Merge branch 'master' of http://git.isthmus.tk:441/btl143/firmware_violet_zf
This commit is contained in:
192
app/by_imu.c
Normal file
192
app/by_imu.c
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@@ -0,0 +1,192 @@
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#include "by_imu.h"
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#include "zf_common_headfile.h"
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#include <math.h>
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#define delta_T 0.002f // 2ms 计算一次
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float I_ex, I_ey, I_ez; // 误差积分
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quater_param_t Q_info = {1, 0, 0}; // 全局四元数
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euler_param_t eulerAngle; // 欧拉角
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icm_param_t icm_data;
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gyro_param_t GyroOffset;
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bool GyroOffset_init = 0;
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float param_Kp = 0.17; // 加速度计的收敛速率比例增益 0.17
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float param_Ki = 0.004; // 陀螺仪收敛速率的积分增益 0.004
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float fast_sqrt(float x)
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{
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float halfx = 0.5f * x;
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float y = x;
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long i = *(long *)&y;
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i = 0x5f3759df - (i >> 1);
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y = *(float *)&i;
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y = y * (1.5f - (halfx * y * y));
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return y;
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}
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void gyroOffset_init(void) /////////陀螺仪零飘初始化
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{
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float xdata_temp = 0;
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float ydata_temp = 0;
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float zdata_temp = 0;
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imu660ra_get_gyro();
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xdata_temp = imu660ra_gyro_x;
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ydata_temp = imu660ra_gyro_y;
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zdata_temp = imu660ra_gyro_z;
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GyroOffset.Xdata = 0;
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GyroOffset.Ydata = 0;
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GyroOffset.Zdata = 0;
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for (uint16_t i = 0; i < 5000; i++) {
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imu660ra_get_gyro();
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xdata_temp = imu660ra_gyro_x * 0.3f + xdata_temp * 0.7f;
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ydata_temp = imu660ra_gyro_y * 0.3f + ydata_temp * 0.7f;
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zdata_temp = imu660ra_gyro_z * 0.3f + zdata_temp * 0.7f;
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GyroOffset.Xdata += xdata_temp;
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GyroOffset.Ydata += ydata_temp;
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GyroOffset.Zdata += zdata_temp;
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system_delay_ms(5);
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}
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GyroOffset.Xdata /= 5000.0f;
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GyroOffset.Ydata /= 5000.0f;
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GyroOffset.Zdata /= 5000.0f;
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// GyroOffset.Xdata = -1.034f;
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// GyroOffset.Ydata = -2.21f;
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// GyroOffset.Zdata = -3.15f;
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GyroOffset_init = 1;
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}
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// 转化为实际物理值
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void ICM_getValues()
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{
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#define alpha 0.2738f
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// icm_data.acc_x = imu660ra_acc_x * alpha + icm_data.acc_x * (1 - alpha);
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// icm_data.acc_y = imu660ra_acc_y * alpha + icm_data.acc_y * (1 - alpha);
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// icm_data.acc_z = imu660ra_acc_z * alpha + icm_data.acc_z * (1 - alpha);
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icm_data.acc_x = imu660ra_acc_x;
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icm_data.acc_y = imu660ra_acc_y;
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icm_data.acc_z = imu660ra_acc_z;
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icm_data.gyro_x = icm_data.gyro_x * alpha + ((imu660ra_gyro_x - GyroOffset.Xdata) / 939.65f) * (1 - alpha);
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icm_data.gyro_y = icm_data.gyro_y * alpha + ((imu660ra_gyro_y - GyroOffset.Ydata) / 939.65f) * (1 - alpha);
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icm_data.gyro_z = icm_data.gyro_z * alpha + ((imu660ra_gyro_z - GyroOffset.Zdata) / 939.65f) * (1 - alpha);
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}
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// 互补滤波
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void ICM_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az)
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{
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float halfT = 0.5 * delta_T;
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float vx, vy, vz; // 当前的机体坐标系上的重力单位向量
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float ex, ey, ez; // 四元数计算值与加速度计测量值的误差
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float q0 = Q_info.q0;
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float q1 = Q_info.q1;
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float q2 = Q_info.q2;
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float q3 = Q_info.q3;
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float q0q0 = q0 * q0;
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float q0q1 = q0 * q1;
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float q0q2 = q0 * q2;
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// float q0q3 = q0 * q3;
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float q1q1 = q1 * q1;
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// float q1q2 = q1 * q2;
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float q1q3 = q1 * q3;
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float q2q2 = q2 * q2;
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float q2q3 = q2 * q3;
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float q3q3 = q3 * q3;
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// float delta_2 = 0;
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// 对加速度数据进行归一化 得到单位加速度
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float norm = fast_sqrt(ax * ax + ay * ay + az * az);
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ax = ax * norm;
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ay = ay * norm;
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az = az * norm;
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// 根据当前四元数的姿态值来估算出各重力分量。用于和加速计实际测量出来的各重力分量进行对比，从而实现对四轴姿态的修正
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vx = 2.0f * (q1q3 - q0q2);
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vy = 2.0f * (q0q1 + q2q3);
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vz = q0q0 - q1q1 - q2q2 + q3q3;
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// vz = 1.0f - 2.0f * q1q1 - 2.0f * q2q2;
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// vz = (q0*q0-0.5f+q3 * q3) * 2;
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// 叉积来计算估算的重力和实际测量的重力这两个重力向量之间的误差。
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ex = ay * vz - az * vy;
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ey = az * vx - ax * vz;
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ez = ax * vy - ay * vx;
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// 用叉乘误差来做 PI 修正陀螺零偏，
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// 通过调节 param_Kp，param_Ki 两个参数，
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// 可以控制加速度计修正陀螺仪积分姿态的速度。
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I_ex += halfT * ex; // integral error scaled by Ki
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I_ey += halfT * ey;
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I_ez += halfT * ez;
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gx = gx + param_Kp * ex + param_Ki * I_ex;
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gy = gy + param_Kp * ey + param_Ki * I_ey;
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gz = gz + param_Kp * ez + param_Ki * I_ez;
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/*数据修正完成，下面是四元数微分方程*/
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// 四元数微分方程，其中 halfT 为测量周期的 1/2，gx gy gz 为陀螺仪角速度，以下都是已知量，这里使用了一阶龙哥库塔求解四元数微分方程
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q0 = q0 + (-q1 * gx - q2 * gy - q3 * gz) * halfT;
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q1 = q1 + (q0 * gx + q2 * gz - q3 * gy) * halfT;
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q2 = q2 + (q0 * gy - q1 * gz + q3 * gx) * halfT;
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q3 = q3 + (q0 * gz + q1 * gy - q2 * gx) * halfT;
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// delta_2=(2*halfT*gx)*(2*halfT*gx)+(2*halfT*gy)*(2*halfT*gy)+(2*halfT*gz)*(2*halfT*gz);
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// 整合四元数率 四元数微分方程 四元数更新算法，二阶毕卡法
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// q0 = (1-delta_2/8)*q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
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// q1 = (1-delta_2/8)*q1 + (q0*gx + q2*gz - q3*gy)*halfT;
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// q2 = (1-delta_2/8)*q2 + (q0*gy - q1*gz + q3*gx)*halfT;
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// q3 = (1-delta_2/8)*q3 + (q0*gz + q1*gy - q2*gx)*halfT
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// normalise quaternion
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norm = fast_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
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Q_info.q0 = q0 * norm;
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Q_info.q1 = q1 * norm;
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Q_info.q2 = q2 * norm;
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Q_info.q3 = q3 * norm;
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}
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void ICM_getEulerianAngles(void)
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{
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// 采集陀螺仪数据
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imu660ra_get_acc();
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imu660ra_get_gyro();
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imu660ra_get_temperature();
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ICM_getValues();
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ICM_AHRSupdate(icm_data.gyro_x, icm_data.gyro_y, icm_data.gyro_z, icm_data.acc_x, icm_data.acc_y, icm_data.acc_z);
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float q0 = Q_info.q0;
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float q1 = Q_info.q1;
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float q2 = Q_info.q2;
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float q3 = Q_info.q3;
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// 四元数计算欧拉角
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eulerAngle.pitch = asin(-2 * q1 * q3 + 2 * q0 * q2) * 180 / M_PI; // pitch
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eulerAngle.roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 180 / M_PI; // roll
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eulerAngle.yaw = atan2(2 * q1 * q2 + 2 * q0 * q3, -2 * q2 * q2 - 2 * q3 * q3 + 1) * 180 / M_PI; // yaw
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/* 姿态限制*/
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if (eulerAngle.roll > 90 || eulerAngle.roll < -90) {
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if (eulerAngle.pitch > 0) {
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eulerAngle.pitch = 180 - eulerAngle.pitch;
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}
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if (eulerAngle.pitch < 0) {
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eulerAngle.pitch = -(180 + eulerAngle.pitch);
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}
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}
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if (eulerAngle.yaw > 360) {
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eulerAngle.yaw -= 360;
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} else if (eulerAngle.yaw < 0) {
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eulerAngle.yaw += 360;
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}
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}
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47
app/by_imu.h
Normal file
47
app/by_imu.h
Normal file
@@ -0,0 +1,47 @@
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#ifndef _BY_IMU_H__
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#define _BY_IMU_H__
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#include <stdio.h>
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#include "ch32v30x.h"
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typedef struct {
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float gyro_x;
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float gyro_y;
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float gyro_z;
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float acc_x;
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float acc_y;
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float acc_z;
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} icm_param_t;
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typedef struct {
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float q0;
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float q1;
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float q2;
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float q3;
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} quater_param_t;
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typedef struct {
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float pitch; //俯仰角
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float roll; //偏航角
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float yaw; //翻滚角
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} euler_param_t;
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typedef struct {
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float Xdata;
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float Ydata;
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float Zdata;
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} gyro_param_t;
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extern icm_param_t icm_data;
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extern euler_param_t eulerAngle;
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extern gyro_param_t GyroOffset;
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void gyroOffset_init(void);
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float fast_sqrt(float x);
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void ICM_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az);
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||||
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void ICM_getValues();
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void ICM_getEulerianAngles(void);
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#endif
|
||||
@@ -1,6 +1,8 @@
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||||
#include "by_pt_button.h"
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||||
#include "zf_common_headfile.h"
|
||||
#include "by_imu.h"
|
||||
uint8_t potate_button;
|
||||
|
||||
void by_gpio_init(void)
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{
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||||
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
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||||
@@ -21,7 +23,31 @@ uint8_t by_get_pb_statu(void)
|
||||
|
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void by_ips_show(void)
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||||
{
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ips114_show_string(0, 0, "button statu:");
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ips114_show_uint(104, 0, by_get_pb_statu(), 1);
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||||
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}
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||||
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, 32, eulerAngle.pitch, 3, 2);
|
||||
ips200_show_float(46, 48, eulerAngle.roll, 3, 2);
|
||||
ips200_show_float(46, 64, eulerAngle.yaw, 3, 2);
|
||||
// ips200_show_float(46 , 32, icm_data.gyro_x, 2, 2);
|
||||
// ips200_show_float(106, 32, icm_data.gyro_y, 2, 2);
|
||||
// ips200_show_float(166, 32, icm_data.gyro_z, 2, 2);
|
||||
ips200_show_float(46, 80, imu660ra_temperature, 2, 2);
|
||||
// printf("%d,%d,%d\n", (int16_t)(icm_data.gyro_x * 10), (int16_t)(icm_data.gyro_y * 10), (int16_t)(icm_data.gyro_z * 10));
|
||||
}
|
||||
|
||||
@@ -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
|
||||
@@ -195,14 +195,14 @@ void EXTI9_5_IRQHandler(void)
|
||||
EXTI_ClearITPendingBit(EXTI_Line8);
|
||||
}
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line9);
|
||||
|
||||
if (SET == gpio_get_level(E10)) {
|
||||
potate_button = POTATE_BUTTOM_BACKWARD;
|
||||
|
||||
} else {
|
||||
potate_button = POTATE_BUTTOM_FOREWARD;
|
||||
|
||||
}
|
||||
EXTI_ClearITPendingBit(EXTI_Line9);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -217,12 +217,12 @@ void EXTI15_10_IRQHandler(void)
|
||||
EXTI_ClearITPendingBit(EXTI_Line10);
|
||||
}
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line11)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line11);
|
||||
|
||||
system_delay_us(200);
|
||||
if (SET == !gpio_get_level(E11)) {
|
||||
potate_button = POTATE_BUTTOM_PRESS;
|
||||
}
|
||||
EXTI_ClearITPendingBit(EXTI_Line11);
|
||||
}
|
||||
if (SET == EXTI_GetITStatus(EXTI_Line12)) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line12);
|
||||
@@ -289,6 +289,7 @@ void TIM5_IRQHandler(void)
|
||||
void TIM6_IRQHandler(void)
|
||||
{
|
||||
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
|
||||
ICM_getEulerianAngles();
|
||||
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
|
||||
}
|
||||
}
|
||||
|
||||
86
app/main.c
86
app/main.c
@@ -1,36 +1,36 @@
|
||||
/*********************************************************************************************************************
|
||||
* CH32V307VCT6 Opensourec Library <EFBFBD><EFBFBD><EFBFBD><EFBFBD>CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD>⣩<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹٷ<EFBFBD> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
|
||||
* Copyright (c) 2022 SEEKFREE <EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD>
|
||||
* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
|
||||
* Copyright (c) 2022 SEEKFREE ?????
|
||||
*
|
||||
* <EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD> CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
* ??????? CH32V307VCT6 ???????????
|
||||
*
|
||||
* CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GPL<EFBFBD><EFBFBD>GNU General Public License<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
* <EFBFBD><EFBFBD> GPL <EFBFBD>ĵ<EFBFBD> 3 <20>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>
|
||||
* CH32V307VCT6 ????? ?????????
|
||||
* ?????????????????????????? GPL??GNU General Public License???? GNU ??<3F><><EFBFBD><EFBFBD>???????????????
|
||||
* ?? GPL ??? 3 ?<3F><><EFBFBD><EFBFBD>? GPL3.0????????????<3F>ʦ<EFBFBD><CAA6><EFBFBD>????<3F><><EFBFBD><EFBFBD>????<3F><><EFBFBD><EFBFBD>????/???????
|
||||
*
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<EFBFBD>֤
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD>ض<EFBFBD><EFBFBD><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
|
||||
* ????????????????????????????????<3F><><EFBFBD><EFBFBD>??????<3F>ʦ<EFBFBD><CAA6><EFBFBD>??
|
||||
* ?????????????????????????????????
|
||||
* ?????????<EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPL
|
||||
*
|
||||
* <EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<EFBFBD>յ<EFBFBD>һ<EFBFBD><EFBFBD> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
|
||||
* ?????????????????????????? GPL ?????
|
||||
* ?????<3F><><EFBFBD><EFBFBD>?????<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD> 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
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><EFBFBD><EFBFBD> libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <EFBFBD>ļ<EFBFBD>
|
||||
* <EFBFBD><EFBFBD>ӭ<EFBFBD><EFBFBD>λʹ<EFBFBD>ò<EFBFBD><EFBFBD><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>
|
||||
* ?????????
|
||||
* ?????????? GPL3.0 ????????<3F><><EFBFBD><EFBFBD>? ?????????????????<3F><>
|
||||
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
|
||||
* ??????????? libraries ??????? ???????????? LICENSE ???
|
||||
* ?????<EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><EFBFBD><EFBFBD><EFBFBD>?????????? ?????????????????????????????????????????
|
||||
*
|
||||
* <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> main
|
||||
* <EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD>ɶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˾
|
||||
* <EFBFBD>汾<EFBFBD><EFBFBD>Ϣ <EFBFBD>鿴 libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> version <EFBFBD>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
|
||||
* ??????? main
|
||||
* ??????? ??????????????
|
||||
* ?<3F><><EFBFBD><EFBFBD>?? ?? libraries/doc ??????? version ??? ?<3F><><EFBFBD><EFBFBD>??
|
||||
* ???????? MounRiver Studio V1.8.1
|
||||
* ?????? CH32V307VCT6
|
||||
* ???????? https://seekfree.taobao.com/
|
||||
*
|
||||
* <EFBFBD>ļ<EFBFBD>¼
|
||||
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>ע
|
||||
* 2022-09-15 <EFBFBD><EFBFBD> W first version
|
||||
* ?????
|
||||
* ???? ???? ???
|
||||
* 2022-09-15 ?? W first version
|
||||
********************************************************************************************************************/
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_headfile.h"
|
||||
@@ -39,9 +39,10 @@
|
||||
#include "cw_servo.h"
|
||||
#include "./page/cw_page.h"
|
||||
|
||||
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>
|
||||
// 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>
|
||||
int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
|
||||
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;
|
||||
@@ -52,18 +53,15 @@ 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;
|
||||
|
||||
// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF> + <20>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;
|
||||
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
|
||||
|
||||
// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>
|
||||
float angle_left[PT_MAXLEN];
|
||||
float angle_right[PT_MAXLEN];
|
||||
int angle_left_num, angle_right_num;
|
||||
|
||||
// L <20>ǵ<EFBFBD>
|
||||
int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
|
||||
bool Lpt0_found, Lpt1_found;
|
||||
int Lpt1[2], Lpt0[2];
|
||||
@@ -72,13 +70,10 @@ int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
|
||||
bool Lpt_in0_found, Lpt_in1_found;
|
||||
int Lpt_in1[2], Lpt_in0[2];
|
||||
|
||||
// <20><>ֱ<EFBFBD><D6B1>
|
||||
bool is_straight0, is_straight1;
|
||||
|
||||
// <20><><EFBFBD><EFBFBD>
|
||||
bool is_turn0, is_turn1;
|
||||
|
||||
// <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float rptsn[PT_MAXLEN][2];
|
||||
int rptsn_num;
|
||||
float aim_distance;
|
||||
@@ -92,36 +87,24 @@ 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>
|
||||
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();
|
||||
// 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++;
|
||||
// }
|
||||
//}
|
||||
|
||||
/************************ ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD> ***************************/
|
||||
|
||||
if (mt9v03x_finish_flag) {
|
||||
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;
|
||||
@@ -133,6 +116,5 @@ int main(void)
|
||||
ElementRun();
|
||||
MidLineTrack();
|
||||
}
|
||||
/************************ ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD> ***************************/
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user