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Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

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This commit is contained in:
bmy
2024-03-02 16:13:54 +08:00
parent c03d2ddc74 0b9db20066
commit f1c0b63d21
42 changed files with 575 additions and 2161 deletions
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9
app/by_fan_control.c
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@@ -42,7 +42,14 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
pwm_set_duty(Fan_pwm_up1, update_pwm_duty1);
pwm_set_duty(Fan_pwm_up2, update_pwm_duty2);
}
/**
* @brief
*
* @param power_pwm_duty_l1 左转向风扇
* @param power_pwm_duty_r1 右转向风扇
* @param power_pwm_duty_l2 左驱动风扇
* @param power_pwm_duty_r2 右驱动风扇
*/
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)
{

163
app/gl_circle.c
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@@ -1,163 +0,0 @@
#include "zf_common_headfile.h"
#include "gl_headfile.h"
enum circle_type_e circle_type = CIRCLE_NONE;
int32_t Left_Border_None_Circle = 0;
int32_t Right_Border_None_Circle = 0;
int32_t Left_Border_Have_Circle = 0;
int32_t Right_Border_Have_Circle = 0;
int32_t Left_Border_ToLeft_Circle = 0;
int32_t Right_Border_ToLeft_Circle = 0;
int32_t Left_Border_ToRight_Circle = 0;
int32_t Right_Border_ToRight_Circle = 0;
void CheckCircle() {
// 非圆环模式下，单边L角点, 单边长直道
if (circle_type == CIRCLE_NONE && Lpt0_found && !Lpt1_found && is_straight1) {
circle_type = CIRCLE_LEFT_BEGIN;
}
if (circle_type == CIRCLE_NONE && !Lpt0_found && Lpt1_found && is_straight0) {
circle_type = CIRCLE_RIGHT_BEGIN;
}
}
void RunCircle() {
if (circle_type == CIRCLE_LEFT_BEGIN) // 左环开始，寻外直道右线
{
track_type = TRACK_RIGHT;
// 先丢左线后有线
if (pts_resample_left_count < 0.1 / RESAMPLEDIST) {
Left_Border_None_Circle++;
}
if (pts_resample_left_count > 0.5 / RESAMPLEDIST &&Left_Border_None_Circle > FRAMENONE) {
Left_Border_Have_Circle++;
if (Left_Border_Have_Circle > FRAMENONE) {
circle_type = CIRCLE_LEFT_IN;
Left_Border_None_Circle = 0;
Left_Border_Have_Circle = 0;
}
}
} else if (circle_type == CIRCLE_LEFT_IN) // 入环，寻内圆左线
{
track_type = TRACK_LEFT;
if (pts_resample_right[(int32_t)(0.2 / RESAMPLEDIST)][1] -
pts_resample_right[0][1] <
-2) {
Right_Border_ToLeft_Circle++;
}
if (Right_Border_ToLeft_Circle > FRAMETOLEFT) {
circle_type = CIRCLE_LEFT_RUNNING;
Right_Border_ToLeft_Circle = 0;
}
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{
// Track_Type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
}
if (Lpt1_found && Lpt1_rpts1s_id < 0.4 / RESAMPLEDIST) {
circle_type = CIRCLE_LEFT_OUT;
}
} else if (circle_type == CIRCLE_LEFT_OUT) // 出环，寻内圆
{
track_type = TRACK_LEFT;
if (is_straight1) // 右线为长直道
{
circle_type = CIRCLE_LEFT_END;
}
} else if (circle_type == CIRCLE_LEFT_END) // 走过圆环，寻右线
{
track_type = TRACK_RIGHT;
if (pts_resample_left_count < 0.2 / RESAMPLEDIST) // 左线先丢后有
{
Left_Border_None_Circle++;
}
if (pts_resample_left_count > 0.6 / RESAMPLEDIST &&
Left_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE;
Left_Border_None_Circle = 0;
Left_Border_Have_Circle = 0;
Right_Border_ToLeft_Circle = 0;
Right_Border_ToRight_Circle = 0;
}
} else if (circle_type == CIRCLE_RIGHT_BEGIN) // 右环控制，前期寻左直道
{
track_type = TRACK_LEFT;
// 先丢右线后有线
if (pts_resample_right_count < 0.3 / RESAMPLEDIST) {
Right_Border_None_Circle++;
}
if (pts_resample_right_count > 0.5 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
Right_Border_Have_Circle++;
if (Right_Border_Have_Circle > FRAMENONE) {
circle_type = CIRCLE_RIGHT_IN;
Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0;
}
}
} else if (circle_type == CIRCLE_RIGHT_IN) // 入右环，寻右内圆环
{
track_type = TRACK_RIGHT;
if (pts_resample_left[(int32_t)(0.2 / RESAMPLEDIST)][1] -
pts_resample_left[0][1] >
2) {
Left_Border_ToRight_Circle++;
}
if (Left_Border_ToRight_Circle > FRAMETORIGHT) {
circle_type = CIRCLE_RIGHT_RUNNING;
Left_Border_ToRight_Circle = 0;
}
} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{
// track_type = TRACK_LEFT;
track_type = TRACK_RIGHT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
{
pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;
}
if (Lpt0_found && Lpt0_rpts0s_id < 0.4 / RESAMPLEDIST) {
circle_type = CIRCLE_RIGHT_OUT;
}
} else if (circle_type == CIRCLE_RIGHT_OUT) // 出环，寻内圆
{
track_type = TRACK_RIGHT;
if (is_straight0) // 加个有线长度判断
{
circle_type = CIRCLE_RIGHT_END;
}
} else if (circle_type == CIRCLE_RIGHT_END) // 走过圆环，寻左线
{
track_type = TRACK_LEFT;
if (pts_resample_right_count < 0.2 / RESAMPLEDIST) // 左线先丢后有
{
Right_Border_None_Circle++;
}
if (pts_resample_right_count > 0.7 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE;
Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0;
Left_Border_ToLeft_Circle = 0;
Left_Border_ToRight_Circle = 0;
}
}
}

24
app/gl_circle.h
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@@ -1,24 +0,0 @@
#ifndef CIRCLE
#define CIRCLE
enum circle_type_e {
CIRCLE_NONE, // 非圆环模式
CIRCLE_LEFT_BEGIN,
CIRCLE_RIGHT_BEGIN, // 圆环开始，识别到单侧L角点另一侧长直道。
CIRCLE_LEFT_IN,
CIRCLE_RIGHT_IN, // 圆环进入，即走到一侧直道，一侧圆环的位置。
CIRCLE_LEFT_RUNNING,
CIRCLE_RIGHT_RUNNING, // 圆环内部。
CIRCLE_LEFT_OUT,
CIRCLE_RIGHT_OUT, // 准备出圆环，即识别到出环处的L角点。
CIRCLE_LEFT_END,
CIRCLE_RIGHT_END // 圆环结束，即再次走到单侧直道的位置。
};
extern enum circle_type_e circle_type;
void CheckCircle(void);
void RunCircle(void);
#endif /* COMMON_H_ */

15
app/gl_common.c
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@@ -1,15 +0,0 @@
#include "zf_common_headfile.h"
#include "gl_headfile.h"
int32_t limit(int32_t x, int32_t low, int32_t up)
{
return x > up ? up : x < low ? low : x;
}
int clip(int x, int low, int up) {
return x > up ? up : x < low ? low : x;
}
float fclip(float x, float low, float up) {
return x > up ? up : x < low ? low : x;
}

29
app/gl_common.h
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@@ -1,29 +0,0 @@
#ifndef COMMON_H_
#define COMMON_H_
#define IMAGE_H (MT9V03X_H)
#define IMAGE_W (MT9V03X_W)
#define BEGINH_L (50)
#define BEGINH_R (50)
#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)
#define PIXEL_PER_METER (100)
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);
#endif /* COMMON_H_ */

219
app/gl_cross.c
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@@ -1,219 +0,0 @@
#include "zf_common_headfile.h"
#include "gl_headfile.h"
enum cross_type_e cross_type = CROSS_NONE;
bool far_Lpt0_found, far_Lpt1_found;
int32_t Both_Boder_None_Cross;
int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
void CheckCross() {
bool Xfound = Lpt0_found && Lpt1_found;
if (cross_type == CROSS_NONE && Xfound){
cross_type = CROSS_BEGIN;
}
}
void RunCross() {
bool Xfound = Lpt0_found && Lpt1_found;
aim_distance = 0.4;
//检测到十字，先按照近线走
if (cross_type == CROSS_BEGIN) {
if (Lpt0_found) {
mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
track_type = TRACK_LEFT;
}
else if(Lpt1_found) {
mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
track_type = TRACK_RIGHT;
}
//近角点过少，进入远线控制
if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST && Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count <20 && pts_resample_right_count<20)) {
cross_type = CROSS_IN;
}
}
//远线控制进十字,begin_y渐变靠近防丢线
if (cross_type == CROSS_IN) {
//寻远线,算法与近线相同
cross_farline();
if (pts_resample_left_count < 5 && pts_resample_right_count < 5) {
Both_Boder_None_Cross++;
}
if (Both_Boder_None_Cross > 2 && pts_resample_left_count > 20 && pts_resample_right_count > 20) {
cross_type = CROSS_NONE;
Both_Boder_None_Cross = 0;
}
if (far_Lpt1_found) { track_type = TRACK_RIGHT; }
else if (far_Lpt0_found) { track_type = TRACK_LEFT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_right_count < 5) { track_type = TRACK_RIGHT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_left_count < 5) { track_type = TRACK_LEFT; }
}
}
void cross_farline(){
int cross_width = 4;
int far_y1 = 0, far_y2 = 0;
int far_x1 = 0, far_x2 = 0;
bool white_found = false;
pts_far_left_count = sizeof(pts_far_left) / sizeof(pts_far_left[0]);
int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
for(;w1>cross_width*2; w1--)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
far_x1 = w1 - cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x1 <= 20)
{
far_x1 = 20;
}
for (; h1 > 0; h1--) {
//先黑后白，先找white
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, far_x1) >= FIX_BINTHRESHOLD) { white_found = true; }
if (GET_PIX_1C(mt9v03x_image_copy[0], h1 - 1, far_x1) < FIX_BINTHRESHOLD && white_found) {
far_y1 = h1;
break;
}
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y1, far_x1) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y1, far_x1, pts_far_left, &pts_far_left_count);
}
else pts_far_left_count = 0;
int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
white_found = false;
pts_far_right_count = sizeof(pts_far_right) / sizeof(pts_far_right[0]);
for(;w2 < IMAGE_W - cross_width*2; w2++)
{
if(GET_PIX_1C(mt9v03x_image_copy[0], h2, w2 + 1) < FIX_BINTHRESHOLD) {
far_x2 = w2 + cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x2 >= 100)
{
far_x2 = 100;
}
for (; h2 > 0; h2--) {
//先黑后白，先找white
if (GET_PIX_1C(mt9v03x_image_copy[0], h2, far_x2) >= FIX_BINTHRESHOLD) { white_found = true; }
if (GET_PIX_1C(mt9v03x_image_copy[0], h2 - 1, far_x2) < FIX_BINTHRESHOLD && white_found) {
far_y2 = h2;
break;
}
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y2, far_x2) >= FIX_BINTHRESHOLD){
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y2, far_x2, pts_far_right, &pts_far_right_count);
}
else pts_far_right_count = 0;
//透视变换
for (int i = 0; i < pts_far_left_count; i++) {
pts_far_inv_l[i][1] = fclip(InverseMapW[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_W);
pts_far_inv_l[i][0] = fclip(InverseMapH[pts_far_left[i][0]][pts_far_left[i][1]],0,IMAGE_H);
}
pts_far_inv_l_count = pts_far_left_count;
for (int i = 0; i < pts_far_right_count; i++) {
pts_far_inv_r[i][1] = fclip(InverseMapW[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_W);
pts_far_inv_r[i][0] = fclip(InverseMapH[pts_far_right[i][0]][pts_far_right[i][1]],0,IMAGE_H);
}
pts_far_inv_r_count = pts_far_right_count;
// 边线滤波
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;
}
}
}

19
app/gl_cross.h
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@@ -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_ */

95
app/gl_data.c
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@@ -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
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@@ -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

52
app/gl_garage.c
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@@ -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");
}
}

24
app/gl_garage.h
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@@ -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_ */

86
app/gl_get_corners.c
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@@ -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;
}
}

8
app/gl_get_corners.h
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@@ -1,8 +0,0 @@
#ifndef GET_CORNERS
#define GET_CORNERS
void get_corners(void);
#endif /* COMMON_H_ */

239
app/gl_handle_img.c
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@@ -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
}

15
app/gl_handle_img.h
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@@ -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_ */

18
app/gl_headfile.h
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@@ -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_ */

111
app/gl_img_process.c
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#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;
}

10
app/gl_img_process.h
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#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_ */

4
app/gl_state.c
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#include "gl_state.h"
#include "gl_headfile.h"
enum state_type_e state_type =0;

28
app/gl_state.h
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#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_ */

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app/gl_tracking.c
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#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 ;
}
}

11
app/gl_tracking.h
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#ifndef TRACKING
#define TRACKING
void tracking(void);
void ElementJudge(void);
void ElementRun(void);
void MidLineTrack(void);
#endif /* STATE_H_ */

190
app/gl_transform_table.c
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#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},
{-7.29, -7.23, -7.18, -7.12, -7.07, -7.01, -6.96, -6.90, -6.85, -6.79, -6.74, -6.68, -6.63, -6.58, -6.52, -6.47, -6.42, -6.36, -6.31, -6.26, -6.20, -6.15, -6.10, -6.04, -5.99, -5.94, -5.89, -5.84, -5.78, -5.73, -5.68, -5.63, -5.58, -5.53, -5.47, -5.42, -5.37, -5.32, -5.27, -5.22, -5.17, -5.12, -5.07, -5.02, -4.97, -4.92, -4.87, -4.82, -4.77, -4.72, -4.67, -4.63, -4.58, -4.53, -4.48, -4.43, -4.38, -4.33, -4.29, -4.24, -4.19, -4.14, -4.10, -4.05, -4.00, -3.95, -3.91, -3.86, -3.81, -3.77, -3.72, -3.67, -3.63, -3.58, -3.53, -3.49, -3.44, -3.40, -3.35, -3.30, -3.26, -3.21, -3.17, -3.12, -3.08, -3.03, -2.99, -2.94, -2.90, -2.85, -2.81, -2.77, -2.72, -2.68, -2.63, -2.59, -2.55, -2.50, -2.46, -2.41, -2.37, -2.33, -2.28, -2.24, -2.20, -2.16, -2.11, -2.07, -2.03, -1.99, -1.94, -1.90, -1.86, -1.82, -1.77, -1.73, -1.69, -1.65, -1.61, -1.57, -1.52, -1.48, -1.44, -1.40, -1.36, -1.32, -1.28, -1.24, -1.20, -1.16, -1.12, -1.08, -1.04, -1.00, -0.96, -0.92, -0.88, -0.84, -0.80, -0.76},
{-2.71, -2.66, -2.61, -2.57, -2.52, -2.47, -2.43, -2.38, -2.33, -2.28, -2.24, -2.19, -2.14, -2.10, -2.05, -2.01, -1.96, -1.91, -1.87, -1.82, -1.78, -1.73, -1.69, -1.64, -1.60, -1.55, -1.51, -1.46, -1.42, -1.37, -1.33, -1.28, -1.24, -1.20, -1.15, -1.11, -1.07, -1.02, -0.98, -0.94, -0.89, -0.85, -0.81, -0.76, -0.72, -0.68, -0.63, -0.59, -0.55, -0.51, -0.47, -0.42, -0.38, -0.34, -0.30, -0.26, -0.21, -0.17, -0.13, -0.09, -0.05, -0.01, 0.03, 0.07, 0.12, 0.16, 0.20, 0.24, 0.28, 0.32, 0.36, 0.40, 0.44, 0.48, 0.52, 0.56, 0.60, 0.64, 0.68, 0.72, 0.75, 0.79, 0.83, 0.87, 0.91, 0.95, 0.99, 1.03, 1.07, 1.10, 1.14, 1.18, 1.22, 1.26, 1.29, 1.33, 1.37, 1.41, 1.45, 1.48, 1.52, 1.56, 1.60, 1.63, 1.67, 1.71, 1.74, 1.78, 1.82, 1.85, 1.89, 1.93, 1.96, 2.00, 2.04, 2.07, 2.11, 2.15, 2.18, 2.22, 2.25, 2.29, 2.32, 2.36, 2.40, 2.43, 2.47, 2.50, 2.54, 2.57, 2.61, 2.64, 2.68, 2.71, 2.75, 2.78, 2.81, 2.85, 2.88, 2.92},
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{84.90, 84.89, 84.87, 84.85, 84.83, 84.81, 84.80, 84.78, 84.76, 84.74, 84.73, 84.71, 84.69, 84.67, 84.66, 84.64, 84.62, 84.60, 84.59, 84.57, 84.55, 84.53, 84.51, 84.50, 84.48, 84.46, 84.44, 84.43, 84.41, 84.39, 84.38, 84.36, 84.34, 84.32, 84.31, 84.29, 84.27, 84.25, 84.24, 84.22, 84.20, 84.18, 84.17, 84.15, 84.13, 84.11, 84.10, 84.08, 84.06, 84.05, 84.03, 84.01, 83.99, 83.98, 83.96, 83.94, 83.93, 83.91, 83.89, 83.87, 83.86, 83.84, 83.82, 83.81, 83.79, 83.77, 83.76, 83.74, 83.72, 83.70, 83.69, 83.67, 83.65, 83.64, 83.62, 83.60, 83.59, 83.57, 83.55, 83.54, 83.52, 83.50, 83.48, 83.47, 83.45, 83.43, 83.42, 83.40, 83.38, 83.37, 83.35, 83.33, 83.32, 83.30, 83.28, 83.27, 83.25, 83.23, 83.22, 83.20, 83.18, 83.17, 83.15, 83.13, 83.12, 83.10, 83.08, 83.07, 83.05, 83.03, 83.02, 83.00, 82.99, 82.97, 82.95, 82.94, 82.92, 82.90, 82.89, 82.87, 82.85, 82.84, 82.82, 82.80, 82.79, 82.77, 82.76, 82.74, 82.72, 82.71, 82.69, 82.67, 82.66, 82.64, 82.63, 82.61, 82.59, 82.58, 82.56, 82.54},
{85.22, 85.20, 85.18, 85.16, 85.15, 85.13, 85.11, 85.09, 85.08, 85.06, 85.04, 85.02, 85.01, 84.99, 84.97, 84.95, 84.94, 84.92, 84.90, 84.88, 84.87, 84.85, 84.83, 84.81, 84.80, 84.78, 84.76, 84.74, 84.73, 84.71, 84.69, 84.67, 84.66, 84.64, 84.62, 84.60, 84.59, 84.57, 84.55, 84.54, 84.52, 84.50, 84.48, 84.47, 84.45, 84.43, 84.42, 84.40, 84.38, 84.36, 84.35, 84.33, 84.31, 84.30, 84.28, 84.26, 84.24, 84.23, 84.21, 84.19, 84.18, 84.16, 84.14, 84.12, 84.11, 84.09, 84.07, 84.06, 84.04, 84.02, 84.01, 83.99, 83.97, 83.96, 83.94, 83.92, 83.91, 83.89, 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, 83.55, 83.54, 83.52, 83.50, 83.49, 83.47, 83.45, 83.44, 83.42, 83.41, 83.39, 83.37, 83.36, 83.34, 83.32, 83.31, 83.29, 83.27, 83.26, 83.24, 83.22, 83.21, 83.19, 83.18, 83.16, 83.14, 83.13, 83.11, 83.09, 83.08, 83.06, 83.04, 83.03, 83.01, 83.00, 82.98, 82.96, 82.95, 82.93, 82.92, 82.90, 82.88, 82.87},
{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}
};
const float InverseMapW[80][140] = {
{-43.41, -41.64, -39.87, -38.10, -36.34, -34.58, -32.83, -31.09, -29.34, -27.61, -25.88, -24.15, -22.43, -20.72, -19.00, -17.30, -15.60, -13.90, -12.21, -10.52, -8.84, -7.16, -5.49, -3.82, -2.16, -0.50, 1.15, 2.80, 4.44, 6.08, 7.72, 9.35, 10.97, 12.60, 14.21, 15.82, 17.43, 19.04, 20.63, 22.23, 23.82, 25.40, 26.99, 28.56, 30.13, 31.70, 33.27, 34.83, 36.38, 37.93, 39.48, 41.02, 42.56, 44.10, 45.63, 47.15, 48.67, 50.19, 51.70, 53.21, 54.72, 56.22, 57.72, 59.21, 60.70, 62.19, 63.67, 65.15, 66.62, 68.09, 69.55, 71.02, 72.47, 73.93, 75.38, 76.82, 78.27, 79.71, 81.14, 82.57, 84.00, 85.42, 86.84, 88.26, 89.67, 91.08, 92.49, 93.89, 95.29, 96.68, 98.07, 99.46, 100.84, 102.22, 103.60, 104.97, 106.34, 107.71, 109.07, 110.43, 111.78, 113.14, 114.48, 115.83, 117.17, 118.51, 119.84, 121.18, 122.50, 123.83, 125.15, 126.47, 127.78, 129.10, 130.40, 131.71, 133.01, 134.31, 135.60, 136.90, 138.18, 139.47, 140.75, 142.03, 143.31, 144.58, 145.85, 147.12, 148.38, 149.64, 150.90, 152.15, 153.40, 154.65, 155.90, 157.14, 158.38, 159.61, 160.84, 162.07},
{-38.86, -37.16, -35.46, -33.77, -32.09, -30.41, -28.73, -27.06, -25.39, -23.73, -22.07, -20.42, -18.77, -17.13, -15.49, -13.85, -12.22, -10.60, -8.97, -7.36, -5.75, -4.14, -2.53, -0.93, 0.66, 2.25, 3.84, 5.42, 7.00, 8.57, 10.14, 11.70, 13.27, 14.82, 16.37, 17.92, 19.47, 21.01, 22.54, 24.07, 25.60, 27.13, 28.65, 30.16, 31.67, 33.18, 34.68, 36.18, 37.68, 39.17, 40.66, 42.14, 43.62, 45.10, 46.57, 48.04, 49.50, 50.96, 52.42, 53.87, 55.32, 56.77, 58.21, 59.65, 61.08, 62.51, 63.94, 65.36, 66.78, 68.20, 69.61, 71.02, 72.43, 73.83, 75.23, 76.62, 78.01, 79.40, 80.78, 82.16, 83.54, 84.92, 86.29, 87.65, 89.02, 90.37, 91.73, 93.08, 94.43, 95.78, 97.12, 98.46, 99.80, 101.13, 102.46, 103.79, 105.11, 106.43, 107.75, 109.06, 110.37, 111.68, 112.98, 114.28, 115.58, 116.87, 118.16, 119.45, 120.73, 122.01, 123.29, 124.57, 125.84, 127.11, 128.37, 129.64, 130.90, 132.15, 133.41, 134.66, 135.90, 137.15, 138.39, 139.63, 140.86, 142.10, 143.33, 144.55, 145.78, 147.00, 148.22, 149.43, 150.64, 151.85, 153.06, 154.26, 155.46, 156.66, 157.86, 159.05},
{-34.65, -33.02, -31.39, -29.77, -28.16, -26.55, -24.94, -23.34, -21.74, -20.14, -18.55, -16.97, -15.38, -13.81, -12.23, -10.66, -9.10, -7.54, -5.98, -4.43, -2.88, -1.34, 0.20, 1.74, 3.27, 4.80, 6.33, 7.85, 9.36, 10.87, 12.38, 13.89, 15.39, 16.89, 18.38, 19.87, 21.35, 22.83, 24.31, 25.79, 27.26, 28.72, 30.18, 31.64, 33.10, 34.55, 36.00, 37.44, 38.88, 40.32, 41.75, 43.18, 44.61, 46.03, 47.45, 48.86, 50.27, 51.68, 53.09, 54.49, 55.88, 57.28, 58.67, 60.06, 61.44, 62.82, 64.20, 65.57, 66.94, 68.30, 69.67, 71.03, 72.38, 73.74, 75.09, 76.43, 77.78, 79.12, 80.45, 81.79, 83.12, 84.44, 85.77, 87.09, 88.40, 89.72, 91.03, 92.33, 93.64, 94.94, 96.24, 97.53, 98.82, 100.11, 101.40, 102.68, 103.96, 105.24, 106.51, 107.78, 109.05, 110.31, 111.57, 112.83, 114.09, 115.34, 116.59, 117.84, 119.08, 120.32, 121.56, 122.79, 124.02, 125.25, 126.48, 127.70, 128.92, 130.14, 131.35, 132.57, 133.77, 134.98, 136.18, 137.38, 138.58, 139.78, 140.97, 142.16, 143.35, 144.53, 145.71, 146.89, 148.07, 149.24, 150.41, 151.58, 152.74, 153.90, 155.06, 156.22},
{-30.75, -29.19, -27.63, -26.07, -24.52, -22.97, -21.43, -19.89, -18.35, -16.82, -15.29, -13.77, -12.24, -10.73, -9.22, -7.71, -6.20, -4.70, -3.20, -1.71, -0.22, 1.26, 2.75, 4.22, 5.70, 7.17, 8.64, 10.10, 11.56, 13.02, 14.47, 15.92, 17.36, 18.80, 20.24, 21.68, 23.11, 24.53, 25.96, 27.38, 28.79, 30.21, 31.62, 33.02, 34.43, 35.82, 37.22, 38.61, 40.00, 41.39, 42.77, 44.15, 45.52, 46.90, 48.26, 49.63, 50.99, 52.35, 53.71, 55.06, 56.41, 57.75, 59.09, 60.43, 61.77, 63.10, 64.43, 65.76, 67.08, 68.40, 69.72, 71.03, 72.34, 73.65, 74.96, 76.26, 77.55, 78.85, 80.14, 81.43, 82.72, 84.00, 85.28, 86.56, 87.83, 89.10, 90.37, 91.63, 92.90, 94.16, 95.41, 96.67, 97.92, 99.16, 100.41, 101.65, 102.89, 104.12, 105.36, 106.59, 107.81, 109.04, 110.26, 111.48, 112.70, 113.91, 115.12, 116.33, 117.53, 118.73, 119.93, 121.13, 122.32, 123.52, 124.70, 125.89, 127.07, 128.25, 129.43, 130.61, 131.78, 132.95, 134.12, 135.28, 136.44, 137.60, 138.76, 139.92, 141.07, 142.22, 143.36, 144.51, 145.65, 146.79, 147.92, 149.06, 150.19, 151.32, 152.45, 153.57},
{-27.13, -25.62, -24.12, -22.63, -21.13, -19.64, -18.16, -16.68, -15.20, -13.73, -12.26, -10.79, -9.32, -7.87, -6.41, -4.96, -3.51, -2.06, -0.62, 0.82, 2.25, 3.68, 5.11, 6.54, 7.96, 9.37, 10.79, 12.20, 13.61, 15.01, 16.41, 17.81, 19.20, 20.59, 21.98, 23.36, 24.74, 26.12, 27.49, 28.86, 30.23, 31.59, 32.95, 34.31, 35.66, 37.01, 38.36, 39.71, 41.05, 42.38, 43.72, 45.05, 46.38, 47.70, 49.03, 50.35, 51.66, 52.97, 54.28, 55.59, 56.90, 58.20, 59.49, 60.79, 62.08, 63.37, 64.65, 65.94, 67.22, 68.49, 69.77, 71.04, 72.31, 73.57, 74.83, 76.09, 77.35, 78.60, 79.85, 81.10, 82.34, 83.59, 84.83, 86.06, 87.30, 88.53, 89.75, 90.98, 92.20, 93.42, 94.64, 95.85, 97.06, 98.27, 99.48, 100.68, 101.88, 103.08, 104.28, 105.47, 106.66, 107.85, 109.03, 110.21, 111.39, 112.57, 113.74, 114.91, 116.08, 117.25, 118.41, 119.57, 120.73, 121.89, 123.04, 124.19, 125.34, 126.49, 127.63, 128.77, 129.91, 131.05, 132.18, 133.31, 134.44, 135.56, 136.69, 137.81, 138.93, 140.04, 141.16, 142.27, 143.38, 144.49, 145.59, 146.69, 147.79, 148.89, 149.98, 151.08},
{-23.75, -22.31, -20.86, -19.42, -17.98, -16.55, -15.12, -13.69, -12.26, -10.84, -9.43, -8.01, -6.60, -5.20, -3.79, -2.39, -0.99, 0.40, 1.79, 3.18, 4.56, 5.94, 7.32, 8.69, 10.06, 11.43, 12.80, 14.16, 15.52, 16.87, 18.22, 19.57, 20.92, 22.26, 23.60, 24.93, 26.27, 27.60, 28.92, 30.25, 31.57, 32.89, 34.20, 35.51, 36.82, 38.13, 39.43, 40.73, 42.02, 43.32, 44.61, 45.89, 47.18, 48.46, 49.74, 51.02, 52.29, 53.56, 54.83, 56.09, 57.35, 58.61, 59.87, 61.12, 62.37, 63.62, 64.86, 66.10, 67.34, 68.58, 69.81, 71.04, 72.27, 73.50, 74.72, 75.94, 77.15, 78.37, 79.58, 80.79, 82.00, 83.20, 84.40, 85.60, 86.79, 87.99, 89.18, 90.37, 91.55, 92.73, 93.91, 95.09, 96.27, 97.44, 98.61, 99.77, 100.94, 102.10, 103.26, 104.42, 105.57, 106.72, 107.87, 109.02, 110.17, 111.31, 112.45, 113.59, 114.72, 115.85, 116.98, 118.11, 119.24, 120.36, 121.48, 122.60, 123.71, 124.83, 125.94, 127.04, 128.15, 129.25, 130.36, 131.46, 132.55, 133.65, 134.74, 135.83, 136.92, 138.00, 139.08, 140.17, 141.24, 142.32, 143.39, 144.47, 145.54, 146.60, 147.67, 148.73},
{-20.61, -19.21, -17.82, -16.43, -15.04, -13.65, -12.27, -10.90, -9.52, -8.15, -6.78, -5.42, -4.06, -2.70, -1.34, 0.01, 1.36, 2.70, 4.04, 5.38, 6.72, 8.05, 9.39, 10.71, 12.04, 13.36, 14.68, 15.99, 17.30, 18.61, 19.92, 21.22, 22.52, 23.82, 25.12, 26.41, 27.70, 28.98, 30.27, 31.55, 32.82, 34.10, 35.37, 36.64, 37.90, 39.17, 40.43, 41.68, 42.94, 44.19, 45.44, 46.69, 47.93, 49.17, 50.41, 51.64, 52.88, 54.11, 55.33, 56.56, 57.78, 59.00, 60.22, 61.43, 62.64, 63.85, 65.06, 66.26, 67.46, 68.66, 69.85, 71.05, 72.24, 73.42, 74.61, 75.79, 76.97, 78.15, 79.33, 80.50, 81.67, 82.84, 84.00, 85.16, 86.32, 87.48, 88.64, 89.79, 90.94, 92.09, 93.23, 94.37, 95.51, 96.65, 97.79, 98.92, 100.05, 101.18, 102.31, 103.43, 104.55, 105.67, 106.79, 107.90, 109.01, 110.12, 111.23, 112.34, 113.44, 114.54, 115.64, 116.73, 117.83, 118.92, 120.01, 121.09, 122.18, 123.26, 124.34, 125.42, 126.49, 127.57, 128.64, 129.71, 130.77, 131.84, 132.90, 133.96, 135.02, 136.08, 137.13, 138.18, 139.23, 140.28, 141.32, 142.37, 143.41, 144.45, 145.48, 146.52},
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{41.48, 41.90, 42.33, 42.76, 43.19, 43.62, 44.04, 44.47, 44.90, 45.32, 45.75, 46.17, 46.60, 47.03, 47.45, 47.87, 48.30, 48.72, 49.15, 49.57, 49.99, 50.41, 50.84, 51.26, 51.68, 52.10, 52.52, 52.94, 53.36, 53.78, 54.20, 54.62, 55.04, 55.46, 55.88, 56.29, 56.71, 57.13, 57.55, 57.96, 58.38, 58.80, 59.21, 59.63, 60.04, 60.46, 60.87, 61.29, 61.70, 62.11, 62.53, 62.94, 63.35, 63.76, 64.18, 64.59, 65.00, 65.41, 65.82, 66.23, 66.64, 67.05, 67.46, 67.87, 68.28, 68.69, 69.10, 69.51, 69.91, 70.32, 70.73, 71.14, 71.54, 71.95, 72.35, 72.76, 73.17, 73.57, 73.98, 74.38, 74.78, 75.19, 75.59, 76.00, 76.40, 76.80, 77.20, 77.61, 78.01, 78.41, 78.81, 79.21, 79.61, 80.01, 80.41, 80.81, 81.21, 81.61, 82.01, 82.41, 82.81, 83.20, 83.60, 84.00, 84.40, 84.79, 85.19, 85.59, 85.98, 86.38, 86.77, 87.17, 87.56, 87.96, 88.35, 88.75, 89.14, 89.53, 89.93, 90.32, 90.71, 91.11, 91.50, 91.89, 92.28, 92.67, 93.06, 93.45, 93.84, 94.23, 94.62, 95.01, 95.40, 95.79, 96.18, 96.57, 96.96, 97.34, 97.73, 98.12},
{41.79, 42.22, 42.64, 43.06, 43.49, 43.91, 44.33, 44.75, 45.18, 45.60, 46.02, 46.44, 46.86, 47.28, 47.70, 48.12, 48.54, 48.96, 49.38, 49.80, 50.21, 50.63, 51.05, 51.47, 51.88, 52.30, 52.72, 53.13, 53.55, 53.96, 54.38, 54.79, 55.21, 55.62, 56.04, 56.45, 56.86, 57.28, 57.69, 58.10, 58.51, 58.92, 59.34, 59.75, 60.16, 60.57, 60.98, 61.39, 61.80, 62.21, 62.62, 63.02, 63.43, 63.84, 64.25, 64.66, 65.06, 65.47, 65.88, 66.28, 66.69, 67.10, 67.50, 67.91, 68.31, 68.71, 69.12, 69.52, 69.93, 70.33, 70.73, 71.14, 71.54, 71.94, 72.34, 72.74, 73.14, 73.55, 73.95, 74.35, 74.75, 75.15, 75.55, 75.95, 76.34, 76.74, 77.14, 77.54, 77.94, 78.33, 78.73, 79.13, 79.53, 79.92, 80.32, 80.71, 81.11, 81.50, 81.90, 82.29, 82.69, 83.08, 83.48, 83.87, 84.26, 84.65, 85.05, 85.44, 85.83, 86.22, 86.62, 87.01, 87.40, 87.79, 88.18, 88.57, 88.96, 89.35, 89.74, 90.13, 90.51, 90.90, 91.29, 91.68, 92.07, 92.45, 92.84, 93.23, 93.61, 94.00, 94.39, 94.77, 95.16, 95.54, 95.93, 96.31, 96.70, 97.08, 97.46, 97.85},
{42.10, 42.52, 42.94, 43.36, 43.78, 44.19, 44.61, 45.03, 45.45, 45.87, 46.28, 46.70, 47.11, 47.53, 47.95, 48.36, 48.78, 49.19, 49.61, 50.02, 50.43, 50.85, 51.26, 51.67, 52.08, 52.50, 52.91, 53.32, 53.73, 54.14, 54.55, 54.96, 55.37, 55.78, 56.19, 56.60, 57.01, 57.42, 57.83, 58.24, 58.64, 59.05, 59.46, 59.87, 60.27, 60.68, 61.08, 61.49, 61.89, 62.30, 62.70, 63.11, 63.51, 63.92, 64.32, 64.72, 65.13, 65.53, 65.93, 66.33, 66.74, 67.14, 67.54, 67.94, 68.34, 68.74, 69.14, 69.54, 69.94, 70.34, 70.74, 71.14, 71.53, 71.93, 72.33, 72.73, 73.12, 73.52, 73.92, 74.31, 74.71, 75.11, 75.50, 75.90, 76.29, 76.69, 77.08, 77.47, 77.87, 78.26, 78.65, 79.05, 79.44, 79.83, 80.22, 80.62, 81.01, 81.40, 81.79, 82.18, 82.57, 82.96, 83.35, 83.74, 84.13, 84.52, 84.91, 85.30, 85.68, 86.07, 86.46, 86.85, 87.23, 87.62, 88.01, 88.39, 88.78, 89.16, 89.55, 89.93, 90.32, 90.70, 91.09, 91.47, 91.86, 92.24, 92.62, 93.01, 93.39, 93.77, 94.15, 94.53, 94.92, 95.30, 95.68, 96.06, 96.44, 96.82, 97.20, 97.58},
{42.40, 42.82, 43.23, 43.65, 44.06, 44.47, 44.89, 45.30, 45.71, 46.13, 46.54, 46.95, 47.36, 47.78, 48.19, 48.60, 49.01, 49.42, 49.83, 50.24, 50.65, 51.06, 51.47, 51.87, 52.28, 52.69, 53.10, 53.50, 53.91, 54.32, 54.72, 55.13, 55.54, 55.94, 56.35, 56.75, 57.16, 57.56, 57.97, 58.37, 58.77, 59.18, 59.58, 59.98, 60.38, 60.79, 61.19, 61.59, 61.99, 62.39, 62.79, 63.19, 63.59, 63.99, 64.39, 64.79, 65.19, 65.59, 65.99, 66.38, 66.78, 67.18, 67.58, 67.97, 68.37, 68.77, 69.16, 69.56, 69.95, 70.35, 70.74, 71.14, 71.53, 71.92, 72.32, 72.71, 73.11, 73.50, 73.89, 74.28, 74.67, 75.07, 75.46, 75.85, 76.24, 76.63, 77.02, 77.41, 77.80, 78.19, 78.58, 78.97, 79.36, 79.75, 80.13, 80.52, 80.91, 81.30, 81.68, 82.07, 82.46, 82.84, 83.23, 83.61, 84.00, 84.39, 84.77, 85.15, 85.54, 85.92, 86.31, 86.69, 87.07, 87.46, 87.84, 88.22, 88.60, 88.99, 89.37, 89.75, 90.13, 90.51, 90.89, 91.27, 91.65, 92.03, 92.41, 92.79, 93.17, 93.55, 93.92, 94.30, 94.68, 95.06, 95.44, 95.81, 96.19, 96.57, 96.94, 97.32},
{42.70, 43.11, 43.52, 43.93, 44.34, 44.75, 45.16, 45.57, 45.98, 46.38, 46.79, 47.20, 47.61, 48.02, 48.42, 48.83, 49.23, 49.64, 50.05, 50.45, 50.86, 51.26, 51.67, 52.07, 52.47, 52.88, 53.28, 53.68, 54.09, 54.49, 54.89, 55.29, 55.70, 56.10, 56.50, 56.90, 57.30, 57.70, 58.10, 58.50, 58.90, 59.30, 59.70, 60.09, 60.49, 60.89, 61.29, 61.69, 62.08, 62.48, 62.88, 63.27, 63.67, 64.06, 64.46, 64.85, 65.25, 65.64, 66.04, 66.43, 66.83, 67.22, 67.61, 68.00, 68.40, 68.79, 69.18, 69.57, 69.96, 70.36, 70.75, 71.14, 71.53, 71.92, 72.31, 72.70, 73.09, 73.47, 73.86, 74.25, 74.64, 75.03, 75.42, 75.80, 76.19, 76.58, 76.96, 77.35, 77.73, 78.12, 78.51, 78.89, 79.28, 79.66, 80.04, 80.43, 80.81, 81.20, 81.58, 81.96, 82.34, 82.73, 83.11, 83.49, 83.87, 84.25, 84.64, 85.02, 85.40, 85.78, 86.16, 86.54, 86.92, 87.30, 87.67, 88.05, 88.43, 88.81, 89.19, 89.56, 89.94, 90.32, 90.70, 91.07, 91.45, 91.83, 92.20, 92.58, 92.95, 93.33, 93.70, 94.08, 94.45, 94.82, 95.20, 95.57, 95.94, 96.32, 96.69, 97.06},
{42.99, 43.40, 43.80, 44.21, 44.61, 45.02, 45.42, 45.83, 46.23, 46.64, 47.04, 47.44, 47.85, 48.25, 48.65, 49.06, 49.46, 49.86, 50.26, 50.66, 51.06, 51.46, 51.86, 52.26, 52.66, 53.06, 53.46, 53.86, 54.26, 54.66, 55.06, 55.45, 55.85, 56.25, 56.65, 57.04, 57.44, 57.84, 58.23, 58.63, 59.02, 59.42, 59.81, 60.21, 60.60, 60.99, 61.39, 61.78, 62.17, 62.57, 62.96, 63.35, 63.74, 64.13, 64.53, 64.92, 65.31, 65.70, 66.09, 66.48, 66.87, 67.26, 67.65, 68.04, 68.42, 68.81, 69.20, 69.59, 69.98, 70.36, 70.75, 71.14, 71.52, 71.91, 72.30, 72.68, 73.07, 73.45, 73.84, 74.22, 74.61, 74.99, 75.37, 75.76, 76.14, 76.52, 76.91, 77.29, 77.67, 78.05, 78.43, 78.82, 79.20, 79.58, 79.96, 80.34, 80.72, 81.10, 81.48, 81.86, 82.24, 82.61, 82.99, 83.37, 83.75, 84.13, 84.50, 84.88, 85.26, 85.63, 86.01, 86.39, 86.76, 87.14, 87.51, 87.89, 88.26, 88.64, 89.01, 89.39, 89.76, 90.13, 90.51, 90.88, 91.25, 91.62, 92.00, 92.37, 92.74, 93.11, 93.48, 93.85, 94.22, 94.59, 94.96, 95.33, 95.70, 96.07, 96.44, 96.81},
{43.27, 43.68, 44.08, 44.48, 44.88, 45.28, 45.68, 46.08, 46.48, 46.88, 47.28, 47.68, 48.08, 48.48, 48.88, 49.28, 49.68, 50.07, 50.47, 50.87, 51.26, 51.66, 52.06, 52.45, 52.85, 53.24, 53.64, 54.03, 54.43, 54.82, 55.22, 55.61, 56.00, 56.40, 56.79, 57.18, 57.58, 57.97, 58.36, 58.75, 59.14, 59.53, 59.92, 60.32, 60.71, 61.10, 61.48, 61.87, 62.26, 62.65, 63.04, 63.43, 63.82, 64.20, 64.59, 64.98, 65.37, 65.75, 66.14, 66.53, 66.91, 67.30, 67.68, 68.07, 68.45, 68.84, 69.22, 69.60, 69.99, 70.37, 70.76, 71.14, 71.52, 71.90, 72.29, 72.67, 73.05, 73.43, 73.81, 74.19, 74.57, 74.95, 75.33, 75.71, 76.09, 76.47, 76.85, 77.23, 77.61, 77.98, 78.36, 78.74, 79.12, 79.49, 79.87, 80.25, 80.62, 81.00, 81.38, 81.75, 82.13, 82.50, 82.88, 83.25, 83.63, 84.00, 84.37, 84.75, 85.12, 85.49, 85.87, 86.24, 86.61, 86.98, 87.35, 87.73, 88.10, 88.47, 88.84, 89.21, 89.58, 89.95, 90.32, 90.69, 91.06, 91.43, 91.80, 92.16, 92.53, 92.90, 93.27, 93.63, 94.00, 94.37, 94.74, 95.10, 95.47, 95.83, 96.20, 96.56},
{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}
};

14
app/gl_transform_table.h
View File

@@ -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_ */

6
app/isr.c
View File

@@ -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()));
@@ -280,7 +279,7 @@ 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();
}
}
@@ -315,7 +314,8 @@ 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);
}
}

55
app/jj_blueteeth.c
View File

@@ -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]);
}
}

8
app/jj_blueteeth.h
View File

@@ -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
View File

@@ -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);
}

36
app/jj_motion.h
View File

@@ -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

90
app/jj_param.c
View File

@@ -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);
}
}

43
app/jj_param.h
View File

@@ -8,21 +8,35 @@
* @brief 注册需调参数
*
*/
#define PARAM_REG(_data_tag_, _p_data_, _type_, _cmd_,_text_) \
#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

19
app/main.c
View File

@@ -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"
@@ -43,20 +41,29 @@ 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();
by_tiny_frame_run();
}
}

2
app/page/page.c
View File

@@ -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);

2
app/page/page.h
View File

@@ -19,7 +19,7 @@ enum PageID {
PAGE_NULL = -1,
//......
page_menu,
page_rtcam,
//page_rtcam,
page_param,
// page_argv,
// page_sys,

9
app/page/page_param.c
View File

@@ -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;

91
app/page/page_rtcam.c
View File

@@ -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
*
***************************************************************************************/

92
app/page/page_ui_widget.c
View File

@@ -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)
{

17
app/tiny_frame/by_tiny_frame_slave_read_write.c
View File

@@ -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:

2
libraries/zf_device/zf_device_imu660ra.c
View File

@@ -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

14
libraries/zf_device/zf_device_imu660ra.h
View File

@@ -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 {

248
libraries/zf_driver/zf_driver_soft_iic.c
View File

@@ -1,37 +1,37 @@
/*********************************************************************************************************************
* 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>
*
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********************************************************************************************************************/
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*
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* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
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* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 <20><>W first version
********************************************************************************************************************/
#include "zf_common_debug.h"
@@ -46,12 +46,12 @@
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_delay(1);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
//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--;)
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> IIC START <20>ź<EFBFBD>
@@ -60,7 +60,7 @@
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_start(soft_iic_obj);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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 <20>ߵ<EFBFBD>ƽ
@@ -79,7 +79,7 @@ static void soft_iic_start (soft_iic_info_struct *soft_iic_obj)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_stop(soft_iic_obj);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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 <20>͵<EFBFBD>ƽ
@@ -100,17 +100,14 @@ static void soft_iic_stop (soft_iic_info_struct *soft_iic_obj)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_send_ack(soft_iic_obj, 1);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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 <20>͵<EFBFBD>ƽ
if(ack)
{
if (ack) {
gpio_high(soft_iic_obj->sda_pin); // SDA <20><><EFBFBD><EFBFBD>
}
else
{
} else {
gpio_low(soft_iic_obj->sda_pin); // SDA <20><><EFBFBD><EFBFBD>
}
@@ -128,7 +125,7 @@ static void soft_iic_send_ack (soft_iic_info_struct *soft_iic_obj, uint8 ack)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_wait_ack(soft_iic_obj);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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;
@@ -142,8 +139,7 @@ static uint8 soft_iic_wait_ack (soft_iic_info_struct *soft_iic_obj)
gpio_high(soft_iic_obj->scl_pin); // SCL <20>ߵ<EFBFBD>ƽ
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 <20>͵<EFBFBD>ƽ
@@ -162,13 +158,12 @@ static uint8 soft_iic_wait_ack (soft_iic_info_struct *soft_iic_obj)
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 ACK ״̬
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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;
@@ -177,7 +172,7 @@ static uint8 soft_iic_send_data (soft_iic_info_struct *soft_iic_obj, const uint8
soft_iic_delay(soft_iic_obj->delay);
gpio_low(soft_iic_obj->scl_pin); // SCL <20><><EFBFBD><EFBFBD>
}
return ((soft_iic_wait_ack(soft_iic_obj) == 1) ? 0 : 1 );
return ((soft_iic_wait_ack(soft_iic_obj) == 1) ? 0 : 1);
}
//-------------------------------------------------------------------------------------------------------------------
@@ -187,7 +182,7 @@ static uint8 soft_iic_send_data (soft_iic_info_struct *soft_iic_obj, const uint8
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><><EFBFBD><EFBFBD>
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
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;
@@ -199,8 +194,7 @@ static uint8 soft_iic_read_data (soft_iic_info_struct *soft_iic_obj, uint8 ack)
gpio_set_dir(soft_iic_obj->sda_pin, GPI, GPI_FLOATING_IN);
#endif
while(temp --)
{
while (temp--) {
gpio_low(soft_iic_obj->scl_pin); // SCL <20><><EFBFBD><EFBFBD>
soft_iic_delay(soft_iic_obj->delay);
gpio_high(soft_iic_obj->scl_pin); // SCL <20><><EFBFBD><EFBFBD>
@@ -224,7 +218,7 @@ static uint8 soft_iic_read_data (soft_iic_info_struct *soft_iic_obj, uint8 ack)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_8bit_register(soft_iic_obj, 0x01);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_8bit_array(soft_iic_obj, data, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_16bit(soft_iic_obj, 0x0101);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_16bit_array(soft_iic_obj, data, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_8bit_register(soft_iic_obj, 0x01, 0x01);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_8bit_registers(soft_iic_obj, 0x01, data, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_16bit_register(soft_iic_obj, 0x0101, 0x0101);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_write_16bit_registers(soft_iic_obj, 0x0101, data, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_8bit(soft_iic_obj);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_8bit_array(soft_iic_obj, data, 8);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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,
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_16bit(soft_iic_obj);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_16bit_array(soft_iic_obj, data, 8);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_8bit_register(soft_iic_obj, 0x01);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_8bit_registers(soft_iic_obj, 0x01, data, 8);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_16bit_register(soft_iic_obj, 0x0101);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_read_16bit_registers(soft_iic_obj, 0x0101, data, 8);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> iic_transfer_8bit_array(IIC_1, addr, data, 64, data, 64);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> iic_transfer_16bit_array(IIC_1, addr, data, 64, data, 64);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_sccb_write_register(soft_iic_obj, 0x01, 0x01);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_sccb_read_register(soft_iic_obj, 0x01);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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;
@@ -698,7 +678,7 @@ uint8 soft_iic_sccb_read_register (soft_iic_info_struct *soft_iic_obj, const uin
// ʹ<><CAB9>ʾ<EFBFBD><CABE> soft_iic_init(&soft_iic_obj, addr, 100, B6, B7);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
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); // <20><><EFBFBD>ѣ<EFBFBD> scl_pin <20><> sda_pin <20><>ô<EFBFBD><C3B4><EFBFBD><EFBFBD>ͬһ<CDAC><D2BB><EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD>
@@ -709,3 +689,31 @@ void soft_iic_init (soft_iic_info_struct *soft_iic_obj, uint8 addr, uint32 delay
gpio_init(scl_pin, GPO, GPIO_HIGH, GPO_PUSH_PULL); // <20><>ȡ<EFBFBD><C8A1>ӦIO<49><4F><EFBFBD><EFBFBD> AF<41><46><EFBFBD>ܱ<EFBFBD><DCB1><EFBFBD>
gpio_init(sda_pin, GPO, GPIO_HIGH, GPO_OPEN_DTAIN); // <20><>ȡ<EFBFBD><C8A1>ӦIO<49><4F><EFBFBD><EFBFBD> AF<41><46><EFBFBD>ܱ<EFBFBD><DCB1><EFBFBD>
}
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);
}

115
libraries/zf_driver/zf_driver_soft_iic.h
View File

@@ -1,42 +1,41 @@
/*********************************************************************************************************************
* 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> zf_driver_soft_iic
* <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
********************************************************************************************************************/
* 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> zf_driver_soft_iic
* <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
********************************************************************************************************************/
#ifndef _zf_driver_soft_iic_h_
#define _zf_driver_soft_iic_h_
#include "zf_driver_gpio.h"
typedef struct
@@ -45,39 +44,41 @@ typedef struct
gpio_pin_enum sda_pin; // <20><><EFBFBD>ڼ<EFBFBD>¼<EFBFBD><C2BC>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>ű<EFBFBD><C5B1><EFBFBD>
uint8 addr; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ <20><>λ<EFBFBD><CEBB>ַģʽ
uint32 delay; // ģ<><C4A3> IIC <20><><EFBFBD><EFBFBD>ʱʱ<CAB1><CAB1>
}soft_iic_info_struct;
} 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