120 lines
3.7 KiB
C
120 lines
3.7 KiB
C
/*********************************************************************************************************************
|
|
* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
|
|
* Copyright (c) 2022 SEEKFREE ?????
|
|
*
|
|
* ??????? CH32V307VCT6 ???????????
|
|
*
|
|
* CH32V307VCT6 ????? ?????????
|
|
* ?????????????????????????? GPL??GNU General Public License???? GNU ??��£¿???????????????
|
|
* ?? GPL ??? 3 ?��£¿? GPL3.0????????????�ʦ�£¿????��£¿????��£¿????/???????
|
|
*
|
|
* ????????????????????????????????��£¿??????�ʦ�£¿??
|
|
* ?????????????????????????????????
|
|
* ?????????��£¿GPL
|
|
*
|
|
* ?????????????????????????? GPL ?????
|
|
* ?????��£¿?????<https://www.gnu.org/licenses/>
|
|
*
|
|
* ?????????
|
|
* ?????????? GPL3.0 ????????��£¿? ?????????????????��
|
|
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
|
|
* ??????????? libraries ??????? ???????????? LICENSE ???
|
|
* ?????��£¿?��£¿?????????? ?????????????????????????????????????????
|
|
*
|
|
* ??????? main
|
|
* ??????? ??????????????
|
|
* ?��£¿?? ?? libraries/doc ??????? version ??? ?��£¿??
|
|
* ???????? MounRiver Studio V1.8.1
|
|
* ?????? CH32V307VCT6
|
|
* ???????? https://seekfree.taobao.com/
|
|
*
|
|
* ?????
|
|
* ???? ???? ???
|
|
* 2022-09-15 ?? W first version
|
|
********************************************************************************************************************/
|
|
#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();
|
|
}
|
|
}
|
|
} |