Merge branch 'master' of http://git.isthmus.tk:441/btl143/firmware_violet_zf
This commit is contained in:
26
app/by_fan_control.c
Normal file
26
app/by_fan_control.c
Normal file
@@ -0,0 +1,26 @@
|
||||
#include "by_fan_control.h"
|
||||
#include "zf_common_headfile.h"
|
||||
|
||||
void by_pwm_init(void)
|
||||
{
|
||||
pwm_init(TIM4_PWM_MAP1_CH1_D12, 10000, 0); // 浮力风扇左
|
||||
pwm_init(TIM4_PWM_MAP1_CH2_D13, 10000, 0); // 浮力风扇右
|
||||
|
||||
pwm_init(TIM4_PWM_MAP1_CH3_D14, 10000, 0); // 动力风扇左
|
||||
pwm_init(TIM4_PWM_MAP1_CH4_D15, 10000, 0); // 动力风扇右
|
||||
}
|
||||
|
||||
void by_pwm_update_duty(uint32_t update_pwm_duty)
|
||||
{
|
||||
if (7000UL > update_pwm_duty) {
|
||||
update_pwm_duty = 7000UL;
|
||||
}
|
||||
pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
|
||||
pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
|
||||
}
|
||||
|
||||
void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)
|
||||
{
|
||||
pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, power_pwm_duty_l);
|
||||
pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, power_pwm_duty_r);
|
||||
}
|
||||
11
app/by_fan_control.h
Normal file
11
app/by_fan_control.h
Normal file
@@ -0,0 +1,11 @@
|
||||
#ifndef _BY_FAN_CONTROL_H_
|
||||
#define _BY_FAN_CONTROL_H_
|
||||
|
||||
#include "stdio.h"
|
||||
#include "ch32v30x.h"
|
||||
|
||||
extern void by_pwm_init(void);
|
||||
extern void by_pwm_update_duty(uint32_t update_pwm_duty);
|
||||
extern void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r);
|
||||
|
||||
#endif
|
||||
27
app/by_pt_button.c
Normal file
27
app/by_pt_button.c
Normal file
@@ -0,0 +1,27 @@
|
||||
#include "by_pt_button.h"
|
||||
#include "zf_common_headfile.h"
|
||||
uint8_t potate_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_FALLING);
|
||||
}
|
||||
|
||||
uint8_t by_get_pb_statu(void)
|
||||
{
|
||||
uint8_t temp_s = potate_button;
|
||||
potate_button = 0;
|
||||
return temp_s;
|
||||
}
|
||||
|
||||
void by_ips_show(void)
|
||||
{
|
||||
ips114_show_string(0, 0, "button statu:");
|
||||
ips114_show_uint(104, 0, by_get_pb_statu(), 1);
|
||||
|
||||
}
|
||||
15
app/by_pt_button.h
Normal file
15
app/by_pt_button.h
Normal file
@@ -0,0 +1,15 @@
|
||||
#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_pb_statu(void);
|
||||
extern void by_ips_show(void);
|
||||
#endif
|
||||
17
app/cw_servo.c
Normal file
17
app/cw_servo.c
Normal file
@@ -0,0 +1,17 @@
|
||||
#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);
|
||||
}
|
||||
20
app/cw_servo.h
Normal file
20
app/cw_servo.h
Normal file
@@ -0,0 +1,20 @@
|
||||
#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
|
||||
334
app/isr.c
334
app/isr.c
@@ -1,73 +1,75 @@
|
||||
/*********************************************************************************************************************
|
||||
* 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>
|
||||
*
|
||||
* 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><E6A3A8> 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>֤
|
||||
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
|
||||
*
|
||||
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
|
||||
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
|
||||
*
|
||||
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
|
||||
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
|
||||
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
|
||||
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
|
||||
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
*
|
||||
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> isr
|
||||
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD><EFBFBD>˾
|
||||
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
|
||||
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
|
||||
* <20><><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
|
||||
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
|
||||
*
|
||||
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|
||||
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|
||||
* 2022-09-15 <20><>W first version
|
||||
********************************************************************************************************************/
|
||||
* 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>
|
||||
*
|
||||
* 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><E6A3A8> 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>֤
|
||||
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|
||||
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
|
||||
*
|
||||
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|
||||
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
|
||||
*
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
*
|
||||
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> isr
|
||||
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD><EFBFBD>˾
|
||||
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
|
||||
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
|
||||
* <20><><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
|
||||
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
|
||||
*
|
||||
* <20>ļ<DEB8>¼
|
||||
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
|
||||
* 2022-09-15 <20><>W first version
|
||||
********************************************************************************************************************/
|
||||
|
||||
#include "zf_common_headfile.h"
|
||||
void NMI_Handler(void) __attribute__((interrupt()));
|
||||
#include "by_pt_button.h"
|
||||
|
||||
void NMI_Handler(void) __attribute__((interrupt()));
|
||||
void HardFault_Handler(void) __attribute__((interrupt()));
|
||||
|
||||
void USART1_IRQHandler(void) __attribute__((interrupt()));
|
||||
void USART2_IRQHandler(void) __attribute__((interrupt()));
|
||||
void USART3_IRQHandler(void) __attribute__((interrupt()));
|
||||
void UART4_IRQHandler (void) __attribute__((interrupt()));
|
||||
void UART5_IRQHandler (void) __attribute__((interrupt()));
|
||||
void UART6_IRQHandler (void) __attribute__((interrupt()));
|
||||
void UART7_IRQHandler (void) __attribute__((interrupt()));
|
||||
void UART8_IRQHandler (void) __attribute__((interrupt()));
|
||||
void DVP_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM1_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM1_UP_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM1_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM1_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM2_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM3_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM4_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM5_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM6_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM7_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM8_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM8_UP_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM8_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM8_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM9_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM9_UP_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM9_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM9_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM10_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM10_UP_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM10_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
//void TIM10_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
void UART4_IRQHandler(void) __attribute__((interrupt()));
|
||||
void UART5_IRQHandler(void) __attribute__((interrupt()));
|
||||
void UART6_IRQHandler(void) __attribute__((interrupt()));
|
||||
void UART7_IRQHandler(void) __attribute__((interrupt()));
|
||||
void UART8_IRQHandler(void) __attribute__((interrupt()));
|
||||
void DVP_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM1_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM1_UP_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM1_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM1_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM2_IRQHandler(void) __attribute__((interrupt()));
|
||||
void TIM3_IRQHandler(void) __attribute__((interrupt()));
|
||||
void TIM4_IRQHandler(void) __attribute__((interrupt()));
|
||||
void TIM5_IRQHandler(void) __attribute__((interrupt()));
|
||||
void TIM6_IRQHandler(void) __attribute__((interrupt()));
|
||||
void TIM7_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM8_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM8_UP_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM8_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM8_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM9_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM9_UP_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM9_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM9_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM10_BRK_IRQHandler (void) __attribute__((interrupt()));
|
||||
void TIM10_UP_IRQHandler(void) __attribute__((interrupt()));
|
||||
// void TIM10_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
|
||||
// void TIM10_CC_IRQHandler (void) __attribute__((interrupt()));
|
||||
|
||||
void EXTI0_IRQHandler(void) __attribute__((interrupt()));
|
||||
void EXTI1_IRQHandler(void) __attribute__((interrupt()));
|
||||
@@ -79,162 +81,134 @@ void EXTI15_10_IRQHandler(void) __attribute__((interrupt()));
|
||||
|
||||
void USART1_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
|
||||
|
||||
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void USART2_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
|
||||
if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
|
||||
|
||||
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void USART3_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
#if DEBUG_UART_USE_INTERRUPT // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
|
||||
debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
|
||||
#endif // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><DEB8><EFBFBD> DEBUG_UART_INDEX <20><><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
|
||||
if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
|
||||
#if DEBUG_UART_USE_INTERRUPT // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
|
||||
debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><D5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
|
||||
#endif // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> DEBUG_UART_INDEX <20><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
|
||||
USART_ClearITPendingBit(USART3, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void UART4_IRQHandler (void)
|
||||
void UART4_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(UART4, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) {
|
||||
|
||||
USART_ClearITPendingBit(UART4, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void UART5_IRQHandler (void)
|
||||
void UART5_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) {
|
||||
camera_uart_handler();
|
||||
USART_ClearITPendingBit(UART5, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void UART6_IRQHandler (void)
|
||||
void UART6_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(UART6, USART_IT_RXNE) != RESET) {
|
||||
|
||||
USART_ClearITPendingBit(UART6, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void UART7_IRQHandler (void)
|
||||
void UART7_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(UART7, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
|
||||
wireless_module_uart_handler();
|
||||
USART_ClearITPendingBit(UART7, USART_IT_RXNE);
|
||||
}
|
||||
}
|
||||
void UART8_IRQHandler (void)
|
||||
void UART8_IRQHandler(void)
|
||||
{
|
||||
if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET)
|
||||
{
|
||||
if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
|
||||
gps_uart_callback();
|
||||
USART_ClearITPendingBit(UART8, USART_IT_RXNE);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void DVP_IRQHandler(void)
|
||||
{
|
||||
if (DVP->IFR & RB_DVP_IF_FRM_DONE)
|
||||
{
|
||||
if (DVP->IFR & RB_DVP_IF_FRM_DONE) {
|
||||
camera_dvp_handler();
|
||||
DVP->IFR &= ~RB_DVP_IF_FRM_DONE;
|
||||
}
|
||||
}
|
||||
void EXTI0_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line0))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line0)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line0);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void EXTI1_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line1))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line1)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line1);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void EXTI2_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line2))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line2)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line2);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void EXTI3_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line3))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line3)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line3);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void EXTI4_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line4))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line4)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line4);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void EXTI9_5_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line5))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line5)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line5);
|
||||
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line6))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line6)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line6);
|
||||
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line7))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line7)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line7);
|
||||
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line8))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line8)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line8);
|
||||
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line9))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line9);
|
||||
if (SET == gpio_get_level(E10)) {
|
||||
potate_button = POTATE_BUTTOM_BACKWARD;
|
||||
|
||||
} else {
|
||||
potate_button = POTATE_BUTTOM_FOREWARD;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void EXTI15_10_IRQHandler(void)
|
||||
{
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line10))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line10)) {
|
||||
|
||||
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A10/B10..E10) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
|
||||
|
||||
@@ -242,18 +216,18 @@ void EXTI15_10_IRQHandler(void)
|
||||
|
||||
EXTI_ClearITPendingBit(EXTI_Line10);
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line11))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line11)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line11);
|
||||
|
||||
system_delay_us(200);
|
||||
if (SET == !gpio_get_level(E11)) {
|
||||
potate_button = POTATE_BUTTOM_PRESS;
|
||||
}
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line12))
|
||||
{
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line12)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line12);
|
||||
|
||||
}
|
||||
if(SET == EXTI_GetITStatus(EXTI_Line13))
|
||||
{
|
||||
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> *-----------------
|
||||
@@ -262,17 +236,14 @@ void EXTI15_10_IRQHandler(void)
|
||||
// <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))
|
||||
{
|
||||
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))
|
||||
{
|
||||
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> *-----------------
|
||||
@@ -280,108 +251,76 @@ void EXTI15_10_IRQHandler(void)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TIM1_UP_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TIM2_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM2, TIM_IT_Update );
|
||||
|
||||
|
||||
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM3_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM3, TIM_IT_Update );
|
||||
|
||||
|
||||
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM4_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM4, TIM_IT_Update );
|
||||
|
||||
|
||||
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM5_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM5, TIM_IT_Update );
|
||||
|
||||
|
||||
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM6_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM6, TIM_IT_Update );
|
||||
|
||||
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM7_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET)
|
||||
{
|
||||
TIM_ClearITPendingBit(TIM7, TIM_IT_Update );
|
||||
|
||||
|
||||
if (TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TIM8_UP_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TIM9_UP_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM9, TIM_IT_Update);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TIM10_UP_IRQHandler(void)
|
||||
{
|
||||
if(TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET) {
|
||||
TIM_ClearITPendingBit(TIM10, TIM_IT_Update);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//.section .text.vector_handler, "ax", @progbits
|
||||
|
||||
// .weak EXTI0_IRQHandler /* EXTI Line 0 */
|
||||
@@ -468,26 +407,23 @@ void TIM10_UP_IRQHandler(void)
|
||||
// .weak DMA2_Channel11_IRQHandler /* DMA2 Channel 11 */
|
||||
|
||||
/*******************************************************************************
|
||||
* Function Name : NMI_Handler
|
||||
* Description : This function handles NMI exception.
|
||||
* Input : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
* Function Name : NMI_Handler
|
||||
* Description : This function handles NMI exception.
|
||||
* Input : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
void NMI_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
* Function Name : HardFault_Handler
|
||||
* Description : This function handles Hard Fault exception.
|
||||
* Input : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
* Function Name : HardFault_Handler
|
||||
* Description : This function handles Hard Fault exception.
|
||||
* Input : None
|
||||
* Return : None
|
||||
*******************************************************************************/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
while (1) {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
44
app/main.c
44
app/main.c
@@ -34,6 +34,9 @@
|
||||
********************************************************************************************************************/
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_headfile.h"
|
||||
#include "cw_servo.h"
|
||||
#include "by_pt_button.h"
|
||||
#include "by_fan_control.h"
|
||||
|
||||
uint8 (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8 <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
|
||||
//uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
|
||||
@@ -49,7 +52,6 @@ float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
|
||||
sint32 mid_left_count, mid_right_count;
|
||||
|
||||
|
||||
|
||||
//<2F><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
|
||||
float angle_new_left[PT_MAXLEN];
|
||||
float angle_new_right[PT_MAXLEN];
|
||||
@@ -88,15 +90,18 @@ 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);
|
||||
void threshold(uint8_t *img_data, uint8_t *output_data, int width, int height, int thres);
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
clock_init(SYSTEM_CLOCK_120M); // <20><>ʼ<EFBFBD><CABC>оƬʱ<C6AC><CAB1> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
|
||||
debug_init(); // <20><><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC>MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
|
||||
ips114_init();
|
||||
mt9v03x_init();
|
||||
ips114_init();
|
||||
by_gpio_init();
|
||||
by_exit_init();
|
||||
by_pwm_init();
|
||||
cw_servo_init();
|
||||
|
||||
while (1) {
|
||||
//while (frame_count < 20) {
|
||||
@@ -138,33 +143,4 @@ int main(void)
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
void threshold(uint8_t *img_data, uint8_t *output_data, int width, int height, int thres){
|
||||
for(int y=0; y<height; y++){
|
||||
for(int x=0; x<width; x++){
|
||||
output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
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++){
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD><D6B2><EFBFBD>ֵ
|
||||
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;
|
||||
// <20><><EFBFBD>ж<EFBFBD>ֵ<EFBFBD><D6B5>
|
||||
output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
|
||||
}
|
||||
}
|
||||
}*/
|
||||
}
|
||||
Reference in New Issue
Block a user