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Merge http://git.isthmus.tk:441/btl143/firmware_violet_zf

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Glz
2023-12-24 22:28:03 +08:00
parent eca0d27752 b037e231c8
commit afb16ae44a
16 changed files with 1008 additions and 571 deletions
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2
app/gl_common.c
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@@ -2,7 +2,7 @@
#include "gl_headfile.h"
sint32 limit(sint32 x, sint32 low, sint32 up)
int32_t limit(int32_t x, int32_t low, int32_t up)
{
return x > up ? up : x < low ? low : x;
}

5
app/gl_common.h
View File

@@ -23,10 +23,7 @@
#define FRAMETOLEFT (5)
#define FRAMETORIGHT (5)
typedef signed int sint32;
typedef float float32;
sint32 limit(sint32 x, sint32 low, sint32 up);
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) ;

24
app/gl_handle_img.c
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@@ -5,12 +5,12 @@
const sint32 direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
const sint32 direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
const sint32 direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
const int32_t direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
const int32_t direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
const int32_t direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
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)
{
int half = block_size / 2;
int step = 0, dir = 0, turn = 0;
@@ -53,7 +53,7 @@ void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_va
*line_num = step;
}
void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
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)
{
int half = block_size / 2;
int step = 0, dir = 0, turn = 0;
@@ -100,7 +100,7 @@ void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_v
void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize)
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize)
{
int half = kernelsize / 2;
for (int i = 0; i < pts_in_count; i++) {
@@ -115,7 +115,7 @@ void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][
}
}
void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist)
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist)
{
if (num1 < 0) {
*num2 = 0;
@@ -192,7 +192,7 @@ void nms_angle(float angle_in[], int num, float angle_out[], int kernel) {
}
}
void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist)
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist)
{
for (int i = 0; i < pts_left_count; i++) {
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];
@@ -207,7 +207,7 @@ void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_l
}
void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist)
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist)
{
for (int i = 0; i < pts_right_count; i++) {
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];
@@ -223,10 +223,10 @@ void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mi
}
int is_curve(float32 angle[], int n, float32 threshold) {
int is_curve(float angle[], int n, float threshold) {
for (int i = 1; i < n - 1; i++) {
float32 da = fabs(angle[i] - angle[i-1]);
float32 db = fabs(angle[i+1] - angle[i]);
float da = fabs(angle[i] - angle[i-1]);
float db = fabs(angle[i+1] - angle[i]);
if (da > threshold && db > threshold) {
return 1; // 是弯道
}

12
app/gl_handle_img.h
View File

@@ -3,13 +3,13 @@
void SearchStartPoint_Left(uint8 img_gray[], sint32* h_start, sint32* w_start, uint8 threshold);
void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize);
void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist);
void SearchStartPoint_Left(uint8_t img_gray[], int32_t* h_start, int32_t* w_start, uint8_t threshold);
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize);
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist);
void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist);
void nms_angle(float angle_in[], int num, float angle_out[], int kernel);
void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist);
void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist);
int is_curve(float32 angle[], int n, float32 threshold) ;
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist);
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist);
int is_curve(float angle[], int n, float threshold) ;
#endif /* COMMON_H_ */

3
app/gl_img_process.c
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@@ -5,9 +5,6 @@
/*
@author: glz
@brief:
*/

6
app/gl_img_process.h
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@@ -3,10 +3,8 @@
#include "zf_common_headfile.h"
typedef signed int sint32;
void img_processing(void);
void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
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);
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);
#endif /* STATE_H_ */

95
app/main.c
View File

@@ -1,69 +1,66 @@
/*********************************************************************************************************************
* 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 ??锟斤拷？???????????????
* ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
*
* <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
* ????????????????????????????????锟斤拷？??????锟绞︼拷？??
* ?????????????????????????????????
* ?????????锟斤拷？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 ?????
* ?????锟斤拷？?????<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 ????????锟斤拷？? ?????????????????锟斤拷
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
* ??????????? libraries ??????? ???????????? LICENSE ???
* ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
*
* <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
* ??????? ??????????????
* ?锟斤拷？?? ?? libraries/doc ??????? version ??? ?锟斤拷？??
* ???????? 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"
#include "cw_servo.h"
#include "by_pt_button.h"
#include "by_fan_control.h"
#include "by_imu.h"
#include "cw_servo.h"
#include "./page/cw_page.h"
uint8 (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8 <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
// uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
sint32 pts_left_count, pts_right_count;
float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
sint32 pts_inv_l_count, pts_inv_r_count;
float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
sint32 pts_filter_l_count, pts_filter_r_count;
float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
sint32 pts_resample_left_count, pts_resample_right_count;
float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
sint32 mid_left_count, mid_right_count;
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;
// <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 +69,10 @@ 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;
@@ -95,8 +89,8 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
int main(void)
{
clock_init(SYSTEM_CLOCK_120M); // <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>оƬʱ<EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
debug_init(); // <EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><EFBFBD> MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
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);
@@ -148,9 +142,6 @@ int main(void)
//MidLineTrack();
}
// // by_imu_data_get();
// // by_ips_show();
// // system_delay_ms(200);
}
}
@@ -160,7 +151,7 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
int half_block = block / 2;
for(int y=half_block; y<height-half_block; y++){
for(int x=half_block; x<width-half_block; x++){
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD><EFBFBD><EFBFBD>ֵ
// 计算局部阈值
int thres = 0;
for(int dy=-half_block; dy<=half_block; dy++){
for(int dx=-half_block; dx<=half_block; dx++){
@@ -168,7 +159,7 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
}
}
thres = thres / (block * block) - clip_value;
// <EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ֵ<EFBFBD><EFBFBD>
// 进行二值化
output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
}
}

32
app/main.h
View File

@@ -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,

120
app/page/cw_page.c Normal file
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#include "cw_page.h"
PAGE_LIST pagelist[page_max];
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
* @param pageID: 页面编号
* @param pageText: 页面标题的指针
* @param setupCallback: 初始化函数回调
* @param loopCallback: 循环函数回调
* @param exitCallback: 退出函数回调
* @param eventCallback: 事件函数回调
* @retval 无
*/
void Page_Register(uint8_t pageID, char *pageText,
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
CallbackFunction_t exitCallback, EventFunction_t eventCallback) {
pagelist[pageID].Text = pageText;
pagelist[pageID].SetupCallback = setupCallback;
pagelist[pageID].LoopCallback = loopCallback;
pagelist[pageID].ExitCallback = exitCallback;
pagelist[pageID].EventCallback = eventCallback;
}
/**
* @brief 页面事件传递
* @param event: 事件编号
* @retval 无
*/
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);
}
/**
* @brief 页面切换
* @param pageID：页面号
* @retval 1：成功 0：失败
*/
void Page_Shift(unsigned char pageID) {
if (page_busy == 0) {
new_page = pageID;
}
}
/**
* @brief 关闭当前页面
*
*/
void Page_CloseCurrentPage() {
pagelist[now_page].ExitCallback();
}
/**
* @brief 打开当前页面
*
*/
void Page_OpenCurrentPage() {
pagelist[now_page].SetupCallback();
}
/**
* @brief 获取页面状态
*
* @return uint8_t 页面忙返回1 空闲返回0
*/
uint8_t Page_GetStatus(void) {
if (page_busy)
return 1;
else
return 0;
}
/**
* @brief 页面运行函数
*
*/
void Page_Run(void) {
if (now_page != new_page) {
if (new_page >= page_max && new_page < page_menu) {
new_page = page_menu;
}
//执行当前页面退出回调函数
if ((pagelist[now_page].ExitCallback != 0)) {
pagelist[now_page].ExitCallback();
}
//执行新页面构造回调函数
if (pagelist[new_page].SetupCallback != 0) {
pagelist[new_page].SetupCallback();
}
now_page = new_page;
}
if (page_busy == 0) {
//执行循环函数
pagelist[now_page].LoopCallback();
}
}
/**
* @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) {
PAGE_REG(page_menu);
// PAGE_REG(page_argv);
// PAGE_REG(page_sys);
// PAGE_REG(page_run);
Page_Shift(page_menu);
pagelist[now_page].SetupCallback(); //先构建一遍
}

64
app/page/cw_page.h Normal file
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@@ -0,0 +1,64 @@
/*
* @Author: CaoWangrenbo cao.wangrenbo@yandex.com
* @Date: 2023-03-19 18:28:44
* @LastEditors: CaoWangrenbo cao.wangrenbo@yandex.com
* @LastEditTime: 2023-03-19 20:43:00
* @FilePath: \icr18_btl143_ch32v_slave\project\code\page\fd_page.h
* @Description:
*
*
*/
#ifndef _FD_PAGE_H__
#define _FD_PAGE_H__
#include "zf_common_headfile.h"
enum PageID {
PAGE_NULL = -1,
//......
page_menu,
// page_argv,
// page_sys,
// page_run,
//......
page_max,
};
typedef enum page_event{
page_event_forward,
page_event_backward,
page_event_press
} page_event;
typedef void (*CallbackFunction_t)(void);
typedef void (*EventFunction_t)(page_event);
typedef struct {
char *Text;
CallbackFunction_t SetupCallback;
CallbackFunction_t LoopCallback;
CallbackFunction_t ExitCallback;
EventFunction_t EventCallback;
} PAGE_LIST;
//页面注册函数
#define PAGE_REG(name)\
do{\
extern void PageRegister_##name(unsigned char pageID);\
PageRegister_##name(name);\
}while(0)
void Page_Register(uint8_t pageID, char *pageText,
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
CallbackFunction_t exitCallback, EventFunction_t eventCallback);
void Page_EventTransmit(unsigned char event);
void Page_Shift(unsigned char pageID);
void Page_CloseCurrentPage(void);
void Page_OpenCurrentPage(void);
uint8_t Page_GetStatus(void);
void Page_Run(void);
void Page_Init(void);
extern PAGE_LIST pagelist[page_max];
#endif

107
app/page/cw_page_menu.c Normal file
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#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[] = "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 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()
{
Show_Marked_Image();
}
/**
* @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_menu(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);
}
}

106
app/page/cw_page_rtcam.c Normal file
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@@ -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);
}
}

150
app/page/cw_page_ui_widget.c Normal file
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@@ -0,0 +1,150 @@
#include "cw_page_ui_widget.h"
#include "zf_common_headfile.h"
#include "main.h"
/**
* @brief 绘制光标
*
* @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_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_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);
}
}
/**
* @brief 打印数值项
*
*/
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;
// }
// }
}
/**
* @brief
*
* @param item_num
* @param dir
*/
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;
// ips200_show_float(128, item_num + 1,
// *((float *)Param_Data[item[item_num].data_tag].p_data), 6,
// 2);
// return;
// }
// if (0 < step &&
// 1 > step) { // 避免步进值小于 1 时截尾为 0，不知道为啥 ceil 函数不可用
// step = 1;
// } else if (0 > step && -1 < step) {
// step = -1;
// }
// switch (Param_Data[item[item_num].data_tag].type) {
// case EINT8:
// *((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_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_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_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_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_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
}

17
app/page/cw_page_ui_widget.h Normal file
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@@ -0,0 +1,17 @@
#ifndef _FD_SCREEN_WIDGET_H__
#define _FD_SCREEN_WIDGET_H__
#include "zf_common_headfile.h"
typedef struct {
char *text; //变量显示名
uint8_t data_tag; //变量结构体
} ITEM;
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