btl143/QDAC-firmware
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Merge http://git.isthmus.tk:441/btl143/firmware_violet_zf

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This commit is contained in:
Glz
2024-01-07 16:32:05 +08:00
parent afb16ae44a 6bb5b9eaad
commit 696aeee7e3
25 changed files with 545 additions and 528 deletions
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6
app/by_fan_control.c
View File

@@ -12,11 +12,13 @@ void by_pwm_init(void)
void by_pwm_update_duty(uint32_t update_pwm_duty)
{
if (7000UL > update_pwm_duty) {
update_pwm_duty = 7000UL;
if (4000UL < update_pwm_duty) {
update_pwm_duty = 4000UL;
}
pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
// pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, update_pwm_duty);
// pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, update_pwm_duty);
}
void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)

17
app/by_pt_button.h
View File

@@ -1,17 +0,0 @@
#ifndef _BY_PT_BUTTON_H__
#define _BY_PT_BUTTON_H__
#include "stdio.h"
#include "ch32v30x.h"
#define POTATE_BUTTOM_PRESS 1
#define POTATE_BUTTOM_FOREWARD 2
#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_statu(void);
extern void by_ips_show(void);
#endif

23
app/by_pt_button.c → app/by_rt_button.c
View File

@@ -1,7 +1,7 @@
#include "by_pt_button.h"
#include "by_rt_button.h"
#include "zf_common_headfile.h"
#include "by_imu.h"
uint8_t potate_button;
uint8_t rotate_button;
void by_gpio_init(void)
{
@@ -11,21 +11,26 @@ void by_gpio_init(void)
void by_exit_init(void)
{
exti_init(E9, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_BOTH);
}
uint8_t by_get_pb_statu(void)
/**
* @brief 查询旋钮状态 - 查询后状态归零
*
* @return uint8_t 当前旋钮状态
*/
uint8_t by_get_rb_status(void)
{
uint8_t temp_s = potate_button;
potate_button = 0;
uint8_t temp_s = rotate_button;
rotate_button = 0;
return temp_s;
}
void by_ips_show(void)
{
ips200_show_string(0, 0, "button statu:");
// ips200_show_uint(104, 0, by_get_pb_statu(), 1);
switch (by_get_pb_statu()) {
ips200_show_string(0, 0, "button status:");
// ips200_show_uint(104, 0, by_get_rb_status(), 1);
switch (by_get_rb_status()) {
case 1:
ips200_show_string(104, 0, "press");
break;

24
app/by_rt_button.h Normal file
View File

@@ -0,0 +1,24 @@
#ifndef _BY_RT_BUTTON_H__
#define _BY_RT_BUTTON_H__
#include "stdio.h"
#include "ch32v30x.h"
#define LONG_PRESS_THRESHOLD_MS (300ULL)
#define LONG_PRESS_THRESHOLD_TICK (LONG_PRESS_THRESHOLD_MS * 18000ULL)
typedef enum rotate_button_event {
rotate_button_press_short = 1,
rotate_button_press_long = 2,
rotate_button_forward = 3,
rotate_button_backward = 4,
} rotate_button_event;
extern uint8_t rotate_button;
extern void by_exit_init(void);
extern void by_gpio_init(void);
extern uint8_t by_get_rb_status(void);
extern void by_ips_show(void);
#endif

17
app/cw_servo.c
View File

@@ -1,17 +0,0 @@
#include "zf_common_headfile.h"
#include "cw_servo.h"
void cw_servo_init(void)
{
pwm_init(SERVO_L_PWM_CHANNEL, 50, 1000);
pwm_init(SERVO_R_PWM_CHANNEL, 50, 1000);
}
void cw_servo_set_angle(float servo_l_angle, float servo_r_angle)
{
uint32_t servo_l_duty_s = (uint32_t)(servo_l_angle * SERVO_L_DUTY_PER_ANGLE);
uint32_t servo_r_duty_s = (uint32_t)(servo_r_angle * SERVO_R_DUTY_PER_ANGLE);
pwm_set_duty(SERVO_L_PWM_CHANNEL, servo_l_duty_s);
pwm_set_duty(SERVO_R_PWM_CHANNEL, servo_r_duty_s);
}

20
app/cw_servo.h
View File

@@ -1,20 +0,0 @@
#ifndef _CW_SERVO_H__
#define _CW_SERVO_H__
#include "zf_common_headfile.h"
#define SERVO_L_PWM_CHANNEL TIM2_PWM_MAP0_CH1_A0
#define SERVO_R_PWM_CHANNEL TIM2_PWM_MAP0_CH2_A1
#define SERVO_MAX_ANGLE_RANGE (90.0F)
#define SERVO_L_DUTY_MAX (1100.0F)
#define SERVO_L_DUTY_MIN (900.0F)
#define SERVO_R_DUTY_MAX (1100.0F)
#define SERVO_R_DUTY_MIN (900.0F)
#define SERVO_L_DUTY_PER_ANGLE ((SERVO_L_DUTY_MAX - SERVO_L_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
#define SERVO_R_DUTY_PER_ANGLE ((SERVO_R_DUTY_MAX - SERVO_R_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
extern void cw_servo_init(void);
extern void cw_servo_set_angle(float servo_l_angle, float servo_r_angle);
#endif

14
app/gl_common.h
View File

@@ -1,12 +1,10 @@
#ifndef COMMON_H_
#define COMMON_H_
#define IMAGE_H (MT9V03X_H)
#define IMAGE_W (MT9V03X_W)
#define BEGINH_L (80)
#define BEGINH_R (80)
#define BEGINH_L (61)
#define BEGINH_R (61)
#define BEGINW_L (-18)
#define BEGINW_R (-12)
#define PT_MAXLEN (75)
@@ -16,9 +14,9 @@
#define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (56)
#define RESAMPLEDIST (0.02)
#define ANGLEDIST (0.2)
#define ROADWIDTH (0.45)
#define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f)
#define ROADWIDTH (0.45f)
#define FRAMENONE (1)
#define FRAMETOLEFT (5)
#define FRAMETORIGHT (5)
@@ -27,6 +25,4 @@ int32_t limit(int32_t x, int32_t low, int32_t up);
int clip(int x, int low, int up);
float fclip(float x, float low, float up);
#endif /* COMMON_H_ */

62
app/gl_data.c Normal file
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@@ -0,0 +1,62 @@
#include "gl_data.h"
uint8_t (*Img_Gray)[MT9V03X_W];
int32_t pts_left[PT_MAXLEN][2];
int32_t pts_right[PT_MAXLEN][2];
int32_t pts_left_count;
int32_t pts_right_count;
float pts_inv_l[PT_MAXLEN][2];
float pts_inv_r[PT_MAXLEN][2];
int32_t pts_inv_l_count;
int32_t pts_inv_r_count;
float pts_filter_l[PT_MAXLEN][2];
float pts_filter_r[PT_MAXLEN][2];
int32_t pts_filter_l_count;
int32_t pts_filter_r_count;
float pts_resample_left[PT_MAXLEN][2];
float pts_resample_right[PT_MAXLEN][2];
int32_t pts_resample_left_count;
int32_t pts_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
int32_t mid_left_count;
int32_t mid_right_count;
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
int angle_new_left_num;
int 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;
int angle_right_num;
int Lpt0_rpts0s_id;
int Lpt1_rpts1s_id;
bool Lpt0_found;
bool Lpt1_found;
int Lpt1[2];
int Lpt0[2];
int Lpt_in0_rpts0s_id;
int Lpt_in1_rpts1s_id;
bool Lpt_in0_found;
bool Lpt_in1_found;
int Lpt_in1[2];
int Lpt_in0[2];
bool is_straight0;
bool is_straight1;
bool is_turn0;
bool is_turn1;
float rptsn[PT_MAXLEN][2];
int32_t rptsn_num;
float aim_distance;
track_type_e track_type = TRACK_RIGHT;

74
app/gl_data.h Normal file
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@@ -0,0 +1,74 @@
#pragma once
#ifndef _GL_DATA_H
#define _GL_DATA_H
#include "gl_headfile.h"
typedef enum track_type_e {
TRACK_LEFT = 0,
TRACK_RIGHT,
} track_type_e;
extern uint8_t (*Img_Gray)[MT9V03X_W];
extern int32_t pts_left[PT_MAXLEN][2];
extern int32_t pts_right[PT_MAXLEN][2];
extern int32_t pts_left_count;
extern int32_t pts_right_count;
extern float pts_inv_l[PT_MAXLEN][2];
extern float pts_inv_r[PT_MAXLEN][2];
extern int32_t pts_inv_l_count;
extern int32_t pts_inv_r_count;
extern float pts_filter_l[PT_MAXLEN][2];
extern float pts_filter_r[PT_MAXLEN][2];
extern int32_t pts_filter_l_count;
extern int32_t pts_filter_r_count;
extern float pts_resample_left[PT_MAXLEN][2];
extern float pts_resample_right[PT_MAXLEN][2];
extern int32_t pts_resample_left_count;
extern int32_t pts_resample_right_count;
extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2];
extern int32_t mid_left_count;
extern int32_t mid_right_count;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern int angle_new_left_num;
extern int angle_new_right_num;
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern int angle_left_num;
extern int angle_right_num;
extern int Lpt0_rpts0s_id;
extern int Lpt1_rpts1s_id;
extern bool Lpt0_found;
extern bool Lpt1_found;
extern int Lpt1[2];
extern int Lpt0[2];
extern int Lpt_in0_rpts0s_id;
extern int Lpt_in1_rpts1s_id;
extern bool Lpt_in0_found;
extern bool Lpt_in1_found;
extern int Lpt_in1[2];
extern int Lpt_in0[2];
extern bool is_straight0;
extern bool is_straight1;
extern bool is_turn0;
extern bool is_turn1;
extern float rptsn[PT_MAXLEN][2];
extern int32_t rptsn_num;
extern float aim_distance;
extern track_type_e track_type;
#endif

5
app/gl_headfile.h
View File

@@ -1,8 +1,6 @@
#ifndef GL_HEADFILE
#define GL_HEADFILE
#include "gl_state.h"
#include "gl_img_process.h"
#include "gl_common.h"
@@ -14,8 +12,7 @@
#include "gl_tracking.h"
#include "gl_circle.h"
#include "gl_cross.h"
#include "gl_data.h"
#include "math.h"
#endif /* STATE_H_ */

26
app/gl_state.h
View File

@@ -3,20 +3,26 @@
enum state_type_e {
COMMON_STATE = 0,
CROSS_STATE,HALF_STATE,
CIRCLE_IN_STATE,CIRCLE_BEGIN_STATE,
CIRCLE_RUNNING_STATE,CIRCLE_OUT_STATE,
TURN_STATE,STRAIGHT_STATE,
BREAK_STATE,BAR_STATE,
RAMP_STATE,GARAGE_OUT_STATE,
GARAGE_IN_STATE,GARAGE_STOP_STATE,
CROSS_STATE,
HALF_STATE,
CIRCLE_IN_STATE,
CIRCLE_BEGIN_STATE,
CIRCLE_RUNNING_STATE,
CIRCLE_OUT_STATE,
TURN_STATE,
STRAIGHT_STATE,
BREAK_STATE,
BAR_STATE,
RAMP_STATE,
GARAGE_OUT_STATE,
GARAGE_IN_STATE,
GARAGE_STOP_STATE,
GARAGE_PASS_STATE,
};
extern enum state_type_e state_type;
#define CROSS_AIM (0.49)
#define COMMON_AIM (0.31)
#define CROSS_AIM (0.49f)
#define COMMON_AIM (0.31f)
#endif /* STATE_H_ */

24
app/isr.c
View File

@@ -34,7 +34,8 @@
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "by_pt_button.h"
#include "by_rt_button.h"
#include "by_imu.h"
void NMI_Handler(void) __attribute__((interrupt()));
void HardFault_Handler(void) __attribute__((interrupt()));
@@ -197,10 +198,10 @@ void EXTI9_5_IRQHandler(void)
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
if (SET == gpio_get_level(E10)) {
potate_button = POTATE_BUTTOM_BACKWARD;
rotate_button = rotate_button_backward;
} else {
potate_button = POTATE_BUTTOM_FOREWARD;
rotate_button = rotate_button_forward;
}
EXTI_ClearITPendingBit(EXTI_Line9);
}
@@ -217,11 +218,19 @@ void EXTI15_10_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line10);
}
if (SET == EXTI_GetITStatus(EXTI_Line11)) {
system_delay_us(200);
if (SET == !gpio_get_level(E11)) {
potate_button = POTATE_BUTTOM_PRESS;
static uint64_t time_via = 0;
system_delay_ms(10);
if (RESET == gpio_get_level(E11)) {
time_via = system_get_tick();
EXTI_ClearITPendingBit(EXTI_Line11);
} else if (SET == gpio_get_level(E11)) {
time_via = system_get_tick() - time_via;
if (time_via > LONG_PRESS_THRESHOLD_TICK) {
rotate_button = rotate_button_press_long;
} else {
rotate_button = rotate_button_press_short;
}
time_via = 0;
EXTI_ClearITPendingBit(EXTI_Line11);
}
if (SET == EXTI_GetITStatus(EXTI_Line12)) {
@@ -250,6 +259,7 @@ void EXTI15_10_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line15);
}
}
}
void TIM1_UP_IRQHandler(void)
{

124
app/main.c
View File

@@ -1,105 +1,42 @@
/*********************************************************************************************************************
* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
* Copyright (c) 2022 SEEKFREE ?????
* 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
*
* ??????? CH32V307VCT6 ???????????
* 本文件是 CH32V307VCT6 开源库的一部分
*
* CH32V307VCT6 ????? ?????????
* ?????????????????????????? GPL??GNU General Public License???? GNU ??锟斤拷？???????????????
* ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
* 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
*
* ????????????????????????????????锟斤拷？??????锟绞︼拷？??
* ?????????????????????????????????
* ?????????锟斤拷？GPL
* 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
*
* ?????????????????????????? GPL ?????
* ?????锟斤拷？?????<https://www.gnu.org/licenses/>
* 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/>
*
* ?????????
* ?????????? GPL3.0 ????????锟斤拷？? ?????????????????锟斤拷
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
* ??????????? libraries ??????? ???????????? LICENSE ???
* ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
*
* ??????? main
* ??????? ??????????????
* ?锟斤拷？?? ?? libraries/doc ??????? version ??? ?锟斤拷？??
* ???????? MounRiver Studio V1.8.1
* ?????? CH32V307VCT6
* ???????? https://seekfree.taobao.com/
*
* ?????
* ???? ???? ???
* 2022-09-15 ?? W first version
* 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_rt_button.h"
#include "by_fan_control.h"
#include "cw_servo.h"
#include "./page/cw_page.h"
uint8_t (*Img_Gray)[MT9V03X_W];
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();
void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value);
int main(void)
{
clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
debug_init(); // 务必保留，本函数用于初始化 MPU 时钟 调试串口
//mt9v03x_init();
// system_delay_ms(2000);
ips200_init(IPS200_TYPE_SPI);
clock_init(SYSTEM_CLOCK_120M);
system_delay_init();
debug_init();
mt9v03x_init();
// by_gpio_init();
// by_exit_init();
// by_pwm_init();
// cw_servo_init();
//printf("hello world\n");
ips200_init(IPS200_TYPE_SPI);
by_gpio_init();
by_exit_init();
by_pwm_init();
// while (imu660ra_init())
// ;
@@ -108,18 +45,11 @@ int main(void)
// pit_ms_init(TIM6_PIT, 2);
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);
// ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
// mt9v03x_finish_flag = 0;
// frame_count++;
// }
//}
Page_Run();
if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us
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, 17);
ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);

45
app/main.h
View File

@@ -2,50 +2,5 @@
#define MAIN_H
#include "zf_common_headfile.h"
#include "gl_common.h"
// 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 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 Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
extern bool Lpt_in0_found, Lpt_in1_found;
extern int Lpt_in1[2], Lpt_in0[2];
extern bool is_straight0, is_straight1;
extern bool is_turn0, is_turn1;
extern float rptsn[PT_MAXLEN][2];
extern int rptsn_num;
extern float aim_distance;
enum track_type_e {
TRACK_LEFT,
TRACK_RIGHT,
};
extern enum track_type_e track_type;
#endif // MAIN_H

31
app/page/cw_page.c
View File

@@ -1,5 +1,7 @@
#include "cw_page.h"
#include "by_rt_button.h"
PAGE_LIST pagelist[page_max];
static uint8_t page_busy = 0;
static int8_t now_page = page_menu;
@@ -17,7 +19,8 @@ static int8_t new_page = page_menu;
*/
void Page_Register(uint8_t pageID, char *pageText,
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
CallbackFunction_t exitCallback, EventFunction_t eventCallback) {
CallbackFunction_t exitCallback, EventFunction_t eventCallback)
{
pagelist[pageID].Text = pageText;
pagelist[pageID].SetupCallback = setupCallback;
pagelist[pageID].LoopCallback = loopCallback;
@@ -30,7 +33,8 @@ void Page_Register(uint8_t pageID, char *pageText,
* @param event: 事件编号
* @retval 无
*/
void Page_EventTransmit(unsigned char event) {
void Page_EventTransmit(unsigned char event)
{
/*将事件传递到当前页面*/
if (pagelist[now_page].EventCallback != 0)
pagelist[now_page].EventCallback(event);
@@ -41,7 +45,8 @@ void Page_EventTransmit(unsigned char event) {
* @param pageID：页面号
* @retval 1：成功 0：失败
*/
void Page_Shift(unsigned char pageID) {
void Page_Shift(unsigned char pageID)
{
if (page_busy == 0) {
new_page = pageID;
}
@@ -51,7 +56,8 @@ void Page_Shift(unsigned char pageID) {
* @brief 关闭当前页面
*
*/
void Page_CloseCurrentPage() {
void Page_CloseCurrentPage()
{
pagelist[now_page].ExitCallback();
}
@@ -59,7 +65,8 @@ void Page_CloseCurrentPage() {
* @brief 打开当前页面
*
*/
void Page_OpenCurrentPage() {
void Page_OpenCurrentPage()
{
pagelist[now_page].SetupCallback();
}
@@ -68,7 +75,8 @@ void Page_OpenCurrentPage() {
*
* @return uint8_t 页面忙返回 1 空闲返回 0
*/
uint8_t Page_GetStatus(void) {
uint8_t Page_GetStatus(void)
{
if (page_busy)
return 1;
else
@@ -79,7 +87,12 @@ uint8_t Page_GetStatus(void) {
* @brief 页面运行函数
*
*/
void Page_Run(void) {
void Page_Run(void)
{
uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态
if(temp_status){
pagelist[now_page].EventCallback(temp_status);
}
if (now_page != new_page) {
if (new_page >= page_max && new_page < page_menu) {
@@ -108,8 +121,10 @@ void Page_Run(void) {
* @brief 页面初始化（注册，构建） //ATTENTION 在此处添加新加入的页面
*
*/
void Page_Init(void) {
void Page_Init(void)
{
PAGE_REG(page_menu);
PAGE_REG(page_rtcam);
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);

10
app/page/cw_page.h
View File

@@ -13,10 +13,13 @@
#include "zf_common_headfile.h"
#include "by_rt_button.h"
enum PageID {
PAGE_NULL = -1,
//......
page_menu,
page_rtcam,
// page_argv,
// page_sys,
// page_run,
@@ -25,9 +28,10 @@ enum PageID {
};
typedef enum page_event{
page_event_forward,
page_event_backward,
page_event_press
page_event_forward = rotate_button_forward,
page_event_backward = rotate_button_backward,
page_event_press_short = rotate_button_press_short,
page_event_press_long = rotate_button_press_long,
} page_event;
typedef void (*CallbackFunction_t)(void);

11
app/page/cw_page_menu.c
View File

@@ -7,8 +7,8 @@
static char Text[] = "Menu";
static int8_t Curser = 1; // 定义光标位置
static int8_t Curser_Last = 1; // 定义光标位置
static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
static void Print_Menu_p(void);
/***************************************************************************************
*
@@ -23,7 +23,7 @@ static void Print_Menu_p(void);
*/
static void Setup()
{
ips114_clear();
ips200_clear();
Print_Menu_p();
Print_Curser(Curser, Curser_Last);
}
@@ -44,7 +44,6 @@ static void Exit()
*/
static void Loop()
{
Show_Marked_Image();
}
/**
@@ -61,7 +60,7 @@ static void Event(page_event event)
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
} else if (page_event_press == event) {
} else if (page_event_press_short == event) {
if (page_max > Curser && page_menu < Curser) {
Page_Shift(Curser); // 切换到光标选中的页面
}
@@ -101,7 +100,7 @@ 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);
ips200_show_string(10, i * 18, pagelist[i].Text);
// SCREEN_showstr(8, i, pagelist[i].Text);
}
}

35
app/page/cw_page_rtcam.c
View File

@@ -2,14 +2,13 @@
#include "cw_page_ui_widget.h"
#include "cw_page.h"
#define LINE_HEAD 1
#define LINE_END 7
#define LINE_HEAD 11
#define LINE_END 16
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);
static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
/***************************************************************************************
*
* 以下为页面模板函数
@@ -23,8 +22,7 @@ static void Print_Menu_p(void);
*/
static void Setup()
{
ips114_clear();
Print_Menu_p();
ips200_clear();
Print_Curser(Curser, Curser_Last);
}
@@ -44,6 +42,7 @@ static void Exit()
*/
static void Loop()
{
Show_Marked_Image();
}
/**
@@ -60,10 +59,10 @@ static void Event(page_event 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
}
} else if (page_event_press_short == event) {
} else if (page_event_press_long == event) {
Page_Shift(page_menu);
}
if (Curser < LINE_HEAD) {
@@ -90,17 +89,3 @@ void PageRegister_page_rtcam(unsigned char pageID)
* 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);
}
}

24
app/page/cw_page_ui_widget.c
View File

@@ -1,6 +1,6 @@
#include "cw_page_ui_widget.h"
#include "zf_common_headfile.h"
#include "main.h"
#include "gl_data.h"
/**
* @brief 绘制光标
@@ -10,8 +10,17 @@
*/
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, ">");
// ips200_show_string(0, Curser_Last_In * 18, " ");
// ips200_show_string(0, Curser_In * 18, ">");
for (uint8_t i = 0; i < 160; i++) {
ips200_draw_point(10 + i, Curser_Last_In * 18 + 19, IPS200_DEFAULT_BGCOLOR);
// system_delay_us(200);
}
for (uint8_t i = 0; i < 160; i++) {
ips200_draw_point(10 + i, Curser_In * 18 + 19, RGB565_WHITE);
system_delay_ms(1);
}
}
/**
@@ -20,9 +29,8 @@ void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In)
*/
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);
ips200_show_string(8, i * 18 + 16, item[i].text);
}
}
@@ -141,8 +149,10 @@ void Show_Marked_Image(void)
// 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);
ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate) - 1, START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
ips200_draw_point(START_X + (uint16_t)((float)pts_left[i][1] * horizontal_zoom_rate) + 1, START_Y + (uint16_t)((float)pts_left[i][0] * vertical_zoom_rate), RGB565_YELLOW);
}
#undef IMAGE_DISPLAY_WIDTH
#undef START_X

3
libraries/zf_common/zf_common_font.c
View File

@@ -93,7 +93,8 @@ const uint8 ascii_font_8x16[][16]=
{0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00}, // ; 27
{0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00}, // < 28
{0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00}, // = 29
{0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00}, // > 30
// {0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00}, // > 30
{0xFE,0xFC,0xF8,0xF0,0xE0,0xC0,0x80,0x00,0x7F,0x3F,0x1F,0x0F,0x07,0x03,0x01,0x00}, // > 30
{0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00}, // ? 31
{0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00}, // @ 32
{0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20}, // A 33

112
libraries/zf_device/zf_device_ips200.c
View File

@@ -316,10 +316,10 @@ static void ips200_set_region(uint16 x1, uint16 y1, uint16 x2, uint16 y2)
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
// 检查一下你的显示调用的函数 自己计算一下哪里超过了屏幕显示范围
zf_assert(x1 < ips200_x_max);
zf_assert(y1 < ips200_y_max);
zf_assert(x2 < ips200_x_max);
zf_assert(y2 < ips200_y_max);
// zf_assert(x1 < ips200_x_max);
// zf_assert(y1 < ips200_y_max);
// zf_assert(x2 < ips200_x_max);
// zf_assert(y2 < ips200_y_max);
ips200_write_command(0x2a);
ips200_write_16bit_data(x1);
@@ -484,8 +484,8 @@ void ips200_draw_point(uint16 x, uint16 y, const uint16 color)
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
@@ -512,10 +512,10 @@ void ips200_draw_line(uint16 x_start, uint16 y_start, uint16 x_end, uint16 y_end
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x_start < ips200_x_max);
zf_assert(y_start < ips200_y_max);
zf_assert(x_end < ips200_x_max);
zf_assert(y_end < ips200_y_max);
// zf_assert(x_start < ips200_x_max);
// zf_assert(y_start < ips200_y_max);
// zf_assert(x_end < ips200_x_max);
// zf_assert(y_end < ips200_y_max);
int16 x_dir = (x_start < x_end ? 1 : -1);
int16 y_dir = (y_start < y_end ? 1 : -1);
@@ -565,33 +565,14 @@ void ips200_show_char(uint16 x, uint16 y, const char dat)
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
uint8 i = 0, j = 0;
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
switch (ips200_display_font) {
case IPS200_6X8_FONT: {
uint16 display_buffer[6 * 8];
ips200_set_region(x, y, x + 5, y + 7);
for (i = 0; 6 > i; i++) {
// 减 32 因为是取模是从空格开始取得 空格在 ascii 中序号是 32
uint8 temp_top = ascii_font_6x8[dat - 32][i];
for (j = 0; 8 > j; j++) {
if (temp_top & 0x01) {
display_buffer[i + j * 6] = (ips200_pencolor);
} else {
display_buffer[i + j * 6] = (ips200_bgcolor);
}
temp_top >>= 1;
}
}
ips200_write_16bit_data_array(display_buffer, 6 * 8);
} break;
case IPS200_8X16_FONT: {
uint16 display_buffer[8 * 16];
ips200_set_region(x, y, x + 7, y + 15);
for (i = 0; 8 > i; i++) {
@@ -613,13 +594,10 @@ void ips200_show_char(uint16 x, uint16 y, const char dat)
}
temp_bottom >>= 1;
}
}
ips200_write_16bit_data_array(display_buffer, 8 * 16);
} break;
case IPS200_16X16_FONT: {
// 暂不支持
} break;
}
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
@@ -638,8 +616,8 @@ void ips200_show_string(uint16 x, uint16 y, const char dat[])
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
uint16 j = 0;
while ('\0' != dat[j]) {
@@ -671,10 +649,10 @@ void ips200_show_int(uint16 x, uint16 y, const int32 dat, uint8 num)
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(0 < num);
zf_assert(10 >= num);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(0 < num);
// zf_assert(10 >= num);
int32 dat_temp = dat;
int32 offset = 1;
@@ -708,10 +686,10 @@ void ips200_show_uint(uint16 x, uint16 y, const uint32 dat, uint8 num)
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(0 < num);
zf_assert(10 >= num);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(0 < num);
// zf_assert(10 >= num);
uint32 dat_temp = dat;
int32 offset = 1;
@@ -748,12 +726,12 @@ void ips200_show_float(uint16 x, uint16 y, const double dat, uint8 num, uint8 po
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(0 < num);
zf_assert(8 >= num);
zf_assert(0 < pointnum);
zf_assert(6 >= pointnum);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(0 < num);
// zf_assert(8 >= num);
// zf_assert(0 < pointnum);
// zf_assert(6 >= pointnum);
double dat_temp = dat;
double offset = 1.0;
@@ -790,9 +768,9 @@ void ips200_show_binary_image(uint16 x, uint16 y, const uint8 *image, uint16 wid
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(NULL != image);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(NULL != image);
uint32 i = 0, j = 0;
uint8 temp = 0;
@@ -844,9 +822,9 @@ void ips200_show_gray_image(uint16 x, uint16 y, const uint8 *image, uint16 width
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(NULL != image);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(NULL != image);
uint32 i = 0, j = 0;
uint16 color = 0, temp = 0;
@@ -901,9 +879,9 @@ void ips200_show_rgb565_image(uint16 x, uint16 y, const uint16 *image, uint16 wi
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(NULL != image);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(NULL != image);
uint32 i = 0, j = 0;
uint16 data_buffer[dis_width];
@@ -947,9 +925,9 @@ void ips200_show_wave(uint16 x, uint16 y, const uint16 *wave, uint16 width, uint
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(NULL != wave);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(NULL != wave);
uint32 i = 0, j = 0;
uint32 width_index = 0, value_max_index = 0;
@@ -992,9 +970,9 @@ void ips200_show_chinese(uint16 x, uint16 y, uint8 size, const uint8 *chinese_bu
{
// 如果程序在输出了断言信息 并且提示出错位置在这里
// 那么一般是屏幕显示的时候超过屏幕分辨率范围了
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
zf_assert(NULL != chinese_buffer);
// zf_assert(x < ips200_x_max);
// zf_assert(y < ips200_y_max);
// zf_assert(NULL != chinese_buffer);
int i = 0, j = 0, k = 0;
uint8 temp = 0, temp1 = 0, temp2 = 0;

4
libraries/zf_device/zf_device_ips200.h
View File

@@ -115,8 +115,8 @@
// --------------------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
#define IPS200_DEFAULT_BGCOLOR (RGB565_WHITE ) // 默认的背景颜色
#define IPS200_DEFAULT_PENCOLOR (RGB565_YELLOW ) // 默认的画笔颜色
#define IPS200_DEFAULT_BGCOLOR (RGB565_BLACK ) // 默认的背景颜色
#define IPS200_DEFAULT_DISPLAY_FONT (IPS200_8X16_FONT) // 默认的字体模式
// 控制语句

44
libraries/zf_driver/zf_driver_delay.c
View File

@@ -48,18 +48,20 @@
//-------------------------------------------------------------------------------------------------------------------
void system_delay_ms(uint32 num)
{
SysTick->SR &= ~(1 << 0);
// SysTick->SR &= ~(1 << 0);
// SysTick->CMP = (uint64_t)(system_clock / 8000) * num;
// SysTick->CTLR |= (1 << 4);
// SysTick->CTLR |= (1 << 5) | (1 << 0);
SysTick->CMP = (uint64_t)(system_clock/8000) * num;
SysTick->CTLR |= (1 << 4);
SysTick->CTLR |= (1 << 5) | (1 << 0);
// while ((SysTick->SR & (1 << 0)) != (1 << 0))
// ;
while((SysTick->SR & (1 << 0)) != (1 << 0));
SysTick->CTLR &= ~(1 << 0);
// SysTick->CTLR &= ~(1 << 0);
while (num--) {
system_delay_us(1000);
}
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> system <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> us <20><><EFBFBD><EFBFBD>
@@ -70,16 +72,30 @@ void system_delay_ms (uint32 num)
//-------------------------------------------------------------------------------------------------------------------
void system_delay_us(uint32 num)
{
SysTick->SR &= ~(1 << 0);
// SysTick->SR &= ~(1 << 0);
// SysTick->CMP = (uint64_t)(system_clock/8000000) * num;
// SysTick->CTLR |= (1 << 4);
// SysTick->CTLR |= (1 << 5) | (1 << 0);
SysTick->CMP = (uint64_t)(system_clock/8000000) * num;
SysTick->CTLR |= (1 << 4);
SysTick->CTLR |= (1 << 5) | (1 << 0);
// while((SysTick->SR & (1 << 0)) != (1 << 0));
while((SysTick->SR & (1 << 0)) != (1 << 0));
// SysTick->CTLR &= ~(1 << 0);
SysTick->CTLR &= ~(1 << 0);
uint64_t time_start = SysTick->CNT;
uint64_t time_delta = (uint64_t)num * (uint64_t)(system_clock / 8000000);
while (time_delta > (SysTick->CNT - time_start)) {
}
}
uint64_t system_get_tick(void)
{
uint64_t time_temp = SysTick->CNT;
return (time_temp);
}
void system_delay_init(void)
{
SysTick->CTLR |= 0x21;
}

2
libraries/zf_driver/zf_driver_delay.h
View File

@@ -41,5 +41,7 @@
void system_delay_ms(uint32 time);
void system_delay_us(uint32 time);
uint64_t system_get_tick(void);
void system_delay_init(void);
#endif