/*============================================================ * TC264 智能车 - IPS200 显示菜单模块 (user_menu.c) * * 功能说明： * 基于 IPS200 基本绘图函数实现的菜单系统。 * 提供实时状态显示页和参数设置页，支持按键切换与参数调整。 * * 页面0 - 实时状态页： * - 顶部状态栏：电池电量 + CPU 占用率 * - 中部：摄像头图像 (140x80) * - 底部：实时数据（编码器、IMU角度、电池电压等） * * 页面1 - 参数设置页： * - 编号参数列表，支持 KEY1/KEY2/KEY3 选择与调整 * * 硬件依赖： * - IPS200 显示屏 (SPI 或 并口) * - MT9V03X 摄像头 * - 4个按键 (KEY1~KEY4) *============================================================*/ #include "zf_common_font.h" /* 字库（chinese_test等） */ #include "zf_common_function.h" /* 通用函数（zf_sprintf等）*/ #include "zf_common_interrupt.h" /* 中断控制 */ #include "zf_driver_adc.h" /* ADC 驱动 */ #include "zf_device_key.h" /* 按键驱动 */ #include "zf_device_imu660rb.h" /* IMU660RB 驱动 (转换因子) */ #include "attitude_solution.h" /* 姿态解算 (欧拉角) */ #include "user_menu_device.h" /* 菜单设备层（变量定义） */ #include "user_menu.h" /* 菜单头文件 */ #include "user_line_process.h" /* 中线/边线/拐点 */ #include "zf_device_wifi_spi.h" /* WiFi SPI 无线模块 */ #include "zf_driver_pwm.h" /* PWM 驱动 (真空泵) */ #include "seekfree_assistant_interface.h" #include "seekfree_assistant.h" #include "user_image_process.h" #include "user_line_process.h" #include "pid_tuning.h" /*============================================================ * WiFi 配置宏 (请修改为你实际使用的 WiFi) *============================================================*/ #define WIFI_SSID "smartcar" #define WIFI_PASSWORD "zsg372901" //WIFI_SPI_TARGET_IP（修改ip地址） /*============================================================ * 浮点参数数组 (菜单参数6-9的值) * 数组下标 0=WiFi占位, 1-4=浮点参数值 * * 注意: 参数1=WiFi, 参数2-5=PID参数(来自test_pid_value), * 参数6-9=浮点参数(来自本数组) *============================================================*/ float test_user_value[PARAM_TOTAL_NUM] = { 0, /* 参数1(WiFi): 占位 */ 100, /* 参数6: 基础速度 (手动速度模式) */ 10, /* 参数7: 负压占空比 */ 200, /* 参数8: 最大时速 */ 50, /* 参数9: 弯道补偿 */ }; /*============================================================ * PID 参数组定义 * 三个控制环：左速度、右速度、转向 * 每组包含 P/I/D 三个参数 *============================================================*/ char test_pid_loop[PID_TUNING_LOOP_COUNT][12] = { "SpdL", /* 组0: 左速度环 */ "SpdR", /* 组1: 右速度环 */ "Steering", /* 组2: 转向环 */ }; /* PID 参数值 (3组 x 3参数 = P/I/D), 从零开始, 通过菜单实时调参 */ float test_pid_value[PID_TUNING_LOOP_COUNT][3] = { {0.0, 1.0, 0.0}, /* 左速度环: P=0, I=1, D=0 */ {0.0, 1.0, 0.0}, /* 右速度环: P=0, I=1, D=0 */ {0.0, 0.0, 0.0}, /* 转向环: P=0, I=0, D=0 */ }; /*============================================================ * 参数名称列表 (GB2312 编码) * 索引0=WiFi, 1-9=浮点参数, 10=PID环, 11-13=P/I/D值 *============================================================*/ static const char *param_name[] = { "WiFi SPI", /* 参数1: WiFi连接 */ "PID Sel", /* 参数2: PID选择 */ "Curr P", /* 参数3: 当前P参 */ "Curr I", /* 参数4: 当前I参 */ "Curr D", /* 参数5: 当前D参 */ "Base Spd", /* 参数6: 基础速度 */ "Vac Duty", /* 参数7: 负压占空比 */ "Max Spd", /* 参数8: 最大时速 */ "Crn Comp", /* 参数9: 弯道补偿 */ }; /*============================================================ * 全局页面状态变量 *============================================================*/ static uint8 current_page = MENU_PAGE_REALTIME; /* 当前页面编号 */ static int16 param_selected = 0; /* 当前选中的参数行 */ static int16 param_scroll_offset = 0; /* 参数页滚动偏移量 */ int16 pid_switch_num = 0; /* PID 环切换索引 */ static int16 value_refresh_flag = 0; /* 值刷新标志 */ /* PID 调试变量 (来自 pid_control.c, 避免包含 pid_control.h 导致 bool 类型冲突) */ extern uint8 g_control_enabled; extern float g_target_speed; /* 真空泵状态 */ static uint8 vac_enabled = 0; /* 真空泵开关 0=关 1=开 */ /* WiFi 状态变量 */ static uint8 wifi_state = 0; /* 0=idle,1=connecting,2=connected,3=failed */ static uint8 wifi_request_flag = 0; /* KEY2触发WiFi连接 */ static uint8 wifi_init_done = 0; /* WiFi模块是否已完成初始化 */ static char wifi_status_str[20] = "Idle"; /* WiFi状态显示文字 */ /* 屏幕分辨率参数 */ static uint16 screen_w = SCREEN_WIDTH; /* 屏幕实际宽度 */ static uint16 screen_h = SCREEN_HEIGHT; /* 屏幕实际高度 */ /* 双核同步标志 (CPU0 ↔ CPU1 图像处理管线) */ /* 摄像头显示帧缓冲区：用于避免 DMA 连续写入导致画面撕裂 */ uint8 camera_frame_buffer[MT9V03X_1_H * MT9V03X_1_W]; /* WiFi 分块非阻塞发送状态 (每帧发送多个 SPI 块，平衡速度与流畅度) */ #define WIFI_CHUNK_SIZE (4088) /* 单次 SPI 最大传输字节 */ #define WIFI_CHUNKS_PER_FRAME (4) /* 每帧最多发送的块数: 7=1帧, 4=2帧, 3=3帧完成传输 */ static uint8 wifi_chunk_send_active = 0; static uint8 wifi_chunk_send_phase = 0; /* 0=发送帧头, 1..=发送图像数据块 */ static uint32 wifi_chunk_remaining = 0; static uint8 *wifi_chunk_ptr = NULL; static uint8 wifi_header[8]; /* 逐飞助手协议帧头 */ static uint16 wifi_send_cooldown = 0; /* 发送间隔控制 */ /*============================================================ * 获取参数值字符串 (格式化存储) * 根据参数编号将对应的值格式化为字符串 *============================================================*/ static void get_param_value_str(int16 index, char *buf, uint8 buf_size) { uint32 slen; if(index < 0 || index >= PARAM_TOTAL_NUM) return; if(index == 0) { /* 参数1: WiFi 状态 */ slen = zf_sprintf(buf, "%s", wifi_status_str); } else if(index == 1) { /* 参数2: PID 环名称 */ slen = zf_sprintf(buf, "%s", test_pid_loop[pid_switch_num]); } else if(index >= 2 && index <= 4) { /* 参数3-5: PID P/I/D 值，手动格式化 */ float val = test_pid_value[pid_switch_num][(uint8)(index - 2)]; int16 int_part = (int16)val; int16 dec_part = (int16)((val - (float)int_part) * 10.0f); if(dec_part < 0) dec_part = -dec_part; slen = zf_sprintf(buf, "%d.%d", int_part, dec_part); } else { /* 参数6-9: 浮点值，手动格式化（zf_sprintf不支持%.1f精度） */ float val = test_user_value[index - 4]; int16 int_part = (int16)val; int16 dec_part = (int16)((val - (float)int_part) * 10.0f); if(dec_part < 0) dec_part = -dec_part; slen = zf_sprintf(buf, "%d.%d", int_part, dec_part); } buf[slen] = '\0'; } /*============================================================ * 绘制实心进度条 * x, y: 左上角坐标 * w: 宽度, h: 高度 * percent: 百分比 (0-100) * bar_color: 进度条颜色 *============================================================*/ void user_menu_draw_progress_bar(uint16 x, uint16 y, uint16 w, uint16 percent, uint16 bar_color) { uint16 fill_w = 0; /* 填充宽度 */ uint16 i = 0; /* 确保百分比在有效范围 */ if(percent > 100) percent = 100; if(percent < 0) percent = 0; /* 绘制进度条背景（外框） */ ips200_draw_line(x, y, x + w, y, COLOR_BAR_BG); /* 上边线 */ ips200_draw_line(x, y + 10, x + w, y + 10, COLOR_BAR_BG); /* 下边线 */ ips200_draw_line(x, y, x, y + 10, COLOR_BAR_BG); /* 左边线 */ ips200_draw_line(x + w, y, x + w, y + 10, COLOR_BAR_BG); /* 右边线 */ /* 计算填充宽度 = 总宽度 * 百分比 */ fill_w = (uint16)((uint32)w * percent / 100); /* 逐像素绘制进度条填充 */ for(i = 0; i < fill_w; i++) { ips200_draw_line(x + i, y + 1, x + i, y + 9, bar_color); } } /*============================================================ * 绘制顶部状态栏 * 显示电池电量百分比和 CPU 占用率百分比 * 每一栏包含：文字标签 + 进度条 + 百分比数值 *============================================================*/ void user_menu_draw_status_bar(void) { char str_buf[32]; uint32 slen; /* 设置字体颜色：白字黑底 */ ips200_set_color(COLOR_TEXT, COLOR_BG); /* --- 第一行：电池电量 --- */ ips200_show_string(0, STATUSBAR_Y, "BAT:"); /* 显示百分比数值 */ slen = zf_sprintf(str_buf, "%d%", (uint8)battery_percentage_filter); str_buf[slen] = '\0'; ips200_show_string(178, STATUSBAR_Y, str_buf); /* 绘制电池进度条：根据电量选择颜色 */ uint16 bar_color = COLOR_BAR_LOW; if(battery_percentage_filter > 60) bar_color = COLOR_BAR_HIGH; else if(battery_percentage_filter > 20) bar_color = COLOR_BAR_MID; user_menu_draw_progress_bar(50, STATUSBAR_Y, 120, (uint8)battery_percentage_filter, bar_color); /* --- 第二行：CPU 占用率 --- */ ips200_show_string(0, STATUSBAR_Y + 16, "CPU:"); slen = zf_sprintf(str_buf, "%d%%", (uint8)cpu_usage_percentage_filter); str_buf[slen] = '\0'; ips200_show_string(178, STATUSBAR_Y + 16, str_buf); /* CPU 占用率进度条：颜色反转，低占用绿->高占用红 */ uint8 cpu_inv = 100 - (uint8)cpu_usage_percentage_filter; bar_color = COLOR_BAR_LOW; if(cpu_inv > 60) bar_color = COLOR_BAR_HIGH; else if(cpu_inv > 20) bar_color = COLOR_BAR_MID; user_menu_draw_progress_bar(50, STATUSBAR_Y + 16, 120, cpu_inv, bar_color); } /*============================================================ * 绘制摄像头图像 * 在屏幕中间区域显示 MT9V03X 的灰度图像 * 如果摄像头图像数据异常，显示提示文字 *============================================================*/ void user_menu_draw_camera(void) { /* 先将摄像头图像复制到帧缓冲区，避免 DMA 写入导致显示撕裂 */ memcpy(camera_frame_buffer, (const uint8 *)mt9v03x_image_1, (uint32)(MT9V03X_1_H * MT9V03X_1_W)); /* 显示灰度图像，从帧缓冲区读取，DMA 写入不会影响显示 */ ips200_show_gray_image(IMAGE_X, IMAGE_Y, (const uint8 *)camera_frame_buffer, MT9V03X_1_W, MT9V03X_1_H, IMAGE_CAM_W, IMAGE_CAM_H, 0); } static void user_menu_draw_line_overlay(void); static void user_menu_show_padded_data_line(uint16 y, char *buf, uint16 buf_size, uint32 slen) { uint16 char_count = (uint16)slen; uint16 line_chars = SCREEN_WIDTH / 8; if(char_count >= buf_size) char_count = buf_size - 1; while(char_count < line_chars && char_count < buf_size - 1) { buf[char_count++] = ' '; } buf[char_count] = '\0'; ips200_show_string(0, y, buf); } void user_menu_draw_camera_binary(void) { /* 图像处理 (二值化+边界追踪+中线) 已在 CPU0 帧同步中完成 */ ips200_show_gray_image(IMAGE_X, IMAGE_Y, (const uint8 *)image_binary_1, MT9V03X_1_W, MT9V03X_1_H, IMAGE_CAM_W, IMAGE_CAM_H, 0); /* 赛道中线与边界线叠加显示 */ user_menu_draw_line_overlay(); } /*============================================================ * 赛道线叠加绘制 (在摄像头图像上叠加中线与边线) *============================================================*/ static void user_menu_draw_line_overlay(void) { uint16 i; uint16 sx, sy, ex, ey; /* 中线 — 绿色 */ if (center_line_num >= 2) { for (i = 0; i < center_line_num - 1; i++) { sx = IMAGE_X + (uint16)(center_line[i][0] + 0.5f); sy = IMAGE_Y + (uint16)(center_line[i][1] + 0.5f); ex = IMAGE_X + (uint16)(center_line[i + 1][0] + 0.5f); ey = IMAGE_Y + (uint16)(center_line[i + 1][1] + 0.5f); ips200_draw_line(sx, sy, ex, ey, RGB565_GREEN); } } /* 左边线 — 红色 */ if (left_edge_num >= 2) { for (i = 0; i < left_edge_num - 1; i++) { sx = IMAGE_X + (uint16)(left_edge[i][0] + 0.5f); sy = IMAGE_Y + (uint16)(left_edge[i][1] + 0.5f); ex = IMAGE_X + (uint16)(left_edge[i + 1][0] + 0.5f); ey = IMAGE_Y + (uint16)(left_edge[i + 1][1] + 0.5f); ips200_draw_line(sx, sy, ex, ey, RGB565_RED); } } /* 右边线 — 蓝色 */ if (right_edge_num >= 2) { for (i = 0; i < right_edge_num - 1; i++) { sx = IMAGE_X + (uint16)(right_edge[i][0] + 0.5f); sy = IMAGE_Y + (uint16)(right_edge[i][1] + 0.5f); ex = IMAGE_X + (uint16)(right_edge[i + 1][0] + 0.5f); ey = IMAGE_Y + (uint16)(right_edge[i + 1][1] + 0.5f); ips200_draw_line(sx, sy, ex, ey, RGB565_BLUE); } } /* ---- 拐点标记 + 红色矩形框 ---- */ { uint8 idx; float *ipts[2] = { inflection_point, inflection_point_r }; uint8 ifnd[2] = { inflection_found, inflection_found_r }; uint16 colors[2] = { RGB565_YELLOW, RGB565_CYAN }; /* 画矩形框: 拐点行在30-79时，以整幅图像为中心画100x60矩形框 */ { uint8 draw_rect = 0; for (idx = 0; idx < 2; idx++) { if (ifnd[idx] && ipts[idx][1] >= 30.0f && ipts[idx][1] <= 79.0f) { draw_rect = 1; break; } } if (draw_rect) { int16 img_cx = (int16)IMAGE_X + (int16)(IMAGE_CAM_W / 2); int16 img_cy = (int16)IMAGE_Y + (int16)(IMAGE_CAM_H / 2); int16 rx0 = img_cx - 50; int16 ry0 = img_cy - 30; int16 rx1 = img_cx + 50; int16 ry1 = img_cy + 30; ips200_draw_line((uint16)rx0, (uint16)ry0, (uint16)rx1, (uint16)ry0, RGB565_RED); ips200_draw_line((uint16)rx1, (uint16)ry0, (uint16)rx1, (uint16)ry1, RGB565_RED); ips200_draw_line((uint16)rx1, (uint16)ry1, (uint16)rx0, (uint16)ry1, RGB565_RED); ips200_draw_line((uint16)rx0, (uint16)ry1, (uint16)rx0, (uint16)ry0, RGB565_RED); } } /* 画十字标记 (两个都画, 裁剪到图像区域内) */ for (idx = 0; idx < 2; idx++) { if (!ifnd[idx]) continue; int16 cx = IMAGE_X + (int16)(ipts[idx][0] + 0.5f); int16 cy = IMAGE_Y + (int16)(ipts[idx][1] + 0.5f); int16 img_x1 = (int16)IMAGE_X, img_x2 = (int16)(IMAGE_X + IMAGE_CAM_W - 1); int16 img_y1 = (int16)IMAGE_Y, img_y2 = (int16)(IMAGE_Y + IMAGE_CAM_H - 1); int16 xl = cx - 3, xr = cx + 3, yt = cy - 3, yb = cy + 3; if (xl < img_x1) xl = img_x1; if (xr > img_x2) xr = img_x2; if (yt < img_y1) yt = img_y1; if (yb > img_y2) yb = img_y2; if (cy >= img_y1 && cy <= img_y2) { ips200_draw_line((uint16)xl, (uint16)cy, (uint16)xr, (uint16)cy, colors[idx]); } if (cx >= img_x1 && cx <= img_x2) { ips200_draw_line((uint16)cx, (uint16)yt, (uint16)cx, (uint16)yb, colors[idx]); } } } } /*============================================================ * 绘制实时数据 * 在图像下方的区域显示编码器、IMU 等实时数据 *============================================================*/ void user_menu_draw_realtime_data(void) { char str_buf[48]; uint32 slen; uint16 y = DATA_Y; ips200_set_color(COLOR_TEXT, COLOR_BG); /* 第一行：编码器1和编码器2 */ slen = zf_sprintf(str_buf, "ENC1:%d ENC2:%d", encoder_data_1, encoder_data_2); user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第二行：IMU 加速度数据 (G, 1位小数) */ /* 8G量程: transition_factor[0]=4098, 4098 LSB = 1G */ { float ax = (float)imu660rb_acc_x / imu660rb_transition_factor[0]; float ay = (float)imu660rb_acc_y / imu660rb_transition_factor[0]; float az = (float)imu660rb_acc_z / imu660rb_transition_factor[0]; int16 axi = (int16)ax, ayi = (int16)ay, azi = (int16)az; int16 axd = (int16)((ax - (float)axi) * 10.0f); int16 ayd = (int16)((ay - (float)ayi) * 10.0f); int16 azd = (int16)((az - (float)azi) * 10.0f); if(axd < 0) axd = -axd; if(ayd < 0) ayd = -ayd; if(azd < 0) azd = -azd; slen = zf_sprintf(str_buf, "ACC:%d.%d %d.%d %d.%dG", axi, axd, ayi, ayd, azi, azd); } user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第三行：IMU 陀螺仪数据 (°/s, 1位小数) */ /* 2000dps量程: transition_factor[1]=14.3, 14.3 LSB = 1°/s */ { float gx = (float)imu660rb_gyro_x / imu660rb_transition_factor[1]; float gy = (float)imu660rb_gyro_y / imu660rb_transition_factor[1]; float gz = (float)imu660rb_gyro_z / imu660rb_transition_factor[1]; int16 gxi = (int16)gx, gyi = (int16)gy, gzi = (int16)gz; int16 gxd = (int16)((gx - (float)gxi) * 10.0f); int16 gyd = (int16)((gy - (float)gyi) * 10.0f); int16 gzd = (int16)((gz - (float)gzi) * 10.0f); if(gxd < 0) gxd = -gxd; if(gyd < 0) gyd = -gyd; if(gzd < 0) gzd = -gzd; slen = zf_sprintf(str_buf, "GYRO:%d.%d %d.%d %d.%d", gxi, gxd, gyi, gyd, gzi, gzd); } user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第四行：姿态角 Yaw/Pitch/Roll (°) */ { int16 yi = (int16)eulerAngle.yaw; int16 pi = (int16)eulerAngle.pitch; int16 ri = (int16)eulerAngle.roll; int16 yd = (int16)((eulerAngle.yaw - (float)yi) * 10.0f); int16 pd = (int16)((eulerAngle.pitch - (float)pi) * 10.0f); int16 rd = (int16)((eulerAngle.roll - (float)ri) * 10.0f); if(yd < 0) yd = -yd; if(pd < 0) pd = -pd; if(rd < 0) rd = -rd; slen = zf_sprintf(str_buf, "ATT:%d.%d %d.%d %d.%d", yi, yd, pi, pd, ri, rd); } user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第六行：电池电压（拆分为整数+小数，避免zf_sprintf不支持%f） */ { uint16 volt_int = (uint16)battery_voltage; uint16 volt_dec = (uint16)((battery_voltage - (float)volt_int) * 100.0f + 0.5f); slen = zf_sprintf(str_buf, "BAT:%d.%d%dV %d%%", volt_int, volt_dec / 10, volt_dec % 10, (uint8)battery_percentage_filter); } user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第七行：左右速度环PWM输出 + 控制状态 (调试用) */ slen = zf_sprintf(str_buf, "M:L%d R%d T%d E%d", (int16)g_last_pwm_left, (int16)g_last_pwm_right, (int16)g_target_speed, (int16)g_control_enabled); user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; /* 第八行：真空泵状态 */ slen = zf_sprintf(str_buf, "VAC:%s %d%%", vac_enabled ? "ON " : "OFF", (int16)test_user_value[2]); user_menu_show_padded_data_line(y, str_buf, sizeof(str_buf), slen); y += DATA_LINE_H; } /*============================================================ * 绘制参数表格页面 * 显示可编辑的参数列表，当前行高亮显示 *============================================================*/ void user_menu_draw_param_table(void) { char str_buf[24]; uint32 slen; uint16 y = PARAM_START_Y; int16 i = 0; uint8 j; /* 用背景色填充参数区域，高效清除旧内容 */ ips200_set_color(COLOR_BG, COLOR_BG); for(i = 0; i < 5; i++) { ips200_draw_line(0, (int16)(PARAM_START_Y + i * 32), SCREEN_WIDTH - 1, (int16)(PARAM_START_Y + i * 32), COLOR_BG); } /* 逐行绘制参数 */ for(i = 0; i < PARAM_PER_PAGE && (i + param_scroll_offset) < PARAM_TOTAL_NUM; i++) { int16 param_idx = i + param_scroll_offset; /* 高亮当前选中的行 */ if(param_idx == param_selected) { ips200_set_color(COLOR_HIGHLIGHT, COLOR_BG); ips200_show_string(0, y, "> "); slen = zf_sprintf(str_buf, "%2d:", param_idx + 1); str_buf[slen] = '\0'; ips200_show_string(20, y, str_buf); ips200_show_string(45, y, param_name[param_idx]); get_param_value_str(param_idx, str_buf, sizeof(str_buf)); /* 追加空格覆盖旧文字残影 */ for(j = 0; str_buf[j]; j++) ; while(j < 9) str_buf[j++] = ' '; str_buf[j] = '\0'; ips200_show_string(150, y, str_buf); } else { ips200_set_color(COLOR_TEXT, COLOR_BG); slen = zf_sprintf(str_buf, "%2d:", param_idx + 1); str_buf[slen] = '\0'; ips200_show_string(0, y, str_buf); /* 名称 x=30 避免与编号重叠（编号3字符×8px=24px） */ ips200_show_string(30, y, param_name[param_idx]); get_param_value_str(param_idx, str_buf, sizeof(str_buf)); for(j = 0; str_buf[j]; j++) ; while(j < 9) str_buf[j++] = ' '; str_buf[j] = '\0'; ips200_show_string(135, y, str_buf); } y += PARAM_LINE_H; } } /*============================================================ * 绘制参数设置页面标题 * 页面上方显示标题栏和操作提示 *============================================================*/ void user_menu_draw_param_page(void) { ips200_set_color(COLOR_TEXT, COLOR_BG); /* 绘制标题栏 */ ips200_show_string(0, PARAM_PAGE_TITLE_Y, "PARAM SET " "K1:- K2:+ K3:Sel"); /* 标题下方画一条分隔线 */ ips200_draw_line(0, 16, SCREEN_WIDTH - 1, 16, COLOR_BAR_BG); /* 绘制参数表格 */ user_menu_draw_param_table(); } /*============================================================ * 页面切换 * 清除屏幕，切换到目标页面 *============================================================*/ void user_menu_switch_page(void) { if(current_page == MENU_PAGE_REALTIME) { /* 切换到参数设置页 */ current_page = MENU_PAGE_PARAMETER; ips200_clear(); user_menu_draw_param_page(); } else { /* 切换回实时状态页 */ current_page = MENU_PAGE_REALTIME; ips200_clear(); } } /*============================================================ * 按键处理函数 * * 按键功能定义： * 页面0 (实时状态)： * KEY4 - 切换到参数设置页 * * 页面1 (参数设置)： * KEY1 - 当前参数值减少 * KEY2 - 当前参数值增加 * KEY3 - 选择上一个参数 * KEY4 - 切换到实时状态页 *============================================================*/ void user_menu_key_dispose(void) { /* ---- KEY4: 页面切换 ---- */ if(key_get_state(KEY_4) == KEY_SHORT_PRESS) { key_clear_state(KEY_4); user_menu_switch_page(); } /* ---- 页面0(实时页)的按键处理 ---- */ if(current_page == MENU_PAGE_REALTIME) { /* KEY3: 真空泵 开/关 切换 */ if(key_get_state(KEY_3) == KEY_SHORT_PRESS) { key_clear_state(KEY_3); vac_enabled = !vac_enabled; user_menu_draw_realtime_data(); } } /* ---- 页面1的按键处理 ---- */ if(current_page == MENU_PAGE_PARAMETER) { /* KEY3: 选择下一个参数（自上而下） */ if(key_get_state(KEY_3) == KEY_SHORT_PRESS) { key_clear_state(KEY_3); param_selected++; if(param_selected >= PARAM_TOTAL_NUM) { param_selected = 0; } /* 滚动调整：如果选中行移出可视范围，滚动偏移量跟随 */ if(param_selected < param_scroll_offset) { param_scroll_offset = param_selected; } else if(param_selected >= param_scroll_offset + PARAM_PER_PAGE) { param_scroll_offset = param_selected - PARAM_PER_PAGE + 1; } user_menu_draw_param_table(); } /* KEY1: 参数值减少 */ if(key_get_state(KEY_1) == KEY_SHORT_PRESS) { key_clear_state(KEY_1); switch(param_selected) { case 0: { /* WiFi: 重置连接状态 */ wifi_state = 0; wifi_request_flag = 0; wifi_init_done = 0; zf_sprintf(wifi_status_str, "Idle"); }break; case 1: { if(-- pid_switch_num < 0) pid_switch_num = PID_TUNING_LOOP_COUNT - 1; }break; case 2: test_pid_value[pid_switch_num][0] -= 0.1; break; case 3: test_pid_value[pid_switch_num][1] -= 0.1; break; case 4: test_pid_value[pid_switch_num][2] -= 0.1; break; case 5: test_user_value[1] -= 5; break; /* 基础速度 */ case 6: test_user_value[2] -= 5; break; /* 负压占空比 */ case 7: test_user_value[3] -= 10; break; /* 最大时速 */ case 8: test_user_value[4] -= 5; break; /* 弯道补偿 */ default: break; } /* 刷新参数表格显示 */ user_menu_draw_param_table(); } /* KEY2: 参数值增加 */ if(key_get_state(KEY_2) == KEY_SHORT_PRESS) { key_clear_state(KEY_2); switch(param_selected) { case 0: { /* WiFi: 触发连接 (仅在空闲或失败时可重试) */ if(wifi_state != 2) wifi_request_flag = 1; }break; case 1: { if(++ pid_switch_num >= PID_TUNING_LOOP_COUNT) pid_switch_num = 0; }break; case 2: test_pid_value[pid_switch_num][0] += 0.1; break; case 3: test_pid_value[pid_switch_num][1] += 0.1; break; case 4: test_pid_value[pid_switch_num][2] += 0.1; break; case 5: test_user_value[1] += 5; break; /* 基础速度 */ case 6: test_user_value[2] += 5; break; /* 负压占空比 */ case 7: test_user_value[3] += 10; break; /* 最大时速 */ case 8: test_user_value[4] += 5; break; /* 弯道补偿 */ default: break; } user_menu_draw_param_table(); } } } /* WiFi 分块非阻塞发送: 启动新一次图像传输 */ static void wifi_chunked_send_start(void) { /* 构建逐飞助手协议帧头 (8 bytes) */ wifi_header[0] = 0xAA; wifi_header[1] = 0x02; wifi_header[2] = (uint8)((SEEKFREE_ASSISTANT_MT9V03X << 5) | (0 << 4) | 0); wifi_header[3] = 8; wifi_header[4] = (uint8)(MT9V03X_1_W & 0xFF); wifi_header[5] = (uint8)(MT9V03X_1_W >> 8); wifi_header[6] = (uint8)(MT9V03X_1_H & 0xFF); wifi_header[7] = (uint8)(MT9V03X_1_H >> 8); wifi_chunk_send_active = 1; wifi_chunk_send_phase = 0; wifi_chunk_ptr = (uint8 *)camera_frame_buffer; wifi_chunk_remaining = (uint32)(MT9V03X_1_W * MT9V03X_1_H); } /* WiFi 分块非阻塞发送: 每帧发送最多 WIFI_CHUNKS_PER_FRAME 个 SPI 块 */ static uint8 wifi_chunked_send_poll(void) { uint32 send_len; uint32 result; uint8 chunks_sent = 0; if (!wifi_chunk_send_active) return 1; /* 阶段0: 发送协议帧头 (8 bytes) */ if (wifi_chunk_send_phase == 0) { result = wifi_spi_send_buffer(wifi_header, 8); if (result != 0) return 0; wifi_chunk_send_phase = 1; chunks_sent++; } /* 阶段1: 发送图像数据块，每块最多 4088 字节 */ while (wifi_chunk_remaining > 0 && chunks_sent < WIFI_CHUNKS_PER_FRAME) { send_len = wifi_chunk_remaining > WIFI_CHUNK_SIZE ? WIFI_CHUNK_SIZE : wifi_chunk_remaining; result = wifi_spi_send_buffer(wifi_chunk_ptr, send_len); if (result != 0) return 0; wifi_chunk_ptr += send_len; wifi_chunk_remaining -= send_len; chunks_sent++; } if (wifi_chunk_remaining == 0) { wifi_chunk_send_active = 0; return 1; } return 0; } /*============================================================ * 菜单主循环 * 每次摄像头帧完成时调用一次 * 包含：按键处理、数据采集、界面刷新 *============================================================*/ void user_menu_loop(void) { /* 采集电池电压（均值滤波 5 次） */ battery_voltage_gather(adc_mean_filter_convert(VOLTAGE_PORT, 5)); /* 扫描按键状态 */ key_scanner(); /* 处理按键事件 */ user_menu_key_dispose(); /* 真空泵 PWM 实时控制 (Vac Duty 参数 0-100%, vac_enabled 控制开关) */ { uint32 vac_duty = vac_enabled ? (uint32)(test_user_value[2] * 100.0f) : 0; if(vac_duty > 10000) vac_duty = 10000; pwm_set_duty(VACUUM_PWM, vac_duty); } /* 根据当前页面刷新显示 */ if(current_page == MENU_PAGE_REALTIME) { /* ======== 页面0: 实时状态显示 ======== */ /* 绘制顶部状态栏 */ user_menu_draw_status_bar(); /* 绘制摄像头二值化图像 (大津法阈值) */ user_menu_draw_camera_binary(); /* 绘制实时数据 */ user_menu_draw_realtime_data(); /* WiFi 示波器数据发送 — 发送实时调试数据到逐飞助手虚拟示波器 */ if(wifi_state == 2) { /* 通道0: 编码器1 (左轮速度) */ seekfree_assistant_oscilloscope_data.data[0] = (float)encoder_data_1; /* 通道1: 编码器2 (右轮速度) */ seekfree_assistant_oscilloscope_data.data[1] = (float)encoder_data_2; /* 通道2: 偏航角 Yaw */ seekfree_assistant_oscilloscope_data.data[2] = eulerAngle.yaw; /* 通道3: 电池电压 */ seekfree_assistant_oscilloscope_data.data[3] = battery_voltage; /* 通道4: 左轮 PWM 输出 */ seekfree_assistant_oscilloscope_data.data[4] = g_last_pwm_left; /* 通道5: 右轮 PWM 输出 */ seekfree_assistant_oscilloscope_data.data[5] = g_last_pwm_right; /* 通道6: 目标速度 */ seekfree_assistant_oscilloscope_data.data[6] = g_target_speed; /* 通道7: 俯仰角 Pitch */ seekfree_assistant_oscilloscope_data.data[7] = eulerAngle.pitch; seekfree_assistant_oscilloscope_data.channel_num = 8; seekfree_assistant_oscilloscope_send(&seekfree_assistant_oscilloscope_data); seekfree_assistant_data_analysis(); } } else { /* ======== 页面1: 参数设置页 ======== */ /* 如需额外刷新，在此添加 */ } /* ---- WiFi 连接请求处理 (在按键处理后执行) ---- */ if(wifi_request_flag) { wifi_request_flag = 0; wifi_state = 1; /* 第一步：初始化 WiFi 模块（仅首次，避免重复硬件复位） */ if(!wifi_init_done) { { uint32 slen_ = zf_sprintf(wifi_status_str, "WiFi..."); wifi_status_str[slen_] = '\0'; } user_menu_draw_param_table(); if(wifi_spi_init(WIFI_SSID, WIFI_PASSWORD)) { wifi_state = 3; { uint32 slen_ = zf_sprintf(wifi_status_str, "WErr"); wifi_status_str[slen_] = '\0'; } user_menu_draw_param_table(); return; } wifi_init_done = 1; /* 打印模块信息便于调试 */ printf("\r\n[WiFi] Ver:%s MAC:%s", wifi_spi_version, wifi_spi_mac_addr); printf("\r\n[WiFi] IP:%s", wifi_spi_ip_addr_port); /* 等待 WiFi 模块完全连上路由器并获取 IP，再继续后续操作 */ system_delay_ms(1000); /* 第二步：配置逐飞助手传输接口（仅首次） */ { uint32 slen_ = zf_sprintf(wifi_status_str, "Asst"); wifi_status_str[slen_] = '\0'; } user_menu_draw_param_table(); seekfree_assistant_interface_init(SEEKFREE_ASSISTANT_WIFI_SPI); seekfree_assistant_camera_information_config( SEEKFREE_ASSISTANT_MT9V03X, (const uint8 *)camera_frame_buffer, MT9V03X_1_W, MT9V03X_1_H); } /* 第三步：连接电脑端 TCP Server（带重试） */ { uint32 slen_ = zf_sprintf(wifi_status_str, "TCP..."); wifi_status_str[slen_] = '\0'; } user_menu_draw_param_table(); { int8 tcp_retry = 0; while(wifi_spi_socket_connect("TCP", WIFI_SPI_TARGET_IP, WIFI_SPI_TARGET_PORT, WIFI_SPI_LOCAL_PORT)) { tcp_retry++; if(tcp_retry >= 10) { wifi_state = 3; { uint32 slen_ = zf_sprintf(wifi_status_str, "TCPFail"); wifi_status_str[slen_] = '\0'; } break; } system_delay_ms(500); } if(tcp_retry < 10) { wifi_state = 2; { uint32 slen_ = zf_sprintf(wifi_status_str, "OK"); wifi_status_str[slen_] = '\0'; } } } user_menu_draw_param_table(); } } /*============================================================ * 菜单初始化 * 初始化 IPS200 显示屏，设置显示方向、字体和颜色 *============================================================*/ void user_menu_init(void) { /* 初始化 IPS200 显示屏 (根据硬件配置选择 SPI 或 并口) */ /* 如需修改接口类型，请在 user_menu_device.h 中修改 IPS200_HARDWARE_TYPE */ ips200_init(IPS200_HARDWARE_TYPE); /* 设置屏幕为竖屏模式 */ ips200_set_dir(IPS200_PORTAIT); /* 设置默认字体为 8x16 */ ips200_set_font(IPS200_8X16_FONT); /* 设置默认颜色：白字黑底 */ ips200_set_color(COLOR_TEXT, COLOR_BG); /* 清除屏幕，准备显示 */ ips200_clear(); /* 重置菜单状态变量 */ current_page = MENU_PAGE_REALTIME; param_selected = 0; param_scroll_offset = 0; /* 显示初始页面 */ user_menu_draw_status_bar(); }