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TIDronePlanner_MSPM0G3507
/
key.c

#include "ti_msp_dl_config.h"
#include "sensor.h"
#include "developer_mode.h"
#include "nclink.h"
#include "bsp_eeprom.h"
#include "w25qxx.h"
#include "bsp_led.h"
#include "drv_expand.h"
#include "systick.h"
#include "drv_oled.h"
#include "key.h"

int16_t Page_Number = 0;
#define Page_Number_Max 5

button  _button;
float Button_ADCResult[2];
uint16_t adc_value[3] = {0, 0, 0};
uint8_t Key_Value[2];


void Key_Init(void)
{

  _button.state[UP].port = keyup_port;
  _button.state[UP].pin = keyup_pin;
  _button.state[UP].value = 1;
  _button.state[UP].last_value = 1;

  _button.state[DOWN].port = keydown_port;
  _button.state[DOWN].pin = keydown_pin;
  _button.state[DOWN].value = 1;
  _button.state[DOWN].last_value = 1;

  //3D
  _button.state[UP_3D].port = PORTB_PORT;
  _button.state[UP_3D].pin = PORTB_D3_5_PIN;
  _button.state[UP_3D].value = 1;
  _button.state[UP_3D].last_value = 1;

  _button.state[DN_3D].port = PORTB_PORT;
  _button.state[DN_3D].pin = PORTB_D3_1_PIN;
  _button.state[DN_3D].value = 1;
  _button.state[DN_3D].last_value = 1;

  _button.state[LT_3D].port = PORTB_PORT;
  _button.state[LT_3D].pin = PORTB_D3_2_PIN;
  _button.state[LT_3D].value = 1;
  _button.state[LT_3D].last_value = 1;

  _button.state[RT_3D].port = PORTB_PORT;
  _button.state[RT_3D].pin = PORTB_D3_3_PIN;
  _button.state[RT_3D].value = 1;
  _button.state[RT_3D].last_value = 1;

  _button.state[ME_3D].port = PORTB_PORT;
  _button.state[ME_3D].pin = PORTB_D3_4_PIN;
  _button.state[ME_3D].value = 1;
  _button.state[ME_3D].last_value = 1;
}


void Read_Button_State_One(button_state *button)
{
  if(button->pin == KEYA_S2_PIN)  button->value = (DL_GPIO_readPins(button->port, button->pin) != 0 ? 0x00 : 0x01);
  else button->value = (DL_GPIO_readPins(button->port, button->pin) != 0 ? 0x01 : 0x00);

	if(button->value==0)
	{
		if(button->last_value!=0)//首次按下
		{
			button->press_time=millis();//记录按下的时间点
			button->in_time=millis();//记录按下的时间点
			button->in_press_cnt=0;
		}
		else
		{
			if(millis()-button->press_time>KEEP_LONG_PRESS_LIMIT)//达到持续长按时间限制，声音提示可以松开了
			{
//				beep.period=20;//20*5ms
//				beep.light_on_percent=0.5f;
//				beep.reset=1;
//				beep.times=1;
			}
			else if(millis()-button->in_time>IN_PRESS_LIMIT)//持续按下
			{
				button->in_time=millis();
				button->press=IN_PRESS;
				if(button->press==IN_PRESS)  button->in_press_cnt++;
			}

		}
	}
  else
	{
		if(button->last_value==0)//按下后释放
		{
			button->release_time=millis();//记录释放时的时间
			if(button->release_time-button->press_time>KEEP_LONG_PRESS_LIMIT)//持续长按按键5S
			{
				button->press=KEEP_LONG_PRESS;
				button->state_lock_time=0;

        buzzer_setup(1000,0.5f,4);
			}
			else if(button->release_time-button->press_time>LONG_PRESS_LIMIT)//长按按键1S
			{
			  button->press=LONG_PRESS;
				button->state_lock_time=0;//5ms*300=1.5S

				buzzer_setup(1000,0.5f,1);
			}
			else
			{
			  button->press=SHORT_PRESS;
				button->state_lock_time=0;//5ms*300=1.5S

				buzzer_setup(100,0.5f,1);
			}
		}
	}
	button->last_value=button->value;

	if(button->press==LONG_PRESS
	 ||button->press==SHORT_PRESS)//按下释放后，程序后台1.5S内无响应，复位按键状态
	{
	  button->state_lock_time++;
		if(button->state_lock_time>=300)
		{
			 button->press=NO_PRESS;
			 button->state_lock_time=0;
		}
	}
}


void Read_Button_State_All(void)
{
  for(uint16_t i = 0; i < BUTTON_NUM; i++)
  {
    Read_Button_State_One(&_button.state[i]);
  }
}


void key_delay(int32_t period)
{
  while(period--)
  {
    delay_us(1);
  }
}

bool Key_Scan(uint8_t release)
{
  if(release == 1)  return false;

  if(_button.state[UP].press == SHORT_PRESS)
  {
    Page_Number--;

    if(Page_Number < 0) Page_Number = Page_Number_Max;

    _button.state[UP].press = NO_PRESS;
    OLED_CLS();
    //buzzer_setup(200, 0.5, 1);
  }

  if(_button.state[DOWN].press == SHORT_PRESS)
  {
    Page_Number++;

    if(Page_Number > Page_Number_Max) Page_Number = 0;

    _button.state[DOWN].press = NO_PRESS;
    OLED_CLS();
    //buzzer_setup(200, 0.5, 1);
  }

  return true;
}


extern uint16_t w25qxx_id;
extern systime t_g0;
void oled_page_show(void)
{
  switch(Page_Number)
  {
    case 0:
    {
      LCD_clear_L(0, 0);
      write_6_8_number_f1(0, 0, t_g0.period);
      display_6_8_string(30, 0, "SDK:");
      display_6_8_number(55, 0, SDK1_Mode_Setup);
      display_6_8_string(75, 0, "INC:");
      display_6_8_number(105, 0, task_select_cnt);
      display_6_8_number(115, 0, Page_Number + 1);


      LCD_clear_L(0, 1);
      display_6_8_string(0, 1, "Y:");
      display_6_8_number(15, 1, uav_ahrs.yaw);

      if(uav_ahrs.rpy_gyro_dps[2] < 0)	display_6_8_string(55, 1, "-");
      else display_6_8_string(55, 1, "+");

      display_6_8_number(63, 1, ABS(uav_ahrs.rpy_gyro_dps[2]));
      display_6_8_number(105, 1, uav_ahrs.quaternion_init_ok);

      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "P:");
      display_6_8_number(15, 2, uav_ahrs.pitch);

      if(uav_ahrs.rpy_gyro_dps[1] < 0) display_6_8_string(55, 2, "-");
      else display_6_8_string(55, 2, "+");

      display_6_8_number(63, 2, ABS(uav_ahrs.rpy_gyro_dps[1]));
      display_6_8_number(105, 2, current_state.rec_update_flag);


      LCD_clear_L(0, 3);
      display_6_8_string(0, 3, "R:");
      display_6_8_number(15, 3, uav_ahrs.roll);

      if(uav_ahrs.rpy_gyro_dps[0] < 0)	display_6_8_string(55, 3, "-");
      else display_6_8_string(55, 3, "+");

      display_6_8_number(63, 3, ABS(uav_ahrs.rpy_gyro_dps[0]));
      display_6_8_number(105, 3, offboard_start_flag);


      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "EPV:");
      write_6_8_number_f1(30, 4, uav_ins.position[_EAST]);
      write_6_8_number_f1(60, 4, uav_ins.speed[_EAST]);
      LCD_clear_L(0, 5);
      display_6_8_string(0, 5, "NPV:");
      write_6_8_number_f1(30, 5, uav_ins.position[_NORTH]);
      write_6_8_number_f1(60, 5, uav_ins.speed[_NORTH]);
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "UPV:");
      write_6_8_number_f1(30, 6, uav_ins.position[_UP]);
      write_6_8_number_f1(60, 6, uav_ins.speed[_UP]);

      LCD_clear_L(0, 7);
      display_6_8_string(0, 7, "AC:");
      write_6_8_number_f1(20, 7, uav_ins.accel_cmpss[_EAST]);
      write_6_8_number_f1(55, 7, uav_ins.accel_cmpss[_NORTH]);
      write_6_8_number_f1(90, 7, uav_ins.accel_cmpss[_UP]);

      /***********************************************************************************/
      if(_button.state[DN_3D].press == SHORT_PRESS)//下键长按,实现对SDK1_Mode_Setup的调整
      {
        _button.state[DN_3D].press = NO_PRESS;
        SDK1_Mode_Setup++;

        if(SDK1_Mode_Setup > SDK_MODE_VALID_MAX) SDK1_Mode_Setup = 0;

        WriteFlashParameter(SDK1_MODE_DEFAULT, SDK1_Mode_Setup);

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0);//蓝色
      }

      if(_button.state[UP_3D].press == SHORT_PRESS)//上按键长按,实现对SDK1_Mode_Setup的调整
      {
        _button.state[UP_3D].press = NO_PRESS;
        SDK1_Mode_Setup--;

        if(SDK1_Mode_Setup < 0) SDK1_Mode_Setup = SDK_MODE_VALID_MAX;

        WriteFlashParameter(SDK1_MODE_DEFAULT, SDK1_Mode_Setup);
        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0);//蓝色
      }
			/***********************************************************************************/
			if(_button.state[RT_3D].press==SHORT_PRESS)//3D右键短按,实现对task_select_cnt的调整
			{
					_button.state[RT_3D].press=NO_PRESS;
					task_select_cnt++;
					if(task_select_cnt>5) task_select_cnt=0;

					WriteFlashParameter(TASK_SELECT_AFTER_TAKEOFF,task_select_cnt);
					Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0);//蓝色
			}

			if(_button.state[LT_3D].press==SHORT_PRESS)//3D左键短按,实现对task_select_cnt的调整
			{
					_button.state[LT_3D].press=NO_PRESS;
					task_select_cnt--;
					if(task_select_cnt<0) task_select_cnt=5;
					WriteFlashParameter(TASK_SELECT_AFTER_TAKEOFF,task_select_cnt);
					Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0);//蓝色
			}

      /***********************************************************************************/
      if(_button.state[ME_3D].press == LONG_PRESS)
      {
        _button.state[ME_3D].press = NO_PRESS;
        AT24CXX_Erase_All();//清空eeprom
				w25qxx_erase_all(); //清空flash
      }
    };

    break;
    case 1:
    {
      uint16_t base_item = 50;
      LCD_clear_L(0, 0);
      display_6_8_string(0, 0, "nav_point:1/7 e-n-u");
      write_6_8_number(115, 0, Page_Number + 1);
      LCD_clear_L(0, 1);
      display_6_8_string(0, 1, "p1");
      write_6_8_number(25, 1, param_value[base_item + 0]);
      write_6_8_number(60, 1, param_value[base_item + 1]);
      write_6_8_number(95, 1, param_value[base_item + 2]);
      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "p2");
      write_6_8_number(25, 2, param_value[base_item + 3]);
      write_6_8_number(60, 2, param_value[base_item + 4]);
      write_6_8_number(95, 2, param_value[base_item + 5]);
      LCD_clear_L(0, 3);
      display_6_8_string(0, 3, "p3");
      write_6_8_number(25, 3, param_value[base_item + 6]);
      write_6_8_number(60, 3, param_value[base_item + 7]);
      write_6_8_number(95, 3, param_value[base_item + 8]);
      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "p4");
      write_6_8_number(25, 4, param_value[base_item + 9]);
      write_6_8_number(60, 4, param_value[base_item + 10]);
      write_6_8_number(95, 4, param_value[base_item + 11]);
      LCD_clear_L(0, 5);
      display_6_8_string(0, 5, "p5");
      write_6_8_number(25, 5, param_value[base_item + 12]);
      write_6_8_number(60, 5, param_value[base_item + 13]);
      write_6_8_number(95, 5, param_value[base_item + 14]);
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "p6");
      write_6_8_number(25, 6, param_value[base_item + 15]);
      write_6_8_number(60, 6, param_value[base_item + 16]);
      write_6_8_number(95, 6, param_value[base_item + 17]);
      LCD_clear_L(0, 7);
      display_6_8_string(0, 7, "p7");
      write_6_8_number(25, 7, param_value[base_item + 18]);
      write_6_8_number(60, 7, param_value[base_item + 19]);
      write_6_8_number(95, 7, param_value[base_item + 20]);

      static uint16_t ver_item = 1;

      if(ver_item == 1)	  display_6_8_string(18, 1, "*");
      else if(ver_item == 2)	display_6_8_string(53, 1, "*");
      else if(ver_item == 3)	display_6_8_string(88, 1, "*");

      if(ver_item == 4)  	display_6_8_string(18, 2, "*");
      else if(ver_item == 5)	display_6_8_string(53, 2, "*");
      else if(ver_item == 6)	display_6_8_string(88, 2, "*");

      if(ver_item == 7)	  display_6_8_string(18, 3, "*");
      else if(ver_item == 8)	display_6_8_string(53, 3, "*");
      else if(ver_item == 9)	display_6_8_string(88, 3, "*");

      if(ver_item == 10)	display_6_8_string(18, 4, "*");
      else if(ver_item == 11)	display_6_8_string(53, 4, "*");
      else if(ver_item == 12)	display_6_8_string(88, 4, "*");

      if(ver_item == 13)	display_6_8_string(18, 5, "*");
      else if(ver_item == 14)	display_6_8_string(53, 5, "*");
      else if(ver_item == 15)	display_6_8_string(88, 5, "*");

      if(ver_item == 16)	display_6_8_string(18, 6, "*");
      else if(ver_item == 17)	display_6_8_string(53, 6, "*");
      else if(ver_item == 18)	display_6_8_string(88, 6, "*");

      if(ver_item == 19)	display_6_8_string(18, 7, "*");
      else if(ver_item == 20)	display_6_8_string(53, 7, "*");
      else if(ver_item == 21)	display_6_8_string(88, 7, "*");

      //通过3D按键来实现换行选中待修改参数
      if(_button.state[UP_3D].press == SHORT_PRESS)
      {
        _button.state[UP_3D].press = NO_PRESS;
        ver_item--;

        if(ver_item < 1) ver_item = 21;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      if(_button.state[DN_3D].press == SHORT_PRESS)
      {
        _button.state[DN_3D].press = NO_PRESS;
        ver_item++;

        if(ver_item > 21) ver_item = 1;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      //通过左按键短按可以实现选中的参数行自减小1调整
      if(_button.state[LT_3D].press == SHORT_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 1;
      }

      //通过右按键短按可以实现选中的参数行自增加1调整
      if(_button.state[RT_3D].press == SHORT_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 1;
      }

      //通过左按键短按可以实现选中的参数行自减小50调整
      if(_button.state[LT_3D].press == LONG_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 50;
      }

      //通过右按键短按可以实现选中的参数行自增加50调整
      if(_button.state[RT_3D].press == LONG_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 50;
      }

      //通过中间按键长按可以实现此页设置的所有参数保存
      if(_button.state[ME_3D].press == LONG_PRESS)
      {
        _button.state[ME_3D].press = NO_PRESS;

        //按下后对参数进行保存
        for(uint16_t i = 0; i < 21; i++)
        {
          WriteFlashParameter(RESERVED_PARAM + base_item + i, param_value[base_item + i]);
        }
      }
    }
    break;

    case 2:
    {
      uint16_t base_item = 50 + 21 * 1;
      LCD_clear_L(0, 0);
      display_6_8_string(0, 0, "nav_point:8/14 e-n-u");
      write_6_8_number(115, 0, Page_Number + 1);
      LCD_clear_L(0, 1);
      display_6_8_string(0, 1, "p8");
      write_6_8_number(25, 1, param_value[base_item + 0]);
      write_6_8_number(60, 1, param_value[base_item + 1]);
      write_6_8_number(95, 1, param_value[base_item + 2]);
      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "p9");
      write_6_8_number(25, 2, param_value[base_item + 3]);
      write_6_8_number(60, 2, param_value[base_item + 4]);
      write_6_8_number(95, 2, param_value[base_item + 5]);
      LCD_clear_L(0, 3);
      display_6_8_string(0, 3, "p10");
      write_6_8_number(25, 3, param_value[base_item + 6]);
      write_6_8_number(60, 3, param_value[base_item + 7]);
      write_6_8_number(95, 3, param_value[base_item + 8]);
      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "p11");
      write_6_8_number(25, 4, param_value[base_item + 9]);
      write_6_8_number(60, 4, param_value[base_item + 10]);
      write_6_8_number(95, 4, param_value[base_item + 11]);
      LCD_clear_L(0, 5);
      display_6_8_string(0, 5, "p12");
      write_6_8_number(25, 5, param_value[base_item + 12]);
      write_6_8_number(60, 5, param_value[base_item + 13]);
      write_6_8_number(95, 5, param_value[base_item + 14]);
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "p13");
      write_6_8_number(25, 6, param_value[base_item + 15]);
      write_6_8_number(60, 6, param_value[base_item + 16]);
      write_6_8_number(95, 6, param_value[base_item + 17]);
      LCD_clear_L(0, 7);
      display_6_8_string(0, 7, "p14");
      write_6_8_number(25, 7, param_value[base_item + 18]);
      write_6_8_number(60, 7, param_value[base_item + 19]);
      write_6_8_number(95, 7, param_value[base_item + 20]);

      static uint16_t ver_item = 1;

      if(ver_item == 1)	  display_6_8_string(18, 1, "*");
      else if(ver_item == 2)	display_6_8_string(53, 1, "*");
      else if(ver_item == 3)	display_6_8_string(88, 1, "*");

      if(ver_item == 4)  	display_6_8_string(18, 2, "*");
      else if(ver_item == 5)	display_6_8_string(53, 2, "*");
      else if(ver_item == 6)	display_6_8_string(88, 2, "*");

      if(ver_item == 7)	  display_6_8_string(18, 3, "*");
      else if(ver_item == 8)	display_6_8_string(53, 3, "*");
      else if(ver_item == 9)	display_6_8_string(88, 3, "*");

      if(ver_item == 10)	display_6_8_string(18, 4, "*");
      else if(ver_item == 11)	display_6_8_string(53, 4, "*");
      else if(ver_item == 12)	display_6_8_string(88, 4, "*");

      if(ver_item == 13)	display_6_8_string(18, 5, "*");
      else if(ver_item == 14)	display_6_8_string(53, 5, "*");
      else if(ver_item == 15)	display_6_8_string(88, 5, "*");

      if(ver_item == 16)	display_6_8_string(18, 6, "*");
      else if(ver_item == 17)	display_6_8_string(53, 6, "*");
      else if(ver_item == 18)	display_6_8_string(88, 6, "*");

      if(ver_item == 19)	display_6_8_string(18, 7, "*");
      else if(ver_item == 20)	display_6_8_string(53, 7, "*");
      else if(ver_item == 21)	display_6_8_string(88, 7, "*");

     //通过3D按键来实现换行选中待修改参数
      if(_button.state[UP_3D].press == SHORT_PRESS)
      {
        _button.state[UP_3D].press = NO_PRESS;
        ver_item--;

        if(ver_item < 1) ver_item = 21;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色

        Bling_Set(&Light_Blue, 500, 50, 0.2, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      if(_button.state[DN_3D].press == SHORT_PRESS)
      {
        _button.state[DN_3D].press = NO_PRESS;
        ver_item++;

        if(ver_item > 21) ver_item = 1;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      //通过左按键短按可以实现选中的参数行自减小1调整
      if(_button.state[LT_3D].press == SHORT_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 1;
      }

      //通过右按键短按可以实现选中的参数行自增加1调整
      if(_button.state[RT_3D].press == SHORT_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 1;
      }

      //通过左按键短按可以实现选中的参数行自减小50调整
      if(_button.state[LT_3D].press == LONG_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 50;
      }

      //通过右按键短按可以实现选中的参数行自增加50调整
      if(_button.state[RT_3D].press == LONG_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 50;
      }

      //通过中间按键长按可以实现此页设置的所有参数保存
      if(_button.state[ME_3D].press == LONG_PRESS)
      {
        _button.state[ME_3D].press = NO_PRESS;

        //按下后对参数进行保存
        for(uint16_t i = 0; i < 21; i++)
        {
          WriteFlashParameter(RESERVED_PARAM + base_item + i, param_value[base_item + i]);
        }
      }
    }
    break;

    case 3:
    {
      uint16_t base_item = 50 + 21 * 2;
      LCD_clear_L(0, 0);
      display_6_8_string(0, 0, "nav_point:15/21 e-n-u");
      write_6_8_number(115, 0, Page_Number + 1);
      LCD_clear_L(0, 1);
      display_6_8_string(0, 1, "p15");
      write_6_8_number(25, 1, param_value[base_item + 0]);
      write_6_8_number(60, 1, param_value[base_item + 1]);
      write_6_8_number(95, 1, param_value[base_item + 2]);
      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "p16");
      write_6_8_number(25, 2, param_value[base_item + 3]);
      write_6_8_number(60, 2, param_value[base_item + 4]);
      write_6_8_number(95, 2, param_value[base_item + 5]);
      LCD_clear_L(0, 3);
      display_6_8_string(0, 3, "p17");
      write_6_8_number(25, 3, param_value[base_item + 6]);
      write_6_8_number(60, 3, param_value[base_item + 7]);
      write_6_8_number(95, 3, param_value[base_item + 8]);
      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "p18");
      write_6_8_number(25, 4, param_value[base_item + 9]);
      write_6_8_number(60, 4, param_value[base_item + 10]);
      write_6_8_number(95, 4, param_value[base_item + 11]);
      LCD_clear_L(0, 5);
      display_6_8_string(0, 5, "p19");
      write_6_8_number(25, 5, param_value[base_item + 12]);
      write_6_8_number(60, 5, param_value[base_item + 13]);
      write_6_8_number(95, 5, param_value[base_item + 14]);
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "p20");
      write_6_8_number(25, 6, param_value[base_item + 15]);
      write_6_8_number(60, 6, param_value[base_item + 16]);
      write_6_8_number(95, 6, param_value[base_item + 17]);
      LCD_clear_L(0, 7);
      display_6_8_string(0, 7, "p21");
      write_6_8_number(25, 7, param_value[base_item + 18]);
      write_6_8_number(60, 7, param_value[base_item + 19]);
      write_6_8_number(95, 7, param_value[base_item + 20]);

      static uint16_t ver_item = 1;

      if(ver_item == 1)	  display_6_8_string(18, 1, "*");
      else if(ver_item == 2)	display_6_8_string(53, 1, "*");
      else if(ver_item == 3)	display_6_8_string(88, 1, "*");

      if(ver_item == 4)  	display_6_8_string(18, 2, "*");
      else if(ver_item == 5)	display_6_8_string(53, 2, "*");
      else if(ver_item == 6)	display_6_8_string(88, 2, "*");

      if(ver_item == 7)	  display_6_8_string(18, 3, "*");
      else if(ver_item == 8)	display_6_8_string(53, 3, "*");
      else if(ver_item == 9)	display_6_8_string(88, 3, "*");

      if(ver_item == 10)	display_6_8_string(18, 4, "*");
      else if(ver_item == 11)	display_6_8_string(53, 4, "*");
      else if(ver_item == 12)	display_6_8_string(88, 4, "*");

      if(ver_item == 13)	display_6_8_string(18, 5, "*");
      else if(ver_item == 14)	display_6_8_string(53, 5, "*");
      else if(ver_item == 15)	display_6_8_string(88, 5, "*");

      if(ver_item == 16)	display_6_8_string(18, 6, "*");
      else if(ver_item == 17)	display_6_8_string(53, 6, "*");
      else if(ver_item == 18)	display_6_8_string(88, 6, "*");

      if(ver_item == 19)	display_6_8_string(18, 7, "*");
      else if(ver_item == 20)	display_6_8_string(53, 7, "*");
      else if(ver_item == 21)	display_6_8_string(88, 7, "*");

      //通过3D按键来实现换行选中待修改参数
      if(_button.state[UP_3D].press == SHORT_PRESS)
      {
        _button.state[UP_3D].press = NO_PRESS;
        ver_item--;

        if(ver_item < 1) ver_item = 21;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      if(_button.state[DN_3D].press == SHORT_PRESS)
      {
        _button.state[DN_3D].press = NO_PRESS;
        ver_item++;

        if(ver_item > 21) ver_item = 1;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0);//蓝色
      }

      //通过左按键短按可以实现选中的参数行自减小1调整
      if(_button.state[LT_3D].press == SHORT_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 1;
      }

      //通过右按键短按可以实现选中的参数行自增加1调整
      if(_button.state[RT_3D].press == SHORT_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 1;
      }

      //通过左按键短按可以实现选中的参数行自减小50调整
      if(_button.state[LT_3D].press == LONG_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 50;
      }

      //通过右按键短按可以实现选中的参数行自增加50调整
      if(_button.state[RT_3D].press == LONG_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 50;
      }

      //通过中间按键长按可以实现此页设置的所有参数保存
      if(_button.state[ME_3D].press == LONG_PRESS)
      {
        _button.state[ME_3D].press = NO_PRESS;

        //按下后对参数进行保存
        for(uint16_t i = 0; i < 21; i++)
        {
          WriteFlashParameter(RESERVED_PARAM + base_item + i, param_value[base_item + i]);
        }
      }
    }
    break;

    case 4:
    {
      uint16_t base_item = 50 + 21 * 3;
      LCD_clear_L(0, 0);
      display_6_8_string(0, 0, "nav_point:22/28 e-n-u");
      write_6_8_number(115, 0, Page_Number + 1);
      LCD_clear_L(0, 1);
      display_6_8_string(0, 1, "p22");
      write_6_8_number(25, 1, param_value[base_item + 0]);
      write_6_8_number(60, 1, param_value[base_item + 1]);
      write_6_8_number(95, 1, param_value[base_item + 2]);
      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "p23");
      write_6_8_number(25, 2, param_value[base_item + 3]);
      write_6_8_number(60, 2, param_value[base_item + 4]);
      write_6_8_number(95, 2, param_value[base_item + 5]);
      LCD_clear_L(0, 3);
      display_6_8_string(0, 3, "p24");
      write_6_8_number(25, 3, param_value[base_item + 6]);
      write_6_8_number(60, 3, param_value[base_item + 7]);
      write_6_8_number(95, 3, param_value[base_item + 8]);
      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "p25");
      write_6_8_number(25, 4, param_value[base_item + 9]);
      write_6_8_number(60, 4, param_value[base_item + 10]);
      write_6_8_number(95, 4, param_value[base_item + 11]);
      LCD_clear_L(0, 5);
      display_6_8_string(0, 5, "p26");
      write_6_8_number(25, 5, param_value[base_item + 12]);
      write_6_8_number(60, 5, param_value[base_item + 13]);
      write_6_8_number(95, 5, param_value[base_item + 14]);
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "p27");
      write_6_8_number(25, 6, param_value[base_item + 15]);
      write_6_8_number(60, 6, param_value[base_item + 16]);
      write_6_8_number(95, 6, param_value[base_item + 17]);
      LCD_clear_L(0, 7);
      display_6_8_string(0, 7, "p28");
      write_6_8_number(25, 7, param_value[base_item + 18]);
      write_6_8_number(60, 7, param_value[base_item + 19]);
      write_6_8_number(95, 7, param_value[base_item + 20]);

      static uint16_t ver_item = 1;

      if(ver_item == 1)	  display_6_8_string(18, 1, "*");
      else if(ver_item == 2)	display_6_8_string(53, 1, "*");
      else if(ver_item == 3)	display_6_8_string(88, 1, "*");

      if(ver_item == 4)  	display_6_8_string(18, 2, "*");
      else if(ver_item == 5)	display_6_8_string(53, 2, "*");
      else if(ver_item == 6)	display_6_8_string(88, 2, "*");

      if(ver_item == 7)	  display_6_8_string(18, 3, "*");
      else if(ver_item == 8)	display_6_8_string(53, 3, "*");
      else if(ver_item == 9)	display_6_8_string(88, 3, "*");

      if(ver_item == 10)	display_6_8_string(18, 4, "*");
      else if(ver_item == 11)	display_6_8_string(53, 4, "*");
      else if(ver_item == 12)	display_6_8_string(88, 4, "*");

      if(ver_item == 13)	display_6_8_string(18, 5, "*");
      else if(ver_item == 14)	display_6_8_string(53, 5, "*");
      else if(ver_item == 15)	display_6_8_string(88, 5, "*");

      if(ver_item == 16)	display_6_8_string(18, 6, "*");
      else if(ver_item == 17)	display_6_8_string(53, 6, "*");
      else if(ver_item == 18)	display_6_8_string(88, 6, "*");

      if(ver_item == 19)	display_6_8_string(18, 7, "*");
      else if(ver_item == 20)	display_6_8_string(53, 7, "*");
      else if(ver_item == 21)	display_6_8_string(88, 7, "*");

     //通过3D按键来实现换行选中待修改参数
     if(_button.state[UP_3D].press == SHORT_PRESS)
      {
        _button.state[UP_3D].press = NO_PRESS;
        ver_item--;

        if(ver_item < 1) ver_item = 21;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      if(_button.state[DN_3D].press == SHORT_PRESS)
      {
        _button.state[DN_3D].press = NO_PRESS;
        ver_item++;

        if(ver_item > 21) ver_item = 1;

        Bling_Set(&Light_Blue, 500, 50, 0.5, 0, BLING_B_PORT, GPIO_RGB_BLUE_PIN, 0); //蓝色
      }

      //通过左按键短按可以实现选中的参数行自减小1调整
      if(_button.state[LT_3D].press == SHORT_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 1;
      }

      //通过右按键短按可以实现选中的参数行自增加1调整
      if(_button.state[RT_3D].press == SHORT_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 1;
      }

      //通过左按键短按可以实现选中的参数行自减小50调整
      if(_button.state[LT_3D].press == LONG_PRESS)
      {
        _button.state[LT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] -= 50;
      }

      //通过右按键短按可以实现选中的参数行自增加50调整
      if(_button.state[RT_3D].press == LONG_PRESS)
      {
        _button.state[RT_3D].press = NO_PRESS;
        param_value[base_item + ver_item - 1] += 50;
      }

      //通过中间按键长按可以实现此页设置的所有参数保存
      if(_button.state[ME_3D].press == LONG_PRESS)
      {
        _button.state[ME_3D].press = NO_PRESS;

        //按下后对参数进行保存
        for(uint16_t i = 0; i < 21; i++)
        {
          WriteFlashParameter(RESERVED_PARAM + base_item + i, param_value[base_item + i]);
        }
      }
    }
    break;

    default://空白页面提示，提醒用户保持镇定
    {
      LCD_clear_L(0, 0);
      display_6_8_string(0, 0, "Reserved Show Page:");
      write_6_8_number(115, 0, Page_Number + 1);
      LCD_clear_L(0, 2);
      display_6_8_string(0, 2, "    Don't Worry ");
      LCD_clear_L(0, 4);
      display_6_8_string(0, 4, "  Continue Press To");
      LCD_clear_L(0, 6);
      display_6_8_string(0, 6, "    Page Up/Down");
    }
  }
}