feat: 蜂鸣器和旋钮适配

.eide/eide.json

@@ -1,5 +1,5 @@
 {
-  "name": "violet_firmware_zf",
+  "name": "firmware_zinnia",
   "type": "RISC-V",
   "dependenceList": [],
   "srcDirs": [

.vscode/launch.json

@@ -7,7 +7,7 @@
             "request": "launch",
             "name": "openocd",
             "servertype": "openocd",
-            "executable": "build\\Debug\\violet_firmware_zf.elf",
+            "executable": "build\\Debug\\firmware_zinnia.elf",
             "runToEntryPoint": "main",
             "configFiles": [
                 "${workspaceFolder}/tools/wch-riscv.cfg"

app/by_buzzer.c

@@ -1,12 +1,13 @@
 #include "by_buzzer.h"
-#include "by_rt_button.h"
 
-#include "zf_common_headfile.h"
 #include <string.h>
+#include "zf_common_headfile.h"
+
+#define BUZZER_QUEUE_LENGTH 40
 
 uint16_t queue_long = 0;
-const uint32_t max_long = 40;
+uint32_t a[40]      = {0};
-uint32_t a[40];
+
 void queue_init(void)
 {
     memset(a, 0, sizeof(a));
@@ -14,7 +15,7 @@ void queue_init(void)
 
 void queue_add_element(int element)
 {
-    if (queue_long < max_long) {
+    if (queue_long < BUZZER_QUEUE_LENGTH) {
         a[queue_long] = element;
         queue_long += 1;
     }
@@ -38,5 +39,18 @@ void queue_pop_read(void)
 
 void by_buzzer_init(void)
 {
+    queue_init();
     pwm_init(BUZZER_PIN, 2000, 0);
+
+    by_buzzer_add(1250);
+    by_buzzer_add(1500);
+    by_buzzer_add(1750);
+    by_buzzer_add(1500);
+    by_buzzer_add(1200);
+    by_buzzer_add(900);
+}
+
+void by_buzzer_add(uint16_t tone)
+{
+    queue_add_element(tone);
 }

app/by_buzzer.h

@@ -1,24 +1,23 @@
 #ifndef _BY_BUZZER_H__
 #define _BY_BUZZER_H__
 
-#include "by_rt_button.h"
+#include "zf_common_headfile.h"
-
-#include "stdio.h"
-#include "ch32v30x.h"
 
 #define BY_PRESS_SHORT 2000
 #define BY_PRESS_LONG  2500
 #define BY_FORWARD     1500
 #define BY_BACKWARD    1800
-#define BUZZER_PIN TIM3_PWM_MAP0_CH2_A7
+#define BUZZER_PIN TIM9_PWM_MAP0_CH1_A2
-extern void by_buzzer_init(void);
-extern void queue_init(void);
-extern void queue_add_element(int element);
-extern void queue_pop_element(void);
-extern void queue_pop_read(void);
 
 extern uint32_t a[40];
 extern uint16_t queue_long;
 extern const uint32_t max_long;
 extern uint8_t queue_flag;
+
+extern void queue_init(void);
+extern void queue_add_element(int element);
+extern void queue_pop_element(void);
+extern void queue_pop_read(void);
+extern void by_buzzer_init(void);
+extern void by_buzzer_add(uint16_t tone);
 #endif

app/by_rt_button.c

@@ -3,17 +3,6 @@
 #include "by_imu.h"
 uint8_t rotate_button;
 
-void by_gpio_init(void)
-{
-    gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
-}
-
-void by_exit_init(void)
-{
-    exti_init(E9, EXTI_TRIGGER_FALLING);
-    exti_init(E11, EXTI_TRIGGER_BOTH);
-}
-
 /**
  * @brief 查询旋钮状态 - 查询后状态归零
  *
@@ -22,37 +11,16 @@ void by_exit_init(void)
 uint8_t by_get_rb_status(void)
 {
     uint8_t temp_s = rotate_button;
-    rotate_button  = 0;
+    rotate_button  = rotate_button_none;
     return temp_s;
 }
 
-void by_ips_show(void)
+void by_rb_init(void)
 {
-    ips200_show_string(0, 0, "button status:");
+    gpio_init(E9, GPI, GPIO_HIGH, GPI_PULL_UP);
-    // ips200_show_uint(104, 0, by_get_rb_status(), 1);
+    gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
-    switch (by_get_rb_status()) {
+    gpio_init(E11, GPI, GPIO_HIGH, GPI_PULL_UP);
-        case 1:
-            ips200_show_string(104, 0, "press");
-            break;
-        case 2:
-            ips200_show_string(104, 0, "up   ");
-            break;
-        case 3:
-            ips200_show_string(104, 0, "down  ");
-            break;
 
-        default:
+    exti_init(E9, EXTI_TRIGGER_FALLING);
-            ips200_show_string(104, 0, "     ");
+    exti_init(E11, EXTI_TRIGGER_BOTH);
-            break;
-    }
-    // 按钮
-    ips200_show_string(0, 16, "imu:");
-    ips200_show_float(46, 32, eulerAngle.pitch, 3, 2);
-    ips200_show_float(46, 48, eulerAngle.roll, 3, 2);
-    ips200_show_float(46, 64, eulerAngle.yaw, 3, 2);
-    // ips200_show_float(46 , 32, icm_data.gyro_x, 2, 2);
-    // ips200_show_float(106, 32, icm_data.gyro_y, 2, 2);
-    // ips200_show_float(166, 32, icm_data.gyro_z, 2, 2);
-    ips200_show_float(46, 80, imu660ra_temperature, 2, 2);
-    // printf("%d,%d,%d\n", (int16_t)(icm_data.gyro_x * 10), (int16_t)(icm_data.gyro_y * 10), (int16_t)(icm_data.gyro_z * 10));
 }

app/by_rt_button.h

@@ -8,6 +8,7 @@
 #define LONG_PRESS_THRESHOLD_TICK (LONG_PRESS_THRESHOLD_MS * 18000ULL)
 
 typedef enum rotate_button_event {
+    rotate_button_none  = 0,
     rotate_button_press_short = 1,
     rotate_button_press_long  = 2,
     rotate_button_forward     = 3,
@@ -16,9 +17,7 @@ typedef enum rotate_button_event {
 
 extern uint8_t rotate_button;
 
-extern void by_exit_init(void);
-extern void by_gpio_init(void);
 extern uint8_t by_get_rb_status(void);
-extern void by_ips_show(void);
+extern void by_rb_init(void);
 
 #endif

app/isr.c

@@ -202,6 +202,7 @@ void EXTI9_5_IRQHandler(void)
     }
     if (SET == EXTI_GetITStatus(EXTI_Line9)) {
 
+        if (rotate_button == rotate_button_none) {
             if (SET == gpio_get_level(E10)) {
                 rotate_button = rotate_button_backward;
                 queue_add_element(BY_BACKWARD);
@@ -209,6 +210,8 @@ void EXTI9_5_IRQHandler(void)
                 rotate_button = rotate_button_forward;
                 queue_add_element(BY_FORWARD);
             }
+        }
+
         EXTI_ClearITPendingBit(EXTI_Line9);
     }
 }

app/main.c

@@ -33,66 +33,41 @@
 #include "by_imu.h"
 int main(void)
 {
-
+    int16_t i = 0;
     clock_init(SYSTEM_CLOCK_120M);
     system_delay_init();
     debug_init();
-    mt9v03x_init();
+
     ips200_init(IPS200_TYPE_SPI);
-    by_gpio_init();
+
-    by_exit_init();
+    by_rb_init();
-    by_pwm_init();
-    jj_bt_init();
     by_buzzer_init();
-    while (imu660ra_init())
+    by_pwm_init();
-        ;
+
-    jj_param_eeprom_init();
     Page_Init();
-    sport_pid_init();
+
-    pit_ms_init(TIM6_PIT, 2);
-    pit_ms_init(TIM1_PIT, 2);
-    // gyroOffset_init();
     while (1) {
-        Page_Run();
+
-        jj_bt_run();
+        // switch (by_get_rb_status()) {
+        //     case 3:
+        //         i++;
+        //         break;
+        //     case 4:
+        //         i--;
+        //         break;
+        //     default:
+        //         break;
+        // }
+
+        // by_pwm_update_duty(500 + i * 50, 500 + i * 50);
+        // by_pwm_power_duty(500 + i * 50, 500 + i * 50, 500 + i * 50, 500 + i * 50);
+        // // ips200_show_uint(0, 0, 1000, 4);
+        // ips200_draw_rect(0, 0, 50, 50, RGB565_YELLOW);
+        // system_delay_ms(100);
+        // ips200_draw_rect(0, 0, 50, 50, RGB565_BLACK);
+        // system_delay_ms(10);
+        
         queue_pop_read();
-        bt_printf("hello:%f,%f\n",out_M,out_yaw);
+        Page_Run();
-        if (mt9v03x_finish_flag) {
-            // 该操作消耗大概 1970 个 tick，折合约 110us
-            memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
-            //adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
-            //ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
-            mt9v03x_finish_flag = 0;
-
-            state_type = COMMON_STATE;
-            img_processing();
-            get_corners();
-            aim_distance = COMMON_AIM;
-            tracking();
-            ElementJudge();
-            ElementRun();
-            MidLineTrack();
-
-        }
-    }
-}
-
-
-
-void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
-  int half_block = block / 2;
-  for(int y=half_block; y<height-half_block; y++){
-    for(int x=half_block; x<width-half_block; x++){
-      // 计算局部阈值
-      int thres = 0;
-      for(int dy=-half_block; dy<=half_block; dy++){
-        for(int dx=-half_block; dx<=half_block; dx++){
-          thres += img_data[(x+dx)+(y+dy)*width];
-        }
-      }
-      thres = thres / (block * block) - clip_value;
-      // 进行二值化
-      output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
-    }
     }
 }