109 lines
3.6 KiB
C
109 lines
3.6 KiB
C
/*********************************************************************************************************************
|
||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||
*
|
||
* 本文件是 CH32V307VCT6 开源库的一部分
|
||
*
|
||
* CH32V307VCT6 开源库 是免费软件
|
||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU 通用公共许可证）的条款
|
||
* 即 GPL 的第 3 版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||
*
|
||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||
* 更多细节请参见 GPL
|
||
*
|
||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||
*
|
||
* 额外注明：
|
||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||
********************************************************************************************************************/
|
||
#include "zf_common_headfile.h"
|
||
#include "gl_headfile.h"
|
||
#include "by_pt_button.h"
|
||
#include "by_fan_control.h"
|
||
#include "cw_servo.h"
|
||
#include "./page/cw_page.h"
|
||
|
||
uint8_t (*Img_Gray)[MT9V03X_W];
|
||
// uint8_t *mt9v03x_image_copy[0];
|
||
int32_t pts_left[PT_MAXLEN][2];
|
||
int32_t pts_right[PT_MAXLEN][2];
|
||
int32_t pts_left_count, pts_right_count;
|
||
float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
|
||
int32_t pts_inv_l_count, pts_inv_r_count;
|
||
float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
|
||
int32_t pts_filter_l_count, pts_filter_r_count;
|
||
float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
|
||
int32_t pts_resample_left_count, pts_resample_right_count;
|
||
float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
|
||
int32_t mid_left_count, mid_right_count;
|
||
|
||
float angle_new_left[PT_MAXLEN];
|
||
float angle_new_right[PT_MAXLEN];
|
||
int angle_new_left_num, angle_new_right_num;
|
||
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
|
||
|
||
float angle_left[PT_MAXLEN];
|
||
float angle_right[PT_MAXLEN];
|
||
int angle_left_num, angle_right_num;
|
||
|
||
int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
|
||
bool Lpt0_found, Lpt1_found;
|
||
int Lpt1[2], Lpt0[2];
|
||
|
||
int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
|
||
bool Lpt_in0_found, Lpt_in1_found;
|
||
int Lpt_in1[2], Lpt_in0[2];
|
||
|
||
bool is_straight0, is_straight1;
|
||
|
||
bool is_turn0, is_turn1;
|
||
|
||
float rptsn[PT_MAXLEN][2];
|
||
int rptsn_num;
|
||
float aim_distance;
|
||
|
||
enum track_type_e track_type = TRACK_RIGHT;
|
||
|
||
int frame_count = 0;
|
||
|
||
void img_processing();
|
||
void get_corners();
|
||
|
||
int main(void)
|
||
{
|
||
clock_init(SYSTEM_CLOCK_120M);
|
||
debug_init();
|
||
mt9v03x_init();
|
||
ips200_init(IPS200_TYPE_SPI);
|
||
by_gpio_init();
|
||
by_exit_init();
|
||
by_pwm_init();
|
||
cw_servo_init();
|
||
// while (imu660ra_init())
|
||
// ;
|
||
|
||
Page_Init();
|
||
|
||
while (1) {
|
||
Page_Run();
|
||
|
||
if (mt9v03x_finish_flag) {
|
||
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
|
||
mt9v03x_finish_flag = 0;
|
||
|
||
state_type = COMMON_STATE;
|
||
img_processing();
|
||
get_corners();
|
||
aim_distance = COMMON_AIM;
|
||
tracking();
|
||
ElementJudge();
|
||
ElementRun();
|
||
MidLineTrack();
|
||
}
|
||
}
|
||
} |