Merge http://git.isthmus.tk:441/btl143/firmware_violet_zf

2024-01-07 16:32:05 +08:00
parent afb16ae44a 6bb5b9eaad
commit 696aeee7e3
25 changed files with 545 additions and 528 deletions
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -12,11 +12,13 @@ void by_pwm_init(void)

 void by_pwm_update_duty(uint32_t update_pwm_duty)
 {
-    if (7000UL > update_pwm_duty) {
-        update_pwm_duty = 7000UL;
+    if (4000UL < update_pwm_duty) {
+        update_pwm_duty = 4000UL;
    }
    pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
    pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
+    // pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, update_pwm_duty);
+    // pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, update_pwm_duty);
 }

 void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)
--- a/app/by_pt_button.h
+++ b/app/by_pt_button.h
@@ -1,17 +0,0 @@
-#ifndef _BY_PT_BUTTON_H__
-#define _BY_PT_BUTTON_H__
-
-#include "stdio.h"
-#include "ch32v30x.h"
-#define POTATE_BUTTOM_PRESS    1
-#define POTATE_BUTTOM_FOREWARD 2
-#define POTATE_BUTTOM_BACKWARD 3
-extern uint8_t potate_button;
-
-
-extern void by_exit_init(void);
-extern void by_gpio_init(void);
-extern uint8_t by_get_statu(void);
-extern void by_ips_show(void);
-
-#endif
--- a/app/by_rt_button.c
+++ b/app/by_rt_button.c
@@ -1,7 +1,7 @@
-#include "by_pt_button.h"
+#include "by_rt_button.h"
 #include "zf_common_headfile.h"
 #include "by_imu.h"
-uint8_t potate_button;
+uint8_t rotate_button;

 void by_gpio_init(void)
 {
@@ -11,21 +11,26 @@ void by_gpio_init(void)
 void by_exit_init(void)
 {
    exti_init(E9, EXTI_TRIGGER_FALLING);
-    exti_init(E11, EXTI_TRIGGER_FALLING);
+    exti_init(E11, EXTI_TRIGGER_BOTH);
 }

-uint8_t by_get_pb_statu(void)
+/**
+ * @brief 查询旋钮状态 - 查询后状态归零
+ *
+ * @return uint8_t 当前旋钮状态
+ */
+uint8_t by_get_rb_status(void)
 {
-    uint8_t temp_s = potate_button;
-    potate_button  = 0;
+    uint8_t temp_s = rotate_button;
+    rotate_button  = 0;
    return temp_s;
 }

 void by_ips_show(void)
 {
-    ips200_show_string(0, 0, "button statu:");
-    // ips200_show_uint(104, 0, by_get_pb_statu(), 1);
-    switch (by_get_pb_statu()) {
+    ips200_show_string(0, 0, "button status:");
+    // ips200_show_uint(104, 0, by_get_rb_status(), 1);
+    switch (by_get_rb_status()) {
        case 1:
            ips200_show_string(104, 0, "press");
            break;
@@ -45,7 +50,7 @@ void by_ips_show(void)
    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(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);
--- a/app/by_rt_button.h
+++ b/app/by_rt_button.h
@@ -0,0 +1,24 @@
+#ifndef _BY_RT_BUTTON_H__
+#define _BY_RT_BUTTON_H__
+
+#include "stdio.h"
+#include "ch32v30x.h"
+
+#define LONG_PRESS_THRESHOLD_MS   (300ULL)
+#define LONG_PRESS_THRESHOLD_TICK (LONG_PRESS_THRESHOLD_MS * 18000ULL)
+
+typedef enum rotate_button_event {
+    rotate_button_press_short = 1,
+    rotate_button_press_long  = 2,
+    rotate_button_forward     = 3,
+    rotate_button_backward    = 4,
+} 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);
+
+#endif
--- a/app/cw_servo.c
+++ b/app/cw_servo.c
@@ -1,17 +0,0 @@
-#include "zf_common_headfile.h"
-#include "cw_servo.h"
-
-void cw_servo_init(void)
-{
-    pwm_init(SERVO_L_PWM_CHANNEL, 50, 1000);
-    pwm_init(SERVO_R_PWM_CHANNEL, 50, 1000);
-}
-
-void cw_servo_set_angle(float servo_l_angle, float servo_r_angle)
-{
-    uint32_t servo_l_duty_s = (uint32_t)(servo_l_angle * SERVO_L_DUTY_PER_ANGLE);
-    uint32_t servo_r_duty_s = (uint32_t)(servo_r_angle * SERVO_R_DUTY_PER_ANGLE);
-
-    pwm_set_duty(SERVO_L_PWM_CHANNEL, servo_l_duty_s);
-    pwm_set_duty(SERVO_R_PWM_CHANNEL, servo_r_duty_s);
-}
--- a/app/cw_servo.h
+++ b/app/cw_servo.h
@@ -1,20 +0,0 @@
-#ifndef _CW_SERVO_H__
-#define _CW_SERVO_H__
-
-#include "zf_common_headfile.h"
-
-#define SERVO_L_PWM_CHANNEL    TIM2_PWM_MAP0_CH1_A0
-#define SERVO_R_PWM_CHANNEL    TIM2_PWM_MAP0_CH2_A1
-
-#define SERVO_MAX_ANGLE_RANGE  (90.0F)
-#define SERVO_L_DUTY_MAX       (1100.0F)
-#define SERVO_L_DUTY_MIN       (900.0F)
-#define SERVO_R_DUTY_MAX       (1100.0F)
-#define SERVO_R_DUTY_MIN       (900.0F)
-#define SERVO_L_DUTY_PER_ANGLE ((SERVO_L_DUTY_MAX - SERVO_L_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
-#define SERVO_R_DUTY_PER_ANGLE ((SERVO_R_DUTY_MAX - SERVO_R_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
-
-extern void cw_servo_init(void);
-extern void cw_servo_set_angle(float servo_l_angle, float servo_r_angle);
-
-#endif
--- a/app/gl_common.h
+++ b/app/gl_common.h
@@ -1,32 +1,28 @@
 #ifndef COMMON_H_
 #define COMMON_H_

-
-
-#define IMAGE_H                     (MT9V03X_H)
-#define IMAGE_W                     (MT9V03X_W)
-#define BEGINH_L                    (80)
-#define BEGINH_R                    (80)
-#define BEGINW_L                    (-18)
-#define BEGINW_R                    (-12)
-#define PT_MAXLEN                   (75)
-#define GET_PIX_1C(IMG, H, W)       (IMG[(H) * MT9V03X_W + (W)])   //获取像素点的值
-#define FIX_BINTHRESHOLD            (140)                          //设置最开始的阈值
-#define SELFADAPT_KERNELSIZE        (7)                            //巡线区域核大小
-#define FILTER_KERNELSIZE           (7)                            //滤波核大小
-#define SELFADAPT_OFFSET            (8)                           //适应性块大小
-#define PIXPERMETER                 (56)
-#define RESAMPLEDIST                (0.02)
-#define ANGLEDIST                   (0.2)
-#define ROADWIDTH                   (0.45)
-#define FRAMENONE                   (1)
-#define FRAMETOLEFT                 (5)
-#define FRAMETORIGHT                (5)
+#define IMAGE_H               (MT9V03X_H)
+#define IMAGE_W               (MT9V03X_W)
+#define BEGINH_L              (61)
+#define BEGINH_R              (61)
+#define BEGINW_L              (-18)
+#define BEGINW_R              (-12)
+#define PT_MAXLEN             (75)
+#define GET_PIX_1C(IMG, H, W) (IMG[(H) * MT9V03X_W + (W)]) // 获取像素点的值
+#define FIX_BINTHRESHOLD      (140)                        // 设置最开始的阈值
+#define SELFADAPT_KERNELSIZE  (7)                          // 巡线区域核大小
+#define FILTER_KERNELSIZE     (7)                          // 滤波核大小
+#define SELFADAPT_OFFSET      (8)                          // 适应性块大小
+#define PIXPERMETER           (56)
+#define RESAMPLEDIST          (0.02f)
+#define ANGLEDIST             (0.2f)
+#define ROADWIDTH             (0.45f)
+#define FRAMENONE             (1)
+#define FRAMETOLEFT           (5)
+#define FRAMETORIGHT          (5)

 int32_t limit(int32_t x, int32_t low, int32_t up);
 int clip(int x, int low, int up);
-float fclip(float x, float low, float up) ;
-
-
+float fclip(float x, float low, float up);

 #endif /* COMMON_H_ */
--- a/app/gl_data.c
+++ b/app/gl_data.c
@@ -0,0 +1,62 @@
+#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;
+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_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_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 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;
+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;
+
+int Lpt0_rpts0s_id;
+int Lpt1_rpts1s_id;
+bool Lpt0_found;
+bool Lpt1_found;
+int Lpt1[2];
+int 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_turn0;
+bool is_turn1;
+
+float rptsn[PT_MAXLEN][2];
+int32_t rptsn_num;
+float aim_distance;
+
+track_type_e track_type = TRACK_RIGHT;
--- a/app/gl_data.h
+++ b/app/gl_data.h
@@ -0,0 +1,74 @@
+#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];
+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 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_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_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 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 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 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 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_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
--- a/app/gl_headfile.h
+++ b/app/gl_headfile.h
@@ -1,8 +1,6 @@
 #ifndef GL_HEADFILE
 #define GL_HEADFILE

-
-
 #include "gl_state.h"
 #include "gl_img_process.h"
 #include "gl_common.h"
@@ -14,8 +12,7 @@
 #include "gl_tracking.h"
 #include "gl_circle.h"
 #include "gl_cross.h"
+#include "gl_data.h"
 #include "math.h"

-
-
 #endif /* STATE_H_ */
--- a/app/gl_state.h
+++ b/app/gl_state.h
@@ -2,21 +2,27 @@
 #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,
+    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               (0.49)
-#define COMMON_AIM              (0.31)
-
+#define CROSS_AIM  (0.49f)
+#define COMMON_AIM (0.31f)

 #endif /* STATE_H_ */
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -65,11 +65,11 @@ void MidLineTrack() {
    }
  }

-  // 车轮对应点(纯跟踪起始点)
+  // 车轮对应点 (纯跟踪起始点)
  float cx = UndistInverseMapW[(int) (IMAGE_H * 0.90f)][78];
  float cy = UndistInverseMapH[(int) (IMAGE_H * 0.90f)][78];

-  // 找最近点(起始点中线归一化)
+  // 找最近点 (起始点中线归一化)
  float min_dist = 1e10;

  int begin_id = -1;
--- a/app/isr.c
+++ b/app/isr.c
@@ -2,11 +2,11 @@
 * CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
 * Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
 *
- * <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
+ * <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
 *
 * CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
+ * <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * <20><> GPL <20>ĵ<EFBFBD> 3 <EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
 *
 * <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
 * <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
@@ -30,11 +30,12 @@
 *
 * <20>޸ļ<DEB8>¼
 * <20><><EFBFBD><EFBFBD>                                      <20><><EFBFBD><EFBFBD>                             <20><>ע
- * 2022-09-15        <20><>W            first version
+ * 2022-09-15        <20><> W            first version
 ********************************************************************************************************************/

 #include "zf_common_headfile.h"
-#include "by_pt_button.h"
+#include "by_rt_button.h"
+#include "by_imu.h"

 void NMI_Handler(void) __attribute__((interrupt()));
 void HardFault_Handler(void) __attribute__((interrupt()));
@@ -197,10 +198,10 @@ void EXTI9_5_IRQHandler(void)
    if (SET == EXTI_GetITStatus(EXTI_Line9)) {

        if (SET == gpio_get_level(E10)) {
-            potate_button = POTATE_BUTTOM_BACKWARD;
+            rotate_button = rotate_button_backward;

        } else {
-            potate_button = POTATE_BUTTOM_FOREWARD;
+            rotate_button = rotate_button_forward;
        }
        EXTI_ClearITPendingBit(EXTI_Line9);
    }
@@ -217,37 +218,46 @@ void EXTI15_10_IRQHandler(void)
        EXTI_ClearITPendingBit(EXTI_Line10);
    }
    if (SET == EXTI_GetITStatus(EXTI_Line11)) {
-
-        system_delay_us(200);
-        if (SET == !gpio_get_level(E11)) {
-            potate_button = POTATE_BUTTOM_PRESS;
+        static uint64_t time_via = 0;
+        system_delay_ms(10);
+        if (RESET == gpio_get_level(E11)) {
+            time_via = system_get_tick();
+            EXTI_ClearITPendingBit(EXTI_Line11);
+        } else if (SET == gpio_get_level(E11)) {
+            time_via = system_get_tick() - time_via;
+            if (time_via > LONG_PRESS_THRESHOLD_TICK) {
+                rotate_button = rotate_button_press_long;
+            } else {
+                rotate_button = rotate_button_press_short;
+            }
+            time_via = 0;
+            EXTI_ClearITPendingBit(EXTI_Line11);
        }
-        EXTI_ClearITPendingBit(EXTI_Line11);
-    }
-    if (SET == EXTI_GetITStatus(EXTI_Line12)) {
-        EXTI_ClearITPendingBit(EXTI_Line12);
-    }
-    if (SET == EXTI_GetITStatus(EXTI_Line13)) {
-        // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        tof_module_exti_handler();
-        // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
+        if (SET == EXTI_GetITStatus(EXTI_Line12)) {
+            EXTI_ClearITPendingBit(EXTI_Line12);
+        }
+        if (SET == EXTI_GetITStatus(EXTI_Line13)) {
+            // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            tof_module_exti_handler();
+            // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>

-        // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
+            // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>

-        EXTI_ClearITPendingBit(EXTI_Line13);
-    }
-    if (SET == EXTI_GetITStatus(EXTI_Line14)) {
-        // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        dm1xa_light_callback();
-        // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        EXTI_ClearITPendingBit(EXTI_Line14);
-    }
-    if (SET == EXTI_GetITStatus(EXTI_Line15)) {
-        // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        dm1xa_sound_callback();
-        // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
-        EXTI_ClearITPendingBit(EXTI_Line15);
+            EXTI_ClearITPendingBit(EXTI_Line13);
+        }
+        if (SET == EXTI_GetITStatus(EXTI_Line14)) {
+            // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            dm1xa_light_callback();
+            // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            EXTI_ClearITPendingBit(EXTI_Line14);
+        }
+        if (SET == EXTI_GetITStatus(EXTI_Line15)) {
+            // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            dm1xa_sound_callback();
+            // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
+            EXTI_ClearITPendingBit(EXTI_Line15);
+        }
    }
 }

--- a/app/main.c
+++ b/app/main.c
@@ -1,105 +1,42 @@
 /*********************************************************************************************************************
- * CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
- * Copyright (c) 2022 SEEKFREE ?????
+ * 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
 *
- * ??????? CH32V307VCT6 ???????????
+ * 本文件是 CH32V307VCT6 开源库的一部分
 *
- * CH32V307VCT6 ????? ?????????
- * ?????????????????????????? GPL??GNU General Public License???? GNU ??锟斤拷？???????????????
- * ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
+ * 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
 *
- * ????????????????????????????????锟斤拷？??????锟绞︼拷？??
- * ?????????????????????????????????
- * ?????????锟斤拷？GPL
+ * 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
 *
- * ?????????????????????????? GPL ?????
- * ?????锟斤拷？?????<https://www.gnu.org/licenses/>
+ * 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/>
 *
- * ?????????
- * ?????????? GPL3.0 ????????锟斤拷？? ?????????????????锟斤拷
- * ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
- * ??????????? libraries ??????? ???????????? LICENSE ???
- * ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
- *
- * ???????          main
- * ???????          ??????????????
- * ?锟斤拷？??          ?? libraries/doc ??????? version ??? ?锟斤拷？??
- * ????????          MounRiver Studio V1.8.1
- * ??????          CH32V307VCT6
- * ????????          https://seekfree.taobao.com/
- *
- * ?????
- * ????                                      ????                             ???
- * 2022-09-15        ?? W            first version
+ * 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）
 ********************************************************************************************************************/
 #include "zf_common_headfile.h"
 #include "gl_headfile.h"
-#include "by_pt_button.h"
+#include "by_rt_button.h"
 #include "by_fan_control.h"
-#include "cw_servo.h"
 #include "./page/cw_page.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, pts_right_count;
-float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
-int32_t pts_inv_l_count, pts_inv_r_count;
-float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
-int32_t pts_filter_l_count, pts_filter_r_count;
-float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
-int32_t pts_resample_left_count, pts_resample_right_count;
-float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
-int32_t mid_left_count, mid_right_count;
-
-float angle_new_left[PT_MAXLEN];
-float angle_new_right[PT_MAXLEN];
-int angle_new_left_num, 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, angle_right_num;
-
-int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
-bool Lpt0_found, Lpt1_found;
-int Lpt1[2], Lpt0[2];
-
-int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
-bool Lpt_in0_found, Lpt_in1_found;
-int Lpt_in1[2], Lpt_in0[2];
-
-bool is_straight0, is_straight1;
-
-bool is_turn0, is_turn1;
-
-float rptsn[PT_MAXLEN][2];
-int rptsn_num;
-float aim_distance;
-
-enum track_type_e track_type = TRACK_RIGHT;
-
-int frame_count = 0;
-
-void img_processing();
-void get_corners();
-void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value);
-
-
-
 int main(void)
 {
-    clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
-    debug_init();                  // 务必保留，本函数用于初始化 MPU 时钟 调试串口
-    //mt9v03x_init();
-    // system_delay_ms(2000);
-    ips200_init(IPS200_TYPE_SPI);
+    clock_init(SYSTEM_CLOCK_120M);
+    system_delay_init();
+    debug_init();
    mt9v03x_init();
-    // by_gpio_init();
-    // by_exit_init();
-    // by_pwm_init();
-    // cw_servo_init();
-    //printf("hello world\n");
+    ips200_init(IPS200_TYPE_SPI);
+    by_gpio_init();
+    by_exit_init();
+    by_pwm_init();
    // while (imu660ra_init())
    //     ;

@@ -108,18 +45,11 @@ int main(void)
    // pit_ms_init(TIM6_PIT, 2);

    while (1) {
-        // while (frame_count < 20) {
-        //  if (mt9v03x_finish_flag) {
-        //      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, 8);
-        //      //threshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, MT9V03X_W, MT9V03X_H, 110);
-        //      ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
-        //      mt9v03x_finish_flag = 0;
-        //      frame_count++;
-        //  }

-        //}
+        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);
--- a/app/main.h
+++ b/app/main.h
@@ -2,50 +2,5 @@
 #define MAIN_H

 #include "zf_common_headfile.h"
-#include "gl_common.h"
-
-// extern uint8 *mt9v03x_image_copy[0];
-extern int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; // 0:H,1:W
-extern int32_t pts_left_count, pts_right_count;
-extern float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
-extern int32_t pts_inv_l_count, pts_inv_r_count;
-extern float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
-extern int32_t pts_filter_l_count, pts_filter_r_count;
-extern float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
-extern int32_t pts_resample_left_count, pts_resample_right_count;
-extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
-extern float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
-extern int32_t mid_left_count, mid_right_count;
-
-extern float angle_left[PT_MAXLEN];
-extern float angle_right[PT_MAXLEN];
-extern int angle_left_num, angle_right_num;
-
-extern float angle_new_left[PT_MAXLEN];
-extern float angle_new_right[PT_MAXLEN];
-extern int angle_new_left_num, angle_new_right_num;
-
-extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
-extern bool Lpt0_found, Lpt1_found;
-extern int Lpt1[2], Lpt0[2];
-
-extern int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
-extern bool Lpt_in0_found, Lpt_in1_found;
-extern int Lpt_in1[2], Lpt_in0[2];
-
-extern bool is_straight0, is_straight1;
-
-extern bool is_turn0, is_turn1;
-
-extern float rptsn[PT_MAXLEN][2];
-extern int rptsn_num;
-extern float aim_distance;
-
-enum track_type_e {
-    TRACK_LEFT,
-    TRACK_RIGHT,
-};
-
-extern enum track_type_e track_type;

 #endif // MAIN_H
--- a/app/page/cw_page.c
+++ b/app/page/cw_page.c
@@ -1,9 +1,11 @@
 #include "cw_page.h"

+#include "by_rt_button.h"
+
 PAGE_LIST pagelist[page_max];
 static uint8_t page_busy = 0;
-static int8_t now_page = page_menu;
-static int8_t new_page = page_menu;
+static int8_t now_page   = page_menu;
+static int8_t new_page   = page_menu;

 /**
 * @brief  注册一个基本页面，包含一个初始化函数，循环函数，退出函数，事件函数
@@ -16,12 +18,13 @@ static int8_t new_page = page_menu;
 * @retval 无
 */
 void Page_Register(uint8_t pageID, char *pageText,
-        CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
-        CallbackFunction_t exitCallback, EventFunction_t eventCallback) {
-    pagelist[pageID].Text = pageText;
+                   CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
+                   CallbackFunction_t exitCallback, EventFunction_t eventCallback)
+{
+    pagelist[pageID].Text          = pageText;
    pagelist[pageID].SetupCallback = setupCallback;
-    pagelist[pageID].LoopCallback = loopCallback;
-    pagelist[pageID].ExitCallback = exitCallback;
+    pagelist[pageID].LoopCallback  = loopCallback;
+    pagelist[pageID].ExitCallback  = exitCallback;
    pagelist[pageID].EventCallback = eventCallback;
 }

@@ -30,7 +33,8 @@ void Page_Register(uint8_t pageID, char *pageText,
 * @param  event: 事件编号
 * @retval 无
 */
-void Page_EventTransmit(unsigned char event) {
+void Page_EventTransmit(unsigned char event)
+{
    /*将事件传递到当前页面*/
    if (pagelist[now_page].EventCallback != 0)
        pagelist[now_page].EventCallback(event);
@@ -41,7 +45,8 @@ void Page_EventTransmit(unsigned char event) {
 * @param  pageID：页面号
 * @retval 1：成功  0：失败
 */
-void Page_Shift(unsigned char pageID) {
+void Page_Shift(unsigned char pageID)
+{
    if (page_busy == 0) {
        new_page = pageID;
    }
@@ -51,7 +56,8 @@ void Page_Shift(unsigned char pageID) {
 * @brief 关闭当前页面
 *
 */
-void Page_CloseCurrentPage() {
+void Page_CloseCurrentPage()
+{
    pagelist[now_page].ExitCallback();
 }

@@ -59,16 +65,18 @@ void Page_CloseCurrentPage() {
 * @brief 打开当前页面
 *
 */
-void Page_OpenCurrentPage() {
+void Page_OpenCurrentPage()
+{
    pagelist[now_page].SetupCallback();
 }

 /**
 * @brief 获取页面状态
 *
- * @return uint8_t 页面忙返回1 空闲返回0
+ * @return uint8_t 页面忙返回 1 空闲返回 0
 */
-uint8_t Page_GetStatus(void) {
+uint8_t Page_GetStatus(void)
+{
    if (page_busy)
        return 1;
    else
@@ -79,18 +87,23 @@ uint8_t Page_GetStatus(void) {
 * @brief 页面运行函数
 *
 */
-void Page_Run(void) {
+void Page_Run(void)
+{
+    uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态
+    if(temp_status){
+        pagelist[now_page].EventCallback(temp_status);
+    }

    if (now_page != new_page) {
        if (new_page >= page_max && new_page < page_menu) {
            new_page = page_menu;
        }

-        //执行当前页面退出回调函数
+        // 执行当前页面退出回调函数
        if ((pagelist[now_page].ExitCallback != 0)) {
            pagelist[now_page].ExitCallback();
        }
-        //执行新页面构造回调函数
+        // 执行新页面构造回调函数
        if (pagelist[new_page].SetupCallback != 0) {
            pagelist[new_page].SetupCallback();
        }
@@ -99,7 +112,7 @@ void Page_Run(void) {
    }

    if (page_busy == 0) {
-        //执行循环函数
+        // 执行循环函数
        pagelist[now_page].LoopCallback();
    }
 }
@@ -108,13 +121,15 @@ void Page_Run(void) {
 * @brief 页面初始化（注册，构建） //ATTENTION 在此处添加新加入的页面
 *
 */
-void Page_Init(void) {
+void Page_Init(void)
+{
    PAGE_REG(page_menu);
+    PAGE_REG(page_rtcam);
    // PAGE_REG(page_argv);
    // PAGE_REG(page_sys);
    // PAGE_REG(page_run);

    Page_Shift(page_menu);

-    pagelist[now_page].SetupCallback(); //先构建一遍
+    pagelist[now_page].SetupCallback(); // 先构建一遍
 }
--- a/app/page/cw_page.h
+++ b/app/page/cw_page.h
@@ -13,10 +13,13 @@

 #include "zf_common_headfile.h"

+#include "by_rt_button.h"
+
 enum PageID {
    PAGE_NULL = -1,
    //......
    page_menu,
+    page_rtcam,
    // page_argv,
    // page_sys,
    // page_run,
@@ -25,9 +28,10 @@ enum PageID {
 };

 typedef enum page_event{
-    page_event_forward,
-    page_event_backward,
-    page_event_press
+    page_event_forward = rotate_button_forward,
+    page_event_backward = rotate_button_backward,
+    page_event_press_short = rotate_button_press_short,
+    page_event_press_long = rotate_button_press_long,
 } page_event;

 typedef void (*CallbackFunction_t)(void);
--- a/app/page/cw_page_menu.c
+++ b/app/page/cw_page_menu.c
@@ -7,8 +7,8 @@

 static char Text[] = "Menu";

-static int8_t Curser      = 1; // 定义光标位置
-static int8_t Curser_Last = 1; // 定义光标位置
+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
 static void Print_Menu_p(void);
 /***************************************************************************************
 *
@@ -23,7 +23,7 @@ static void Print_Menu_p(void);
 */
 static void Setup()
 {
-    ips114_clear();
+    ips200_clear();
    Print_Menu_p();
    Print_Curser(Curser, Curser_Last);
 }
@@ -44,7 +44,6 @@ static void Exit()
 */
 static void Loop()
 {
-    Show_Marked_Image();
 }

 /**
@@ -61,7 +60,7 @@ static void Event(page_event event)
        Curser--; // 光标上移
    } else if (page_event_backward == event) {
        Curser++; // 光标下移
-    } else if (page_event_press == event) {
+    } else if (page_event_press_short == event) {
        if (page_max > Curser && page_menu < Curser) {
            Page_Shift(Curser); // 切换到光标选中的页面
        }
@@ -101,7 +100,7 @@ static void Print_Menu_p(void)
    // SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####");
    ips200_show_string(0, 0, Text);
    for (uint8_t i = page_menu + 1; i < page_max; i++) {
-        ips200_show_string(8, i, pagelist[i].Text);
+        ips200_show_string(10, i * 18, pagelist[i].Text);
        // SCREEN_showstr(8, i, pagelist[i].Text);
    }
 }
--- a/app/page/cw_page_rtcam.c
+++ b/app/page/cw_page_rtcam.c
@@ -2,14 +2,13 @@
 #include "cw_page_ui_widget.h"
 #include "cw_page.h"

-#define LINE_HEAD 1
-#define LINE_END  7
+#define LINE_HEAD 11
+#define LINE_END  16

 static char Text[] = "RealTime Image";

-static int8_t Curser      = 1; // 定义光标位置
-static int8_t Curser_Last = 1; // 定义光标位置
-static void Print_Menu_p(void);
+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
@@ -23,8 +22,7 @@ static void Print_Menu_p(void);
 */
 static void Setup()
 {
-    ips114_clear();
-    Print_Menu_p();
+    ips200_clear();
    Print_Curser(Curser, Curser_Last);
 }

@@ -44,6 +42,7 @@ static void Exit()
 */
 static void Loop()
 {
+    Show_Marked_Image();
 }

 /**
@@ -60,10 +59,10 @@ static void Event(page_event event)
        Curser--; // 光标上移
    } else if (page_event_backward == event) {
        Curser++; // 光标下移
-    } else if (page_event_press == event) {
-        if (page_max > Curser && page_menu < Curser) {
-            Page_Shift(Curser); // 切换到光标选中的页面
-        }
+    } else if (page_event_press_short == event) {
+
+    } else if (page_event_press_long == event) {
+        Page_Shift(page_menu);
    }

    if (Curser < LINE_HEAD) {
@@ -90,17 +89,3 @@ void PageRegister_page_rtcam(unsigned char pageID)
 *                                  以下为页面自定义功能函数
 *
 ***************************************************************************************/
-
-/**
- * @brief 打印菜单项
- *
- */
-static void Print_Menu_p(void)
-{
-    // SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####");
-    ips200_show_string(0, 0, Text);
-    for (uint8_t i = page_menu + 1; i < page_max; i++) {
-        ips200_show_string(8, i, pagelist[i].Text);
-        // SCREEN_showstr(8, i, pagelist[i].Text);
-    }
-}
--- a/app/page/cw_page_ui_widget.c
+++ b/app/page/cw_page_ui_widget.c
@@ -1,6 +1,6 @@
 #include "cw_page_ui_widget.h"
 #include "zf_common_headfile.h"
-#include "main.h"
+#include "gl_data.h"

 /**
 * @brief 绘制光标
@@ -10,8 +10,17 @@
 */
 void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In)
 {
-    ips200_show_string(0, Curser_Last_In * 16, " ");
-    ips200_show_string(0, Curser_In * 16, ">");
+    // ips200_show_string(0, Curser_Last_In * 18, " ");
+    // ips200_show_string(0, Curser_In * 18, ">");
+
+    for (uint8_t i = 0; i < 160; i++) {
+        ips200_draw_point(10 + i, Curser_Last_In * 18 + 19, IPS200_DEFAULT_BGCOLOR);
+        // system_delay_us(200);
+    }
+    for (uint8_t i = 0; i < 160; i++) {
+        ips200_draw_point(10 + i, Curser_In * 18 + 19, RGB565_WHITE);
+        system_delay_ms(1);
+    }
 }

 /**
@@ -20,9 +29,8 @@ void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In)
 */
 void Print_Menu(const ITEM *item, uint8_t item_sum)
 {
-    ips200_show_string(0, 0, " --return--");
    for (uint8_t i = 0; i < item_sum; i++) {
-        ips200_show_string(8, i * 16 + 16, item[i].text);
+        ips200_show_string(8, i * 18 + 16, item[i].text);
    }
 }

@@ -141,8 +149,10 @@ void Show_Marked_Image(void)

    // 确认边线数组在显示前不会清空
    for (uint i = 0; i < PT_MAXLEN; i++) {
-        ips200_draw_point(START_X + (uint16_t)(mid_right[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_right[i][1] * vertical_zoom_rate), RGB565_GREEN);
-        ips200_draw_point(START_X + (uint16_t)(mid_left[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_left[i][1] * vertical_zoom_rate), RGB565_GREEN);
+        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