12);
// if( Remoter_Ch4<0) OLED_ShowString(60,30,"-"),
// OLED_ShowNumber(75,30,-Remoter_Ch4,5,12);
// else OLED_ShowString(60,30,"+"),
// OLED_ShowNumber(75,30, Remoter_Ch4,5,12);
}
//Lines 3 and 4 of the display screen display content//
//显示屏第3、4行显示内容//
//Line 5 of the display displays the content//
//显示屏第5行显示内容//
if(Car_Mode==Mec_Car||Car_Mode==FourWheel_Car)
{
//Mec_Car Display the target speed and current actual speed of motor D
//麦轮小车显示电机D的目标速度和当前实际速度
OLED_ShowString(0,40,"D");
if( MOTOR_D.Target<0) OLED_ShowString(15,40,"-"),
OLED_ShowNumber(20,40,- MOTOR_D.Target*1000,5,12);
else OLED_ShowString(15,40,"+"),
OLED_ShowNumber(20,40, MOTOR_D.Target*1000,5,12);
if( MOTOR_D.Encoder<0) OLED_ShowString(60,40,"-"),
OLED_ShowNumber(75,40,-MOTOR_D.Encoder*1000,5,12);
else OLED_ShowString(60,40,"+"),
OLED_ShowNumber(75,40, MOTOR_D.Encoder*1000,5,12);
}
else if(Car_Mode==Omni_Car)
{
// The Omni_car shows Z-axis angular velocity (1000 times magnification) in rad/s
//全向轮小车显示Z轴角速度(放大1000倍)，单位rad/s
OLED_ShowString(0,40,"MOVE_Z");
if(Send_Data.Sensor_Str.X_speed<0) OLED_ShowString(60,40,"-"),
OLED_ShowNumber(75,40,-Send_Data.Sensor_Str.X_speed,5,12);
else OLED_ShowString(60,40,"+"),
OLED_ShowNumber(75,40, Send_Data.Sensor_Str.X_speed,5,12);
}
else if(Car_Mode==Akm_Car)
{
//Akm_Car displays the PWM value of the Servo
//阿克曼小车显示舵机的PWM的数值
OLED_ShowString(00,40,"SERVO:");
if( Servo<0) OLED_ShowString(60,40,"-"),
OLED_ShowNumber(80,40,-Servo,4,12);
else OLED_ShowString(60,40,"+"),
OLED_ShowNumber(80,40, Servo,4,12);
}
else if(Car_Mode==Diff_Car||Car_Mode==Tank_Car)
{
// The Diff_Car and Tank_Car displays the PWM values of the left and right motors
//差速小车、履带车显示左右电机的PWM的数值
OLED_ShowString(00,40,"MA");
if( MOTOR_A.Motor_Pwm<0)OLED_ShowString(20,40,"-"),
OLED_ShowNumber(30,40,-MOTOR_A.Motor_Pwm,4,12);
else OLED_ShowString(20,40,"+"),
OLED_ShowNumber(30,40, MOTOR_A.Motor_Pwm,4,12);
OLED_ShowString(60,40,"MB");
if(MOTOR_B.Motor_Pwm<0) OLED_ShowString(80,40,"-"),
OLED_ShowNumber(90,40,-MOTOR_B.Motor_Pwm,4,12);
else OLED_ShowString(80,40,"+"),
OLED_ShowNumber(90,40, MOTOR_B.Motor_Pwm,4,12);
}
//Line 5 of the display displays the content//
//显示屏第5行显示内容//
//Displays the current control mode //显示当前控制模式
if(PS2_ON_Flag==1) OLED_ShowString(0,50,"PS2 ");
else if (APP_ON_Flag==1) OLED_ShowString(0,50,"APP ");
else if (Remote_ON_Flag==1)OLED_ShowString(0,50,"R-C ");
else if (CAN_ON_Flag==1) OLED_ShowString(0,50,"CAN ");
else if ((Usart1_ON_Flag || Usart5_ON_Flag)==1) OLED_ShowString(0,50,"USART");
else OLED_ShowString(0,50,"ROS ");
//Displays whether controls are allowed in the current car
//显示当前小车是否允许控制
if(EN==1&&Flag_Stop==0) OLED_ShowString(45,50,"O N");
else OLED_ShowString(45,50,"OFF");
OLED_ShowNumber(75,50,Voltage_Show/100,2,12);
OLED_ShowString(88,50,".");
OLED_ShowNumber(98,50,Voltage_Show%100,2,12);
OLED_ShowString(110,50,"V");
if(Voltage_Show%100<10) OLED_ShowNumber(92,50,0,2,12);
}
OLED_Refresh_Gram();
}
/**************************************************************************
Function: Send data to the APP
Input : none
Output : none
函数功能：向APP发送数据
入口参数：无
返回 值：无
**************************************************************************/
void APP_Show(void)
{
static u8 flag_show;
int Left_Figure,Right_Figure,Voltage_Show;
//The battery voltage is processed as a percentage
//对电池电压处理成百分比形式
Voltage_Show=(Voltage*1000-10000)/27;
if(Voltage_Show>100)Voltage_Show=100;
//Wheel speed unit is converted to 0.01m/s for easy display in APP
//车轮速度单位转换为0.01m/s，方便在APP显示
Left_Figure=MOTOR_A.Encoder*100; if(Left_Figure<0)Left_Figure=-Left_Figure;
Right_Figure=MOTOR_B.Encoder*100; if(Right_Figure<0)Right_Figure=-Right_Figure;
//Used to alternately print APP data and display waveform
//用于交替打印APP数据和显示波形
flag_show=!flag_show;
if(PID_Send==1)
{
//Send parameters to the APP, the APP is displayed in the debug screen
//发送参数到APP，APP在调试界面显示
printf("{C%d:%d:%d}$",(int)RC_Velocity,(int)Velocity_KP,(int)Velocity_KI);
PID_Send=0;
}
else if(flag_show==0)
{
//Send parameters to the APP and the APP will be displayed on the front page
//发送参数到APP，APP在首页显示
printf("{A%d:%d:%d:%d}$",(u8)Left_Figure,(u8)Right_Figure,Voltage_Show,(int)gyro[2]);
}
else
{
//Send parameters to the APP, the APP is displayed in the waveform interface
//发送参数到APP，APP在波形界面显示
printf("{B%d:%d:%d}$",(int)gyro[0],(int)gyro[1],(int)gyro[2]);
}
}
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