Merge branch 'master' of http://git.isthmus.tk:441/btl143/firmware_violet_zf

Readme.md

@@ -1,24 +1,24 @@
 # fireware_violet
 
-## 使用 VSCode + EIDE + GCC + OpenOCD 开发
+## 1 使用 VSCode + EIDE + GCC + OpenOCD 开发
 
-* 确保 VSCode 安装了 `EIDE` 插件
+### 1.1 前提要求
 
-* 将文件 `firmware_violet.code-workspace_eg` 重命名为 `firmware_violet.code-workspace`
+1. VSCode 安装了 `EIDE` 插件  
+2. 有 Python3 环境  
+3. 已有沁恒 risc-v 工具链 (MRS 集成开发环境自带)
 
-* 双击 `firmware_violet.code-workspace` 从工作区开启 VSCode
+### 1.2 在工作区目录下运行配置脚本
 
-* 工作区设置中修改 EIDE 插件设置，将 `EIDE.RISCV.InstallDirectory` 和 `EIDE.OpenOCD.ExePath` 两项设置更改为自己 MRS 下 ToolChains 中 GCC 和 OpenOCD 的路径
+```bash
+pyhton ./set_eide_env.py
+```
 
-### eg.
+根据提示配置两个路径 (OpenOCD 和 riscv-gcc) 即可
 
-`EIDE.RISCV.InstallDirectory` - `D:\Program_Files_nospace\MounRiver\MounRiver_Studio\toolchain\RISC-V Embedded GCC`
+配置完成后请先关闭 VSCode，再重新双击 `violet_firmware_zf.code-workspace` 文件开启工作区 (否则当前工作区的 OpenOCD 路径配置不会马上生效)
 
-`EIDE.OpenOCD.ExePath` - `D:\Program_Files_nospace\MounRiver\MounRiver_Studio\toolchain\OpenOCD\bin\openocd.exe`
+## 2 常用快捷键
-
-然后就可以愉快的使用 VSCode 进行开发和下载了
-
-## 常用快捷键：
 
 * 编译：`F7`
 

app/by_fan_control.c

@@ -0,0 +1,26 @@
+#include "by_fan_control.h"
+#include "zf_common_headfile.h"
+
+void by_pwm_init(void)
+{
+    pwm_init(TIM4_PWM_MAP1_CH1_D12, 10000, 0); // 浮力风扇左
+    pwm_init(TIM4_PWM_MAP1_CH2_D13, 10000, 0); // 浮力风扇右
+
+    pwm_init(TIM4_PWM_MAP1_CH3_D14, 10000, 0); // 动力风扇左
+    pwm_init(TIM4_PWM_MAP1_CH4_D15, 10000, 0); // 动力风扇右
+}
+
+void by_pwm_update_duty(uint32_t update_pwm_duty)
+{
+    if (7000UL > update_pwm_duty) {
+        update_pwm_duty = 7000UL;
+    }
+    pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
+    pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
+}
+
+void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)
+{
+    pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, power_pwm_duty_l);
+    pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, power_pwm_duty_r);
+}

app/by_fan_control.h

@@ -0,0 +1,11 @@
+#ifndef _BY_FAN_CONTROL_H_
+#define _BY_FAN_CONTROL_H_
+
+#include "stdio.h"
+#include "ch32v30x.h"
+
+extern void by_pwm_init(void);
+extern void by_pwm_update_duty(uint32_t update_pwm_duty);
+extern void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r);
+
+#endif

app/by_pt_button.c

@@ -0,0 +1,27 @@
+#include "by_pt_button.h"
+#include "zf_common_headfile.h"
+uint8_t potate_button;
+void by_gpio_init(void)
+{
+    gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
+}
+
+void by_exit_init(void)
+{
+    exti_init(E9, EXTI_TRIGGER_FALLING);
+    exti_init(E11, EXTI_TRIGGER_FALLING);
+}
+
+uint8_t by_get_pb_statu(void)
+{
+    uint8_t temp_s = potate_button;
+    potate_button  = 0;
+    return temp_s;
+}
+
+void by_ips_show(void)
+{
+    ips114_show_string(0, 0, "button statu:");
+    ips114_show_uint(104, 0, by_get_pb_statu(), 1);
+    
+}

app/by_pt_button.h

@@ -0,0 +1,15 @@
+#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_pb_statu(void);
+extern void by_ips_show(void);
+#endif

app/cw_servo.c

@@ -0,0 +1,17 @@
+#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);
+}

app/cw_servo.h

@@ -0,0 +1,20 @@
+#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

app/isr.c

@@ -34,6 +34,8 @@
  ********************************************************************************************************************/
 
 #include "zf_common_headfile.h"
+#include "by_pt_button.h"
+
 void NMI_Handler(void) __attribute__((interrupt()));
 void HardFault_Handler(void) __attribute__((interrupt()));
 
@@ -79,25 +81,21 @@ void EXTI15_10_IRQHandler(void) __attribute__((interrupt()));
 
 void USART1_IRQHandler(void)
 {
-    if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
-    {
 
         USART_ClearITPendingBit(USART1, USART_IT_RXNE);
     }
 }
 void USART2_IRQHandler(void)
 {
-    if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
-    {
-
 
         USART_ClearITPendingBit(USART2, USART_IT_RXNE);
     }
 }
 void USART3_IRQHandler(void)
 {
-    if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
-    {
 #if DEBUG_UART_USE_INTERRUPT       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
         debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><D5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
 #endif                             // <20><><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8><EFBFBD> DEBUG_UART_INDEX <20><><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
@@ -106,135 +104,111 @@ void USART3_IRQHandler(void)
 }
 void UART4_IRQHandler(void)
 {
-    if(USART_GetITStatus(UART4, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) {
-    {
 
         USART_ClearITPendingBit(UART4, USART_IT_RXNE);
     }
 }
 void UART5_IRQHandler(void)
 {
-    if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) {
-    {
         camera_uart_handler();
         USART_ClearITPendingBit(UART5, USART_IT_RXNE);
     }
 }
 void UART6_IRQHandler(void)
 {
-    if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(UART6, USART_IT_RXNE) != RESET) {
-    {
 
         USART_ClearITPendingBit(UART6, USART_IT_RXNE);
     }
 }
 void UART7_IRQHandler(void)
 {
-    if(USART_GetITStatus(UART7, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
-    {
         wireless_module_uart_handler();
         USART_ClearITPendingBit(UART7, USART_IT_RXNE);
     }
 }
 void UART8_IRQHandler(void)
 {
-    if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET)
+    if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
-    {
         gps_uart_callback();
         USART_ClearITPendingBit(UART8, USART_IT_RXNE);
     }
-
 }
 
-
-
 void DVP_IRQHandler(void)
 {
-    if (DVP->IFR & RB_DVP_IF_FRM_DONE)
+    if (DVP->IFR & RB_DVP_IF_FRM_DONE) {
-    {
         camera_dvp_handler();
         DVP->IFR &= ~RB_DVP_IF_FRM_DONE;
     }
 }
 void EXTI0_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line0))
+    if (SET == EXTI_GetITStatus(EXTI_Line0)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line0);
-
     }
 }
 
 void EXTI1_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line1))
+    if (SET == EXTI_GetITStatus(EXTI_Line1)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line1);
-
     }
 }
 
 void EXTI2_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line2))
+    if (SET == EXTI_GetITStatus(EXTI_Line2)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line2);
-
     }
 }
 
 void EXTI3_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line3))
+    if (SET == EXTI_GetITStatus(EXTI_Line3)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line3);
-
     }
 }
 
 void EXTI4_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line4))
+    if (SET == EXTI_GetITStatus(EXTI_Line4)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line4);
-
     }
 }
 
 void EXTI9_5_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line5))
+    if (SET == EXTI_GetITStatus(EXTI_Line5)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line5);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line6))
+    if (SET == EXTI_GetITStatus(EXTI_Line6)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line6);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line7))
+    if (SET == EXTI_GetITStatus(EXTI_Line7)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line7);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line8))
+    if (SET == EXTI_GetITStatus(EXTI_Line8)) {
-    {
         EXTI_ClearITPendingBit(EXTI_Line8);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line9))
+    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;
             
         }
-
+    }
 }
 
 void EXTI15_10_IRQHandler(void)
 {
-    if(SET == EXTI_GetITStatus(EXTI_Line10))
+    if (SET == EXTI_GetITStatus(EXTI_Line10)) {
-    {
 
         // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A10/B10..E10) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
 
@@ -242,18 +216,18 @@ void EXTI15_10_IRQHandler(void)
 
         EXTI_ClearITPendingBit(EXTI_Line10);
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line11))
+    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;
         }
-    if(SET == EXTI_GetITStatus(EXTI_Line12))
+    }
-    {
+    if (SET == EXTI_GetITStatus(EXTI_Line12)) {
         EXTI_ClearITPendingBit(EXTI_Line12);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line13))
+    if (SET == EXTI_GetITStatus(EXTI_Line13)) {
-    {
         // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
         tof_module_exti_handler();
         // -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
@@ -262,17 +236,14 @@ void EXTI15_10_IRQHandler(void)
         // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
 
         EXTI_ClearITPendingBit(EXTI_Line13);
-
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line14))
+    if (SET == EXTI_GetITStatus(EXTI_Line14)) {
-    {
         // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
         dm1xa_light_callback();
         // -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
         EXTI_ClearITPendingBit(EXTI_Line14);
     }
-    if(SET == EXTI_GetITStatus(EXTI_Line15))
+    if (SET == EXTI_GetITStatus(EXTI_Line15)) {
-    {
         // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
         dm1xa_sound_callback();
         // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
@@ -280,108 +251,76 @@ void EXTI15_10_IRQHandler(void)
     }
 }
 
-
 void TIM1_UP_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
-
     }
 }
 
-
 void TIM2_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
-
-
     }
 }
 
 void TIM3_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
-
-
     }
 }
 
 void TIM4_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
-
-
     }
 }
 
 void TIM5_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
-
-
     }
 }
 
 void TIM6_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
-
     }
 }
 
 void TIM7_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
-
-
     }
 }
 
-
 void TIM8_UP_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
-
     }
 }
 
-
 void TIM9_UP_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM9, TIM_IT_Update);
-
     }
 }
 
-
 void TIM10_UP_IRQHandler(void)
 {
-    if(TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET)
+    if (TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET) {
-    {
         TIM_ClearITPendingBit(TIM10, TIM_IT_Update);
-
     }
 }
 
-
-
 //.section    .text.vector_handler, "ax", @progbits
 
 //   .weak   EXTI0_IRQHandler           /* EXTI Line 0 */
@@ -485,9 +424,6 @@ void NMI_Handler(void)
  *******************************************************************************/
 void HardFault_Handler(void)
 {
-  while (1)
+    while (1) {
-  {
     }
 }
-
-

app/main.c

@@ -34,6 +34,9 @@
  ********************************************************************************************************************/
 #include "zf_common_headfile.h"
 #include "gl_headfile.h"
+#include "cw_servo.h"
+#include "by_pt_button.h"
+#include "by_fan_control.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>
@@ -49,7 +52,6 @@ float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
 sint32 mid_left_count, mid_right_count;
 
 
-
 //<2F><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
 float angle_new_left[PT_MAXLEN];
 float angle_new_right[PT_MAXLEN];
@@ -88,15 +90,18 @@ 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);
+
-void threshold(uint8_t *img_data, uint8_t *output_data, int width, int height, int thres);
 
 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>
-    ips114_init();
     mt9v03x_init();
+    ips114_init();
+    by_gpio_init();
+    by_exit_init();
+    by_pwm_init();
+    cw_servo_init();
 
     while (1) {
         //while (frame_count < 20) {
@@ -139,32 +144,3 @@ int main(void)
         
     }
 }
-
-
-/*
-void threshold(uint8_t *img_data, uint8_t *output_data, int width, int height, int thres){
-  for(int y=0; y<height; y++){
-    for(int x=0; x<width; x++){
-      output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
-    }
-  }
-}
-
-
-void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
-  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++){
-      // <20><><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD><D6B2><EFBFBD>ֵ
-      int thres = 0;
-      for(int dy=-half_block; dy<=half_block; dy++){
-        for(int dx=-half_block; dx<=half_block; dx++){
-          thres += img_data[(x+dx)+(y+dy)*width];
-        }
-      }
-      thres = thres / (block * block) - clip_value;
-      // <20><><EFBFBD>ж<EFBFBD>ֵ<EFBFBD><D6B5>
-      output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
-    }
-  }
-}*/

libraries/zf_common/zf_common_typedef.h

@@ -50,14 +50,20 @@
 #if USE_ZF_TYPEDEF
 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 // <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> stdint.h <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͻ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բü<D4B2>
+
+// <20><><EFBFBD>滰˵<E6BBB0><CBB5>ͦ<EFBFBD>ã<EFBFBD>uint32(aka unsigned int) <20><> uint32_t(aka unsigned long) <20><>һ<EFBFBD><D2BB>
+// <20><>Ȼ<EFBFBD><C8BB> 32 λ<><CEBB><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֽڣ<D6BD><DAA3><EFBFBD><EFBFBD>Ǿ<EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD>ܲ<EFBFBD>ˬ<EFBFBD><CBAC><EFBFBD><EFBFBD><EFBFBD>¸ĵ<C2B8>
+// typedef unsigned int uint32;       // <20>޷<EFBFBD><DEB7><EFBFBD> 32 bits
+
 typedef unsigned char uint8;   // <20>޷<EFBFBD><DEB7><EFBFBD>  8 bits
-typedef unsigned short int  uint16;                                             // <20>޷<EFBFBD><DEB7><EFBFBD> 16 bits
+typedef unsigned short uint16; // <20>޷<EFBFBD><DEB7><EFBFBD> 16 bits
-typedef unsigned int        uint32;                                             // <20>޷<EFBFBD><DEB7><EFBFBD> 32 bits
+
+typedef unsigned long uint32;      // <20>޷<EFBFBD><DEB7><EFBFBD> 32 bits
 typedef unsigned long long uint64; // <20>޷<EFBFBD><DEB7><EFBFBD> 64 bits
 
 typedef signed char int8;       // <20>з<EFBFBD><D0B7><EFBFBD>  8 bits
-typedef signed short int    int16;                                              // <20>з<EFBFBD><D0B7><EFBFBD> 16 bits
+typedef signed short int16;     // <20>з<EFBFBD><D0B7><EFBFBD> 16 bits
-typedef signed int          int32;                                              // <20>з<EFBFBD><D0B7><EFBFBD> 32 bits
+typedef signed long int32;       // <20>з<EFBFBD><D0B7><EFBFBD> 32 bits
 typedef signed long long int64; // <20>з<EFBFBD><D0B7><EFBFBD> 64 bits
 
 typedef volatile uint8 vuint8;   // <20>ױ<EFBFBD><D7B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>޷<EFBFBD><DEB7><EFBFBD>  8 bits

libraries/zf_device/zf_device_imu660ra.c

@@ -63,9 +63,14 @@
 
 #include "zf_device_imu660ra.h"
 
-int16 imu660ra_gyro_x = 0, imu660ra_gyro_y = 0, imu660ra_gyro_z = 0;            // 三轴陀螺仪数据   gyro (陀螺仪)
+int16 imu660ra_gyro_x               = 0;
-int16 imu660ra_acc_x = 0, imu660ra_acc_y = 0, imu660ra_acc_z = 0;               // 三轴加速度计数据 acc  (accelerometer 加速度计)
+int16 imu660ra_gyro_y               = 0;
-float imu660ra_transition_factor[2] = {4096, 16.4};
+int16 imu660ra_gyro_z               = 0; // 三轴陀螺仪数据   gyro (陀螺仪)
+int16 imu660ra_acc_x                = 0;
+int16 imu660ra_acc_y                = 0;
+int16 imu660ra_acc_z                = 0; // 三轴加速度计数据 acc  (accelerometer 加速度计)
+float imu660ra_temperature          = 0;
+float imu660ra_transition_factor[2] = {4096, 16.4f};
 
 #if IMU660RA_USE_SOFT_IIC
 static soft_iic_info_struct imu660ra_iic_struct;
@@ -136,8 +141,7 @@ static void imu660ra_read_registers(uint8 reg, uint8 *data, uint32 len)
     IMU660RA_CS(0);
     spi_read_8bit_registers(IMU660RA_SPI, reg | IMU660RA_SPI_R, temp_data, len + 1);
     IMU660RA_CS(1);
-    for(int i = 0; i < len; i ++)
+    for (int i = 0; i < len; i++) {
-    {
         *(data++) = temp_data[i + 1];
     }
 }
@@ -152,12 +156,11 @@ static void imu660ra_read_registers(uint8 reg, uint8 *data, uint32 len)
 //-------------------------------------------------------------------------------------------------------------------
 static uint8 imu660ra_self_check(void)
 {
-    uint8 dat = 0, return_state = 0;
+    uint8 dat            = 0;
+    uint8 return_state   = 0;
     uint16 timeout_count = 0;
-    do
+    do {
-    {
+        if (timeout_count++ > IMU660RA_TIMEOUT_COUNT) {
-        if(timeout_count ++ > IMU660RA_TIMEOUT_COUNT)
-        {
             return_state = 1;
             break;
         }
@@ -202,6 +205,14 @@ void imu660ra_get_gyro (void)
     imu660ra_gyro_z = (int16)(((uint16)dat[5] << 8 | dat[4]));
 }
 
+void imu660ra_get_temperature(void)
+{
+    uint8_t dat[2];
+    imu660ra_read_registers(IMU660RA_TEMP_ADDRESS, dat, 2);
+    imu660ra_temperature = (int16_t)((uint16_t)dat[1] << 8 | dat[0]);
+    imu660ra_temperature = imu660ra_temperature / 512.0f + 23.0f;
+}
+
 //-------------------------------------------------------------------------------------------------------------------
 // 函数简介     初始化 IMU660RA
 // 参数说明     void
@@ -255,36 +266,29 @@ uint8 imu660ra_init (void)
         // 设置为 0x01 加速度计量程为 ±4  g   获取到的加速度计数据除以 8192   可以转化为带物理单位的数据 单位 g(m/s^2)
         // 设置为 0x02 加速度计量程为 ±8  g   获取到的加速度计数据除以 4096   可以转化为带物理单位的数据 单位 g(m/s^2)
         // 设置为 0x03 加速度计量程为 ±16 g   获取到的加速度计数据除以 2048   可以转化为带物理单位的数据 单位 g(m/s^2)
-        switch(IMU660RA_ACC_SAMPLE_DEFAULT)
+        switch (IMU660RA_ACC_SAMPLE_DEFAULT) {
-        {
+            default: {
-            default:
-            {
                 zf_log(0, "IMU660RA_ACC_SAMPLE_DEFAULT set error.");
                 return_state = 1;
             } break;
-            case IMU660RA_ACC_SAMPLE_SGN_2G:
+            case IMU660RA_ACC_SAMPLE_SGN_2G: {
-            {
                 imu660ra_write_register(IMU660RA_ACC_RANGE, 0x00);
                 imu660ra_transition_factor[0] = 16384;
             } break;
-            case IMU660RA_ACC_SAMPLE_SGN_4G:
+            case IMU660RA_ACC_SAMPLE_SGN_4G: {
-            {
                 imu660ra_write_register(IMU660RA_ACC_RANGE, 0x01);
                 imu660ra_transition_factor[0] = 8192;
             } break;
-            case IMU660RA_ACC_SAMPLE_SGN_8G:
+            case IMU660RA_ACC_SAMPLE_SGN_8G: {
-            {
                 imu660ra_write_register(IMU660RA_ACC_RANGE, 0x02);
                 imu660ra_transition_factor[0] = 4096;
             } break;
-            case IMU660RA_ACC_SAMPLE_SGN_16G:
+            case IMU660RA_ACC_SAMPLE_SGN_16G: {
-            {
                 imu660ra_write_register(IMU660RA_ACC_RANGE, 0x03);
                 imu660ra_transition_factor[0] = 2048;
             } break;
         }
-        if(1 == return_state)
+        if (1 == return_state) {
-        {
             break;
         }
 
@@ -294,45 +298,35 @@ uint8 imu660ra_init (void)
         // 设置为 0x02 陀螺仪量程为 ±500  dps    获取到的陀螺仪数据除以 65.6    可以转化为带物理单位的数据 单位为 °/s
         // 设置为 0x01 陀螺仪量程为 ±1000 dps    获取到的陀螺仪数据除以 32.8    可以转化为带物理单位的数据 单位为 °/s
         // 设置为 0x00 陀螺仪量程为 ±2000 dps    获取到的陀螺仪数据除以 16.4    可以转化为带物理单位的数据 单位为 °/s
-        switch(IMU660RA_GYRO_SAMPLE_DEFAULT)
+        switch (IMU660RA_GYRO_SAMPLE_DEFAULT) {
-        {
+            default: {
-            default:
-            {
                 zf_log(0, "IMU660RA_GYRO_SAMPLE_DEFAULT set error.");
                 return_state = 1;
             } break;
-            case IMU660RA_GYRO_SAMPLE_SGN_125DPS:
+            case IMU660RA_GYRO_SAMPLE_SGN_125DPS: {
-            {
                 imu660ra_write_register(IMU660RA_GYR_RANGE, 0x04);
                 imu660ra_transition_factor[1] = 262.4;
             } break;
-            case IMU660RA_GYRO_SAMPLE_SGN_250DPS:
+            case IMU660RA_GYRO_SAMPLE_SGN_250DPS: {
-            {
                 imu660ra_write_register(IMU660RA_GYR_RANGE, 0x03);
                 imu660ra_transition_factor[1] = 131.2;
             } break;
-            case IMU660RA_GYRO_SAMPLE_SGN_500DPS:
+            case IMU660RA_GYRO_SAMPLE_SGN_500DPS: {
-            {
                 imu660ra_write_register(IMU660RA_GYR_RANGE, 0x02);
                 imu660ra_transition_factor[1] = 65.6;
             } break;
-            case IMU660RA_GYRO_SAMPLE_SGN_1000DPS:
+            case IMU660RA_GYRO_SAMPLE_SGN_1000DPS: {
-            {
                 imu660ra_write_register(IMU660RA_GYR_RANGE, 0x01);
                 imu660ra_transition_factor[1] = 32.8;
             } break;
-            case IMU660RA_GYRO_SAMPLE_SGN_2000DPS:
+            case IMU660RA_GYRO_SAMPLE_SGN_2000DPS: {
-            {
                 imu660ra_write_register(IMU660RA_GYR_RANGE, 0x00);
                 imu660ra_transition_factor[1] = 16.4;
             } break;
         }
-        if(1 == return_state)
+        if (1 == return_state) {
-        {
             break;
         }
     } while (0);
     return return_state;
 }
-
-

libraries/zf_device/zf_device_imu660ra.h

@@ -58,12 +58,12 @@
 
 #include "zf_common_typedef.h"
 
-#define IMU660RA_USE_SOFT_IIC       (0)                                         // 默认使用硬件 SPI 方式驱动
+#define IMU660RA_USE_SOFT_IIC (1) // 默认使用硬件 SPI 方式驱动
 #if IMU660RA_USE_SOFT_IIC         // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
 //====================================================软件 IIC 驱动====================================================
 #define IMU660RA_SOFT_IIC_DELAY (10)  // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
-#define IMU660RA_SCL_PIN            (B13)                                       // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
+#define IMU660RA_SCL_PIN        (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
-#define IMU660RA_SDA_PIN            (B15)                                       // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_SDA_PIN        (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
 //====================================================软件 IIC 驱动====================================================
 #else
 
@@ -79,16 +79,14 @@
 #define IMU660RA_CS_PIN (C10) // CS 片选引脚
 #define IMU660RA_CS(x)  ((x) ? (gpio_high(IMU660RA_CS_PIN)) : (gpio_low(IMU660RA_CS_PIN)))
 
-typedef enum
+typedef enum {
-{
     IMU660RA_ACC_SAMPLE_SGN_2G,  // 加速度计量程 ±2G  (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
     IMU660RA_ACC_SAMPLE_SGN_4G,  // 加速度计量程 ±4G  (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
     IMU660RA_ACC_SAMPLE_SGN_8G,  // 加速度计量程 ±8G  (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
     IMU660RA_ACC_SAMPLE_SGN_16G, // 加速度计量程 ±16G (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
 } imu660ra_acc_sample_config;
 
-typedef enum
+typedef enum {
-{
     IMU660RA_GYRO_SAMPLE_SGN_125DPS,  // 陀螺仪量程 ±125DPS  (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
     IMU660RA_GYRO_SAMPLE_SGN_250DPS,  // 陀螺仪量程 ±250DPS  (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
     IMU660RA_GYRO_SAMPLE_SGN_500DPS,  // 陀螺仪量程 ±500DPS  (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
@@ -112,6 +110,7 @@ typedef enum
 #define IMU660RA_INIT_CTRL    (0x59)
 #define IMU660RA_INIT_DATA    (0x5E)
 #define IMU660RA_INT_STA      (0x21)
+#define IMU660RA_TEMP_ADDRESS (0x22)
 #define IMU660RA_ACC_ADDRESS  (0x0C)
 #define IMU660RA_GYRO_ADDRESS (0x12)
 #define IMU660RA_ACC_CONF     (0x40)
@@ -120,12 +119,18 @@ typedef enum
 #define IMU660RA_GYR_RANGE    (0x43)
 //================================================定义 IMU660RA 内部地址================================================
 
-extern int16 imu660ra_gyro_x, imu660ra_gyro_y, imu660ra_gyro_z;                 // 三轴陀螺仪数据      gyro (陀螺仪)
+extern int16 imu660ra_gyro_x;
-extern int16 imu660ra_acc_x, imu660ra_acc_y, imu660ra_acc_z;                    // 三轴加速度计数据     acc (accelerometer 加速度计)
+extern int16 imu660ra_gyro_y;
+extern int16 imu660ra_gyro_z; // 三轴陀螺仪数据      gyro (陀螺仪)
+extern int16 imu660ra_acc_x;
+extern int16 imu660ra_acc_y;
+extern int16 imu660ra_acc_z; // 三轴加速度计数据     acc (accelerometer 加速度计)
+extern float imu660ra_temperature;
 extern float imu660ra_transition_factor[2];
 
 void imu660ra_get_acc(void);  // 获取 IMU660RA 加速度计数据
 void imu660ra_get_gyro(void); // 获取 IMU660RA 陀螺仪数据
+void imu660ra_get_temperature(void);
 
 //-------------------------------------------------------------------------------------------------------------------
 // 函数简介     将 IMU660RA 加速度计数据转换为实际物理数据
@@ -148,4 +153,3 @@ void  imu660ra_get_gyro             (void);
 uint8 imu660ra_init(void); // 初始化 IMU660RA
 
 #endif
-