feat: 新增边线显示控件(未测试)
This commit is contained in:
@@ -2,7 +2,7 @@
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#include "gl_headfile.h"
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sint32 limit(sint32 x, sint32 low, sint32 up)
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int32_t limit(int32_t x, int32_t low, int32_t up)
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{
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return x > up ? up : x < low ? low : x;
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}
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@@ -23,10 +23,7 @@
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#define FRAMETOLEFT (5)
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#define FRAMETORIGHT (5)
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typedef signed int sint32;
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typedef float float32;
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sint32 limit(sint32 x, sint32 low, sint32 up);
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int32_t limit(int32_t x, int32_t low, int32_t up);
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int clip(int x, int low, int up);
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float fclip(float x, float low, float up) ;
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@@ -5,12 +5,12 @@
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const sint32 direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
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const sint32 direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
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const sint32 direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
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const int32_t direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
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const int32_t direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
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const int32_t direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
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void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
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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)
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{
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int half = block_size / 2;
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int step = 0, dir = 0, turn = 0;
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@@ -53,7 +53,7 @@ void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_va
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*line_num = step;
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}
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void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
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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)
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{
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int half = block_size / 2;
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int step = 0, dir = 0, turn = 0;
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@@ -100,7 +100,7 @@ void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_v
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void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize)
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void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize)
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{
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int half = kernelsize / 2;
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for (int i = 0; i < pts_in_count; i++) {
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@@ -115,7 +115,7 @@ void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][
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}
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}
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void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist)
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void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist)
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{
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if (num1 < 0) {
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*num2 = 0;
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@@ -192,7 +192,7 @@ void nms_angle(float angle_in[], int num, float angle_out[], int kernel) {
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}
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}
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void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist)
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void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist)
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{
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for (int i = 0; i < pts_left_count; i++) {
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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];
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@@ -207,7 +207,7 @@ void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_l
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}
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void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist)
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void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist)
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{
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for (int i = 0; i < pts_right_count; i++) {
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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];
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@@ -223,10 +223,10 @@ void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mi
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}
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int is_curve(float32 angle[], int n, float32 threshold) {
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int is_curve(float angle[], int n, float threshold) {
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for (int i = 1; i < n - 1; i++) {
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float32 da = fabs(angle[i] - angle[i-1]);
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float32 db = fabs(angle[i+1] - angle[i]);
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float da = fabs(angle[i] - angle[i-1]);
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float db = fabs(angle[i+1] - angle[i]);
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if (da > threshold && db > threshold) {
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return 1; // 是弯道
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}
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@@ -3,13 +3,13 @@
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void SearchStartPoint_Left(uint8 img_gray[], sint32* h_start, sint32* w_start, uint8 threshold);
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void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize);
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void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist);
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void SearchStartPoint_Left(uint8_t img_gray[], int32_t* h_start, int32_t* w_start, uint8_t threshold);
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void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize);
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void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist);
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void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist);
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void nms_angle(float angle_in[], int num, float angle_out[], int kernel);
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void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist);
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void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist);
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int is_curve(float32 angle[], int n, float32 threshold) ;
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void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist);
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void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist);
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int is_curve(float angle[], int n, float threshold) ;
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#endif /* COMMON_H_ */
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@@ -5,9 +5,6 @@
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/*
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@author: glz
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@brief:
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*/
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@@ -3,10 +3,8 @@
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#include "zf_common_headfile.h"
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typedef signed int sint32;
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void img_processing(void);
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void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
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void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
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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);
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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);
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#endif /* STATE_H_ */
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64
app/main.c
64
app/main.c
@@ -2,11 +2,11 @@
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* 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>
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* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
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*
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* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
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* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
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*
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* CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <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>
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* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> 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>
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* <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> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <20><> GPL <20>ĵ<EFBFBD> 3 <EFBFBD>棨<EFBFBD><EFBFBD> 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>
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*
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* <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>֤
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* <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>֤
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@@ -34,25 +34,25 @@
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********************************************************************************************************************/
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#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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#include "cw_servo.h"
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#include "by_pt_button.h"
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#include "by_fan_control.h"
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#include "cw_servo.h"
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#include "./page/cw_page.h"
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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>
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//uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
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sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
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sint32 pts_left_count, pts_right_count;
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float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
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sint32 pts_inv_l_count, pts_inv_r_count;
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float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
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sint32 pts_filter_l_count, pts_filter_r_count;
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float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
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sint32 pts_resample_left_count, pts_resample_right_count;
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float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
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sint32 mid_left_count, mid_right_count;
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uint8_t (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8_t <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
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// uint8_t *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8_t <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
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int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
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int32_t pts_left_count, pts_right_count;
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float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
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int32_t pts_inv_l_count, pts_inv_r_count;
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float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
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int32_t pts_filter_l_count, pts_filter_r_count;
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float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
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int32_t pts_resample_left_count, pts_resample_right_count;
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float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
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int32_t mid_left_count, mid_right_count;
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//<2F><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
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// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF> + <20>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
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float angle_new_left[PT_MAXLEN];
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float angle_new_right[PT_MAXLEN];
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int angle_new_left_num, angle_new_right_num;
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@@ -63,10 +63,10 @@ float angle_left[PT_MAXLEN];
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float angle_right[PT_MAXLEN];
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int angle_left_num, angle_right_num;
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// L<>ǵ<EFBFBD>
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// L <EFBFBD>ǵ<EFBFBD>
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int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
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bool Lpt0_found, Lpt1_found;
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int Lpt1[2],Lpt0[2];
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int Lpt1[2], Lpt0[2];
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int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
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bool Lpt_in0_found, Lpt_in1_found;
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@@ -85,26 +85,27 @@ float aim_distance;
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enum track_type_e track_type = TRACK_RIGHT;
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int frame_count = 0;
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void img_processing();
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void get_corners();
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int main(void)
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{
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clock_init(SYSTEM_CLOCK_120M); // <20><>ʼ<EFBFBD><CABC>оƬʱ<C6AC><CAB1> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
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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>
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mt9v03x_init();
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ips114_init();
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ips200_init(IPS200_TYPE_SPI);
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by_gpio_init();
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by_exit_init();
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by_pwm_init();
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cw_servo_init();
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Page_Init();
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while (1) {
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//while (frame_count < 20) {
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Page_Run();
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// while (frame_count < 20) {
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// if (mt9v03x_finish_flag) {
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// memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
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// adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 8);
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@@ -113,13 +114,14 @@ int main(void)
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// mt9v03x_finish_flag = 0;
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// frame_count++;
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// }
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//}
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/************************ ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD> ***************************/
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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];
|
||||
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
|
||||
// ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
|
||||
// Img_Gray = mt9v03x_image;
|
||||
// mt9v03x_image_copy[0] = Img_Gray[0];
|
||||
mt9v03x_finish_flag = 0;
|
||||
|
||||
state_type = COMMON_STATE;
|
||||
@@ -130,9 +132,7 @@ int main(void)
|
||||
ElementJudge();
|
||||
ElementRun();
|
||||
MidLineTrack();
|
||||
|
||||
}
|
||||
|
||||
|
||||
/************************ ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD> ***************************/
|
||||
}
|
||||
}
|
||||
32
app/main.h
32
app/main.h
@@ -2,35 +2,32 @@
|
||||
#define MAIN_H
|
||||
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_common.h"
|
||||
|
||||
|
||||
//extern uint8 *mt9v03x_image_copy[0];
|
||||
extern sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; //0:H,1:W
|
||||
extern sint32 pts_left_count, pts_right_count;
|
||||
extern float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
|
||||
extern sint32 pts_inv_l_count, pts_inv_r_count;
|
||||
extern float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
|
||||
extern sint32 pts_filter_l_count, pts_filter_r_count;
|
||||
extern float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
|
||||
extern sint32 pts_resample_left_count, pts_resample_right_count;
|
||||
// extern uint8 *mt9v03x_image_copy[0];
|
||||
extern int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; // 0:H,1:W
|
||||
extern int32_t pts_left_count, pts_right_count;
|
||||
extern float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_inv_l_count, pts_inv_r_count;
|
||||
extern float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
|
||||
extern int32_t pts_filter_l_count, pts_filter_r_count;
|
||||
extern float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
|
||||
extern int32_t pts_resample_left_count, pts_resample_right_count;
|
||||
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
|
||||
extern float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
|
||||
extern sint32 mid_left_count, mid_right_count;
|
||||
|
||||
extern float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
|
||||
extern int32_t mid_left_count, mid_right_count;
|
||||
|
||||
extern float angle_left[PT_MAXLEN];
|
||||
extern float angle_right[PT_MAXLEN];
|
||||
extern int angle_left_num, angle_right_num;
|
||||
|
||||
|
||||
extern float angle_new_left[PT_MAXLEN];
|
||||
extern float angle_new_right[PT_MAXLEN];
|
||||
extern int angle_new_left_num, angle_new_right_num;
|
||||
|
||||
|
||||
extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
|
||||
extern bool Lpt0_found, Lpt1_found;
|
||||
extern int Lpt1[2],Lpt0[2];
|
||||
extern int Lpt1[2], Lpt0[2];
|
||||
|
||||
extern int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
|
||||
extern bool Lpt_in0_found, Lpt_in1_found;
|
||||
@@ -44,9 +41,6 @@ extern float rptsn[PT_MAXLEN][2];
|
||||
extern int rptsn_num;
|
||||
extern float aim_distance;
|
||||
|
||||
|
||||
|
||||
|
||||
enum track_type_e {
|
||||
TRACK_LEFT,
|
||||
TRACK_RIGHT,
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
#include "cw_page.h"
|
||||
|
||||
PAGE_LIST pagelist[page_max];
|
||||
static uint8 page_busy = 0;
|
||||
static int8 now_page = page_menu;
|
||||
static int8 new_page = page_menu;
|
||||
static uint8_t page_busy = 0;
|
||||
static int8_t now_page = page_menu;
|
||||
static int8_t new_page = page_menu;
|
||||
|
||||
/**
|
||||
* @brief 注册一个基本页面，包含一个初始化函数，循环函数，退出函数，事件函数
|
||||
@@ -15,7 +15,7 @@ static int8 new_page = page_menu;
|
||||
* @param eventCallback: 事件函数回调
|
||||
* @retval 无
|
||||
*/
|
||||
void Page_Register(uint8 pageID, char *pageText,
|
||||
void Page_Register(uint8_t pageID, char *pageText,
|
||||
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
|
||||
CallbackFunction_t exitCallback, EventFunction_t eventCallback) {
|
||||
pagelist[pageID].Text = pageText;
|
||||
@@ -66,9 +66,9 @@ void Page_OpenCurrentPage() {
|
||||
/**
|
||||
* @brief 获取页面状态
|
||||
*
|
||||
* @return uint8 页面忙返回1 空闲返回0
|
||||
* @return uint8_t 页面忙返回1 空闲返回0
|
||||
*/
|
||||
uint8 Page_GetStatus(void) {
|
||||
uint8_t Page_GetStatus(void) {
|
||||
if (page_busy)
|
||||
return 1;
|
||||
else
|
||||
|
||||
@@ -47,7 +47,7 @@ do{\
|
||||
PageRegister_##name(name);\
|
||||
}while(0)
|
||||
|
||||
void Page_Register(uint8 pageID, char *pageText,
|
||||
void Page_Register(uint8_t pageID, char *pageText,
|
||||
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
|
||||
CallbackFunction_t exitCallback, EventFunction_t eventCallback);
|
||||
|
||||
@@ -55,7 +55,7 @@ void Page_EventTransmit(unsigned char event);
|
||||
void Page_Shift(unsigned char pageID);
|
||||
void Page_CloseCurrentPage(void);
|
||||
void Page_OpenCurrentPage(void);
|
||||
uint8 Page_GetStatus(void);
|
||||
uint8_t Page_GetStatus(void);
|
||||
void Page_Run(void);
|
||||
void Page_Init(void);
|
||||
|
||||
|
||||
@@ -44,6 +44,7 @@ static void Exit()
|
||||
*/
|
||||
static void Loop()
|
||||
{
|
||||
Show_Marked_Image();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -98,9 +99,9 @@ void PageRegister_page_menu(unsigned char pageID)
|
||||
static void Print_Menu_p(void)
|
||||
{
|
||||
// SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####");
|
||||
ips114_show_string(0, 0, Text);
|
||||
for (uint8 i = page_menu + 1; i < page_max; i++) {
|
||||
ips114_show_string(8, i, pagelist[i].Text);
|
||||
ips200_show_string(0, 0, Text);
|
||||
for (uint8_t i = page_menu + 1; i < page_max; i++) {
|
||||
ips200_show_string(8, i, pagelist[i].Text);
|
||||
// SCREEN_showstr(8, i, pagelist[i].Text);
|
||||
}
|
||||
}
|
||||
|
||||
106
app/page/cw_page_rtcam.c
Normal file
106
app/page/cw_page_rtcam.c
Normal file
@@ -0,0 +1,106 @@
|
||||
#include "zf_common_headfile.h"
|
||||
#include "cw_page_ui_widget.h"
|
||||
#include "cw_page.h"
|
||||
|
||||
#define LINE_HEAD 1
|
||||
#define LINE_END 7
|
||||
|
||||
static char Text[] = "RealTime Image";
|
||||
|
||||
static int8_t Curser = 1; // 定义光标位置
|
||||
static int8_t Curser_Last = 1; // 定义光标位置
|
||||
static void Print_Menu_p(void);
|
||||
/***************************************************************************************
|
||||
*
|
||||
* 以下为页面模板函数
|
||||
*
|
||||
***************************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief 页面初始化事件
|
||||
* @param 无
|
||||
* @retval 无
|
||||
*/
|
||||
static void Setup()
|
||||
{
|
||||
ips114_clear();
|
||||
Print_Menu_p();
|
||||
Print_Curser(Curser, Curser_Last);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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()
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @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 == event) {
|
||||
if (page_max > Curser && page_menu < Curser) {
|
||||
Page_Shift(Curser); // 切换到光标选中的页面
|
||||
}
|
||||
}
|
||||
|
||||
if (Curser < LINE_HEAD) {
|
||||
Curser = LINE_END;
|
||||
} else if (Curser > LINE_END) {
|
||||
Curser = LINE_HEAD;
|
||||
}
|
||||
|
||||
Print_Curser(Curser, Curser_Last);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
*
|
||||
***************************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief 打印菜单项
|
||||
*
|
||||
*/
|
||||
static void Print_Menu_p(void)
|
||||
{
|
||||
// SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####");
|
||||
ips200_show_string(0, 0, Text);
|
||||
for (uint8_t i = page_menu + 1; i < page_max; i++) {
|
||||
ips200_show_string(8, i, pagelist[i].Text);
|
||||
// SCREEN_showstr(8, i, pagelist[i].Text);
|
||||
}
|
||||
}
|
||||
@@ -1,4 +1,6 @@
|
||||
#include "cw_page_ui_widget.h"
|
||||
#include "zf_common_headfile.h"
|
||||
#include "main.h"
|
||||
|
||||
/**
|
||||
* @brief 绘制光标
|
||||
@@ -6,19 +8,21 @@
|
||||
* @param Curser_In 当前光标位置
|
||||
* @param Curser_Last_In 上一时刻光标位置
|
||||
*/
|
||||
void Print_Curser(uint8 Curser_In, uint8 Curser_Last_In) {
|
||||
ips114_show_string(0, Curser_Last_In, " ");
|
||||
ips114_show_string(0, Curser_In, ">");
|
||||
void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In)
|
||||
{
|
||||
ips200_show_string(0, Curser_Last_In * 16, " ");
|
||||
ips200_show_string(0, Curser_In * 16, ">");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 打印菜单项
|
||||
*
|
||||
*/
|
||||
void Print_Menu(const ITEM *item, uint8 item_sum) {
|
||||
ips114_show_string(0, 0, " --return--");
|
||||
for (uint8 i = 0; i < item_sum; i++) {
|
||||
ips114_show_string(8, i + 1, item[i].text);
|
||||
void Print_Menu(const ITEM *item, uint8_t item_sum)
|
||||
{
|
||||
ips200_show_string(0, 0, " --return--");
|
||||
for (uint8_t i = 0; i < item_sum; i++) {
|
||||
ips200_show_string(8, i * 16 + 16, item[i].text);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -26,40 +30,41 @@ void Print_Menu(const ITEM *item, uint8 item_sum) {
|
||||
* @brief 打印数值项
|
||||
*
|
||||
*/
|
||||
void Print_Value(const ITEM *item, uint8 item_sum) {
|
||||
// for (uint8 i = 0; i < item_sum; i++) {
|
||||
// switch (Param_Data[item[i].data_tag].type) {
|
||||
// case EINT8:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((int8 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT16:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((int16 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT32:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((int32 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT8:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((uint8 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT16:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((uint16 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT32:
|
||||
// ips114_show_int(128, i + 1,
|
||||
// *((uint32 *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// case EFLOAT:
|
||||
// ips114_show_float(128, i + 1,
|
||||
// *((float *)Param_Data[item[i].data_tag].p_data), 5, 2);
|
||||
// break;
|
||||
// default:
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
void Print_Value(const ITEM *item, uint8_t item_sum)
|
||||
{
|
||||
// for (uint8_t i = 0; i < item_sum; i++) {
|
||||
// switch (Param_Data[item[i].data_tag].type) {
|
||||
// case EINT8:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((int8_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT16:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((int16_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT32:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((int32_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT8:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((uint8_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT16:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((uint16_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT32:
|
||||
// ips200_show_int(128, i + 1,
|
||||
// *((uint32_t *)Param_Data[item[i].data_tag].p_data), 5);
|
||||
// case EFLOAT:
|
||||
// ips200_show_float(128, i + 1,
|
||||
// *((float *)Param_Data[item[i].data_tag].p_data), 5, 2);
|
||||
// break;
|
||||
// default:
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -68,11 +73,12 @@ void Print_Value(const ITEM *item, uint8 item_sum) {
|
||||
* @param item_num
|
||||
* @param dir
|
||||
*/
|
||||
void Set_Vaule(ITEM *item, uint8 item_num, float step) {
|
||||
void Set_Vaule(ITEM *item, uint8_t item_num, float step)
|
||||
{
|
||||
|
||||
// if (EFLOAT == Param_Data[item[item_num].data_tag].type) { // 待修改变量为浮点
|
||||
// *((float *)Param_Data[item[item_num].data_tag].p_data) += step;
|
||||
// ips114_show_float(128, item_num + 1,
|
||||
// ips200_show_float(128, item_num + 1,
|
||||
// *((float *)Param_Data[item[item_num].data_tag].p_data), 6,
|
||||
// 2);
|
||||
// return;
|
||||
@@ -87,37 +93,58 @@ void Set_Vaule(ITEM *item, uint8 item_num, float step) {
|
||||
|
||||
// switch (Param_Data[item[item_num].data_tag].type) {
|
||||
// case EINT8:
|
||||
// *((int8 *)Param_Data[item[item_num].data_tag].p_data) += (int8)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((int8 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((int8_t *)Param_Data[item[item_num].data_tag].p_data) += (int8_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((int8_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT16:
|
||||
// *((int16 *)Param_Data[item[item_num].data_tag].p_data) += (int16)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((int16 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((int16_t *)Param_Data[item[item_num].data_tag].p_data) += (int16_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((int16_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EINT32:
|
||||
// *((int32 *)Param_Data[item[item_num].data_tag].p_data) += (int32)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((int32 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((int32_t *)Param_Data[item[item_num].data_tag].p_data) += (int32_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((int32_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT8:
|
||||
// *((uint8 *)Param_Data[item[item_num].data_tag].p_data) += (uint8)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((uint8 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((uint8_t *)Param_Data[item[item_num].data_tag].p_data) += (uint8_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((uint8_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT16:
|
||||
// *((uint16 *)Param_Data[item[item_num].data_tag].p_data) += (uint16)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((uint16 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((uint16_t *)Param_Data[item[item_num].data_tag].p_data) += (uint16_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((uint16_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// case EUINT32:
|
||||
// *((uint32 *)Param_Data[item[item_num].data_tag].p_data) += (uint32)step;
|
||||
// ips114_show_int(128, item_num + 1,
|
||||
// *((uint32 *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// *((uint32_t *)Param_Data[item[item_num].data_tag].p_data) += (uint32_t)step;
|
||||
// ips200_show_int(128, item_num + 1,
|
||||
// *((uint32_t *)Param_Data[item[item_num].data_tag].p_data), 5);
|
||||
// break;
|
||||
// default:
|
||||
// break;
|
||||
// }
|
||||
}
|
||||
|
||||
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));
|
||||
|
||||
ips200_show_gray_image(START_X, START_Y, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, IMAGE_DISPLAY_WIDTH, IMAGE_DISPLAY_HEIGHT, 0);
|
||||
|
||||
// 确认边线数组在显示前不会清空
|
||||
for (uint i = 0; i < PT_MAXLEN; i++) {
|
||||
ips200_draw_point(START_X + (uint16_t)(mid_right[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_right[i][1] * vertical_zoom_rate), RGB565_GREEN);
|
||||
ips200_draw_point(START_X + (uint16_t)(mid_left[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_left[i][1] * vertical_zoom_rate), RGB565_GREEN);
|
||||
}
|
||||
#undef IMAGE_DISPLAY_WIDTH
|
||||
#undef START_X
|
||||
#undef START_Y
|
||||
}
|
||||
|
||||
@@ -5,12 +5,13 @@
|
||||
|
||||
typedef struct {
|
||||
char *text; //变量显示名
|
||||
uint8 data_tag; //变量结构体
|
||||
uint8_t data_tag; //变量结构体
|
||||
} ITEM;
|
||||
|
||||
void Print_Curser(uint8 Curser_In, uint8 Curser_Last_In);
|
||||
void Print_Menu(const ITEM* item, uint8 item_sum);
|
||||
void Print_Value(const ITEM* item, uint8 item_sum);
|
||||
void Set_Vaule(ITEM* item, uint8 item_num, float step);
|
||||
void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In);
|
||||
void Print_Menu(const ITEM* item, uint8_t item_sum);
|
||||
void Print_Value(const ITEM* item, uint8_t item_sum);
|
||||
void Set_Vaule(ITEM* item, uint8_t item_num, float step);
|
||||
void Show_Marked_Image(void);
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -64,7 +64,7 @@
|
||||
#include "zf_common_typedef.h"
|
||||
|
||||
|
||||
// --------------------单排两寸屏幕SPI接口引脚定义--------------------//
|
||||
// --------------------单排两寸屏幕 SPI 接口引脚定义--------------------//
|
||||
|
||||
#define IPS200_USE_SOFT_SPI (0 ) // 默认使用硬件 SPI 方式驱动 建议使用硬件 SPI 方式驱动
|
||||
#if IPS200_USE_SOFT_SPI // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
|
||||
@@ -85,13 +85,18 @@
|
||||
#endif
|
||||
|
||||
// 如果使用的是单排排针的两寸屏幕 SPI 驱动控制引脚 可以修改
|
||||
#define IPS200_RST_PIN_SPI (B7 ) // 液晶复位引脚定义
|
||||
#define IPS200_DC_PIN_SPI (D7 ) // 液晶命令位引脚定义
|
||||
#define IPS200_CS_PIN_SPI (D4 )
|
||||
#define IPS200_BLk_PIN_SPI (D0 )
|
||||
// #define IPS200_RST_PIN_SPI (B7 ) // 液晶复位引脚定义
|
||||
// #define IPS200_DC_PIN_SPI (D7 ) // 液晶命令位引脚定义
|
||||
// #define IPS200_CS_PIN_SPI (D4 )
|
||||
// #define IPS200_BLk_PIN_SPI (D0 )
|
||||
|
||||
#define IPS200_RST_PIN_SPI (D8 ) // 液晶复位引脚定义
|
||||
#define IPS200_DC_PIN_SPI (D9 ) // 液晶命令位引脚定义
|
||||
#define IPS200_CS_PIN_SPI (D10 )
|
||||
#define IPS200_BLk_PIN_SPI (D11 )
|
||||
|
||||
|
||||
// --------------------单排两寸屏幕SPI接口引脚定义--------------------//
|
||||
// --------------------单排两寸屏幕 SPI 接口引脚定义--------------------//
|
||||
|
||||
|
||||
|
||||
@@ -103,16 +108,16 @@
|
||||
#define IPS200_CS_PIN_PARALLEL8 (D4 )
|
||||
#define IPS200_BL_PIN_PARALLEL8 (D0 )
|
||||
|
||||
//8个数据引脚必须连续 例如B0-B7,B6-B13等等。
|
||||
//8 个数据引脚必须连续 例如 B0-B7,B6-B13 等等。
|
||||
//--------------数据端口寄存器--------------
|
||||
#define IPS200_DATAPORT GPIOE
|
||||
|
||||
//--------------数据端口起始地址偏移--------------
|
||||
#define DATA_START_NUM 0
|
||||
|
||||
//例：D1-D8 IPS200_DATAPORT设置为GPIOD DATA_START_NUM设置为1
|
||||
//例：C5-C12 IPS200_DATAPORT设置为GPIOC DATA_START_NUM设置为5
|
||||
// --------------------双排SPI接口两寸屏幕引脚定义--------------------//
|
||||
//例：D1-D8 IPS200_DATAPORT 设置为 GPIOD DATA_START_NUM 设置为 1
|
||||
//例：C5-C12 IPS200_DATAPORT 设置为 GPIOC DATA_START_NUM 设置为 5
|
||||
// --------------------双排 SPI 接口两寸屏幕引脚定义--------------------//
|
||||
|
||||
#define IPS200_DEFAULT_DISPLAY_DIR (IPS200_PORTAIT) // 默认的显示方向
|
||||
#define IPS200_DEFAULT_PENCOLOR (RGB565_RED ) // 默认的画笔颜色
|
||||
@@ -139,9 +144,9 @@ typedef enum
|
||||
typedef enum
|
||||
{
|
||||
IPS200_PORTAIT = 0, // 竖屏模式
|
||||
IPS200_PORTAIT_180 = 1, // 竖屏模式 旋转180
|
||||
IPS200_PORTAIT_180 = 1, // 竖屏模式 旋转 180
|
||||
IPS200_CROSSWISE = 2, // 横屏模式
|
||||
IPS200_CROSSWISE_180 = 3, // 横屏模式 旋转180
|
||||
IPS200_CROSSWISE_180 = 3, // 横屏模式 旋转 180
|
||||
}ips200_dir_enum;
|
||||
|
||||
typedef enum
|
||||
|
||||
Reference in New Issue
Block a user