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陀螺仪的初级数据获取

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This commit is contained in:
bmy
2023-12-22 15:24:39 +08:00
parent 8feb4bab66
commit 2dffcf04f0
7 changed files with 106 additions and 36 deletions
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26
app/by_imu.c Normal file
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@@ -0,0 +1,26 @@
#include "by_imu.h"
#include "zf_common_headfile.h"
float imu_acc_x;
float imu_acc_y;
float imu_acc_z;
float imu_gyro_x;
float imu_gyro_y;
float imu_gyro_z;
void by_imu_data_get(void)
{
imu660ra_get_acc();
imu660ra_get_gyro();
imu660ra_get_temperature();
imu_acc_x = imu660ra_acc_transition(imu660ra_acc_x);
imu_acc_y = imu660ra_acc_transition(imu660ra_acc_y);
imu_acc_z = imu660ra_acc_transition(imu660ra_acc_z);
imu_gyro_x = imu660ra_gyro_transition(imu660ra_gyro_x);
imu_gyro_y = imu660ra_gyro_transition(imu660ra_gyro_y);
imu_gyro_z = imu660ra_gyro_transition(imu660ra_gyro_z);
}

15
app/by_imu.h Normal file
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@@ -0,0 +1,15 @@
#ifndef _BY_IMU_H__
#define _BY_IMU_H__
#include "stdio.h"
#include "ch32v30x.h"
extern float imu_acc_x;
extern float imu_acc_y;
extern float imu_acc_z;
extern float imu_gyro_x;
extern float imu_gyro_y;
extern float imu_gyro_z;
extern void by_imu_data_get(void);
#endif

35
app/by_pt_button.c
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@@ -1,6 +1,8 @@
#include "by_pt_button.h"
#include "zf_common_headfile.h"
#include "by_imu.h"
uint8_t potate_button;
void by_gpio_init(void)
{
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
@@ -21,7 +23,32 @@ uint8_t by_get_pb_statu(void)
void by_ips_show(void)
{
ips114_show_string(0, 0, "button statu:");
ips114_show_uint(104, 0, by_get_pb_statu(), 1);
}
ips200_show_string(0, 0, "button statu:");
// ips200_show_uint(104, 0, by_get_pb_statu(), 1);
switch (by_get_pb_statu()) {
case 1:
ips200_show_string(104, 0, "press");
break;
case 2:
ips200_show_string(104, 0, "up ");
break;
case 3:
ips200_show_string(104, 0, "down ");
break;
default:
ips200_show_string(104, 0, " ");
break;
}
// 按钮
ips200_show_string(0, 16, "imu:");
ips200_show_float(46, 16, imu_acc_x, 2, 2);
ips200_show_float(106, 16, imu_acc_y, 2, 2);
ips200_show_float(166, 16, imu_acc_z, 2, 2);
ips200_show_float(46, 32, imu_gyro_x, 2, 2);
ips200_show_float(106, 32, imu_gyro_y, 2, 2);
ips200_show_float(166, 32, imu_gyro_z, 2, 2);
ips200_show_float(46, 48, imu660ra_temperature, 2, 2);
printf("%d,%d,%d\n",(int16_t)(imu_gyro_x*10),(int16_t)(imu_gyro_y*10),(int16_t)(imu_gyro_z*10));
}

4
app/by_pt_button.h
View File

@@ -8,8 +8,10 @@
#define POTATE_BUTTOM_BACKWARD 3
extern uint8_t potate_button;
extern void by_exit_init(void);
extern void by_gpio_init(void);
extern uint8_t by_get_pb_statu(void);
extern uint8_t by_get_statu(void);
extern void by_ips_show(void);
#endif

4
app/isr.c
View File

@@ -198,10 +198,11 @@ void EXTI9_5_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line9);
if (SET == gpio_get_level(E10)) {
potate_button = POTATE_BUTTOM_BACKWARD;
} else {
potate_button = POTATE_BUTTOM_FOREWARD;
}
}
}
@@ -222,6 +223,7 @@ void EXTI15_10_IRQHandler(void)
system_delay_us(200);
if (SET == !gpio_get_level(E11)) {
potate_button = POTATE_BUTTOM_PRESS;
}
}
if (SET == EXTI_GetITStatus(EXTI_Line12)) {

50
app/main.c
View File

@@ -37,9 +37,10 @@
#include "cw_servo.h"
#include "by_pt_button.h"
#include "by_fan_control.h"
#include "by_imu.h"
uint8 (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8 <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
//uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
// uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
sint32 pts_left_count, pts_right_count;
float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
@@ -51,8 +52,7 @@ sint32 pts_resample_left_count, pts_resample_right_count;
float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
sint32 mid_left_count, mid_right_count;
//<2F><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
int angle_new_left_num, angle_new_right_num;
@@ -66,7 +66,7 @@ int angle_left_num, angle_right_num;
// L<>ǵ<EFBFBD>
int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
bool Lpt0_found, Lpt1_found;
int Lpt1[2],Lpt0[2];
int Lpt1[2], Lpt0[2];
int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
bool Lpt_in0_found, Lpt_in1_found;
@@ -85,44 +85,43 @@ 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); // <20><>ʼ<EFBFBD><CABC>оƬʱ<C6AC><CAB1> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
debug_init(); // <20><><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC>MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
mt9v03x_init();
ips114_init();
// mt9v03x_init();
ips200_init(IPS200_TYPE_SPI);
by_gpio_init();
by_exit_init();
by_pwm_init();
cw_servo_init();
while (imu660ra_init())
;
while (1) {
//while (frame_count < 20) {
// if (mt9v03x_finish_flag) {
// memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
// adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 8);
// //threshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, MT9V03X_W, MT9V03X_H, 110);
// ips114_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
// mt9v03x_finish_flag = 0;
// frame_count++;
// }
// while (frame_count < 20) {
// if (mt9v03x_finish_flag) {
// memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
// adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 8);
// //threshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, MT9V03X_W, MT9V03X_H, 110);
// ips114_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
// mt9v03x_finish_flag = 0;
// frame_count++;
// }
//}
if (mt9v03x_finish_flag) {
//ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0],(sizeof(mt9v03x_image_copy)/sizeof(uint8_t)));
//Img_Gray = mt9v03x_image;
//mt9v03x_image_copy[0] = Img_Gray[0];
// ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
// Img_Gray = mt9v03x_image;
// mt9v03x_image_copy[0] = Img_Gray[0];
mt9v03x_finish_flag = 0;
state_type = COMMON_STATE;
img_processing();
@@ -137,10 +136,9 @@ int main(void)
ElementRun();
MidLineTrack();
}
by_imu_data_get();
by_ips_show();
system_delay_ms(200);
}
}