feat: 完成控制代码编写
This commit is contained in:
@@ -42,7 +42,14 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
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pwm_set_duty(Fan_pwm_up1, update_pwm_duty1);
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pwm_set_duty(Fan_pwm_up2, update_pwm_duty2);
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}
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/**
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* @brief
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*
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* @param power_pwm_duty_l1 左转向风扇
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* @param power_pwm_duty_r1 右转向风扇
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* @param power_pwm_duty_l2 左驱动风扇
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* @param power_pwm_duty_r2 右驱动风扇
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*/
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void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1, uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2)
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{
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163
app/gl_circle.c
163
app/gl_circle.c
@@ -1,163 +0,0 @@
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#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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enum circle_type_e circle_type = CIRCLE_NONE;
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int32_t Left_Border_None_Circle = 0;
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int32_t Right_Border_None_Circle = 0;
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int32_t Left_Border_Have_Circle = 0;
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int32_t Right_Border_Have_Circle = 0;
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int32_t Left_Border_ToLeft_Circle = 0;
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int32_t Right_Border_ToLeft_Circle = 0;
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int32_t Left_Border_ToRight_Circle = 0;
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int32_t Right_Border_ToRight_Circle = 0;
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void CheckCircle() {
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// 非圆环模式下，单边L角点, 单边长直道
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if (circle_type == CIRCLE_NONE && Lpt0_found && !Lpt1_found && is_straight1) {
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circle_type = CIRCLE_LEFT_BEGIN;
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}
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if (circle_type == CIRCLE_NONE && !Lpt0_found && Lpt1_found && is_straight0) {
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circle_type = CIRCLE_RIGHT_BEGIN;
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}
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}
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void RunCircle() {
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if (circle_type == CIRCLE_LEFT_BEGIN) // 左环开始，寻外直道右线
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{
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track_type = TRACK_RIGHT;
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// 先丢左线后有线
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if (pts_resample_left_count < 0.1 / RESAMPLEDIST) {
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Left_Border_None_Circle++;
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}
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if (pts_resample_left_count > 0.5 / RESAMPLEDIST &&Left_Border_None_Circle > FRAMENONE) {
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Left_Border_Have_Circle++;
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if (Left_Border_Have_Circle > FRAMENONE) {
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circle_type = CIRCLE_LEFT_IN;
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Left_Border_None_Circle = 0;
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Left_Border_Have_Circle = 0;
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}
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}
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} else if (circle_type == CIRCLE_LEFT_IN) // 入环，寻内圆左线
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{
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track_type = TRACK_LEFT;
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if (pts_resample_right[(int32_t)(0.2 / RESAMPLEDIST)][1] -
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pts_resample_right[0][1] <
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-2) {
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Right_Border_ToLeft_Circle++;
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}
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if (Right_Border_ToLeft_Circle > FRAMETOLEFT) {
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circle_type = CIRCLE_LEFT_RUNNING;
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Right_Border_ToLeft_Circle = 0;
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}
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} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
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{
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// Track_Type = TRACK_RIGHT;
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track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
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if (Lpt1_found) {
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pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
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}
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if (Lpt1_found && Lpt1_rpts1s_id < 0.4 / RESAMPLEDIST) {
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circle_type = CIRCLE_LEFT_OUT;
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}
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} else if (circle_type == CIRCLE_LEFT_OUT) // 出环，寻内圆
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{
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track_type = TRACK_LEFT;
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if (is_straight1) // 右线为长直道
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{
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circle_type = CIRCLE_LEFT_END;
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}
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} else if (circle_type == CIRCLE_LEFT_END) // 走过圆环，寻右线
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{
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track_type = TRACK_RIGHT;
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if (pts_resample_left_count < 0.2 / RESAMPLEDIST) // 左线先丢后有
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{
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Left_Border_None_Circle++;
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}
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if (pts_resample_left_count > 0.6 / RESAMPLEDIST &&
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Left_Border_None_Circle > FRAMENONE) {
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circle_type = CIRCLE_NONE;
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Left_Border_None_Circle = 0;
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Left_Border_Have_Circle = 0;
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Right_Border_ToLeft_Circle = 0;
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Right_Border_ToRight_Circle = 0;
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}
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} else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道
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{
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track_type = TRACK_LEFT;
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// 先丢右线后有线
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if (pts_resample_right_count < 0.3 / RESAMPLEDIST) {
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Right_Border_None_Circle++;
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}
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if (pts_resample_right_count > 0.5 / RESAMPLEDIST &&
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Right_Border_None_Circle > FRAMENONE) {
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Right_Border_Have_Circle++;
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if (Right_Border_Have_Circle > FRAMENONE) {
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circle_type = CIRCLE_RIGHT_IN;
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Right_Border_None_Circle = 0;
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Right_Border_Have_Circle = 0;
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}
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}
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} else if (circle_type == CIRCLE_RIGHT_IN) // 入右环，寻右内圆环
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{
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track_type = TRACK_RIGHT;
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if (pts_resample_left[(int32_t)(0.2 / RESAMPLEDIST)][1] -
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pts_resample_left[0][1] >
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2) {
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Left_Border_ToRight_Circle++;
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}
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if (Left_Border_ToRight_Circle > FRAMETORIGHT) {
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circle_type = CIRCLE_RIGHT_RUNNING;
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Left_Border_ToRight_Circle = 0;
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}
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} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
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{
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// track_type = TRACK_LEFT;
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track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换
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if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
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{
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pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;
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}
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if (Lpt0_found && Lpt0_rpts0s_id < 0.4 / RESAMPLEDIST) {
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circle_type = CIRCLE_RIGHT_OUT;
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}
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} else if (circle_type == CIRCLE_RIGHT_OUT) // 出环，寻内圆
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{
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track_type = TRACK_RIGHT;
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if (is_straight0) // 加个有线长度判断
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{
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circle_type = CIRCLE_RIGHT_END;
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}
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} else if (circle_type == CIRCLE_RIGHT_END) // 走过圆环，寻左线
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{
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track_type = TRACK_LEFT;
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if (pts_resample_right_count < 0.2 / RESAMPLEDIST) // 左线先丢后有
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{
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Right_Border_None_Circle++;
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}
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if (pts_resample_right_count > 0.7 / RESAMPLEDIST &&
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Right_Border_None_Circle > FRAMENONE) {
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circle_type = CIRCLE_NONE;
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Right_Border_None_Circle = 0;
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Right_Border_Have_Circle = 0;
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Left_Border_ToLeft_Circle = 0;
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Left_Border_ToRight_Circle = 0;
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}
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}
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}
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@@ -1,24 +0,0 @@
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#ifndef CIRCLE
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#define CIRCLE
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enum circle_type_e {
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CIRCLE_NONE, // 非圆环模式
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CIRCLE_LEFT_BEGIN,
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CIRCLE_RIGHT_BEGIN, // 圆环开始，识别到单侧L角点另一侧长直道。
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CIRCLE_LEFT_IN,
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CIRCLE_RIGHT_IN, // 圆环进入，即走到一侧直道，一侧圆环的位置。
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CIRCLE_LEFT_RUNNING,
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CIRCLE_RIGHT_RUNNING, // 圆环内部。
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CIRCLE_LEFT_OUT,
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CIRCLE_RIGHT_OUT, // 准备出圆环，即识别到出环处的L角点。
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CIRCLE_LEFT_END,
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CIRCLE_RIGHT_END // 圆环结束，即再次走到单侧直道的位置。
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};
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extern enum circle_type_e circle_type;
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void CheckCircle(void);
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void RunCircle(void);
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#endif /* COMMON_H_ */
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@@ -1,15 +0,0 @@
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#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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int32_t limit(int32_t x, int32_t low, int32_t up)
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{
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return x > up ? up : x < low ? low : x;
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}
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int clip(int x, int low, int up) {
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return x > up ? up : x < low ? low : x;
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}
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float fclip(float x, float low, float up) {
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return x > up ? up : x < low ? low : x;
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}
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@@ -1,29 +0,0 @@
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#ifndef COMMON_H_
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#define COMMON_H_
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#define IMAGE_H (MT9V03X_H)
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#define IMAGE_W (MT9V03X_W)
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#define BEGINH_L (50)
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#define BEGINH_R (50)
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#define BEGINW_L (-18)
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#define BEGINW_R (-12)
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#define PT_MAXLEN (75)
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#define GET_PIX_1C(IMG, H, W) (IMG[(H) * MT9V03X_W + (W)]) // 获取像素点的值
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#define FIX_BINTHRESHOLD (140) // 设置最开始的阈值
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#define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小
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#define FILTER_KERNELSIZE (7) // 滤波核大小
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#define SELFADAPT_OFFSET (8) // 适应性块大小
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#define PIXPERMETER (56)
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#define RESAMPLEDIST (0.02f)
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#define ANGLEDIST (0.2f)
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#define ROADWIDTH (0.45f)
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#define FRAMENONE (1)
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#define FRAMETOLEFT (5)
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#define FRAMETORIGHT (5)
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#define PIXEL_PER_METER (100)
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int32_t limit(int32_t x, int32_t low, int32_t up);
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int clip(int x, int low, int up);
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float fclip(float x, float low, float up);
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#endif /* COMMON_H_ */
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219
app/gl_cross.c
219
app/gl_cross.c
@@ -1,219 +0,0 @@
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#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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enum cross_type_e cross_type = CROSS_NONE;
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bool far_Lpt0_found, far_Lpt1_found;
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int32_t Both_Boder_None_Cross;
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int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
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void CheckCross() {
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bool Xfound = Lpt0_found && Lpt1_found;
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if (cross_type == CROSS_NONE && Xfound){
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cross_type = CROSS_BEGIN;
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}
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}
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void RunCross() {
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bool Xfound = Lpt0_found && Lpt1_found;
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aim_distance = 0.4;
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//检测到十字，先按照近线走
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if (cross_type == CROSS_BEGIN) {
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if (Lpt0_found) {
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mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
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track_type = TRACK_LEFT;
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}
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else if(Lpt1_found) {
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mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
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track_type = TRACK_RIGHT;
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}
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//近角点过少，进入远线控制
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if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST && Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count <20 && pts_resample_right_count<20)) {
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cross_type = CROSS_IN;
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}
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}
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//远线控制进十字,begin_y渐变靠近防丢线
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if (cross_type == CROSS_IN) {
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//寻远线,算法与近线相同
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cross_farline();
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if (pts_resample_left_count < 5 && pts_resample_right_count < 5) {
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Both_Boder_None_Cross++;
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}
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if (Both_Boder_None_Cross > 2 && pts_resample_left_count > 20 && pts_resample_right_count > 20) {
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cross_type = CROSS_NONE;
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Both_Boder_None_Cross = 0;
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}
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if (far_Lpt1_found) { track_type = TRACK_RIGHT; }
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else if (far_Lpt0_found) { track_type = TRACK_LEFT; }
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else if (Both_Boder_None_Cross > 0 && pts_far_resample_right_count < 5) { track_type = TRACK_RIGHT; }
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else if (Both_Boder_None_Cross > 0 && pts_far_resample_left_count < 5) { track_type = TRACK_LEFT; }
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}
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}
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void cross_farline(){
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int cross_width = 4;
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int far_y1 = 0, far_y2 = 0;
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int far_x1 = 0, far_x2 = 0;
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bool white_found = false;
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pts_far_left_count = sizeof(pts_far_left) / sizeof(pts_far_left[0]);
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int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
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for(;w1>cross_width*2; w1--)
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{
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if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
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far_x1 = w1 - cross_width;
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break;
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}
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}
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/*如果一行全为白色没写*/
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if (far_x1 <= 20)
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{
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far_x1 = 20;
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}
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for (; h1 > 0; h1--) {
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//先黑后白，先找white
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if (GET_PIX_1C(mt9v03x_image_copy[0], h1, far_x1) >= FIX_BINTHRESHOLD) { white_found = true; }
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if (GET_PIX_1C(mt9v03x_image_copy[0], h1 - 1, far_x1) < FIX_BINTHRESHOLD && white_found) {
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far_y1 = h1;
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break;
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}
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}
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if (GET_PIX_1C(mt9v03x_image_copy[0], far_y1, far_x1) >= FIX_BINTHRESHOLD){
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SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y1, far_x1, pts_far_left, &pts_far_left_count);
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}
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else pts_far_left_count = 0;
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int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
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white_found = false;
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pts_far_right_count = sizeof(pts_far_right) / sizeof(pts_far_right[0]);
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for(;w2 < IMAGE_W - cross_width*2; w2++)
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{
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if(GET_PIX_1C(mt9v03x_image_copy[0], h2, w2 + 1) < FIX_BINTHRESHOLD) {
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far_x2 = w2 + cross_width;
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break;
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}
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}
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/*如果一行全为白色没写*/
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if (far_x2 >= 100)
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{
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far_x2 = 100;
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}
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for (; h2 > 0; h2--) {
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//先黑后白，先找white
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if (GET_PIX_1C(mt9v03x_image_copy[0], h2, far_x2) >= FIX_BINTHRESHOLD) { white_found = true; }
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if (GET_PIX_1C(mt9v03x_image_copy[0], h2 - 1, far_x2) < FIX_BINTHRESHOLD && white_found) {
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far_y2 = h2;
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break;
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}
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}
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if (GET_PIX_1C(mt9v03x_image_copy[0], far_y2, far_x2) >= FIX_BINTHRESHOLD){
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SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y2, far_x2, pts_far_right, &pts_far_right_count);
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}
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else pts_far_right_count = 0;
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//透视变换
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for (int i = 0; i < pts_far_left_count; i++) {
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pts_far_inv_l[i][1] = fclip(InverseMapW[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_W);
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pts_far_inv_l[i][0] = fclip(InverseMapH[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_H);
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}
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pts_far_inv_l_count = pts_far_left_count;
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for (int i = 0; i < pts_far_right_count; i++) {
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pts_far_inv_r[i][1] = fclip(InverseMapW[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_W);
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pts_far_inv_r[i][0] = fclip(InverseMapH[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_H);
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}
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pts_far_inv_r_count = pts_far_right_count;
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// 边线滤波
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GetLinesFilter(pts_far_inv_l, pts_far_inv_l_count, pts_far_filter_l, (int) round(FILTER_KERNELSIZE));
|
||||
pts_far_filter_l_count = pts_far_inv_l_count;
|
||||
GetLinesFilter(pts_far_inv_r, pts_far_inv_r_count, pts_far_filter_r, (int) round(FILTER_KERNELSIZE));
|
||||
pts_far_filter_r_count = pts_far_inv_r_count;
|
||||
|
||||
// 边线等距采样
|
||||
pts_far_resample_left_count = sizeof(pts_far_resample_left) / sizeof(pts_far_resample_left[0]);
|
||||
GetLinesResample(pts_far_filter_l, pts_far_filter_l_count, pts_far_resample_left, &pts_far_resample_left_count, RESAMPLEDIST * PIXPERMETER);
|
||||
pts_far_resample_right_count = sizeof(pts_far_resample_right) / sizeof(pts_far_resample_right[0]);
|
||||
GetLinesResample(pts_far_filter_r, pts_far_filter_r_count, pts_far_resample_right, &pts_far_resample_right_count, RESAMPLEDIST * PIXPERMETER);
|
||||
|
||||
|
||||
int valid_far_points_count = 0;
|
||||
|
||||
for (int i = 0; i < pts_far_resample_left_count; i++) {
|
||||
int x = pts_far_resample_left[i][1];
|
||||
int y = pts_far_resample_left[i][0];
|
||||
|
||||
if (y < IMAGE_H-3 && x > 3 && x < IMAGE_W-3 && y>=3 ) {
|
||||
pts_far_resample_left[valid_far_points_count][0] = pts_far_resample_left[i][0];
|
||||
pts_far_resample_left[valid_far_points_count][1] = pts_far_resample_left[i][1];
|
||||
valid_far_points_count++;
|
||||
}
|
||||
}
|
||||
pts_far_resample_left_count = valid_far_points_count;
|
||||
|
||||
valid_far_points_count = 0;
|
||||
|
||||
for (int i = 0; i < pts_far_resample_right_count; i++) {
|
||||
int x = pts_far_resample_right[i][1];
|
||||
int y = pts_far_resample_right[i][0];
|
||||
|
||||
if (y <= IMAGE_H-3 && x >= 3 && x <= IMAGE_W-3 && y>=3) {
|
||||
pts_far_resample_right[valid_far_points_count][0] = pts_far_resample_right[i][0];
|
||||
pts_far_resample_right[valid_far_points_count][1] = pts_far_resample_right[i][1];
|
||||
valid_far_points_count++;
|
||||
}
|
||||
}
|
||||
|
||||
pts_far_resample_right_count = valid_far_points_count;
|
||||
|
||||
// 边线角度变化率
|
||||
local_angle_points(pts_far_resample_left, pts_far_resample_left_count, far_angle_left, (int) round(ANGLEDIST / RESAMPLEDIST));
|
||||
far_angle_left_num = pts_far_resample_left_count;
|
||||
local_angle_points(pts_far_resample_right, pts_far_resample_right_count, far_angle_right, (int) round(ANGLEDIST / RESAMPLEDIST));
|
||||
far_angle_right_num = pts_far_resample_right_count;
|
||||
|
||||
// 角度变化率非极大值抑制
|
||||
nms_angle(far_angle_left, far_angle_left_num, far_angle_new_left, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
|
||||
far_angle_new_left_num = far_angle_left_num;
|
||||
nms_angle(far_angle_right, far_angle_right_num, far_angle_new_right, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
|
||||
far_angle_new_right_num = far_angle_right_num;
|
||||
|
||||
// 找远线上的L角点
|
||||
far_Lpt0_found = far_Lpt1_found = false;
|
||||
// is_far_straight0 = pts_far_resample_left_count > 1.0 / RESAMPLEDIST;
|
||||
// is_far_straight1 = pts_far_resample_right_count > 1.0 / RESAMPLEDIST;
|
||||
for (int i = 0; i < pts_far_resample_left_count; i++) {
|
||||
if (far_angle_new_left[i] == 0) continue;
|
||||
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_left_count - 1);
|
||||
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_left_count - 1);
|
||||
float conf = fabs(far_angle_left[i]) - (fabs(far_angle_left[im1]) + fabs(far_angle_left[ip1])) / 2;
|
||||
|
||||
//L角点阈值
|
||||
if (far_Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.7 / RESAMPLEDIST) {
|
||||
far_Lpt0_rpts0s_id = i;
|
||||
far_Lpt0_found = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i = 0; i < pts_far_resample_right_count; i++) {
|
||||
if (far_angle_new_right[i] == 0) continue;
|
||||
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
|
||||
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
|
||||
float conf = fabs(far_angle_right[i]) - (fabs(far_angle_right[im1]) + fabs(far_angle_right[ip1])) / 2;
|
||||
|
||||
|
||||
if (far_Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.7 / RESAMPLEDIST) {
|
||||
far_Lpt1_rpts1s_id = i;
|
||||
far_Lpt1_found = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
#ifndef CROSS
|
||||
#define CROSS
|
||||
|
||||
|
||||
enum cross_type_e {
|
||||
CROSS_NONE, // 非十字模式
|
||||
CROSS_BEGIN, // 找到左右两个L角点
|
||||
CROSS_IN, // 两个L角点很近，即进入十字内部(此时切换远线控制)
|
||||
};
|
||||
extern enum cross_type_e cross_type;
|
||||
extern int32_t Both_Boder_None_Cross;
|
||||
extern int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
|
||||
|
||||
void CheckCross(void);
|
||||
void RunCross(void);
|
||||
void cross_farline(void);
|
||||
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
@@ -1,95 +0,0 @@
|
||||
#include "gl_data.h"
|
||||
|
||||
uint8_t (*Img_Gray)[MT9V03X_W];
|
||||
|
||||
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_far_left[PT_MAXLEN][2];
|
||||
int32_t pts_far_right[PT_MAXLEN][2];
|
||||
int32_t pts_far_left_count;
|
||||
int32_t pts_far_right_count;
|
||||
|
||||
float pts_inv_l[PT_MAXLEN][2];
|
||||
float pts_inv_r[PT_MAXLEN][2];
|
||||
int32_t pts_inv_l_count;
|
||||
int32_t pts_inv_r_count;
|
||||
float pts_far_inv_l[PT_MAXLEN][2];
|
||||
float pts_far_inv_r[PT_MAXLEN][2];
|
||||
int32_t pts_far_inv_l_count;
|
||||
int32_t pts_far_inv_r_count;
|
||||
|
||||
float pts_filter_l[PT_MAXLEN][2];
|
||||
float pts_filter_r[PT_MAXLEN][2];
|
||||
int32_t pts_filter_l_count;
|
||||
int32_t pts_filter_r_count;
|
||||
float pts_far_filter_l[PT_MAXLEN][2];
|
||||
float pts_far_filter_r[PT_MAXLEN][2];
|
||||
int32_t pts_far_filter_l_count;
|
||||
int32_t pts_far_filter_r_count;
|
||||
|
||||
float pts_resample_left[PT_MAXLEN][2];
|
||||
float pts_resample_right[PT_MAXLEN][2];
|
||||
int32_t pts_resample_left_count;
|
||||
int32_t pts_resample_right_count;
|
||||
float pts_far_resample_left[PT_MAXLEN][2];
|
||||
float pts_far_resample_right[PT_MAXLEN][2];
|
||||
int32_t pts_far_resample_left_count;
|
||||
int32_t pts_far_resample_right_count;
|
||||
|
||||
float mid_left[PT_MAXLEN][2];
|
||||
float mid_right[PT_MAXLEN][2];
|
||||
|
||||
int32_t mid_left_count;
|
||||
int32_t mid_right_count;
|
||||
|
||||
float angle_new_left[PT_MAXLEN];
|
||||
float angle_new_right[PT_MAXLEN];
|
||||
int angle_new_left_num;
|
||||
int angle_new_right_num;
|
||||
float far_angle_new_left[PT_MAXLEN];
|
||||
float far_angle_new_right[PT_MAXLEN];
|
||||
int far_angle_new_left_num;
|
||||
int far_angle_new_right_num;
|
||||
|
||||
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
|
||||
|
||||
float angle_left[PT_MAXLEN];
|
||||
float angle_right[PT_MAXLEN];
|
||||
int angle_left_num;
|
||||
int angle_right_num;
|
||||
float far_angle_left[PT_MAXLEN];
|
||||
float far_angle_right[PT_MAXLEN];
|
||||
int far_angle_left_num;
|
||||
int far_angle_right_num;
|
||||
|
||||
int Lpt0_rpts0s_id;
|
||||
int Lpt1_rpts1s_id;
|
||||
bool Lpt0_found;
|
||||
bool Lpt1_found;
|
||||
int Lpt1[2];
|
||||
int Lpt0[2];
|
||||
int far_Lpt1[2];
|
||||
int far_Lpt0[2];
|
||||
|
||||
int Lpt_in0_rpts0s_id;
|
||||
int Lpt_in1_rpts1s_id;
|
||||
bool Lpt_in0_found;
|
||||
bool Lpt_in1_found;
|
||||
int Lpt_in1[2];
|
||||
int Lpt_in0[2];
|
||||
|
||||
bool is_straight0;
|
||||
bool is_straight1;
|
||||
bool is_far_straight0;
|
||||
bool is_far_straight1;
|
||||
|
||||
bool is_turn0;
|
||||
bool is_turn1;
|
||||
|
||||
float rptsn[PT_MAXLEN][2];
|
||||
int32_t rptsn_num;
|
||||
float aim_distance;
|
||||
|
||||
track_type_e track_type = TRACK_RIGHT;
|
||||
108
app/gl_data.h
108
app/gl_data.h
@@ -1,108 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#ifndef _GL_DATA_H
|
||||
#define _GL_DATA_H
|
||||
|
||||
#include "gl_headfile.h"
|
||||
|
||||
typedef enum track_type_e {
|
||||
TRACK_LEFT = 0,
|
||||
TRACK_RIGHT,
|
||||
} track_type_e;
|
||||
|
||||
extern uint8_t (*Img_Gray)[MT9V03X_W];
|
||||
//未逆透视前边线数组
|
||||
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_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;
|
||||
//逆透视后边线数组
|
||||
extern float pts_inv_l[PT_MAXLEN][2];
|
||||
extern float pts_inv_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_inv_l_count;
|
||||
extern int32_t pts_inv_r_count;
|
||||
extern float pts_far_inv_l[PT_MAXLEN][2];
|
||||
extern float pts_far_inv_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_far_inv_l_count;
|
||||
extern int32_t pts_far_inv_r_count;
|
||||
//滤波后边线数组
|
||||
extern float pts_filter_l[PT_MAXLEN][2];
|
||||
extern float pts_filter_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_filter_l_count;
|
||||
extern int32_t pts_filter_r_count;
|
||||
extern float pts_far_filter_l[PT_MAXLEN][2];
|
||||
extern float pts_far_filter_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_far_filter_l_count;
|
||||
extern int32_t pts_far_filter_r_count;
|
||||
|
||||
//重采样后边线数组
|
||||
extern float pts_resample_left[PT_MAXLEN][2];
|
||||
extern float pts_resample_right[PT_MAXLEN][2];
|
||||
extern int32_t pts_resample_left_count;
|
||||
extern int32_t pts_resample_right_count;
|
||||
extern float pts_far_resample_left[PT_MAXLEN][2];
|
||||
extern float pts_far_resample_right[PT_MAXLEN][2];
|
||||
extern int32_t pts_far_resample_left_count;
|
||||
extern int32_t pts_far_resample_right_count;
|
||||
|
||||
extern float mid_left[PT_MAXLEN][2];
|
||||
extern float mid_right[PT_MAXLEN][2];
|
||||
|
||||
extern int32_t mid_left_count;
|
||||
extern int32_t mid_right_count;
|
||||
|
||||
extern float angle_new_left[PT_MAXLEN];
|
||||
extern float angle_new_right[PT_MAXLEN];
|
||||
extern int angle_new_left_num;
|
||||
extern int angle_new_right_num;
|
||||
extern float far_angle_new_left[PT_MAXLEN];
|
||||
extern float far_angle_new_right[PT_MAXLEN];
|
||||
extern int far_angle_new_left_num;
|
||||
extern int far_angle_new_right_num;
|
||||
|
||||
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
|
||||
|
||||
extern float angle_left[PT_MAXLEN];
|
||||
extern float angle_right[PT_MAXLEN];
|
||||
extern int angle_left_num;
|
||||
extern int angle_right_num;
|
||||
extern float far_angle_left[PT_MAXLEN];
|
||||
extern float far_angle_right[PT_MAXLEN];
|
||||
extern int far_angle_left_num;
|
||||
extern int far_angle_right_num;
|
||||
|
||||
extern int Lpt0_rpts0s_id;
|
||||
extern int Lpt1_rpts1s_id;
|
||||
extern bool Lpt0_found;
|
||||
extern bool Lpt1_found;
|
||||
extern int Lpt1[2];
|
||||
extern int Lpt0[2];
|
||||
extern int far_Lpt1[2];
|
||||
extern int far_Lpt0[2];
|
||||
|
||||
extern int Lpt_in0_rpts0s_id;
|
||||
extern int Lpt_in1_rpts1s_id;
|
||||
extern bool Lpt_in0_found;
|
||||
extern bool Lpt_in1_found;
|
||||
extern int Lpt_in1[2];
|
||||
extern int Lpt_in0[2];
|
||||
|
||||
extern bool is_straight0;
|
||||
extern bool is_straight1;
|
||||
extern bool is_far_straight0;
|
||||
extern bool is_far_straight1;
|
||||
|
||||
extern bool is_turn0;
|
||||
extern bool is_turn1;
|
||||
|
||||
extern float rptsn[PT_MAXLEN][2];
|
||||
extern int32_t rptsn_num;
|
||||
extern float aim_distance;
|
||||
|
||||
extern track_type_e track_type;
|
||||
|
||||
#endif
|
||||
@@ -1,52 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "math.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
enum garage_type_e garage_type = GARAGE_NONE;
|
||||
|
||||
float (*garage_rpts)[2];
|
||||
int garage_rpts_num;
|
||||
|
||||
float calculate_vector_angle(float x1, float y1, float x2, float y2) {
|
||||
float dx = x2 - x1;
|
||||
float dy = y2 - y1;
|
||||
|
||||
float vector_length = sqrt(dx*dx + dy*dy);
|
||||
float angle_radians = acos(dx / vector_length);
|
||||
float angle_degrees = angle_radians * 180 / M_PI;
|
||||
|
||||
return angle_degrees;
|
||||
}
|
||||
|
||||
void CheckGarage() {
|
||||
int change_num = 0;
|
||||
int check_garage_h = 60;
|
||||
for (int check_garage_w = 30; check_garage_w < IMAGE_W - 30; check_garage_w++)
|
||||
{
|
||||
if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
|
||||
(GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD))
|
||||
{
|
||||
change_num++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (change_num > 7)
|
||||
{
|
||||
garage_type = GARAGE_FOUND;
|
||||
//printf("跳变点的数量为：%d\r\n", change_num);
|
||||
}
|
||||
|
||||
change_num = 0;
|
||||
|
||||
}
|
||||
|
||||
void RunGarage(){
|
||||
|
||||
if (garage_type == GARAGE_FOUND)
|
||||
{
|
||||
printf("识别到车库\r\n");
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
#ifndef GARAGE
|
||||
#define GARAGE
|
||||
|
||||
|
||||
enum garage_type_e {
|
||||
GARAGE_NONE, // 非车库模式
|
||||
GARAGE_FOUND,
|
||||
GARAGE_OUT_LEFT,
|
||||
GARAGE_OUT_RIGHT, // 出库，陀螺仪转过45°，即出库完毕
|
||||
GARAGE_FOUND_LEFT,
|
||||
GARAGE_FOUND_RIGHT, // 发现车库，即斑马线+单侧L角点(未使用)
|
||||
GARAGE_IN_LEFT,
|
||||
GARAGE_IN_RIGHT, // 进库，发现车库后判断第几次，从而决定是否进库
|
||||
GARAGE_PASS_LEFT,
|
||||
GARAGE_PASS_RIGHT, // 不进库，发现车库后判断第几次，从而决定是否进库
|
||||
GARAGE_STOP // 进库完毕，停车
|
||||
};
|
||||
extern enum garage_type_e garage_type;
|
||||
|
||||
float calculate_vector_angle(float x1, float y1, float x2, float y2);\
|
||||
void CheckGarage(void);
|
||||
void RunGarage(void);
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
@@ -1,86 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "math.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
|
||||
|
||||
void get_corners() {
|
||||
Lpt0_found = Lpt1_found = false;
|
||||
Lpt_in0_found = Lpt_in1_found = false;
|
||||
is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
|
||||
is_straight1 = pts_resample_right_count > 1.0 / RESAMPLEDIST;
|
||||
for (int i = 0; i < pts_resample_left_count; i++) {
|
||||
if (angle_new_left[i] == 0) continue;
|
||||
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
|
||||
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
|
||||
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
|
||||
|
||||
//L角点阈值
|
||||
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.5 / RESAMPLEDIST) {
|
||||
Lpt0_rpts0s_id = i;
|
||||
Lpt0_found = true;
|
||||
transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]);
|
||||
}
|
||||
//长直道阈值
|
||||
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
|
||||
if (Lpt0_found == true && is_straight0 == false) break;
|
||||
}
|
||||
// if(Lpt0_found){
|
||||
// float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
|
||||
// if(angle1 < 85.) {
|
||||
// Lpt_in0_found = true;
|
||||
// Lpt0_found = false;
|
||||
// Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
|
||||
// }
|
||||
// }
|
||||
// else{
|
||||
// is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
|
||||
// if(is_turn0){
|
||||
// state_type = TURN_STATE;
|
||||
// }
|
||||
// }
|
||||
if(is_straight0){
|
||||
state_type = STRAIGHT_STATE;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < pts_resample_right_count; i++) {
|
||||
if (angle_new_right[i] == 0) continue;
|
||||
int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
|
||||
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
|
||||
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
|
||||
|
||||
|
||||
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.5 / RESAMPLEDIST) {
|
||||
Lpt1_rpts1s_id = i;
|
||||
Lpt1_found = true;
|
||||
transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
|
||||
}
|
||||
|
||||
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
|
||||
if (Lpt1_found == true && is_straight1 == false) break;
|
||||
}
|
||||
// if(Lpt1_found){
|
||||
// float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
|
||||
// if(angle2 > 100.) {
|
||||
// Lpt_in1_found = true;
|
||||
// Lpt1_found = false;
|
||||
// Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
|
||||
// }
|
||||
// }
|
||||
//else{
|
||||
// is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
|
||||
// if(is_turn1){
|
||||
// state_type = TURN_STATE;
|
||||
// }
|
||||
//}
|
||||
if(is_straight1){
|
||||
state_type = STRAIGHT_STATE;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
#ifndef GET_CORNERS
|
||||
#define GET_CORNERS
|
||||
|
||||
|
||||
void get_corners(void);
|
||||
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
@@ -1,239 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "math.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
|
||||
|
||||
|
||||
const int32_t direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
|
||||
const int32_t direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
|
||||
const int32_t direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
|
||||
|
||||
|
||||
void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num)
|
||||
{
|
||||
const int32_t half = block_size / 2;
|
||||
int step = 0;
|
||||
int dir = 0;
|
||||
int turn = 0;
|
||||
printf("shuzhi: %d\r\n", half);
|
||||
while (step < *line_num && half < w && w < IMAGE_W - half -1 && half < h && h < IMAGE_H - half -1 && turn < 4) {
|
||||
int local_thres = 0;
|
||||
for (int dh = -1 * half; dh <= half; dh++) {
|
||||
for (int dw = -1 * half; dw <= half; dw++) {
|
||||
local_thres += GET_PIX_1C(img_gray, h + dh, w + dw);
|
||||
}
|
||||
}
|
||||
local_thres /= block_size * block_size;
|
||||
local_thres -= down_value;
|
||||
|
||||
int front_value = GET_PIX_1C(img_gray, h+direction_front[dir][1], w + direction_front[dir][0]);
|
||||
int frontleft_value = GET_PIX_1C(img_gray, h + direction_frontleft[dir][1], w + direction_frontleft[dir][0]);
|
||||
if (front_value < local_thres) {
|
||||
dir = (dir + 1) % 4;
|
||||
turn++;
|
||||
} else if (frontleft_value < local_thres) {
|
||||
w += direction_front[dir][0];
|
||||
h += direction_front[dir][1];
|
||||
pts[step][1] = w;
|
||||
pts[step][0] = h;
|
||||
step++;
|
||||
turn = 0;
|
||||
} else {
|
||||
|
||||
w += direction_frontleft[dir][0];
|
||||
h += direction_frontleft[dir][1];
|
||||
dir = (dir + 3) % 4;
|
||||
pts[step][1] = w;
|
||||
pts[step][0] = h;
|
||||
step++;
|
||||
turn = 0;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
*line_num = step;
|
||||
}
|
||||
|
||||
void SearchLineAdaptive_Right(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num)
|
||||
{
|
||||
int half = block_size / 2;
|
||||
int step = 0, dir = 0, turn = 0;
|
||||
while (step < *line_num && 0 < w && w < IMAGE_W - 1 && 0 < h && h < IMAGE_H -1 && turn < 4) {
|
||||
int local_thres = 0;
|
||||
for (int dh = -half; dh <= half; dh++) {
|
||||
for (int dw = -half; dw <= half; dw++) {
|
||||
local_thres += GET_PIX_1C(img_gray, h + dh, w + dw);
|
||||
}
|
||||
}
|
||||
local_thres /= block_size * block_size;
|
||||
local_thres -= down_value;
|
||||
|
||||
|
||||
int front_value = GET_PIX_1C(img_gray, h + direction_front[dir][1], w + direction_front[dir][0]);
|
||||
int frontright_value = GET_PIX_1C(img_gray, h + direction_frontright[dir][1], w + direction_frontright[dir][0]);
|
||||
if (front_value < local_thres) {
|
||||
dir = (dir + 3) % 4;
|
||||
turn++;
|
||||
} else if (frontright_value < local_thres) {
|
||||
w += direction_front[dir][0];
|
||||
h += direction_front[dir][1];
|
||||
pts[step][1] = w;
|
||||
pts[step][0] = h;
|
||||
step++;
|
||||
turn = 0;
|
||||
|
||||
|
||||
} else {
|
||||
w += direction_frontright[dir][0];
|
||||
h += direction_frontright[dir][1];
|
||||
dir = (dir + 1) % 4;
|
||||
pts[step][1] = w;
|
||||
pts[step][0] = h;
|
||||
step++;
|
||||
turn = 0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
*line_num = step;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize)
|
||||
{
|
||||
int half = kernelsize / 2;
|
||||
for (int i = 0; i < pts_in_count; i++) {
|
||||
pts_out[i][0] = 0;
|
||||
pts_out[i][1] = 0;
|
||||
for (int j = -half; j <= half; j++) {
|
||||
pts_out[i][0] += pts_in[clip(i + j, 0, pts_in_count - 1)][0] * (half + 1 - abs(j));
|
||||
pts_out[i][1] += pts_in[clip(i + j, 0, pts_in_count - 1)][1] * (half + 1 - abs(j));
|
||||
}
|
||||
pts_out[i][0] /= (2 * half + 2) * (half + 1) / 2;
|
||||
pts_out[i][1] /= (2 * half + 2) * (half + 1) / 2;
|
||||
}
|
||||
}
|
||||
|
||||
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist)
|
||||
{
|
||||
if (num1 < 0) {
|
||||
*num2 = 0;
|
||||
return;
|
||||
}
|
||||
pts_out[0][0] = pts_in[0][0];
|
||||
pts_out[0][1] = pts_in[0][1];
|
||||
int len = 1;
|
||||
for (int i = 0; i < num1 - 1 && len < *num2; i++) {
|
||||
float x0 = pts_in[i][1];
|
||||
float y0 = pts_in[i][0];
|
||||
float x1 = pts_in[i + 1][1];
|
||||
float y1 = pts_in[i + 1][0];
|
||||
|
||||
do {
|
||||
float x = pts_out[len - 1][1];
|
||||
float y = pts_out[len - 1][0];
|
||||
|
||||
float dx0 = x0 - x;
|
||||
float dy0 = y0 - y;
|
||||
float dx1 = x1 - x;
|
||||
float dy1 = y1 - y;
|
||||
|
||||
float dist0 = sqrt(dx0 * dx0 + dy0 * dy0);
|
||||
float dist1 = sqrt(dx1 * dx1 + dy1 * dy1);
|
||||
|
||||
float r0 = (dist1 - dist) / (dist1 - dist0);
|
||||
float r1 = 1 - r0;
|
||||
|
||||
if (r0 < 0 || r1 < 0) break;
|
||||
x0 = x0 * r0 + x1 * r1;
|
||||
y0 = y0 * r0 + y1 * r1;
|
||||
pts_out[len][1] = x0;
|
||||
pts_out[len][0] = y0;
|
||||
len++;
|
||||
} while (len < *num2);
|
||||
|
||||
}
|
||||
*num2 = len;
|
||||
}
|
||||
|
||||
|
||||
void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist) {
|
||||
for (int i = 0; i < num; i++) {
|
||||
if (i <= 0 || i >= num - 1) {
|
||||
angle_out[i] = 0;
|
||||
continue;
|
||||
}
|
||||
float dx1 = pts_in[i][0] - pts_in[clip(i - dist, 0, num - 1)][0];
|
||||
float dy1 = pts_in[i][1] - pts_in[clip(i - dist, 0, num - 1)][1];
|
||||
float dn1 = sqrtf(dx1 * dx1 + dy1 * dy1);
|
||||
float dx2 = pts_in[clip(i + dist, 0, num - 1)][0] - pts_in[i][0];
|
||||
float dy2 = pts_in[clip(i + dist, 0, num - 1)][1] - pts_in[i][1];
|
||||
float dn2 = sqrtf(dx2 * dx2 + dy2 * dy2);
|
||||
float c1 = dx1 / dn1;
|
||||
float s1 = dy1 / dn1;
|
||||
float c2 = dx2 / dn2;
|
||||
float s2 = dy2 / dn2;
|
||||
angle_out[i] = atan2f(c1 * s2 - c2 * s1, c2 * c1 + s2 * s1); //得到弧度 类似angle_out = 0.3491
|
||||
}
|
||||
}
|
||||
|
||||
void nms_angle(float angle_in[], int num, float angle_out[], int kernel) {
|
||||
|
||||
int half = kernel / 2;
|
||||
for (int i = 0; i < num; i++) {
|
||||
angle_out[i] = angle_in[i];
|
||||
for (int j = -half; j <= half; j++) {
|
||||
if (fabs(angle_in[clip(i + j, 0, num - 1)]) > fabs(angle_out[i])) {
|
||||
angle_out[i] = 0;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist)
|
||||
{
|
||||
for (int i = 0; i < pts_left_count; i++) {
|
||||
float dx = pts_left[clip(i + approx_num, 0, pts_left_count - 1)][1] - pts_left[clip(i - approx_num, 0, pts_left_count - 1)][1];
|
||||
float dy = pts_left[clip(i + approx_num, 0, pts_left_count - 1)][0] - pts_left[clip(i - approx_num, 0, pts_left_count - 1)][0];
|
||||
float dn = sqrt(dx * dx + dy * dy);
|
||||
dx /= dn;
|
||||
dy /= dn;
|
||||
mid_left[i][0] = pts_left[i][0] + dx * dist;
|
||||
mid_left[i][1] = pts_left[i][1] - dy * dist;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist)
|
||||
{
|
||||
for (int i = 0; i < pts_right_count; i++) {
|
||||
float dx = pts_right[clip(i + approx_num, 0, pts_right_count -1)][1] - pts_right[clip(i - approx_num, 0, pts_right_count -1 )][1];
|
||||
float dy = pts_right[clip(i + approx_num, 0, pts_right_count -1)][0] - pts_right[clip(i - approx_num, 0, pts_right_count -1)][0];
|
||||
float dn = sqrt(dx * dx + dy * dy);
|
||||
dx /= dn;//sin
|
||||
dy /= dn;//cos
|
||||
mid_right[i][0] = pts_right[i][0] - dx * dist;
|
||||
mid_right[i][1] = pts_right[i][1] + dy * dist;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int is_curve(float angle[], int n, float threshold) {
|
||||
for (int i = 1; i < n - 1; i++) {
|
||||
float da = fabs(angle[i] - angle[i-1]);
|
||||
float db = fabs(angle[i+1] - angle[i]);
|
||||
if (da > threshold && db > threshold) {
|
||||
return 1; // 是弯道
|
||||
}
|
||||
}
|
||||
return 0; // 不是弯道
|
||||
}
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
#ifndef HANDLE_IMG
|
||||
#define HANDLE_IMG
|
||||
|
||||
|
||||
|
||||
void SearchStartPoint_Left(uint8_t img_gray[], int32_t* h_start, int32_t* w_start, uint8_t threshold);
|
||||
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize);
|
||||
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist);
|
||||
void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist);
|
||||
void nms_angle(float angle_in[], int num, float angle_out[], int kernel);
|
||||
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist);
|
||||
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist);
|
||||
int is_curve(float angle[], int n, float threshold) ;
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
@@ -1,18 +0,0 @@
|
||||
#ifndef GL_HEADFILE
|
||||
#define GL_HEADFILE
|
||||
|
||||
#include "gl_state.h"
|
||||
#include "gl_img_process.h"
|
||||
#include "gl_common.h"
|
||||
#include "main.h"
|
||||
#include "gl_handle_img.h"
|
||||
#include "gl_transform_table.h"
|
||||
#include "gl_get_corners.h"
|
||||
#include "gl_garage.h"
|
||||
#include "gl_tracking.h"
|
||||
#include "gl_circle.h"
|
||||
#include "gl_cross.h"
|
||||
#include "gl_data.h"
|
||||
#include "math.h"
|
||||
|
||||
#endif /* STATE_H_ */
|
||||
@@ -1,111 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "math.h"
|
||||
#include "gl_headfile.h"
|
||||
/*******************************边线处理****************************************/
|
||||
/*
|
||||
@author: glz
|
||||
@brief:
|
||||
*/
|
||||
|
||||
|
||||
|
||||
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--) {
|
||||
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD)
|
||||
break;
|
||||
}
|
||||
|
||||
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1) >= FIX_BINTHRESHOLD){
|
||||
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h1, w1, pts_left, &pts_left_count);
|
||||
}
|
||||
else pts_left_count = 0;
|
||||
|
||||
int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
|
||||
pts_right_count = sizeof(pts_right) / sizeof(pts_right[0]);
|
||||
for (; w2 < IMAGE_W - 1; w2++) {
|
||||
if (GET_PIX_1C(mt9v03x_image_copy[0], h2, w2 + 1) < FIX_BINTHRESHOLD)
|
||||
break;
|
||||
}
|
||||
|
||||
if (GET_PIX_1C(mt9v03x_image_copy[0], h2, w2) >= FIX_BINTHRESHOLD){
|
||||
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h2, w2, pts_right, &pts_right_count);
|
||||
}
|
||||
else pts_right_count = 0;
|
||||
|
||||
//透视变换
|
||||
for (int i = 0; i < pts_left_count; i++) {
|
||||
pts_inv_l[i][1] = fclip(InverseMapW[pts_left[i][0]][pts_left[i][1]],0,IMAGE_W);
|
||||
pts_inv_l[i][0] = fclip(InverseMapH[pts_left[i][0]][pts_left[i][1]],0,IMAGE_H);
|
||||
}
|
||||
pts_inv_l_count = pts_left_count;
|
||||
|
||||
for (int i = 0; i < pts_right_count; i++) {
|
||||
pts_inv_r[i][1] = fclip(InverseMapW[pts_right[i][0]][pts_right[i][1]],0,IMAGE_W);
|
||||
pts_inv_r[i][0] = fclip(InverseMapH[pts_right[i][0]][pts_right[i][1]],0,IMAGE_H);
|
||||
}
|
||||
pts_inv_r_count = pts_right_count;
|
||||
|
||||
// 边线滤波
|
||||
GetLinesFilter(pts_inv_l, pts_inv_l_count, pts_filter_l, (int) round(FILTER_KERNELSIZE));
|
||||
pts_filter_l_count = pts_inv_l_count;
|
||||
GetLinesFilter(pts_inv_r, pts_inv_r_count, pts_filter_r, (int) round(FILTER_KERNELSIZE));
|
||||
pts_filter_r_count = pts_inv_r_count;
|
||||
|
||||
// 边线等距采样
|
||||
pts_resample_left_count = sizeof(pts_resample_left) / sizeof(pts_resample_left[0]);
|
||||
GetLinesResample(pts_filter_l, pts_filter_l_count, pts_resample_left, &pts_resample_left_count, RESAMPLEDIST * PIXPERMETER);
|
||||
pts_resample_right_count = sizeof(pts_resample_right) / sizeof(pts_resample_right[0]);
|
||||
GetLinesResample(pts_filter_r, pts_filter_r_count, pts_resample_right, &pts_resample_right_count, RESAMPLEDIST * PIXPERMETER);
|
||||
|
||||
int valid_points_count = 0;
|
||||
|
||||
for (int i = 0; i < pts_resample_left_count; i++) {
|
||||
int x = pts_resample_left[i][1];
|
||||
int y = pts_resample_left[i][0];
|
||||
|
||||
if (y < IMAGE_H-3 && x > 3 && x < IMAGE_W-3 && y>=3 ) {
|
||||
pts_resample_left[valid_points_count][0] = pts_resample_left[i][0];
|
||||
pts_resample_left[valid_points_count][1] = pts_resample_left[i][1];
|
||||
valid_points_count++;
|
||||
}
|
||||
}
|
||||
pts_resample_left_count = valid_points_count;
|
||||
valid_points_count = 0;
|
||||
|
||||
for (int i = 0; i < pts_resample_right_count; i++) {
|
||||
int x = pts_resample_right[i][1];
|
||||
int y = pts_resample_right[i][0];
|
||||
|
||||
if (y <= IMAGE_H-3 && x >= 3 && x <= IMAGE_W-3 && y>=3) {
|
||||
pts_resample_right[valid_points_count][0] = pts_resample_right[i][0];
|
||||
pts_resample_right[valid_points_count][1] = pts_resample_right[i][1];
|
||||
valid_points_count++;
|
||||
}
|
||||
}
|
||||
|
||||
pts_resample_right_count = valid_points_count;
|
||||
|
||||
// 边线角度变化率
|
||||
local_angle_points(pts_resample_left, pts_resample_left_count, angle_left, (int) round(ANGLEDIST / RESAMPLEDIST));
|
||||
angle_left_num = pts_resample_left_count;
|
||||
local_angle_points(pts_resample_right, pts_resample_right_count, angle_right, (int) round(ANGLEDIST / RESAMPLEDIST));
|
||||
angle_right_num = pts_resample_right_count;
|
||||
|
||||
// 角度变化率非极大值抑制
|
||||
nms_angle(angle_left, angle_left_num, angle_new_left, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
|
||||
angle_new_left_num = angle_left_num;
|
||||
nms_angle(angle_right, angle_right_num, angle_new_right, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
|
||||
angle_new_right_num = angle_right_num;
|
||||
|
||||
// 左右中线跟踪
|
||||
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
|
||||
mid_left_count = pts_resample_left_count;
|
||||
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
|
||||
mid_right_count = pts_resample_right_count;
|
||||
|
||||
|
||||
}
|
||||
@@ -1,10 +0,0 @@
|
||||
#ifndef IMG_PROCESS
|
||||
#define IMG_PROCESS
|
||||
|
||||
#include "zf_common_headfile.h"
|
||||
|
||||
void img_processing(void);
|
||||
void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num);
|
||||
void SearchLineAdaptive_Right(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num);
|
||||
|
||||
#endif /* STATE_H_ */
|
||||
@@ -1,4 +0,0 @@
|
||||
#include "gl_state.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
enum state_type_e state_type =0;
|
||||
@@ -1,28 +0,0 @@
|
||||
#ifndef STATE_H_
|
||||
#define STATE_H_
|
||||
|
||||
enum state_type_e {
|
||||
COMMON_STATE = 0,
|
||||
CROSS_STATE,
|
||||
HALF_STATE,
|
||||
CIRCLE_IN_STATE,
|
||||
CIRCLE_BEGIN_STATE,
|
||||
CIRCLE_RUNNING_STATE,
|
||||
CIRCLE_OUT_STATE,
|
||||
TURN_STATE,
|
||||
STRAIGHT_STATE,
|
||||
BREAK_STATE,
|
||||
BAR_STATE,
|
||||
RAMP_STATE,
|
||||
GARAGE_OUT_STATE,
|
||||
GARAGE_IN_STATE,
|
||||
GARAGE_STOP_STATE,
|
||||
GARAGE_PASS_STATE,
|
||||
};
|
||||
|
||||
extern enum state_type_e state_type;
|
||||
|
||||
#define CROSS_AIM (0.49f)
|
||||
#define COMMON_AIM (0.31f)
|
||||
|
||||
#endif /* STATE_H_ */
|
||||
@@ -1,133 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
float (*mid_track)[2];
|
||||
int32_t mid_track_count;
|
||||
float near_angle;
|
||||
float pure_angle;
|
||||
float (*rpts)[2];
|
||||
int rpts_num;
|
||||
|
||||
|
||||
|
||||
void tracking(){
|
||||
|
||||
if (pts_resample_left_count < pts_resample_right_count / 2 && pts_resample_left_count < 50) {
|
||||
track_type = TRACK_RIGHT;
|
||||
} else if (pts_resample_right_count < pts_resample_left_count / 2 && pts_resample_right_count < 58) {
|
||||
track_type = TRACK_LEFT;
|
||||
} else if (pts_resample_left_count < 20 && pts_resample_right_count > pts_resample_left_count) {
|
||||
track_type = TRACK_RIGHT;
|
||||
} else if (pts_resample_right_count < 20 && pts_resample_left_count > pts_resample_right_count) {
|
||||
track_type = TRACK_LEFT;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ElementJudge() {
|
||||
CheckGarage();
|
||||
if (garage_type == GARAGE_NONE) {
|
||||
CheckCross();
|
||||
if (cross_type == CROSS_NONE) {
|
||||
CheckCircle();
|
||||
}
|
||||
}
|
||||
|
||||
if (garage_type != GARAGE_NONE)
|
||||
{
|
||||
cross_type = CROSS_NONE;
|
||||
circle_type = CIRCLE_NONE;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void ElementRun() {
|
||||
if (garage_type != GARAGE_NONE) {
|
||||
RunGarage();
|
||||
}
|
||||
|
||||
else if (cross_type != CROSS_NONE) {
|
||||
RunCross();
|
||||
}
|
||||
|
||||
else if (circle_type != CIRCLE_NONE) {
|
||||
RunCircle();
|
||||
}
|
||||
}
|
||||
|
||||
void MidLineTrack() {
|
||||
if (cross_type == CROSS_IN) {
|
||||
if (track_type == TRACK_LEFT) {
|
||||
mid_track = mid_left; // 这是为了预先分配内存
|
||||
GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
|
||||
mid_track_count = pts_far_resample_left_count - far_Lpt0_rpts0s_id;
|
||||
} else {
|
||||
mid_track = mid_right; // 这是为了预先分配内存
|
||||
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
|
||||
mid_track_count =pts_far_resample_right_count - far_Lpt1_rpts1s_id;
|
||||
}
|
||||
} else {
|
||||
if (track_type == TRACK_LEFT) {
|
||||
mid_track = mid_left;
|
||||
mid_track_count = mid_left_count;
|
||||
} else {
|
||||
mid_track = mid_right;
|
||||
mid_track_count = mid_right_count;
|
||||
}
|
||||
}
|
||||
|
||||
// 车轮对应点 (纯跟踪起始点)
|
||||
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][94];
|
||||
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][94];
|
||||
|
||||
// 找最近点 (起始点中线归一化)
|
||||
float min_dist = 1e10;
|
||||
|
||||
int begin_id = -1;
|
||||
for (int i = 0; i < mid_track_count; i++) {
|
||||
float dx = mid_track[i][1] - cx;
|
||||
float dy = mid_track[i][0] - cy;
|
||||
float dist = sqrt(dx * dx + dy * dy);
|
||||
if (dist < min_dist) {
|
||||
min_dist = dist;
|
||||
begin_id = i;
|
||||
}
|
||||
}
|
||||
|
||||
if (begin_id >= 0 && mid_track_count - begin_id >= 3){
|
||||
// 归一化中线
|
||||
mid_track[begin_id][0] = cy;
|
||||
mid_track[begin_id][1] = cx;
|
||||
rptsn_num = sizeof(rptsn) / sizeof(rptsn[0]);
|
||||
GetLinesResample(mid_track + begin_id, mid_track_count - begin_id, rptsn, &rptsn_num, RESAMPLEDIST * PIXPERMETER );
|
||||
|
||||
// 远预锚点位置
|
||||
int aim_idx = clip(round(aim_distance / RESAMPLEDIST), 0, rptsn_num - 1);
|
||||
|
||||
//近锚点位置
|
||||
int aim_idx_near = clip(round(0.25 / RESAMPLEDIST), 0, rptsn_num - 1);
|
||||
|
||||
// 计算远锚点偏差值
|
||||
float dx = rptsn[aim_idx][1] - cx;
|
||||
float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
|
||||
float dn = sqrt(dx * dx + dy * dy);
|
||||
//float error = -atan2f(dx, dy) * 180 / PI;
|
||||
|
||||
// 计算近锚点偏差值
|
||||
float dx_near = rptsn[aim_idx_near][1] - cx;
|
||||
float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
|
||||
float dn_near = sqrt(dx_near * dx_near + dy_near * dy_near);
|
||||
//float error_near = -atan2f(dx_near, dy_near) * 180 / PI;
|
||||
|
||||
//考虑近点
|
||||
near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI * 180 ;
|
||||
//考虑远点
|
||||
pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
#ifndef TRACKING
|
||||
#define TRACKING
|
||||
|
||||
|
||||
void tracking(void);
|
||||
void ElementJudge(void);
|
||||
void ElementRun(void);
|
||||
void MidLineTrack(void);
|
||||
|
||||
|
||||
#endif /* STATE_H_ */
|
||||
@@ -1,190 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_headfile.h"
|
||||
|
||||
|
||||
float H_inv[3][3] = {{0.092, -0.116, 7.559},
|
||||
{0.002, 0, 2.415},
|
||||
{0, -0.001, 0.161}};
|
||||
|
||||
// 逆变换，俯视->原图
|
||||
void transform(float X, float Y, int* x, int* y) {
|
||||
// Apply inverse transformation
|
||||
double p[3] = {X, Y, 1.0};
|
||||
double q[3] = {0.0, 0.0, 0.0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
q[i] += H_inv[i][j] * p[j];
|
||||
}
|
||||
}
|
||||
|
||||
*x =(int) (q[0] / q[2]);
|
||||
*y = (int) (q[1] / q[2]);
|
||||
}
|
||||
|
||||
|
||||
const float InverseMapH[80][140] = {
|
||||
{-17.59, -17.51, -17.44, -17.36, -17.29, -17.21, -17.14, -17.07, -16.99, -16.92, -16.84, -16.77, -16.70, -16.62, -16.55, -16.48, -16.41, -16.34, -16.26, -16.19, -16.12, -16.05, -15.98, -15.91, -15.84, -15.77, -15.70, -15.63, -15.56, -15.49, -15.42, -15.35, -15.28, -15.21, -15.14, -15.07, -15.01, -14.94, -14.87, -14.80, -14.73, -14.67, -14.60, -14.53, -14.47, -14.40, -14.33, -14.27, -14.20, -14.13, -14.07, -14.00, -13.94, -13.87, -13.81, -13.74, -13.68, -13.61, -13.55, -13.49, -13.42, -13.36, -13.29, -13.23, -13.17, -13.10, -13.04, -12.98, -12.92, -12.85, -12.79, -12.73, -12.67, -12.61, -12.54, -12.48, -12.42, -12.36, -12.30, -12.24, -12.18, -12.12, -12.06, -12.00, -11.94, -11.88, -11.82, -11.76, -11.70, -11.64, -11.58, -11.52, -11.46, -11.40, -11.35, -11.29, -11.23, -11.17, -11.11, -11.06, -11.00, -10.94, -10.88, -10.83, -10.77, -10.71, -10.66, -10.60, -10.54, -10.49, -10.43, -10.37, -10.32, -10.26, -10.21, -10.15, -10.10, -10.04, -9.99, -9.93, -9.88, -9.82, -9.77, -9.71, -9.66, -9.61, -9.55, -9.50, -9.44, -9.39, -9.34, -9.28, -9.23, -9.18, -9.13, -9.07, -9.02, -8.97, -8.92, -8.86},
|
||||
{-12.23, -12.17, -12.10, -12.04, -11.98, -11.91, -11.85, -11.78, -11.72, -11.66, -11.59, -11.53, -11.47, -11.40, -11.34, -11.28, -11.22, -11.16, -11.09, -11.03, -10.97, -10.91, -10.85, -10.79, -10.73, -10.66, -10.60, -10.54, -10.48, -10.42, -10.36, -10.30, -10.24, -10.18, -10.12, -10.07, -10.01, -9.95, -9.89, -9.83, -9.77, -9.71, -9.66, -9.60, -9.54, -9.48, -9.43, -9.37, -9.31, -9.25, -9.20, -9.14, -9.08, -9.03, -8.97, -8.92, -8.86, -8.80, -8.75, -8.69, -8.64, -8.58, -8.53, -8.47, -8.42, -8.36, -8.31, -8.25, -8.20, -8.15, -8.09, -8.04, -7.98, -7.93, -7.88, -7.82, -7.77, -7.72, -7.66, -7.61, -7.56, -7.51, -7.45, -7.40, -7.35, -7.30, -7.25, -7.19, -7.14, -7.09, -7.04, -6.99, -6.94, -6.89, -6.84, -6.79, -6.74, -6.68, -6.63, -6.58, -6.53, -6.48, -6.43, -6.38, -6.34, -6.29, -6.24, -6.19, -6.14, -6.09, -6.04, -5.99, -5.94, -5.89, -5.85, -5.80, -5.75, -5.70, -5.65, -5.61, -5.56, -5.51, -5.46, -5.42, -5.37, -5.32, -5.28, -5.23, -5.18, -5.14, -5.09, -5.04, -5.00, -4.95, -4.90, -4.86, -4.81, -4.77, -4.72, -4.67},
|
||||
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{83.92, 83.90, 83.89, 83.87, 83.85, 83.83, 83.81, 83.80, 83.78, 83.76, 83.74, 83.72, 83.71, 83.69, 83.67, 83.65, 83.63, 83.62, 83.60, 83.58, 83.56, 83.55, 83.53, 83.51, 83.49, 83.48, 83.46, 83.44, 83.42, 83.40, 83.39, 83.37, 83.35, 83.33, 83.32, 83.30, 83.28, 83.26, 83.25, 83.23, 83.21, 83.19, 83.18, 83.16, 83.14, 83.12, 83.11, 83.09, 83.07, 83.05, 83.04, 83.02, 83.00, 82.99, 82.97, 82.95, 82.93, 82.92, 82.90, 82.88, 82.86, 82.85, 82.83, 82.81, 82.80, 82.78, 82.76, 82.74, 82.73, 82.71, 82.69, 82.68, 82.66, 82.64, 82.62, 82.61, 82.59, 82.57, 82.56, 82.54, 82.52, 82.51, 82.49, 82.47, 82.45, 82.44, 82.42, 82.40, 82.39, 82.37, 82.35, 82.34, 82.32, 82.30, 82.29, 82.27, 82.25, 82.24, 82.22, 82.20, 82.18, 82.17, 82.15, 82.13, 82.12, 82.10, 82.08, 82.07, 82.05, 82.03, 82.02, 82.00, 81.98, 81.97, 81.95, 81.93, 81.92, 81.90, 81.89, 81.87, 81.85, 81.84, 81.82, 81.80, 81.79, 81.77, 81.75, 81.74, 81.72, 81.70, 81.69, 81.67, 81.65, 81.64, 81.62, 81.61, 81.59, 81.57, 81.56, 81.54},
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{85.53, 85.51, 85.49, 85.47, 85.46, 85.44, 85.42, 85.40, 85.39, 85.37, 85.35, 85.33, 85.32, 85.30, 85.28, 85.26, 85.25, 85.23, 85.21, 85.19, 85.18, 85.16, 85.14, 85.12, 85.11, 85.09, 85.07, 85.05, 85.04, 85.02, 85.00, 84.98, 84.97, 84.95, 84.93, 84.92, 84.90, 84.88, 84.86, 84.85, 84.83, 84.81, 84.80, 84.78, 84.76, 84.74, 84.73, 84.71, 84.69, 84.68, 84.66, 84.64, 84.62, 84.61, 84.59, 84.57, 84.56, 84.54, 84.52, 84.51, 84.49, 84.47, 84.45, 84.44, 84.42, 84.40, 84.39, 84.37, 84.35, 84.34, 84.32, 84.30, 84.29, 84.27, 84.25, 84.23, 84.22, 84.20, 84.18, 84.17, 84.15, 84.13, 84.12, 84.10, 84.08, 84.07, 84.05, 84.03, 84.02, 84.00, 83.98, 83.97, 83.95, 83.93, 83.92, 83.90, 83.88, 83.87, 83.85, 83.84, 83.82, 83.80, 83.79, 83.77, 83.75, 83.74, 83.72, 83.70, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.59, 83.57, 83.56, 83.54, 83.52, 83.51, 83.49, 83.47, 83.46, 83.44, 83.43, 83.41, 83.39, 83.38, 83.36, 83.34, 83.33, 83.31, 83.30, 83.28, 83.26, 83.25, 83.23, 83.22, 83.20, 83.18}
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};
|
||||
|
||||
|
||||
const float InverseMapW[80][140] = {
|
||||
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|
||||
{43.55, 43.95, 44.35, 44.75, 45.14, 45.54, 45.94, 46.33, 46.73, 47.13, 47.52, 47.92, 48.31, 48.71, 49.10, 49.49, 49.89, 50.28, 50.68, 51.07, 51.46, 51.85, 52.25, 52.64, 53.03, 53.42, 53.81, 54.20, 54.59, 54.98, 55.38, 55.76, 56.15, 56.54, 56.93, 57.32, 57.71, 58.10, 58.49, 58.87, 59.26, 59.65, 60.04, 60.42, 60.81, 61.19, 61.58, 61.97, 62.35, 62.74, 63.12, 63.50, 63.89, 64.27, 64.66, 65.04, 65.42, 65.81, 66.19, 66.57, 66.95, 67.33, 67.72, 68.10, 68.48, 68.86, 69.24, 69.62, 70.00, 70.38, 70.76, 71.14, 71.52, 71.90, 72.27, 72.65, 73.03, 73.41, 73.79, 74.16, 74.54, 74.92, 75.29, 75.67, 76.04, 76.42, 76.79, 77.17, 77.54, 77.92, 78.29, 78.67, 79.04, 79.41, 79.79, 80.16, 80.53, 80.91, 81.28, 81.65, 82.02, 82.39, 82.76, 83.14, 83.51, 83.88, 84.25, 84.62, 84.99, 85.36, 85.73, 86.09, 86.46, 86.83, 87.20, 87.57, 87.93, 88.30, 88.67, 89.04, 89.40, 89.77, 90.14, 90.50, 90.87, 91.23, 91.60, 91.96, 92.33, 92.69, 93.06, 93.42, 93.78, 94.15, 94.51, 94.87, 95.24, 95.60, 95.96, 96.32},
|
||||
{43.82, 44.22, 44.61, 45.01, 45.40, 45.79, 46.19, 46.58, 46.97, 47.36, 47.75, 48.15, 48.54, 48.93, 49.32, 49.71, 50.10, 50.49, 50.88, 51.27, 51.66, 52.04, 52.43, 52.82, 53.21, 53.60, 53.98, 54.37, 54.76, 55.14, 55.53, 55.92, 56.30, 56.69, 57.07, 57.46, 57.84, 58.23, 58.61, 58.99, 59.38, 59.76, 60.14, 60.53, 60.91, 61.29, 61.67, 62.06, 62.44, 62.82, 63.20, 63.58, 63.96, 64.34, 64.72, 65.10, 65.48, 65.86, 66.24, 66.62, 66.99, 67.37, 67.75, 68.13, 68.50, 68.88, 69.26, 69.64, 70.01, 70.39, 70.76, 71.14, 71.51, 71.89, 72.26, 72.64, 73.01, 73.39, 73.76, 74.13, 74.51, 74.88, 75.25, 75.63, 76.00, 76.37, 76.74, 77.11, 77.48, 77.85, 78.23, 78.60, 78.97, 79.34, 79.71, 80.07, 80.44, 80.81, 81.18, 81.55, 81.92, 82.29, 82.65, 83.02, 83.39, 83.76, 84.12, 84.49, 84.85, 85.22, 85.59, 85.95, 86.32, 86.68, 87.05, 87.41, 87.78, 88.14, 88.50, 88.87, 89.23, 89.59, 89.96, 90.32, 90.68, 91.04, 91.40, 91.77, 92.13, 92.49, 92.85, 93.21, 93.57, 93.93, 94.29, 94.65, 95.01, 95.37, 95.73, 96.09},
|
||||
{44.09, 44.48, 44.87, 45.26, 45.65, 46.04, 46.43, 46.82, 47.21, 47.59, 47.98, 48.37, 48.76, 49.14, 49.53, 49.92, 50.30, 50.69, 51.07, 51.46, 51.85, 52.23, 52.61, 53.00, 53.38, 53.77, 54.15, 54.53, 54.92, 55.30, 55.68, 56.06, 56.45, 56.83, 57.21, 57.59, 57.97, 58.35, 58.73, 59.11, 59.49, 59.87, 60.25, 60.63, 61.01, 61.39, 61.77, 62.14, 62.52, 62.90, 63.28, 63.65, 64.03, 64.41, 64.78, 65.16, 65.53, 65.91, 66.28, 66.66, 67.03, 67.41, 67.78, 68.16, 68.53, 68.90, 69.28, 69.65, 70.02, 70.40, 70.77, 71.14, 71.51, 71.88, 72.25, 72.62, 73.00, 73.37, 73.74, 74.11, 74.48, 74.84, 75.21, 75.58, 75.95, 76.32, 76.69, 77.06, 77.42, 77.79, 78.16, 78.53, 78.89, 79.26, 79.62, 79.99, 80.36, 80.72, 81.09, 81.45, 81.82, 82.18, 82.55, 82.91, 83.27, 83.64, 84.00, 84.36, 84.73, 85.09, 85.45, 85.81, 86.17, 86.54, 86.90, 87.26, 87.62, 87.98, 88.34, 88.70, 89.06, 89.42, 89.78, 90.14, 90.50, 90.86, 91.21, 91.57, 91.93, 92.29, 92.65, 93.00, 93.36, 93.72, 94.07, 94.43, 94.79, 95.14, 95.50, 95.85},
|
||||
{44.36, 44.74, 45.13, 45.51, 45.90, 46.28, 46.67, 47.05, 47.44, 47.82, 48.21, 48.59, 48.97, 49.36, 49.74, 50.12, 50.50, 50.89, 51.27, 51.65, 52.03, 52.41, 52.79, 53.17, 53.55, 53.93, 54.31, 54.69, 55.07, 55.45, 55.83, 56.21, 56.59, 56.96, 57.34, 57.72, 58.10, 58.47, 58.85, 59.23, 59.60, 59.98, 60.35, 60.73, 61.11, 61.48, 61.85, 62.23, 62.60, 62.98, 63.35, 63.72, 64.10, 64.47, 64.84, 65.22, 65.59, 65.96, 66.33, 66.70, 67.07, 67.44, 67.82, 68.19, 68.56, 68.93, 69.30, 69.66, 70.03, 70.40, 70.77, 71.14, 71.51, 71.88, 72.24, 72.61, 72.98, 73.34, 73.71, 74.08, 74.44, 74.81, 75.18, 75.54, 75.91, 76.27, 76.64, 77.00, 77.36, 77.73, 78.09, 78.46, 78.82, 79.18, 79.55, 79.91, 80.27, 80.63, 80.99, 81.36, 81.72, 82.08, 82.44, 82.80, 83.16, 83.52, 83.88, 84.24, 84.60, 84.96, 85.32, 85.68, 86.03, 86.39, 86.75, 87.11, 87.47, 87.82, 88.18, 88.54, 88.89, 89.25, 89.61, 89.96, 90.32, 90.67, 91.03, 91.38, 91.74, 92.09, 92.45, 92.80, 93.16, 93.51, 93.86, 94.22, 94.57, 94.92, 95.27, 95.63}
|
||||
};
|
||||
@@ -1,14 +0,0 @@
|
||||
#ifndef TRANSFORM_TABLE_H_
|
||||
#define TRANSFORM_TABLE_H_
|
||||
|
||||
#include "zf_common_headfile.h"
|
||||
|
||||
|
||||
extern const float InverseMapH[80][140] ;
|
||||
extern const float InverseMapW[80][140] ;
|
||||
void transform(float X, float Y, int* x, int* y);
|
||||
|
||||
|
||||
#endif /* TRANSFORM_TABLE_H_ */
|
||||
|
||||
|
||||
@@ -42,7 +42,6 @@
|
||||
|
||||
#include "jj_motion.h"
|
||||
#include "jj_blueteeth.h"
|
||||
#include "jj_blueteeth.h"
|
||||
|
||||
void NMI_Handler(void) __attribute__((interrupt()));
|
||||
void HardFault_Handler(void) __attribute__((interrupt()));
|
||||
@@ -279,7 +278,7 @@ void TIM1_UP_IRQHandler(void)
|
||||
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
|
||||
|
||||
sport_motion2(bt_fly);
|
||||
sport_motion();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -314,7 +313,8 @@ void TIM5_IRQHandler(void)
|
||||
void TIM6_IRQHandler(void)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
|
||||
ICM_getEulerianAngles();
|
||||
//ICM_getEulerianAngles();
|
||||
imu660ra_get_gyro();
|
||||
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,21 +3,17 @@
|
||||
#include "by_fan_control.h"
|
||||
bool bt_rx_flag = false;
|
||||
uint8 bt_buffer; // 接收字符存入
|
||||
float bt_angle = 0.0f;
|
||||
uint32_t bt_run_flag = 0;
|
||||
uint8_t bt_flow_flag = 0;
|
||||
uint8_t bt_fly_flag = 0;
|
||||
uint32_t bt_run = 0;
|
||||
uint32_t bt_fly = 0;
|
||||
uint32_t bt_flow = 0;
|
||||
enum bt_order {
|
||||
Start_work = 0x01,
|
||||
Turn_Left = 0x02,
|
||||
Turn_Right = 0x03,
|
||||
Speed_up = 0x04,
|
||||
Speed_down = 0x05,
|
||||
Stop_fly = 0x06,
|
||||
Flow_on = 0x08,
|
||||
Flow_up = 0x09,
|
||||
Flow_down = 0x10,
|
||||
Fly_ctrl = 0x01, // 起飞转换
|
||||
Fly_up = 0x02, // 起飞程度增加
|
||||
Fly_dowm = 0x03, // 起飞程度减小
|
||||
Speed_up = 0x04, // 加速
|
||||
Speed_down = 0x05, // 减速
|
||||
Speed_ctrl = 0x06, // 速度开关
|
||||
};
|
||||
/**
|
||||
* @brief 蓝牙初始化
|
||||
@@ -36,41 +32,27 @@ void jj_bt_run()
|
||||
{
|
||||
if (bt_rx_flag) {
|
||||
switch (bt_buffer) {
|
||||
case Start_work:
|
||||
bt_angle = 0.0f;
|
||||
case Fly_ctrl:
|
||||
bt_fly_flag = !bt_fly_flag;
|
||||
break;
|
||||
case Turn_Left:
|
||||
bt_angle = 10.0f;
|
||||
case Speed_ctrl:
|
||||
bt_run_flag = !bt_run_flag;
|
||||
break;
|
||||
case Turn_Right:
|
||||
bt_angle = -10.0f;
|
||||
case Fly_up:
|
||||
bt_fly += 10;
|
||||
break;
|
||||
case Speed_down:
|
||||
case Fly_dowm:
|
||||
bt_fly -= 10;
|
||||
break;
|
||||
case Speed_up:
|
||||
bt_fly += 10;
|
||||
bt_run += 10;
|
||||
break;
|
||||
case Stop_fly:
|
||||
bt_run_flag = !bt_run_flag;
|
||||
break;
|
||||
case Flow_on:
|
||||
bt_flow_flag = !bt_flow_flag;
|
||||
break;
|
||||
case Flow_up:
|
||||
bt_flow += 20;
|
||||
break;
|
||||
case Flow_down:
|
||||
bt_flow -= 20;
|
||||
case Speed_down:
|
||||
bt_run -= 10;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if (bt_flow_flag == 0) {
|
||||
bt_flow = 0;
|
||||
}
|
||||
by_pwm_update_duty(bt_flow + 500, bt_flow + 500);
|
||||
bt_rx_flag = false;
|
||||
}
|
||||
}
|
||||
@@ -88,5 +70,4 @@ void bt_printf(const char *format, ...)
|
||||
;
|
||||
USART_SendData((USART_TypeDef *)uart_index[UART_2], sbuf[i]);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -2,12 +2,12 @@
|
||||
#define _JJ_BLUETEETH_H_
|
||||
#include "stdio.h"
|
||||
#include "zf_driver_uart.h"
|
||||
|
||||
extern bool bt_rx_flag;
|
||||
extern uint8_t bt_buffer;
|
||||
extern uint32_t bt_fly;
|
||||
extern uint8 bt_buffer; // 接收字符存入
|
||||
extern uint32_t bt_run_flag;
|
||||
extern float bt_angle;
|
||||
extern uint8_t bt_fly_flag;
|
||||
extern uint32_t bt_run;
|
||||
extern uint32_t bt_fly;
|
||||
void jj_bt_init();
|
||||
void jj_bt_run();
|
||||
void bt_printf(const char *format, ...);
|
||||
|
||||
109
app/jj_motion.c
109
app/jj_motion.c
@@ -1,44 +1,80 @@
|
||||
#include "jj_motion.h"
|
||||
#include "by_fan_control.h"
|
||||
#include "by_imu.h"
|
||||
#include "../3rd-lib/PID-Library/pid.h"
|
||||
#include "jj_blueteeth.h"
|
||||
#include "gl_common.h"
|
||||
PID_TypeDef angle_pid;
|
||||
PID_TypeDef gyro_z_pid;
|
||||
PID_TypeDef img_x_pid;
|
||||
#include "../3rd-lib/PID-Library/pid.h"
|
||||
#include "zf_driver_encoder.h"
|
||||
|
||||
PID_TypeDef far_angle_pid;
|
||||
PID_TypeDef far_gyro_pid;
|
||||
PID_TypeDef near_pos_pid;
|
||||
PID_TypeDef speed_pid;
|
||||
|
||||
float an_Kp = 8.0f;
|
||||
float an_Ki = 0.0f;
|
||||
float an_Ki = 1.0f;
|
||||
float an_Kd = 2.0f;
|
||||
float im_Kp = 1.0f;
|
||||
float im_Ki = 0.0f;
|
||||
float im_Kd = 0.0f;
|
||||
float set_x = 0.0f;
|
||||
float img_x = 40.0f;
|
||||
float yaw0 = 0;
|
||||
float out_M = 0;
|
||||
float out_yaw;
|
||||
uint32_t cnt1 = 0;
|
||||
float in_angle;
|
||||
float set_angle = 0.0f;
|
||||
float out_angle;
|
||||
|
||||
float gy_Kp = 1.0f;
|
||||
float gy_Ki = 0.0f;
|
||||
float gy_Kd = 0.0f;
|
||||
float in_gyro;
|
||||
float out_gyro;
|
||||
//float set_gyro = 0.0f;
|
||||
|
||||
float po_Kp = 1.0f;
|
||||
float po_Ki = 0.0f;
|
||||
float po_Kd = 0.0f;
|
||||
float in_pos;
|
||||
float out_pos;
|
||||
float set_pos = 0.0f;
|
||||
|
||||
float sp_Kp = 1.0f;
|
||||
float sp_Ki = 0.0f;
|
||||
float sp_Kd = 0.0f;
|
||||
float in_speed;
|
||||
float out_speed;
|
||||
float set_speed = 0.0f;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
*
|
||||
* @param fy y轴的加速度
|
||||
*/
|
||||
void sport_motion2(uint32_t fy)
|
||||
int cnt1 = 0;
|
||||
void sport_motion(void)
|
||||
{
|
||||
|
||||
cnt1++;
|
||||
yaw0 = imu660ra_gyro_z;
|
||||
if (cnt1 >= 50) {
|
||||
PID_Compute(&angle_pid);
|
||||
in_gyro = imu660ra_gyro_z; // 陀螺仪输入
|
||||
in_angle = 0; // 图像远端输入
|
||||
in_pos = 0; // 图像近端输入
|
||||
in_speed = encoder_get_count(TIM5_ENCOEDER) / 1024 / 0.01 * 0.25; // 速度输入,m/s
|
||||
encoder_clear_count(TIM5_ENCOEDER); // 清除计数
|
||||
PID_Compute(&far_gyro_pid);
|
||||
|
||||
if (cnt1 >= 10) {
|
||||
PID_Compute(&far_angle_pid);
|
||||
PID_Compute(&speed_pid);
|
||||
cnt1 = 0;
|
||||
}
|
||||
PID_Compute(&gyro_z_pid);
|
||||
|
||||
PID_Compute(&near_pos_pid);
|
||||
|
||||
if (bt_run_flag == 1) {
|
||||
by_pwm_power_duty((int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M),
|
||||
(int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M));
|
||||
by_pwm_power_duty((int32_t)(500 + out_pos + out_gyro),
|
||||
(int32_t)(500 - out_pos - out_gyro),
|
||||
(int32_t)(500 + out_speed + out_gyro),
|
||||
(int32_t)(500 + out_speed - out_gyro));
|
||||
} else {
|
||||
by_pwm_power_duty(500, 500, 500, 500);
|
||||
}
|
||||
if (bt_fly_flag == 0) {
|
||||
bt_fly = 0;
|
||||
}
|
||||
|
||||
by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
|
||||
}
|
||||
/**
|
||||
* @brief 结构体初始化
|
||||
@@ -47,14 +83,25 @@ void sport_motion2(uint32_t fy)
|
||||
void sport_pid_init()
|
||||
{
|
||||
|
||||
PID(&angle_pid, &bt_angle, &out_yaw, &set_x, im_Kp, im_Ki, im_Kd, 0, 0);
|
||||
PID(&gyro_z_pid, &yaw0, &out_M, &out_yaw, an_Kp, an_Ki, an_Kd, 1, 1);
|
||||
PID_Init(&angle_pid);
|
||||
PID_Init(&gyro_z_pid);
|
||||
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 0, 0);
|
||||
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1);
|
||||
PID_Init(&far_angle_pid);
|
||||
PID_Init(&far_gyro_pid);
|
||||
|
||||
PID_SetOutputLimits(&angle_pid, -500.0f, 500.0f);
|
||||
PID_SetOutputLimits(&gyro_z_pid, -400.0f, 400.0f);
|
||||
PID_SetOutputLimits(&far_angle_pid, -500.0f, 500.0f);
|
||||
PID_SetOutputLimits(&far_gyro_pid, -500.0f, 500.0f);
|
||||
|
||||
PID_SetMode(&gyro_z_pid, 1);
|
||||
PID_SetMode(&angle_pid, 1);
|
||||
PID_SetMode(&far_gyro_pid, 1);
|
||||
PID_SetMode(&far_angle_pid, 1);
|
||||
|
||||
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 0, 0);
|
||||
PID(&speed_pid, &in_speed, &out_speed, &out_speed, sp_Kp, sp_Ki, sp_Kd, 1, 1);
|
||||
PID_Init(&near_pos_pid);
|
||||
PID_Init(&speed_pid);
|
||||
|
||||
PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
|
||||
PID_SetOutputLimits(&speed_pid, -400.0f, 400.0f);
|
||||
|
||||
PID_SetMode(&near_pos_pid, 1);
|
||||
PID_SetMode(&speed_pid, 1);
|
||||
}
|
||||
|
||||
@@ -2,17 +2,35 @@
|
||||
#define _JJ_MOTION_H_
|
||||
#include "ch32v30x.h"
|
||||
#include "../3rd-lib/PID-Library/pid.h"
|
||||
extern PID_TypeDef angle_pid;
|
||||
extern PID_TypeDef gyro_z_pid;
|
||||
|
||||
extern float an_Kp;
|
||||
extern float an_Ki;
|
||||
extern float an_Kd;
|
||||
extern float im_Kp;
|
||||
extern float im_Ki;
|
||||
extern float im_Kd;
|
||||
extern float out_M;
|
||||
extern float out_yaw;
|
||||
extern float yaw0;
|
||||
extern float in_angle;
|
||||
extern float set_angle;
|
||||
extern float out_angle;
|
||||
|
||||
extern float gy_Kp;
|
||||
extern float gy_Ki;
|
||||
extern float gy_Kd;
|
||||
extern float in_gyro;
|
||||
extern float out_gyro;
|
||||
extern float set_gyro;
|
||||
|
||||
extern float po_Kp;
|
||||
extern float po_Ki;
|
||||
extern float po_Kd;
|
||||
extern float in_pos;
|
||||
extern float out_pos;
|
||||
extern float set_pos;
|
||||
|
||||
extern float sp_Kp;
|
||||
extern float sp_Ki;
|
||||
extern float sp_Kd;
|
||||
extern float in_speed;
|
||||
extern float out_speed;
|
||||
extern float set_speed;
|
||||
|
||||
void sport_pid_init();
|
||||
void sport_motion2(uint32_t fy);
|
||||
void sport_motion(void);
|
||||
#endif
|
||||
@@ -3,23 +3,71 @@
|
||||
#include "./page/page.h"
|
||||
#include "zf_common_headfile.h"
|
||||
#include "jj_motion.h"
|
||||
|
||||
PARAM_INFO Param_Data[DATA_NUM];
|
||||
soft_iic_info_struct eeprom_param;
|
||||
TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
|
||||
|
||||
void jj_param_eeprom_init()
|
||||
/**
|
||||
* @brief 参数初始化注册
|
||||
*
|
||||
*/
|
||||
void jj_param_eeprom_init(void)
|
||||
{
|
||||
soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
|
||||
PARAM_REG(angle_Kp, &an_Kp, EFLOAT, 1, "an_P"); // 注冊
|
||||
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I"); // 注冊
|
||||
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D"); // 注冊
|
||||
PARAM_REG(imgax_Kp, &im_Kp, EFLOAT, 1, "im_P"); // 注冊
|
||||
PARAM_REG(imgax_Ki, &im_Ki, EFLOAT, 1, "im_I"); // 注冊
|
||||
PARAM_REG(imgax_Kd, &im_Kd, EFLOAT, 1, "im_D"); // 注冊
|
||||
|
||||
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
|
||||
PARAM_REG(angle_Kp, &an_Kp, EFLOAT, 1, "an_P:"); // 注冊
|
||||
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I:"); // 注冊
|
||||
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D:");
|
||||
|
||||
soft_iic_read_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
|
||||
PARAM_REG(gyro_Kp, &gy_Kp, EFLOAT, 1, "im_P:"); // 注冊
|
||||
PARAM_REG(gyro_Ki, &gy_Ki, EFLOAT, 1, "im_I:"); // 注冊
|
||||
PARAM_REG(gyro_Kd, &gy_Kd, EFLOAT, 1, "im_D:");
|
||||
|
||||
PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
|
||||
PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
|
||||
PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");
|
||||
|
||||
PARAM_REG(pos_Kp, &po_Kp, EFLOAT, 1, "po_P:"); // 注冊
|
||||
PARAM_REG(pos_Ki, &po_Ki, EFLOAT, 1, "po_I:"); // 注冊
|
||||
PARAM_REG(pos_Kd, &po_Kd, EFLOAT, 1, "po_D:");
|
||||
|
||||
PARAM_REG(param_set_speed, &set_speed, EFLOAT, 1, "rate:");
|
||||
jj_param_read(); // 注冊
|
||||
}
|
||||
/**
|
||||
* @brief 参数写入
|
||||
*
|
||||
*/
|
||||
void jj_param_write(void)
|
||||
{
|
||||
for (uint8 i = 0; i < DATA_IN_FLASH_NUM-1; i++) {
|
||||
switch (Param_Data[i].type) {
|
||||
case EFLOAT:
|
||||
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
|
||||
break;
|
||||
case EUINT32:
|
||||
iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
|
||||
break;
|
||||
case EINT32:
|
||||
iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
eep_soft_iic_write_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
|
||||
system_delay_ms(10);
|
||||
}
|
||||
}
|
||||
/**
|
||||
* @brief 参数读出
|
||||
*
|
||||
*/
|
||||
void jj_param_read(void)
|
||||
{
|
||||
for (uint8 i = 0; i < DATA_IN_FLASH_NUM-1; i++) {
|
||||
|
||||
eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
|
||||
switch (Param_Data[i].type) {
|
||||
case EFLOAT:
|
||||
*((float *)(Param_Data[i].p_data)) =
|
||||
@@ -39,27 +87,3 @@ void jj_param_eeprom_init()
|
||||
system_delay_ms(10);
|
||||
}
|
||||
}
|
||||
/**
|
||||
* @brief 参数更新
|
||||
*
|
||||
*/
|
||||
void jj_param_update()
|
||||
{
|
||||
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
|
||||
switch (Param_Data[i].type) {
|
||||
case EFLOAT:
|
||||
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
|
||||
break;
|
||||
case EUINT32:
|
||||
iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
|
||||
break;
|
||||
case EINT32:
|
||||
iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
soft_iic_write_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
|
||||
system_delay_ms(10);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -8,21 +8,35 @@
|
||||
* @brief 注册需调参数
|
||||
*
|
||||
*/
|
||||
#define PARAM_REG(_data_tag_, _p_data_, _type_, _cmd_,_text_) \
|
||||
Param_Data[_data_tag_].p_data = (void *)_p_data_; \
|
||||
Param_Data[_data_tag_].type = _type_; \
|
||||
Param_Data[_data_tag_].cmd = _cmd_; \
|
||||
#define PARAM_REG(_data_tag_, _p_data_, _type_, _cmd_, _text_) \
|
||||
Param_Data[_data_tag_].p_data = (void *)_p_data_; \
|
||||
Param_Data[_data_tag_].type = _type_; \
|
||||
Param_Data[_data_tag_].cmd = _cmd_; \
|
||||
Param_Data[_data_tag_].text = _text_;
|
||||
|
||||
typedef enum {
|
||||
DATA_HEAD = -1,
|
||||
angle_Kp,
|
||||
|
||||
Page1_head = 0,
|
||||
|
||||
angle_Kp = Page1_head,
|
||||
angle_Ki,
|
||||
angle_Kd,
|
||||
imgax_Kp,
|
||||
imgax_Ki,
|
||||
imgax_Kd,
|
||||
gyro_Kp,
|
||||
gyro_Ki,
|
||||
gyro_Kd,
|
||||
speed_Kp,
|
||||
speed_Ki,
|
||||
speed_Kd,
|
||||
pos_Kp,
|
||||
pos_Ki,
|
||||
pos_Kd,
|
||||
param_set_speed,
|
||||
|
||||
Page2_head,
|
||||
DATA_IN_FLASH_NUM,
|
||||
|
||||
delta_x,
|
||||
delta_y,
|
||||
DATA_NUM,
|
||||
} data_tag_t;
|
||||
|
||||
@@ -30,26 +44,27 @@ typedef enum {
|
||||
EUINT32,
|
||||
EINT32,
|
||||
EFLOAT,
|
||||
}ENUM_TYPE;
|
||||
} ENUM_TYPE;
|
||||
|
||||
typedef union{
|
||||
typedef union {
|
||||
uint32_t u32;
|
||||
int32_t s32;
|
||||
float f32;
|
||||
uint8_t u8;
|
||||
}TYPE_UNION;
|
||||
} TYPE_UNION;
|
||||
|
||||
typedef struct {
|
||||
void *p_data;
|
||||
ENUM_TYPE type;
|
||||
uint8_t cmd;
|
||||
uint8_t cmd; // 01:仅存储 00：仅显示 02：传输并显示
|
||||
char *text;
|
||||
}PARAM_INFO;
|
||||
} PARAM_INFO;
|
||||
|
||||
extern soft_iic_info_struct eeprom_param;
|
||||
extern PARAM_INFO Param_Data[DATA_NUM];
|
||||
extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
|
||||
void jj_param_eeprom_init();
|
||||
void jj_param_update();
|
||||
void jj_param_show();
|
||||
void jj_param_eeprom_init(void);
|
||||
void jj_param_write(void);
|
||||
void jj_param_read(void);
|
||||
extern float data7;
|
||||
#endif
|
||||
23
app/main.c
23
app/main.c
@@ -25,8 +25,6 @@
|
||||
#include "page.h"
|
||||
#include "page_ui_widget.h"
|
||||
|
||||
#include "gl_headfile.h"
|
||||
|
||||
#include "jj_param.h"
|
||||
#include "jj_motion.h"
|
||||
#include "jj_blueteeth.h"
|
||||
@@ -43,26 +41,31 @@ int main(void)
|
||||
system_delay_init();
|
||||
debug_init();
|
||||
|
||||
encoder_dir_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
|
||||
ips200_init(IPS200_TYPE_SPI);
|
||||
|
||||
while (imu660ra_init())
|
||||
;
|
||||
jj_param_eeprom_init();
|
||||
jj_bt_init();
|
||||
by_rb_init();
|
||||
by_pwm_init();
|
||||
by_buzzer_init();
|
||||
by_tiny_frame_init();
|
||||
// by_buzzer_init();
|
||||
|
||||
by_tiny_frame_init();
|
||||
Page_Init();
|
||||
sport_pid_init();
|
||||
|
||||
pit_ms_init(TIM6_PIT, 10); // 陀螺仪
|
||||
pit_ms_init(TIM1_PIT, 1); // 运动解算,bianmaqi
|
||||
|
||||
printf("ok\r\n");
|
||||
|
||||
while (1) {
|
||||
by_buzzer_run();
|
||||
Page_Run();
|
||||
|
||||
//by_buzzer_run();
|
||||
jj_bt_run();
|
||||
/** 测试完成后移除 **/
|
||||
by_tiny_frame_run();
|
||||
// by_tiny_frame_pack_send(&frame_now);
|
||||
system_delay_ms(10);
|
||||
by_tiny_frame_parse_timer_handle();
|
||||
/** 测试完成后移除 **/
|
||||
}
|
||||
}
|
||||
|
||||
@@ -124,7 +124,7 @@ void Page_Run(void)
|
||||
void Page_Init(void)
|
||||
{
|
||||
PAGE_REG(page_menu);
|
||||
PAGE_REG(page_rtcam);
|
||||
// PAGE_REG(page_rtcam);
|
||||
PAGE_REG(page_param);
|
||||
// PAGE_REG(page_argv);
|
||||
// PAGE_REG(page_sys);
|
||||
|
||||
@@ -19,7 +19,7 @@ enum PageID {
|
||||
PAGE_NULL = -1,
|
||||
//......
|
||||
page_menu,
|
||||
page_rtcam,
|
||||
//page_rtcam,
|
||||
page_param,
|
||||
// page_argv,
|
||||
// page_sys,
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
#include "page_ui_widget.h"
|
||||
#include "jj_motion.h"
|
||||
#include "page.h"
|
||||
#include <math.h>
|
||||
|
||||
#define LINE_HEAD 0
|
||||
#define LINE_END DATA_NUM - 2
|
||||
@@ -25,14 +26,14 @@ static void Setup()
|
||||
{
|
||||
ips200_clear();
|
||||
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
|
||||
for (int16 i = 0; i < DATA_NUM - 1; i++) {
|
||||
ips200_show_string(10, i * 18 + 2, Param_Data[i].text);
|
||||
for (int16 i = 0; i < DATA_IN_FLASH_NUM - 1; i++) {
|
||||
ips200_show_string(0, i * 18 + 2, Param_Data[i].text);
|
||||
if (Param_Data[i].type == EINT32)
|
||||
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
|
||||
else if (Param_Data[i].type == EFLOAT)
|
||||
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
|
||||
}
|
||||
ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
|
||||
ips200_show_int(50, (DATA_IN_FLASH_NUM-1)* 18 + 2, index_power, 5);
|
||||
|
||||
}
|
||||
|
||||
@@ -74,7 +75,7 @@ static void Event(page_event event)
|
||||
Print_Curser(Curser, Curser_Last, RGB565_RED);
|
||||
return;
|
||||
} else if (page_event_press_long == event) {
|
||||
jj_param_update();
|
||||
jj_param_write();
|
||||
sport_pid_init();
|
||||
Page_Shift(page_menu);
|
||||
return;
|
||||
|
||||
@@ -1,91 +0,0 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "page_ui_widget.h"
|
||||
#include "page.h"
|
||||
|
||||
#define LINE_HEAD 11
|
||||
#define LINE_END 16
|
||||
|
||||
static char Text[] = "RealTime Image";
|
||||
|
||||
static int8_t Curser = LINE_HEAD; // 定义光标位置
|
||||
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
|
||||
/***************************************************************************************
|
||||
*
|
||||
* 以下为页面模板函数
|
||||
*
|
||||
***************************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief 页面初始化事件
|
||||
* @param 无
|
||||
* @retval 无
|
||||
*/
|
||||
static void Setup()
|
||||
{
|
||||
ips200_clear();
|
||||
Print_Curser(Curser, Curser_Last,RGB565_PURPLE);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 页面退出事件
|
||||
* @param 无
|
||||
* @retval 无
|
||||
*/
|
||||
static void Exit()
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 页面循环执行的内容
|
||||
* @param 无
|
||||
* @retval 无
|
||||
*/
|
||||
static void Loop()
|
||||
{
|
||||
Show_Marked_Image();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 页面事件
|
||||
* @param btn:发出事件的按键
|
||||
* @param event:事件编号
|
||||
* @retval 无
|
||||
*/
|
||||
static void Event(page_event event)
|
||||
{
|
||||
Curser_Last = Curser;
|
||||
|
||||
if (page_event_forward == event) {
|
||||
Curser--; // 光标上移
|
||||
} else if (page_event_backward == event) {
|
||||
Curser++; // 光标下移
|
||||
} else if (page_event_press_short == event) {
|
||||
|
||||
} else if (page_event_press_long == event) {
|
||||
Page_Shift(page_menu);
|
||||
}
|
||||
|
||||
if (Curser < LINE_HEAD) {
|
||||
Curser = LINE_END;
|
||||
} else if (Curser > LINE_END) {
|
||||
Curser = LINE_HEAD;
|
||||
}
|
||||
|
||||
Print_Curser(Curser, Curser_Last,RGB565_PURPLE);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 页面注册函数
|
||||
*
|
||||
* @param pageID
|
||||
*/
|
||||
void PageRegister_page_rtcam(unsigned char pageID)
|
||||
{
|
||||
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
|
||||
}
|
||||
|
||||
/***************************************************************************************
|
||||
*
|
||||
* 以下为页面自定义功能函数
|
||||
*
|
||||
***************************************************************************************/
|
||||
@@ -1,6 +1,6 @@
|
||||
#include "page_ui_widget.h"
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_data.h"
|
||||
|
||||
|
||||
/**
|
||||
* @brief 绘制光标
|
||||
@@ -137,57 +137,57 @@ void Set_Vaule(ITEM *item, uint8_t item_num, float step)
|
||||
// }
|
||||
}
|
||||
|
||||
void Show_Marked_Image(void)
|
||||
{
|
||||
#define IMAGE_DISPLAY_WIDTH (230U)
|
||||
#define IMAGE_DISPLAY_HEIGHT (146U)
|
||||
#define START_X ((240U - IMAGE_DISPLAY_WIDTH) / 2U)
|
||||
#define START_Y (16U)
|
||||
// void Show_Marked_Image(void)
|
||||
// {
|
||||
// #define IMAGE_DISPLAY_WIDTH (230U)
|
||||
// #define IMAGE_DISPLAY_HEIGHT (146U)
|
||||
// #define START_X ((240U - IMAGE_DISPLAY_WIDTH) / 2U)
|
||||
// #define START_Y (16U)
|
||||
|
||||
float horizontal_zoom_rate = ((float)(IMAGE_DISPLAY_WIDTH)) / ((float)(MT9V03X_W));
|
||||
float vertical_zoom_rate = ((float)(IMAGE_DISPLAY_HEIGHT)) / ((float)(MT9V03X_H));
|
||||
// float horizontal_zoom_rate = ((float)(IMAGE_DISPLAY_WIDTH)) / ((float)(MT9V03X_W));
|
||||
// float vertical_zoom_rate = ((float)(IMAGE_DISPLAY_HEIGHT)) / ((float)(MT9V03X_H));
|
||||
|
||||
ips200_show_gray_image(START_X, START_Y, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, IMAGE_DISPLAY_WIDTH, IMAGE_DISPLAY_HEIGHT, 0);
|
||||
ips200_draw_frame(START_X - 3, START_Y - 3, START_X + IMAGE_DISPLAY_WIDTH + 2, START_Y + IMAGE_DISPLAY_HEIGHT + 2, 2, RGB565_BLUE);
|
||||
// 确认边线数组在显示前不会清空
|
||||
for (uint i = 0; i < PT_MAXLEN; i++) {
|
||||
//寻近线逆透视后边线数组
|
||||
uint16_t l_x = START_X + (uint16_t)((float)pts_inv_r[i][1] * horizontal_zoom_rate);
|
||||
uint16_t l_y = START_Y + (uint16_t)((float)pts_inv_r[i][0] * vertical_zoom_rate);
|
||||
uint16_t r_x = START_X + (uint16_t)((float)pts_inv_l[i][1] * horizontal_zoom_rate);
|
||||
uint16_t r_y = START_Y + (uint16_t)((float)pts_inv_l[i][0] * vertical_zoom_rate);
|
||||
//寻远线逆透视后边线数组
|
||||
uint16_t far_l_x = START_X + (uint16_t)((float)pts_far_inv_r[i][1] * horizontal_zoom_rate);
|
||||
uint16_t far_l_y = START_Y + (uint16_t)((float)pts_far_inv_r[i][0] * vertical_zoom_rate);
|
||||
uint16_t far_r_x = START_X + (uint16_t)((float)pts_far_inv_l[i][1] * horizontal_zoom_rate);
|
||||
uint16_t far_r_y = START_Y + (uint16_t)((float)pts_far_inv_l[i][0] * vertical_zoom_rate);
|
||||
//寻近线中线数组
|
||||
uint16_t mid_x_l = START_X + (uint16_t)(mid_left[i][1] * horizontal_zoom_rate);
|
||||
uint16_t mix_y_l = START_Y + (uint16_t)(mid_left[i][0] * vertical_zoom_rate);
|
||||
uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate);
|
||||
uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate);
|
||||
// ips200_show_gray_image(START_X, START_Y, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, IMAGE_DISPLAY_WIDTH, IMAGE_DISPLAY_HEIGHT, 0);
|
||||
// ips200_draw_frame(START_X - 3, START_Y - 3, START_X + IMAGE_DISPLAY_WIDTH + 2, START_Y + IMAGE_DISPLAY_HEIGHT + 2, 2, RGB565_BLUE);
|
||||
// // 确认边线数组在显示前不会清空
|
||||
// for (uint i = 0; i < PT_MAXLEN; i++) {
|
||||
// //寻近线逆透视后边线数组
|
||||
// uint16_t l_x = START_X + (uint16_t)((float)pts_inv_r[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t l_y = START_Y + (uint16_t)((float)pts_inv_r[i][0] * vertical_zoom_rate);
|
||||
// uint16_t r_x = START_X + (uint16_t)((float)pts_inv_l[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t r_y = START_Y + (uint16_t)((float)pts_inv_l[i][0] * vertical_zoom_rate);
|
||||
// //寻远线逆透视后边线数组
|
||||
// uint16_t far_l_x = START_X + (uint16_t)((float)pts_far_inv_r[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t far_l_y = START_Y + (uint16_t)((float)pts_far_inv_r[i][0] * vertical_zoom_rate);
|
||||
// uint16_t far_r_x = START_X + (uint16_t)((float)pts_far_inv_l[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t far_r_y = START_Y + (uint16_t)((float)pts_far_inv_l[i][0] * vertical_zoom_rate);
|
||||
// //寻近线中线数组
|
||||
// uint16_t mid_x_l = START_X + (uint16_t)(mid_left[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t mix_y_l = START_Y + (uint16_t)(mid_left[i][0] * vertical_zoom_rate);
|
||||
// uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate);
|
||||
// uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate);
|
||||
|
||||
//近线数组显示
|
||||
ips200_draw_rect(l_x, l_y, l_x + 2, l_y, RGB565_RED);
|
||||
ips200_draw_rect(r_x - 2, r_y, r_x, r_y, RGB565_BLUE);
|
||||
// //近线数组显示
|
||||
// ips200_draw_rect(l_x, l_y, l_x + 2, l_y, RGB565_RED);
|
||||
// ips200_draw_rect(r_x - 2, r_y, r_x, r_y, RGB565_BLUE);
|
||||
|
||||
//远线数组显示
|
||||
//ips200_draw_rect(far_l_x, far_l_y, far_l_x + 2, far_l_y, RGB565_RED);
|
||||
//ips200_draw_rect(far_r_x - 2, far_r_y, far_r_x, far_r_y, RGB565_BLUE);
|
||||
// //远线数组显示
|
||||
// //ips200_draw_rect(far_l_x, far_l_y, far_l_x + 2, far_l_y, RGB565_RED);
|
||||
// //ips200_draw_rect(far_r_x - 2, far_r_y, far_r_x, far_r_y, RGB565_BLUE);
|
||||
|
||||
//中线数组显示
|
||||
ips200_draw_rect(mid_x_l, mix_y_l, mid_x_l + 2, mix_y_l, RGB565_BLACK);
|
||||
ips200_draw_rect(mid_x_r, mix_y_r, mid_x_r + 2, mix_y_r, RGB565_BLUE);
|
||||
// //中线数组显示
|
||||
// ips200_draw_rect(mid_x_l, mix_y_l, mid_x_l + 2, mix_y_l, RGB565_BLACK);
|
||||
// ips200_draw_rect(mid_x_r, mix_y_r, mid_x_r + 2, mix_y_r, RGB565_BLUE);
|
||||
|
||||
// ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
|
||||
// ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate) - 1, START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
|
||||
// ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
|
||||
// ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate) + 1, START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
|
||||
}
|
||||
#undef IMAGE_DISPLAY_WIDTH
|
||||
#undef START_X
|
||||
#undef START_Y
|
||||
}
|
||||
// // ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
|
||||
// // ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate) - 1, START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
|
||||
// // ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
|
||||
// // ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate) + 1, START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
|
||||
// }
|
||||
// #undef IMAGE_DISPLAY_WIDTH
|
||||
// #undef START_X
|
||||
// #undef START_Y
|
||||
// }
|
||||
|
||||
uint16_t rgb_gradient(uint16_t i)
|
||||
{
|
||||
|
||||
@@ -6,6 +6,8 @@
|
||||
#include "by_tiny_frame_parse.h"
|
||||
#include "by_tiny_frame_pack.h"
|
||||
|
||||
#include "jj_motion.h"
|
||||
|
||||
void by_tiny_frame_read_write_run(void)
|
||||
{
|
||||
// empty
|
||||
@@ -26,13 +28,22 @@ void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status
|
||||
|
||||
switch (frame_s.cmd) {
|
||||
case 0x03:
|
||||
// 添加查询接口，操作完成后应答
|
||||
frame_pack_s.data = 0XFFFFFFFF; // 示例
|
||||
// 添加查询接口，操作完成后应答,主机读取，这个是从机
|
||||
frame_pack_s.data = 0XFFFFFFFF; //it's useless just now
|
||||
by_tiny_frame_pack_send(&frame_pack_s);
|
||||
break;
|
||||
case 0x06:
|
||||
// 添加写入接口，操作完成后应答
|
||||
frame_pack_s.data = frame_s.data;
|
||||
switch (frame_pack_s.reg_addr) {
|
||||
case 0x00:
|
||||
in_angle = (float)frame_s.data;
|
||||
break;
|
||||
case 0x01:
|
||||
in_pos = (float)frame_s.data;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
by_tiny_frame_pack_send(&frame_pack_s);
|
||||
break;
|
||||
default:
|
||||
|
||||
@@ -1 +1,185 @@
|
||||
ENTRY( _start )
|
||||
ENTRY( _start )
|
||||
|
||||
__stack_size = 2048;
|
||||
|
||||
PROVIDE( _stack_size = __stack_size );
|
||||
|
||||
|
||||
MEMORY
|
||||
{
|
||||
/* CH32V30x_D8C - CH32V305RB-CH32V305FB
|
||||
CH32V30x_D8 - CH32V303CB-CH32V303RB
|
||||
*/
|
||||
/*
|
||||
FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 128K
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K
|
||||
*/
|
||||
|
||||
/* CH32V30x_D8C - CH32V307VC-CH32V307WC-CH32V307RC
|
||||
CH32V30x_D8 - CH32V303VC-CH32V303RC
|
||||
FLASH + RAM supports the following configuration
|
||||
FLASH-192K + RAM-128K
|
||||
FLASH-224K + RAM-96K
|
||||
FLASH-256K + RAM-64K
|
||||
FLASH-288K + RAM-32K
|
||||
*/
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K
|
||||
FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 288K
|
||||
}
|
||||
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
.init :
|
||||
{
|
||||
_sinit = .;
|
||||
. = ALIGN(4);
|
||||
KEEP(*(SORT_NONE(.init)))
|
||||
. = ALIGN(4);
|
||||
_einit = .;
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.vector :
|
||||
{
|
||||
*(.vector);
|
||||
. = ALIGN(64);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.text)
|
||||
*(.text.*)
|
||||
*(.rodata)
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.gnu.linkonce.t.*)
|
||||
. = ALIGN(4);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.fini :
|
||||
{
|
||||
KEEP(*(SORT_NONE(.fini)))
|
||||
. = ALIGN(4);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
PROVIDE( _etext = . );
|
||||
PROVIDE( _eitcm = . );
|
||||
|
||||
.preinit_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
KEEP (*(.preinit_array))
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.init_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
|
||||
KEEP (*(.init_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .ctors))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.fini_array :
|
||||
{
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP (*(SORT_BY_INIT_PRIORITY(.fini_array.*) SORT_BY_INIT_PRIORITY(.dtors.*)))
|
||||
KEEP (*(.fini_array EXCLUDE_FILE (*crtbegin.o *crtbegin?.o *crtend.o *crtend?.o ) .dtors))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.ctors :
|
||||
{
|
||||
/* gcc uses crtbegin.o to find the start of
|
||||
the constructors, so we make sure it is
|
||||
first. Because this is a wildcard, it
|
||||
doesn't matter if the user does not
|
||||
actually link against crtbegin.o; the
|
||||
linker won't look for a file to match a
|
||||
wildcard. The wildcard also means that it
|
||||
doesn't matter which directory crtbegin.o
|
||||
is in. */
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*crtbegin?.o(.ctors))
|
||||
/* We don't want to include the .ctor section from
|
||||
the crtend.o file until after the sorted ctors.
|
||||
The .ctor section from the crtend file contains the
|
||||
end of ctors marker and it must be last */
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*(.ctors))
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.dtors :
|
||||
{
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*crtbegin?.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o *crtend?.o ) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*(.dtors))
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.dalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE(_data_vma = .);
|
||||
} >RAM AT>FLASH
|
||||
|
||||
.dlalign :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE(_data_lma = .);
|
||||
} >FLASH AT>FLASH
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.gnu.linkonce.r.*)
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
. = ALIGN(8);
|
||||
PROVIDE( __global_pointer$ = . + 0x800 );
|
||||
*(.sdata .sdata.*)
|
||||
*(.sdata2.*)
|
||||
*(.gnu.linkonce.s.*)
|
||||
. = ALIGN(8);
|
||||
*(.srodata.cst16)
|
||||
*(.srodata.cst8)
|
||||
*(.srodata.cst4)
|
||||
*(.srodata.cst2)
|
||||
*(.srodata .srodata.*)
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _edata = .);
|
||||
} >RAM AT>FLASH
|
||||
|
||||
.bss :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _sbss = .);
|
||||
*(.sbss*)
|
||||
*(.gnu.linkonce.sb.*)
|
||||
*(.bss*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON*)
|
||||
. = ALIGN(4);
|
||||
PROVIDE( _ebss = .);
|
||||
} >RAM AT>FLASH
|
||||
|
||||
PROVIDE( _end = _ebss);
|
||||
PROVIDE( end = . );
|
||||
|
||||
.stack ORIGIN(RAM) + LENGTH(RAM) - __stack_size :
|
||||
{
|
||||
PROVIDE( _heap_end = . );
|
||||
. = ALIGN(4);
|
||||
PROVIDE(_susrstack = . );
|
||||
. = . + __stack_size;
|
||||
PROVIDE( _eusrstack = .);
|
||||
} >RAM
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -228,7 +228,7 @@ uint8 imu660ra_init(void)
|
||||
#if IMU660RA_USE_SOFT_IIC
|
||||
soft_iic_init(&imu660ra_iic_struct, IMU660RA_DEV_ADDR, IMU660RA_SOFT_IIC_DELAY, IMU660RA_SCL_PIN, IMU660RA_SDA_PIN); // 配置 IMU660RA 的 IIC 端口
|
||||
#else
|
||||
spi_init(IMU660RA_SPI, SPI_MODE0, IMU660RA_SPI_SPEED, IMU660RA_SPC_PIN, IMU660RA_SDI_PIN, IMU660RA_SDO_PIN, SPI_CS_NULL); // 配置 IMU660RA 的 SPI 端口
|
||||
spi_init(IMU660RA_SPI, SPI_MODE0, IMU660RA_SPI_SPEED, IMU660RA_SPC_PIN, IMU660RA_SDI_PIN, IMU660RA_SDO_PIN, IMU660RA_CS_PIN); // 配置 IMU660RA 的 SPI 端口
|
||||
gpio_init(IMU660RA_CS_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL); // 配置 IMU660RA 的 CS 端口
|
||||
imu660ra_read_register(IMU660RA_CHIP_ID); // 读取一下设备 ID 将设备设置为 SPI 模式
|
||||
#endif
|
||||
|
||||
@@ -62,21 +62,21 @@
|
||||
#if IMU660RA_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
|
||||
//====================================================软件 IIC 驱动====================================================
|
||||
#define IMU660RA_SOFT_IIC_DELAY (10) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
|
||||
#define IMU660RA_SCL_PIN (E7) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
|
||||
#define IMU660RA_SDA_PIN (E8) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
|
||||
#define IMU660RA_SCL_PIN (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
|
||||
#define IMU660RA_SDA_PIN (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
|
||||
//====================================================软件 IIC 驱动====================================================
|
||||
#else
|
||||
|
||||
//====================================================硬件 SPI 驱动====================================================
|
||||
#define IMU660RA_SPI_SPEED (10 * 1000 * 1000) // 硬件 SPI 速率
|
||||
#define IMU660RA_SPI SPI_3 // 硬件 SPI 号
|
||||
#define IMU660RA_SPC_PIN SPI3_MAP0_SCK_B3 // 硬件 SPI SCK 引脚
|
||||
#define IMU660RA_SDI_PIN SPI3_MAP0_MOSI_B5 // 硬件 SPI MOSI 引脚
|
||||
#define IMU660RA_SDO_PIN SPI3_MAP0_MISO_B4 // 硬件 SPI MISO 引脚
|
||||
#define IMU660RA_SPI SPI_1 // 硬件 SPI 号
|
||||
#define IMU660RA_SPC_PIN SPI1_MAP1_SCK_B3 // 硬件 SPI SCK 引脚
|
||||
#define IMU660RA_SDI_PIN SPI1_MAP1_MOSI_B5 // 硬件 SPI MOSI 引脚
|
||||
#define IMU660RA_SDO_PIN SPI1_MAP1_MISO_B4 // 硬件 SPI MISO 引脚
|
||||
|
||||
//====================================================硬件 SPI 驱动====================================================
|
||||
#endif
|
||||
#define IMU660RA_CS_PIN (C10) // CS 片选引脚
|
||||
#define IMU660RA_CS_PIN (B6) // CS 片选引脚
|
||||
#define IMU660RA_CS(x) ((x) ? (gpio_high(IMU660RA_CS_PIN)) : (gpio_low(IMU660RA_CS_PIN)))
|
||||
|
||||
typedef enum {
|
||||
|
||||
@@ -1,43 +1,43 @@
|
||||
/*********************************************************************************************************************
|
||||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||||
*
|
||||
* 本文件是CH32V307VCT6 开源库的一部分
|
||||
*
|
||||
* CH32V307VCT6 开源库 是免费软件
|
||||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
|
||||
* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||||
*
|
||||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||||
* 更多细节请参见 GPL
|
||||
*
|
||||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* 额外注明：
|
||||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||||
*
|
||||
* 文件名称 zf_driver_soft_iic
|
||||
* 公司名称 成都逐飞科技有限公司
|
||||
* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
|
||||
* 开发环境 MounRiver Studio V1.8.1
|
||||
* 适用平台 CH32V307VCT6
|
||||
* 店铺链接 https://seekfree.taobao.com/
|
||||
*
|
||||
* 修改记录
|
||||
* 日期 作者 备注
|
||||
* 2022-09-15 大W first version
|
||||
********************************************************************************************************************/
|
||||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||||
*
|
||||
* 本文件是CH32V307VCT6 开源库的一部分
|
||||
*
|
||||
* CH32V307VCT6 开源库 是免费软件
|
||||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
|
||||
* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||||
*
|
||||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||||
* 更多细节请参见 GPL
|
||||
*
|
||||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* 额外注明：
|
||||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||||
*
|
||||
* 文件名称 zf_driver_soft_iic
|
||||
* 公司名称 成都逐飞科技有限公司
|
||||
* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
|
||||
* 开发环境 MounRiver Studio V1.8.1
|
||||
* 适用平台 CH32V307VCT6
|
||||
* 店铺链接 https://seekfree.taobao.com/
|
||||
*
|
||||
* 修改记录
|
||||
* 日期 作者 备注
|
||||
* 2022-09-15 大W first version
|
||||
********************************************************************************************************************/
|
||||
|
||||
#include "zf_common_debug.h"
|
||||
|
||||
#include "zf_driver_soft_iic.h"
|
||||
|
||||
#define SOFT_IIC_SDA_IO_SWITCH (0) // 是否需要 SDA 进行 I/O 切换 0-不需要 1-需要
|
||||
#define SOFT_IIC_SDA_IO_SWITCH (0) // 是否需要 SDA 进行 I/O 切换 0-不需要 1-需要
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 软件 IIC 延时
|
||||
@@ -46,12 +46,12 @@
|
||||
// 使用示例 soft_iic_delay(1);
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
//static void soft_iic_delay (vuint32 delay)
|
||||
// static void soft_iic_delay (vuint32 delay)
|
||||
//{
|
||||
// volatile uint32 count = delay;
|
||||
// while(count --);
|
||||
//}
|
||||
#define soft_iic_delay(x) for(uint32 i = x; i--; )
|
||||
#define soft_iic_delay(x) for (uint32 i = x; i--;)
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 软件 IIC START 信号
|
||||
@@ -60,16 +60,16 @@
|
||||
// 使用示例 soft_iic_start(soft_iic_obj);
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static void soft_iic_start (soft_iic_info_struct *soft_iic_obj)
|
||||
static void soft_iic_start(soft_iic_info_struct *soft_iic_obj)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 高电平
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 高电平
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平
|
||||
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 先拉低
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 先拉低
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 再拉低
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 再拉低
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
@@ -79,16 +79,16 @@ static void soft_iic_start (soft_iic_info_struct *soft_iic_obj)
|
||||
// 使用示例 soft_iic_stop(soft_iic_obj);
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static void soft_iic_stop (soft_iic_info_struct *soft_iic_obj)
|
||||
static void soft_iic_stop(soft_iic_info_struct *soft_iic_obj)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 先拉高
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 先拉高
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 再拉高
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 再拉高
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
}
|
||||
|
||||
@@ -100,25 +100,22 @@ static void soft_iic_stop (soft_iic_info_struct *soft_iic_obj)
|
||||
// 使用示例 soft_iic_send_ack(soft_iic_obj, 1);
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static void soft_iic_send_ack (soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
static void soft_iic_send_ack(soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
|
||||
if(ack)
|
||||
{
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 拉高
|
||||
}
|
||||
else
|
||||
{
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 拉低
|
||||
if (ack) {
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 拉高
|
||||
} else {
|
||||
gpio_low(soft_iic_obj->sda_pin); // SDA 拉低
|
||||
}
|
||||
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 拉高
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 拉高
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
@@ -128,25 +125,24 @@ static void soft_iic_send_ack (soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
// 使用示例 soft_iic_wait_ack(soft_iic_obj);
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static uint8 soft_iic_wait_ack (soft_iic_info_struct *soft_iic_obj)
|
||||
static uint8 soft_iic_wait_ack(soft_iic_info_struct *soft_iic_obj)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 temp = 0;
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平 释放 SDA
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平 释放 SDA
|
||||
#if SOFT_IIC_SDA_IO_SWITCH
|
||||
gpio_set_dir(soft_iic_obj->sda_pin, GPI, GPI_FLOATING_IN);
|
||||
#endif
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 高电平
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 高电平
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
|
||||
if(gpio_get_level((gpio_pin_enum)soft_iic_obj->sda_pin))
|
||||
{
|
||||
if (gpio_get_level((gpio_pin_enum)soft_iic_obj->sda_pin)) {
|
||||
temp = 1;
|
||||
}
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
#if SOFT_IIC_SDA_IO_SWITCH
|
||||
gpio_set_dir(soft_iic_obj->sda_pin, GPO, GPO_OPEN_DTAIN);
|
||||
#endif
|
||||
@@ -162,22 +158,21 @@ static uint8 soft_iic_wait_ack (soft_iic_info_struct *soft_iic_obj)
|
||||
// 返回参数 uint8 ACK 状态
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static uint8 soft_iic_send_data (soft_iic_info_struct *soft_iic_obj, const uint8 data)
|
||||
static uint8 soft_iic_send_data(soft_iic_info_struct *soft_iic_obj, const uint8 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 temp = 0x80;
|
||||
while(temp)
|
||||
{
|
||||
// gpio_set_level(soft_iic_obj->sda_pin, data & temp);
|
||||
while (temp) {
|
||||
// gpio_set_level(soft_iic_obj->sda_pin, data & temp);
|
||||
((data & temp) ? (gpio_high(soft_iic_obj->sda_pin)) : (gpio_low(soft_iic_obj->sda_pin)));
|
||||
temp >>= 1;
|
||||
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
}
|
||||
return ((soft_iic_wait_ack(soft_iic_obj) == 1) ? 0 : 1 );
|
||||
return ((soft_iic_wait_ack(soft_iic_obj) == 1) ? 0 : 1);
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
@@ -187,27 +182,26 @@ static uint8 soft_iic_send_data (soft_iic_info_struct *soft_iic_obj, const uint8
|
||||
// 返回参数 uint8 数据
|
||||
// 备注信息 内部调用
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
static uint8 soft_iic_read_data (soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
static uint8 soft_iic_read_data(soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 data = 0x00;
|
||||
uint8 temp = 8;
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平 释放 SDA
|
||||
gpio_high(soft_iic_obj->sda_pin); // SDA 高电平 释放 SDA
|
||||
#if SOFT_IIC_SDA_IO_SWITCH
|
||||
gpio_set_dir(soft_iic_obj->sda_pin, GPI, GPI_FLOATING_IN);
|
||||
#endif
|
||||
|
||||
while(temp --)
|
||||
{
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
while (temp--) {
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 拉低
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
gpio_high(soft_iic_obj->scl_pin); // SCL 拉高
|
||||
soft_iic_delay(soft_iic_obj->delay);
|
||||
data = ((data << 1) | gpio_get_level((gpio_pin_enum)soft_iic_obj->sda_pin));
|
||||
}
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
gpio_low(soft_iic_obj->scl_pin); // SCL 低电平
|
||||
#if SOFT_IIC_SDA_IO_SWITCH
|
||||
gpio_set_dir(soft_iic_obj->sda_pin, GPO, GPO_OPEN_DTAIN);
|
||||
#endif
|
||||
@@ -224,7 +218,7 @@ static uint8 soft_iic_read_data (soft_iic_info_struct *soft_iic_obj, uint8 ack)
|
||||
// 使用示例 soft_iic_write_8bit_register(soft_iic_obj, 0x01);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_8bit (soft_iic_info_struct *soft_iic_obj, const uint8 data)
|
||||
void soft_iic_write_8bit(soft_iic_info_struct *soft_iic_obj, const uint8 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
@@ -242,15 +236,14 @@ void soft_iic_write_8bit (soft_iic_info_struct *soft_iic_obj, const uint8 data)
|
||||
// 使用示例 soft_iic_write_8bit_array(soft_iic_obj, data, 6);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_8bit_array (soft_iic_info_struct *soft_iic_obj, const uint8 *data, uint32 len)
|
||||
void soft_iic_write_8bit_array(soft_iic_info_struct *soft_iic_obj, const uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
while(len --)
|
||||
{
|
||||
soft_iic_send_data(soft_iic_obj, *data ++);
|
||||
while (len--) {
|
||||
soft_iic_send_data(soft_iic_obj, *data++);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -263,7 +256,7 @@ void soft_iic_write_8bit_array (soft_iic_info_struct *soft_iic_obj, const uint8
|
||||
// 使用示例 soft_iic_write_16bit(soft_iic_obj, 0x0101);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_16bit (soft_iic_info_struct *soft_iic_obj, const uint16 data)
|
||||
void soft_iic_write_16bit(soft_iic_info_struct *soft_iic_obj, const uint16 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
@@ -282,16 +275,15 @@ void soft_iic_write_16bit (soft_iic_info_struct *soft_iic_obj, const uint16 data
|
||||
// 使用示例 soft_iic_write_16bit_array(soft_iic_obj, data, 6);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_16bit_array (soft_iic_info_struct *soft_iic_obj, const uint16 *data, uint32 len)
|
||||
void soft_iic_write_16bit_array(soft_iic_info_struct *soft_iic_obj, const uint16 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
while(len --)
|
||||
{
|
||||
while (len--) {
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)((*data & 0xFF00) >> 8));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*data ++ & 0x00FF));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*data++ & 0x00FF));
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -305,7 +297,7 @@ void soft_iic_write_16bit_array (soft_iic_info_struct *soft_iic_obj, const uint1
|
||||
// 使用示例 soft_iic_write_8bit_register(soft_iic_obj, 0x01, 0x01);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_8bit_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 data)
|
||||
void soft_iic_write_8bit_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
@@ -325,16 +317,15 @@ void soft_iic_write_8bit_register (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 soft_iic_write_8bit_registers(soft_iic_obj, 0x01, data, 6);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 *data, uint32 len)
|
||||
void soft_iic_write_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
soft_iic_send_data(soft_iic_obj, register_name);
|
||||
while(len --)
|
||||
{
|
||||
soft_iic_send_data(soft_iic_obj, *data ++);
|
||||
while (len--) {
|
||||
soft_iic_send_data(soft_iic_obj, *data++);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -348,7 +339,7 @@ void soft_iic_write_8bit_registers (soft_iic_info_struct *soft_iic_obj, const ui
|
||||
// 使用示例 soft_iic_write_16bit_register(soft_iic_obj, 0x0101, 0x0101);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_16bit_register (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 data)
|
||||
void soft_iic_write_16bit_register(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
@@ -370,7 +361,7 @@ void soft_iic_write_16bit_register (soft_iic_info_struct *soft_iic_obj, const ui
|
||||
// 使用示例 soft_iic_write_16bit_registers(soft_iic_obj, 0x0101, data, 6);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_write_16bit_registers (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 *data, uint32 len)
|
||||
void soft_iic_write_16bit_registers(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
@@ -378,10 +369,9 @@ void soft_iic_write_16bit_registers (soft_iic_info_struct *soft_iic_obj, const u
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)((register_name & 0xFF00) >> 8));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(register_name & 0x00FF));
|
||||
while(len--)
|
||||
{
|
||||
while (len--) {
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)((*data & 0xFF00) >> 8));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*data ++ & 0x00FF));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*data++ & 0x00FF));
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -393,7 +383,7 @@ void soft_iic_write_16bit_registers (soft_iic_info_struct *soft_iic_obj, const u
|
||||
// 使用示例 soft_iic_read_8bit(soft_iic_obj);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint8 soft_iic_read_8bit (soft_iic_info_struct *soft_iic_obj)
|
||||
uint8 soft_iic_read_8bit(soft_iic_info_struct *soft_iic_obj)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 temp = 0;
|
||||
@@ -414,15 +404,14 @@ uint8 soft_iic_read_8bit (soft_iic_info_struct *soft_iic_obj)
|
||||
// 使用示例 soft_iic_read_8bit_array(soft_iic_obj, data, 8);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_read_8bit_array (soft_iic_info_struct *soft_iic_obj, uint8 *data, uint32 len)
|
||||
void soft_iic_read_8bit_array(soft_iic_info_struct *soft_iic_obj, uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(len --)
|
||||
{
|
||||
*data ++ = soft_iic_read_data(soft_iic_obj, len == 0);
|
||||
while (len--) {
|
||||
*data++ = soft_iic_read_data(soft_iic_obj, len == 0);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -435,14 +424,14 @@ void soft_iic_read_8bit_array (soft_iic_info_struct *soft_iic_obj, uint8 *data,
|
||||
// 使用示例 soft_iic_read_16bit(soft_iic_obj);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint16 soft_iic_read_16bit (soft_iic_info_struct *soft_iic_obj)
|
||||
uint16 soft_iic_read_16bit(soft_iic_info_struct *soft_iic_obj)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint16 temp = 0;
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
temp = soft_iic_read_data(soft_iic_obj, 0);
|
||||
temp = ((temp << 8)| soft_iic_read_data(soft_iic_obj, 1));
|
||||
temp = ((temp << 8) | soft_iic_read_data(soft_iic_obj, 1));
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
return temp;
|
||||
}
|
||||
@@ -456,17 +445,16 @@ uint16 soft_iic_read_16bit (soft_iic_info_struct *soft_iic_obj)
|
||||
// 使用示例 soft_iic_read_16bit_array(soft_iic_obj, data, 8);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_read_16bit_array (soft_iic_info_struct *soft_iic_obj, uint16 *data, uint32 len)
|
||||
void soft_iic_read_16bit_array(soft_iic_info_struct *soft_iic_obj, uint16 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(len --)
|
||||
{
|
||||
while (len--) {
|
||||
*data = soft_iic_read_data(soft_iic_obj, 0);
|
||||
*data = ((*data << 8)| soft_iic_read_data(soft_iic_obj, len == 0));
|
||||
data ++;
|
||||
*data = ((*data << 8) | soft_iic_read_data(soft_iic_obj, len == 0));
|
||||
data++;
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -479,7 +467,7 @@ void soft_iic_read_16bit_array (soft_iic_info_struct *soft_iic_obj, uint16 *data
|
||||
// 使用示例 soft_iic_read_8bit_register(soft_iic_obj, 0x01);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint8 soft_iic_read_8bit_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name)
|
||||
uint8 soft_iic_read_8bit_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 temp = 0;
|
||||
@@ -503,7 +491,7 @@ uint8 soft_iic_read_8bit_register (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 soft_iic_read_8bit_registers(soft_iic_obj, 0x01, data, 8);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_read_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 *data, uint32 len)
|
||||
void soft_iic_read_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
@@ -512,9 +500,8 @@ void soft_iic_read_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
soft_iic_send_data(soft_iic_obj, register_name);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(len --)
|
||||
{
|
||||
*data ++ = soft_iic_read_data(soft_iic_obj, len == 0);
|
||||
while (len--) {
|
||||
*data++ = soft_iic_read_data(soft_iic_obj, len == 0);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -527,7 +514,7 @@ void soft_iic_read_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 soft_iic_read_16bit_register(soft_iic_obj, 0x0101);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint16 soft_iic_read_16bit_register (soft_iic_info_struct *soft_iic_obj, const uint16 register_name)
|
||||
uint16 soft_iic_read_16bit_register(soft_iic_info_struct *soft_iic_obj, const uint16 register_name)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint16 temp = 0;
|
||||
@@ -538,7 +525,7 @@ uint16 soft_iic_read_16bit_register (soft_iic_info_struct *soft_iic_obj, const u
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
temp = soft_iic_read_data(soft_iic_obj, 0);
|
||||
temp = ((temp << 8)| soft_iic_read_data(soft_iic_obj, 1));
|
||||
temp = ((temp << 8) | soft_iic_read_data(soft_iic_obj, 1));
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
return temp;
|
||||
}
|
||||
@@ -553,7 +540,7 @@ uint16 soft_iic_read_16bit_register (soft_iic_info_struct *soft_iic_obj, const u
|
||||
// 使用示例 soft_iic_read_16bit_registers(soft_iic_obj, 0x0101, data, 8);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_read_16bit_registers (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, uint16 *data, uint32 len)
|
||||
void soft_iic_read_16bit_registers(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, uint16 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
@@ -563,11 +550,10 @@ void soft_iic_read_16bit_registers (soft_iic_info_struct *soft_iic_obj, const ui
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(register_name & 0x00FF));
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(len --)
|
||||
{
|
||||
while (len--) {
|
||||
*data = soft_iic_read_data(soft_iic_obj, 0);
|
||||
*data = ((*data << 8)| soft_iic_read_data(soft_iic_obj, len == 0));
|
||||
data ++;
|
||||
*data = ((*data << 8) | soft_iic_read_data(soft_iic_obj, len == 0));
|
||||
data++;
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -583,25 +569,22 @@ void soft_iic_read_16bit_registers (soft_iic_info_struct *soft_iic_obj, const ui
|
||||
// 使用示例 iic_transfer_8bit_array(IIC_1, addr, data, 64, data, 64);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_transfer_8bit_array (soft_iic_info_struct *soft_iic_obj, const uint8 *write_data, uint32 write_len, uint8 *read_data, uint32 read_len)
|
||||
void soft_iic_transfer_8bit_array(soft_iic_info_struct *soft_iic_obj, const uint8 *write_data, uint32 write_len, uint8 *read_data, uint32 read_len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(write_data != NULL);
|
||||
zf_assert(read_data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
while(write_len --)
|
||||
{
|
||||
soft_iic_send_data(soft_iic_obj, *write_data ++);
|
||||
while (write_len--) {
|
||||
soft_iic_send_data(soft_iic_obj, *write_data++);
|
||||
}
|
||||
|
||||
if(read_len)
|
||||
{
|
||||
if (read_len) {
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(read_len --)
|
||||
{
|
||||
*read_data ++ = soft_iic_read_data(soft_iic_obj, read_len == 0);
|
||||
while (read_len--) {
|
||||
*read_data++ = soft_iic_read_data(soft_iic_obj, read_len == 0);
|
||||
}
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
@@ -618,27 +601,24 @@ void soft_iic_transfer_8bit_array (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 iic_transfer_16bit_array(IIC_1, addr, data, 64, data, 64);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_transfer_16bit_array (soft_iic_info_struct *soft_iic_obj, const uint16 *write_data, uint32 write_len, uint16 *read_data, uint32 read_len)
|
||||
void soft_iic_transfer_16bit_array(soft_iic_info_struct *soft_iic_obj, const uint16 *write_data, uint32 write_len, uint16 *read_data, uint32 read_len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(write_data != NULL);
|
||||
zf_assert(read_data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
while(write_len--)
|
||||
{
|
||||
while (write_len--) {
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)((*write_data & 0xFF00) >> 8));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*write_data ++ & 0x00FF));
|
||||
soft_iic_send_data(soft_iic_obj, (uint8)(*write_data++ & 0x00FF));
|
||||
}
|
||||
if(read_len)
|
||||
{
|
||||
if (read_len) {
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while(read_len --)
|
||||
{
|
||||
while (read_len--) {
|
||||
*read_data = soft_iic_read_data(soft_iic_obj, 0);
|
||||
*read_data = ((*read_data << 8)| soft_iic_read_data(soft_iic_obj, read_len == 0));
|
||||
read_data ++;
|
||||
*read_data = ((*read_data << 8) | soft_iic_read_data(soft_iic_obj, read_len == 0));
|
||||
read_data++;
|
||||
}
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
@@ -653,7 +633,7 @@ void soft_iic_transfer_16bit_array (soft_iic_info_struct *soft_iic_obj, const ui
|
||||
// 使用示例 soft_iic_sccb_write_register(soft_iic_obj, 0x01, 0x01);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_sccb_write_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 data)
|
||||
void soft_iic_sccb_write_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 data)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
@@ -671,7 +651,7 @@ void soft_iic_sccb_write_register (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 soft_iic_sccb_read_register(soft_iic_obj, 0x01);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
uint8 soft_iic_sccb_read_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name)
|
||||
uint8 soft_iic_sccb_read_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
uint8 temp = 0;
|
||||
@@ -698,14 +678,42 @@ uint8 soft_iic_sccb_read_register (soft_iic_info_struct *soft_iic_obj, const uin
|
||||
// 使用示例 soft_iic_init(&soft_iic_obj, addr, 100, B6, B7);
|
||||
// 备注信息
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void soft_iic_init (soft_iic_info_struct *soft_iic_obj, uint8 addr, uint32 delay, gpio_pin_enum scl_pin, gpio_pin_enum sda_pin)
|
||||
void soft_iic_init(soft_iic_info_struct *soft_iic_obj, uint8 addr, uint32 delay, gpio_pin_enum scl_pin, gpio_pin_enum sda_pin)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(scl_pin != sda_pin); // 醒醒！ scl_pin 与 sda_pin 怎么能填同一个引脚？
|
||||
zf_assert(scl_pin != sda_pin); // 醒醒！ scl_pin 与 sda_pin 怎么能填同一个引脚？
|
||||
soft_iic_obj->scl_pin = scl_pin;
|
||||
soft_iic_obj->sda_pin = sda_pin;
|
||||
soft_iic_obj->addr = addr;
|
||||
soft_iic_obj->delay = delay;
|
||||
gpio_init(scl_pin, GPO, GPIO_HIGH, GPO_PUSH_PULL); // 提取对应IO索引 AF功能编码
|
||||
gpio_init(sda_pin, GPO, GPIO_HIGH, GPO_OPEN_DTAIN); // 提取对应IO索引 AF功能编码
|
||||
soft_iic_obj->addr = addr;
|
||||
soft_iic_obj->delay = delay;
|
||||
gpio_init(scl_pin, GPO, GPIO_HIGH, GPO_PUSH_PULL); // 提取对应IO索引 AF功能编码
|
||||
gpio_init(sda_pin, GPO, GPIO_HIGH, GPO_OPEN_DTAIN); // 提取对应IO索引 AF功能编码
|
||||
}
|
||||
void eep_soft_iic_read_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name_h, const uint8 register_name_l, uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
soft_iic_send_data(soft_iic_obj, register_name_h);
|
||||
soft_iic_send_data(soft_iic_obj, register_name_l);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1 | 0x01);
|
||||
while (len--) {
|
||||
*data++ = soft_iic_read_data(soft_iic_obj, len == 0);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
void eep_soft_iic_write_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name_h, const uint8 register_name_l, const uint8 *data, uint32 len)
|
||||
{
|
||||
zf_assert(soft_iic_obj != NULL);
|
||||
zf_assert(data != NULL);
|
||||
soft_iic_start(soft_iic_obj);
|
||||
soft_iic_send_data(soft_iic_obj, soft_iic_obj->addr << 1);
|
||||
soft_iic_send_data(soft_iic_obj, register_name_h);
|
||||
soft_iic_send_data(soft_iic_obj, register_name_l);
|
||||
while (len--) {
|
||||
soft_iic_send_data(soft_iic_obj, *data++);
|
||||
}
|
||||
soft_iic_stop(soft_iic_obj);
|
||||
}
|
||||
@@ -1,83 +1,84 @@
|
||||
/*********************************************************************************************************************
|
||||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||||
*
|
||||
* 本文件是CH32V307VCT6 开源库的一部分
|
||||
*
|
||||
* CH32V307VCT6 开源库 是免费软件
|
||||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
|
||||
* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||||
*
|
||||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||||
* 更多细节请参见 GPL
|
||||
*
|
||||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* 额外注明：
|
||||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||||
*
|
||||
* 文件名称 zf_driver_soft_iic
|
||||
* 公司名称 成都逐飞科技有限公司
|
||||
* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
|
||||
* 开发环境 MounRiver Studio V1.8.1
|
||||
* 适用平台 CH32V307VCT6
|
||||
* 店铺链接 https://seekfree.taobao.com/
|
||||
*
|
||||
* 修改记录
|
||||
* 日期 作者 备注
|
||||
* 2022-09-15 大W first version
|
||||
********************************************************************************************************************/
|
||||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||||
*
|
||||
* 本文件是CH32V307VCT6 开源库的一部分
|
||||
*
|
||||
* CH32V307VCT6 开源库 是免费软件
|
||||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
|
||||
* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||||
*
|
||||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||||
* 更多细节请参见 GPL
|
||||
*
|
||||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* 额外注明：
|
||||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||||
*
|
||||
* 文件名称 zf_driver_soft_iic
|
||||
* 公司名称 成都逐飞科技有限公司
|
||||
* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
|
||||
* 开发环境 MounRiver Studio V1.8.1
|
||||
* 适用平台 CH32V307VCT6
|
||||
* 店铺链接 https://seekfree.taobao.com/
|
||||
*
|
||||
* 修改记录
|
||||
* 日期 作者 备注
|
||||
* 2022-09-15 大W first version
|
||||
********************************************************************************************************************/
|
||||
|
||||
#ifndef _zf_driver_soft_iic_h_
|
||||
#define _zf_driver_soft_iic_h_
|
||||
|
||||
|
||||
#include "zf_driver_gpio.h"
|
||||
|
||||
typedef struct
|
||||
{
|
||||
gpio_pin_enum scl_pin; // 用于记录对应的引脚编号
|
||||
gpio_pin_enum sda_pin; // 用于记录对应的引脚编号
|
||||
uint8 addr; // 器件地址 七位地址模式
|
||||
uint32 delay; // 模拟 IIC 软延时时长
|
||||
}soft_iic_info_struct;
|
||||
gpio_pin_enum scl_pin; // 用于记录对应的引脚编号
|
||||
gpio_pin_enum sda_pin; // 用于记录对应的引脚编号
|
||||
uint8 addr; // 器件地址 七位地址模式
|
||||
uint32 delay; // 模拟 IIC 软延时时长
|
||||
} soft_iic_info_struct;
|
||||
|
||||
void soft_iic_write_8bit (soft_iic_info_struct *soft_iic_obj, const uint8 data);
|
||||
void soft_iic_write_8bit_array (soft_iic_info_struct *soft_iic_obj, const uint8 *data, uint32 len);
|
||||
void soft_iic_write_8bit(soft_iic_info_struct *soft_iic_obj, const uint8 data);
|
||||
void soft_iic_write_8bit_array(soft_iic_info_struct *soft_iic_obj, const uint8 *data, uint32 len);
|
||||
|
||||
void soft_iic_write_16bit (soft_iic_info_struct *soft_iic_obj, const uint16 data);
|
||||
void soft_iic_write_16bit_array (soft_iic_info_struct *soft_iic_obj, const uint16 *data, uint32 len);
|
||||
void soft_iic_write_16bit(soft_iic_info_struct *soft_iic_obj, const uint16 data);
|
||||
void soft_iic_write_16bit_array(soft_iic_info_struct *soft_iic_obj, const uint16 *data, uint32 len);
|
||||
|
||||
void soft_iic_write_8bit_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 data);
|
||||
void soft_iic_write_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 *data, uint32 len);
|
||||
void soft_iic_write_8bit_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 data);
|
||||
void soft_iic_write_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, const uint8 *data, uint32 len);
|
||||
|
||||
void soft_iic_write_16bit_register (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 data);
|
||||
void soft_iic_write_16bit_registers (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 *data, uint32 len);
|
||||
void soft_iic_write_16bit_register(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 data);
|
||||
void soft_iic_write_16bit_registers(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, const uint16 *data, uint32 len);
|
||||
|
||||
uint8 soft_iic_read_8bit (soft_iic_info_struct *soft_iic_obj);
|
||||
void soft_iic_read_8bit_array (soft_iic_info_struct *soft_iic_obj, uint8 *data, uint32 len);
|
||||
uint8 soft_iic_read_8bit(soft_iic_info_struct *soft_iic_obj);
|
||||
void soft_iic_read_8bit_array(soft_iic_info_struct *soft_iic_obj, uint8 *data, uint32 len);
|
||||
|
||||
uint16 soft_iic_read_16bit (soft_iic_info_struct *soft_iic_obj);
|
||||
void soft_iic_read_16bit_array (soft_iic_info_struct *soft_iic_obj, uint16 *data, uint32 len);
|
||||
uint16 soft_iic_read_16bit(soft_iic_info_struct *soft_iic_obj);
|
||||
void soft_iic_read_16bit_array(soft_iic_info_struct *soft_iic_obj, uint16 *data, uint32 len);
|
||||
|
||||
uint8 soft_iic_read_8bit_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name);
|
||||
void soft_iic_read_8bit_registers (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 *data, uint32 len);
|
||||
uint8 soft_iic_read_8bit_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name);
|
||||
void soft_iic_read_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 *data, uint32 len);
|
||||
|
||||
uint16 soft_iic_read_16bit_register (soft_iic_info_struct *soft_iic_obj, const uint16 register_name);
|
||||
void soft_iic_read_16bit_registers (soft_iic_info_struct *soft_iic_obj, const uint16 register_name, uint16 *data, uint32 len);
|
||||
uint16 soft_iic_read_16bit_register(soft_iic_info_struct *soft_iic_obj, const uint16 register_name);
|
||||
void soft_iic_read_16bit_registers(soft_iic_info_struct *soft_iic_obj, const uint16 register_name, uint16 *data, uint32 len);
|
||||
|
||||
void soft_iic_transfer_8bit_array (soft_iic_info_struct *soft_iic_obj, const uint8 *write_data, uint32 write_len, uint8 *read_data, uint32 read_len);
|
||||
void soft_iic_transfer_16bit_array (soft_iic_info_struct *soft_iic_obj, const uint16 *write_data, uint32 write_len, uint16 *read_data, uint32 read_len);
|
||||
void soft_iic_transfer_8bit_array(soft_iic_info_struct *soft_iic_obj, const uint8 *write_data, uint32 write_len, uint8 *read_data, uint32 read_len);
|
||||
void soft_iic_transfer_16bit_array(soft_iic_info_struct *soft_iic_obj, const uint16 *write_data, uint32 write_len, uint16 *read_data, uint32 read_len);
|
||||
|
||||
void soft_iic_sccb_write_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 data);
|
||||
uint8 soft_iic_sccb_read_register (soft_iic_info_struct *soft_iic_obj, const uint8 register_name);
|
||||
void soft_iic_sccb_write_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name, uint8 data);
|
||||
uint8 soft_iic_sccb_read_register(soft_iic_info_struct *soft_iic_obj, const uint8 register_name);
|
||||
|
||||
void soft_iic_init (soft_iic_info_struct *soft_iic_obj, uint8 addr, uint32 delay, gpio_pin_enum scl_pin, gpio_pin_enum sda_pin);
|
||||
void soft_iic_init(soft_iic_info_struct *soft_iic_obj, uint8 addr, uint32 delay, gpio_pin_enum scl_pin, gpio_pin_enum sda_pin);
|
||||
|
||||
void eep_soft_iic_write_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name_h, const uint8 register_name_l, const uint8 *data, uint32 len);
|
||||
void eep_soft_iic_read_8bit_registers(soft_iic_info_struct *soft_iic_obj, const uint8 register_name_h, const uint8 register_name_l, uint8 *data, uint32 len);
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user