From eca0d277522ad557c7d48fbe9e8ad3440b8a0c24 Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Sun, 24 Dec 2023 22:24:21 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E5=9B=BE=E5=83=8F=E4=BB=A3?=
 =?UTF-8?q?=E7=A0=81?=
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---
 .vscode/launch.json | 10 +++----
 app/gl_common.h     |  4 +--
 app/main.c          | 73 +++++++++++++++++++++++++++++++--------------
 3 files changed, 57 insertions(+), 30 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index d4d5714..a467a37 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,13 +5,13 @@
             "cwd": "${workspaceRoot}",
             "type": "cortex-debug",
             "request": "launch",
-            "name": "jlink",
-            "servertype": "jlink",
-            "interface": "swd",
+            "name": "openocd",
+            "servertype": "openocd",
             "executable": "build\\Debug\\violet_firmware_zf.elf",
             "runToEntryPoint": "main",
-            "device": "null",
-            "toolchainPrefix": "riscv-none-embed"
+            "configFiles": [
+                "${workspaceFolder}/tools/wch-riscv.cfg"
+            ]
         }
     ]
 }
\ No newline at end of file
diff --git a/app/gl_common.h b/app/gl_common.h
index 1bd003a..b0e2789 100644
--- a/app/gl_common.h
+++ b/app/gl_common.h
@@ -5,8 +5,8 @@
 
 #define IMAGE_H                     (MT9V03X_H)
 #define IMAGE_W                     (MT9V03X_W)
-#define BEGINH_L                    (61)
-#define BEGINH_R                    (61)
+#define BEGINH_L                    (80)
+#define BEGINH_R                    (80)
 #define BEGINW_L                    (-18)
 #define BEGINW_R                    (-12)
 #define PT_MAXLEN                   (75)
diff --git a/app/main.c b/app/main.c
index 3b0d909..2d99b74 100644
--- a/app/main.c
+++ b/app/main.c
@@ -89,23 +89,29 @@ 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();
+    //mt9v03x_init();
+    // system_delay_ms(2000);
     ips200_init(IPS200_TYPE_SPI);
-    by_gpio_init();
-    by_exit_init();
-    by_pwm_init();
-    cw_servo_init();
-    while (imu660ra_init())
-        ;
+    mt9v03x_init();
+    // by_gpio_init();
+    // by_exit_init();
+    // by_pwm_init();
+    // cw_servo_init();
+    //printf("hello world\n");
+    // while (imu660ra_init())
+    //     ;
 
-    system_delay_ms(2000);
-    gyroOffset_init();
-    pit_ms_init(TIM6_PIT, 2);
+    // system_delay_ms(2000);
+    // gyroOffset_init();
+    // pit_ms_init(TIM6_PIT, 2);
 
     while (1) {
         // while (frame_count < 20) {
@@ -113,36 +119,57 @@ int main(void)
         //      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);
-        //      ips114_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
+        //      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++;
         //  }
 
         //}
         if (mt9v03x_finish_flag) {
-            // ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
             memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
-            // Img_Gray = mt9v03x_image;
-            // mt9v03x_image_copy[0] = Img_Gray[0];
+            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();
+            //get_corners();
 
-            aim_distance = COMMON_AIM;
+            //aim_distance = COMMON_AIM;
 
-            tracking();
+            //tracking();
+            //printf("1\r\n");
+            //system_delay_ms(100);
 
-            ElementJudge();
+            //ElementJudge();
 
-            ElementRun();
+            //ElementRun();
 
-            MidLineTrack();
+            //MidLineTrack();
         }
-        // by_imu_data_get();
-        by_ips_show();
-        system_delay_ms(200);
+        // // by_imu_data_get();
+        // // by_ips_show();
+        // // system_delay_ms(200);
     }
+}
+
+
+
+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;
+    }
+  }
 }
\ No newline at end of file