btl143/QDAC-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Compare commits

base: btl143:1166f718834624a5a78d482486c83aa98edd8d1f
Branches Tags
btl143:master
..
compare: btl143:master
Branches Tags
btl143:master

19 Commits
1166f71883 ... master

Author SHA1 Message Date
Glz
4e577da707 Merge branch 'master' of https://git.brisky.space/btl143/QDAC-firmware 2024-08-14 20:23:07 +08:00
Glz
dccfedc74c 1 2024-08-14 20:22:55 +08:00
井明江
8b94eb2eff fix:修复菜单上下键反了的问题 
feat:增加cross处理开关
 2024-08-13 21:47:30 +08:00
Glz
2db1937c89 日常更新 2024-08-13 21:41:10 +08:00
Glz
30c9ee1f76 日常更新 2024-08-10 21:02:20 +08:00
井明江
5f7b200854 修复曝光显示位数 2024-07-17 10:52:02 +08:00
井明江
94222071e9 修复曝光异常bug 2024-07-14 14:34:07 +08:00
井明江
f7b52d9d2e feat:增加避障时间可调参数 2024-07-13 19:10:00 +08:00
Glz
b88aaf47e5 日常更新 2024-07-13 19:00:45 +08:00
井明江
af031e23d8 feat:增加曝光調參 2024-07-08 19:14:34 +08:00
Glz
dc874bf6f1 避障修改 2024-07-08 17:54:34 +08:00
井明江
336d1bc100 fix:修復幾個bug 2024-07-05 21:29:03 +08:00
bmy
be37b5d206 feat: 实验性上行数据接收 2024-07-05 14:50:53 +08:00
bmy
296d02ff4a pref: 修改glz的单词拼写错误 2024-07-05 14:16:20 +08:00
Glz
5d56543f64 日常更新 2024-07-05 14:12:01 +08:00
Glz
7facae7a1a Merge branch 'master' of https://git.brisky.space/btl143/QDAC-firmware 2024-07-03 16:37:57 +08:00
Glz
770247f9b6 日常 2024-07-03 16:37:53 +08:00
井明江
61a92c8620 日常 2024-07-03 16:32:45 +08:00
井明江
a94db790a6 避障 2024-07-03 16:30:37 +08:00
26 changed files with 560 additions and 314 deletions
Expand all files Collapse all files

12
app/by_frame.c
View File

@@ -7,8 +7,8 @@
#include "lwrb.h"
#include "crc16.h"
uint8_t frame_buffer_recv[(2 * (4 + BY_FRAME_DATA_NUM * sizeof(uint32_t))) + 1];
uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)];
uint8_t frame_buffer_recv[(2 * (4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t))) + 1];
uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM_SEND * sizeof(uint32_t)];
uint8_t frame_parse_busy;
lwrb_t lwrb_ctx;
@@ -22,7 +22,7 @@ void by_frame_init(void)
void by_frame_send(uint32_t* data_array)
{
uint16_t crc_cal = 0;
const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
const uint8_t data_byte_num = BY_FRAME_DATA_NUM_SEND * sizeof(uint32_t);
frame_buffer_send[0] = BY_FRAME_HEAD_1;
frame_buffer_send[1] = BY_FRAME_HEAD_2;
@@ -49,9 +49,9 @@ void by_frame_parse(uint32_t *data_array)
uint32_t len = lwrb_get_full(&lwrb_ctx); // 缓冲区大小
uint8_t status = 0; // 状态 0-未找到帧头 1-找到帧头 2-校验
uint16_t frame_start = 0; // 帧起始位置
uint8_t frame_buf[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)] = {0}; // 帧
uint8_t buf[(4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)) * 2] = {0}; // 用于解析的数据块
const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
uint8_t frame_buf[4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t)] = {0}; // 帧
uint8_t buf[(4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t)) * 2] = {0}; // 用于解析的数据块
const uint8_t data_byte_num = BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t);
if (len < 2 * (4 + data_byte_num)) {
// 当前要求缓冲区满

4
app/by_frame.h
View File

@@ -16,12 +16,12 @@
#define BY_FRAME_UART_INDEX (UART_2)
#define BY_FRAME_UART_BAUDRATE (115200)
#define BY_FRAME_DATA_NUM (3)
#define BY_FRAME_DATA_NUM_SEND (3)
#define BY_FRAME_DATA_NUM_RECV (1)
extern void by_frame_init(void);
void by_frame_send(uint32_t *data_array);
void by_frame_parse(uint32_t *data_array);
extern void by_frame_parse_uart_handle(uint8_t data);
#endif

223
app/gl_barrier.c
View File

@@ -3,13 +3,14 @@
enum barrier_type_e barrier_type = BARRIER_NONE;
enum s_type_e s_type = S_NONE;
uint16 time_barrier;
enum shield_type_e shield_type = SHIELD_NONE;
float (*mid_track_s)[2];
int32_t mid_track_count_s;
int temp_min_s;
int temp_max_s;
int barrier_begin_flag = 0;
int barrier_count = 0;
float barrirer_time=500.f;
void CheckBarrier()
{
if (barrier_type == BARRIER_NONE && Lpt0_found_barrier_in && !Lpt1_found_barrier_in && is_straight1) {
@@ -22,108 +23,174 @@ void CheckBarrier()
void RunBarrier()
{
if (barrier_type == BARRIER_LEFT_BEGIN) {
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT;
if (barrier_begin_flag == 0)
{
timer_clear(TIM_3);
timer_start(TIM_3);
barrier_begin_flag = 1;
}
if (barrier_begin_flag == 1)
{
barrier_type = BARRIER_LEFT_BEGIN;
time_barrier = timer_get(TIM_3);
if (time_barrier >= 1000 && time_barrier < 2000)
if (barrier_type == BARRIER_LEFT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_LEFT_RUNNING;
}
else if (time_barrier >= 1500)
if (barrier_type == BARRIER_LEFT_RUNNING)
{
if (timer_get(TIM_2) >= barrirer_time)
{
barrier_type = BARRIER_NONE;
barrier_begin_flag = 0;
timer_stop(TIM_3);
timer_clear(TIM_3);
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_LEFT_RUNNING;
}
}
}
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
// barrier_begin_flag = 1;
// }
// }
// if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
// if (barrier_begin_flag == 1) {
// barrier_type = BARRIER_LEFT_BEGIN;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 300 && time_barrier < 600) {
// barrier_type = BARRIER_LEFT_RUNNING;
// } else if (time_barrier >= 600) {
// barrier_type = BARRIER_NONE;
// barrier_count = 1;
// barrier_begin_flag = 0;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }
// }
// if (pts_resample_left_count >= 5) {
// if (Lpt0_found) {
// Lpt0_found_count++;
// }
// if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
// Lpt0_found_count = 0;
// barrier_type = BARRIER_LEFT_RUNNING;
// track_type = TRACK_RIGHT;
// timer_clear(TIM_2);
// timer_start(TIM_2);
// } else if (barrier_type == BARRIER_LEFT_RUNNING) {
// track_type = TRACK_RIGHT;
// if (timer_get(TIM_2) >= 500) {
// barrier_type = BARRIER_NONE;
// track_type = TRACK_RIGHT;
// timer_stop(TIM_2);
// timer_clear(TIM_2);
// }
// }
// } else {
// track_type = TRACK_RIGHT;
// barrier_type = BARRIER_NONE;
// }
// if (barrier_type == BARRIER_LEFT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
// if (Lpt0_found) {
// Lpt0_found_count++;
// }
// if (Lpt0_found_count >= 1) {
// if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
// Lpt0_found_count = 0;
// barrier_type = BARRIER_LEFT_RUNNING;
// track_type = TRACK_RIGHT;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// }
// timer_clear(TIM_2);
// timer_start(TIM_2);
// } else if (barrier_type == BARRIER_LEFT_RUNNING) {
// track_type = TRACK_RIGHT;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 220) {
// if (timer_get(TIM_2) >= 500) {
// barrier_type = BARRIER_NONE;
// track_type = TRACK_RIGHT;
// timer_start(TIM_3);
// timer_clear(TIM_3);
// timer_stop(TIM_2);
// timer_clear(TIM_2);
// }
// }
}
if (barrier_type == BARRIER_RIGHT_BEGIN) {
if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT;
if (barrier_begin_flag == 0)
{
timer_clear(TIM_3);
timer_start(TIM_3);
barrier_begin_flag = 1;
}
if (barrier_begin_flag == 1)
{
barrier_type = BARRIER_RIGHT_BEGIN;
time_barrier = timer_get(TIM_3);
if (time_barrier >= 1000)
if (barrier_type == BARRIER_RIGHT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_RIGHT_RUNNING;
if (time_barrier >= 2000)
}
if (barrier_type == BARRIER_RIGHT_RUNNING)
{
if (timer_get(TIM_2) >= barrirer_time)
{
barrier_type = BARRIER_NONE;
barrier_begin_flag = 0;
timer_stop(TIM_3);
timer_clear(TIM_3);
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_RIGHT_RUNNING;
}
}
// if (barrier_begin_flag == 0) {
// timer_clear(TIM_3);
// timer_start(TIM_3);
// barrier_begin_flag = 1;
// }
// }
// if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
// if (barrier_begin_flag == 1) {
// barrier_type = BARRIER_RIGHT_BEGIN;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 300 && time_barrier < 600) {
// barrier_type = BARRIER_RIGHT_RUNNING;
// } else if (time_barrier >= 600) {
// barrier_type = BARRIER_NONE;
// barrier_count = 1;
// barrier_begin_flag = 0;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }
// }
// if (pts_resample_right_count >= 5) {
// if (Lpt1_found) {
// Lpt1_found_count++;
// }
// if (Lpt1_found_count >= 1) {
// if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
// Lpt1_found_count = 0;
// barrier_type = BARRIER_RIGHT_RUNNING;
// track_type = TRACK_LEFT;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// }
// timer_clear(TIM_2);
// timer_start(TIM_2);
// } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
// track_type = TRACK_LEFT;
// time_barrier = timer_get(TIM_3);
// if (time_barrier >= 220) {
// timer_start(TIM_3);
// timer_clear(TIM_3);
// if (timer_get(TIM_2) >= 500) {
// timer_stop(TIM_2);
// timer_clear(TIM_2);
// barrier_type = BARRIER_NONE;
// track_type = TRACK_LEFT;
// }
// }
// } else {
// track_type = TRACK_LEFT;
// barrier_type = BARRIER_NONE;
// }
// if (barrier_type == BARRIER_RIGHT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
}
}
void Check_s(){
void Check_s()
{
if (track_type == TRACK_LEFT) {
mid_track_s = mid_left;
mid_track_count_s = mid_left_count;
@@ -135,35 +202,43 @@ void Check_s(){
int min_s = 1000;
int max_s = 1;
for (int i = 0; i < mid_track_count_s; i++)
{
if (mid_track_s[i][1] < min_s)
{
for (int i = 0; i < mid_track_count_s; i++) {
if (mid_track_s[i][1] < min_s) {
min_s = mid_track_s[i][1];
temp_min_s = min_s;
}
if (mid_track_s[i][1] > max_s)
{
if (mid_track_s[i][1] > max_s) {
max_s = mid_track_s[i][1];
temp_max_s = max_s;
}
}
if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5)
{
if (is_straight0 == false && is_straight1 == false && (max_s - min_s) <= 30 && (max_s - min_s) >= 5) {
s_type = S_BEGIN;
}
}
void RunS(){
if (temp_max_s - temp_min_s >30 || (is_straight0 && is_straight1))
void RunS()
{
if (temp_max_s - temp_min_s > 30 || (is_straight0 && is_straight1)) {
s_type = S_NONE;
}
}
// void Check_shield(){
// if (begin_flag == 1)
// {
// shield_type = SHIELD_BEGIN;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// begin_flag = 0;
// }
// if (timer_get(TIM_3) > 1000 && shield_type == SHIELD_BEGIN)
// {
// shield_type = SHIELD_NONE;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }

10
app/gl_barrier.h
View File

@@ -18,17 +18,23 @@ enum s_type_e {
S_OUT,
};
extern uint16 time_barrier;
enum shield_type_e {
SHIELD_NONE,
SHIELD_BEGIN,
};
extern enum barrier_type_e barrier_type;
extern enum s_type_e s_type;
extern enum shield_type_e shield_type;
extern float (*mid_track_s)[2];
extern int32_t mid_track_count_s;
extern int temp_min_s;
extern int temp_max_s;
extern float barrirer_time;
void CheckBarrier(void);
void Check_s(void);
void RunBarrier(void);
void Check_shield(void);
#endif /* COMMON_H_ */

6
app/gl_circle.c
View File

@@ -15,6 +15,8 @@ int32_t Right_Border_ToLeft_Circle = 0;
int32_t Left_Border_ToRight_Circle = 0;
int32_t Right_Border_ToRight_Circle = 0;
int32_t ceshi = 0;
void CheckCircle()
{
// 非圆环模式下，单边L角点, 单边长直道
@@ -149,13 +151,13 @@ void RunCircle()
{
Right_Border_None_Circle++;
}
if (pts_resample_right_count > 0.7 / RESAMPLEDIST &&
Right_Border_None_Circle > FRAMENONE) {
if (pts_resample_right_count > (0.7 / RESAMPLEDIST) && Right_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE;
Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0;
Left_Border_ToLeft_Circle = 0;
Left_Border_ToRight_Circle = 0;
}
}
}

1
app/gl_circle.h
View File

@@ -17,6 +17,7 @@ enum circle_type_e {
};
extern enum circle_type_e circle_type;
extern int32_t ceshi;
void CheckCircle(void);
void RunCircle(void);

1
app/gl_common.h
View File

@@ -16,6 +16,7 @@
#define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70.0f)
#define PIXPERMETER_ACROSS (72.0f)
#define PIXPERMETER_ACROSS_BARRIER (10.0f)
#define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f)
#define ANGLEDIST_barrier (0.06f)

110
app/gl_cross.c
View File

@@ -5,23 +5,37 @@ enum cross_type_e cross_type = CROSS_NONE;
bool far_Lpt0_found, far_Lpt1_found;
int32_t Both_Boder_None_Cross;
int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
int cross_easy = 0;
float cross_open = 1;
void CheckCross() {
void CheckCross()
{
bool Xfound = Lpt0_found && Lpt1_found;
if ((int)cross_open == 0) {
if (cross_type == CROSS_NONE && Xfound) {
cross_type = CROSS_BEGIN;
}
}
if ((int)cross_open == 1) {
if (cross_type == CROSS_NONE && Xfound && cross_easy == 0) {
cross_type = CROSS_BEGIN;
}
if (cross_type == CROSS_NONE && cross_easy == 1 && (((Lpt0_found || Lpt1_found) && (pts_resample_left_count <= 3 || pts_resample_right_count <= 3)) || Xfound)) {
cross_type = CROSS_BEGIN;
}
}
}
void RunCross() {
void RunCross()
{
bool Xfound = Lpt0_found && Lpt1_found;
// 检测到十字，先按照近线走
if (cross_easy == 0) {
if (cross_type == CROSS_BEGIN) {
if (Lpt0_found) {
mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
track_type = TRACK_LEFT;
}
else if(Lpt1_found) {
} else if (Lpt1_found) {
mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
track_type = TRACK_RIGHT;
}
@@ -30,7 +44,6 @@ void RunCross() {
if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST && Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count < 20 && pts_resample_right_count < 20)) {
cross_type = CROSS_IN;
}
}
// 远线控制进十字,begin_y渐变靠近防丢线
if (cross_type == CROSS_IN) {
@@ -43,17 +56,63 @@ void RunCross() {
if (Both_Boder_None_Cross > 2 && pts_resample_left_count > 20 && pts_resample_right_count > 20) {
cross_type = CROSS_NONE;
Both_Boder_None_Cross = 0;
cross_easy = 1;
}
if (far_Lpt1_found) {
track_type = TRACK_RIGHT;
} else if (far_Lpt0_found) {
track_type = TRACK_LEFT;
} else if (Both_Boder_None_Cross > 0 && pts_resample_right_count < 5) {
track_type = TRACK_RIGHT;
} else if (Both_Boder_None_Cross > 0 && pts_resample_left_count < 5) {
track_type = TRACK_LEFT;
}
if (far_Lpt1_found) { track_type = TRACK_RIGHT; }
else if (far_Lpt0_found) { track_type = TRACK_LEFT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_right_count < 5) { track_type = TRACK_RIGHT; }
else if (Both_Boder_None_Cross > 0 && pts_far_resample_left_count < 5) { track_type = TRACK_LEFT; }
}
}
if (cross_easy == 1) {
if (cross_type == CROSS_BEGIN) {
if (Lpt0_found) {
mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
track_type = TRACK_LEFT;
} else if (Lpt1_found) {
mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
track_type = TRACK_RIGHT;
}
void cross_farline(){
// 近角点过少，进入远线控制
if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST && Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count < 20 && pts_resample_right_count < 20)) {
cross_type = CROSS_IN;
}
}
// 远线控制进十字,begin_y渐变靠近防丢线
if (cross_type == CROSS_IN) {
// 寻远线,算法与近线相同
cross_farline();
if (pts_resample_left_count < 5 && pts_resample_right_count < 5) {
Both_Boder_None_Cross++;
}
if (Both_Boder_None_Cross > 2 && pts_resample_left_count > 20 && pts_resample_right_count > 20) {
cross_type = CROSS_NONE;
Both_Boder_None_Cross = 0;
cross_easy = 0;
}
if (far_Lpt1_found) {
track_type = TRACK_RIGHT;
} else if (far_Lpt0_found) {
track_type = TRACK_LEFT;
} else if (Both_Boder_None_Cross > 0 && pts_resample_right_count < 5) {
track_type = TRACK_RIGHT;
} else if (Both_Boder_None_Cross > 0 && pts_resample_left_count < 5) {
track_type = TRACK_LEFT;
}
}
}
}
void cross_farline()
{
int cross_width = 4;
int far_y1 = 0, far_y2 = 0;
int far_x1 = 0, far_x2 = 0;
@@ -61,17 +120,15 @@ void cross_farline(){
pts_far_left_count = sizeof(pts_far_left) / sizeof(pts_far_left[0]);
int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
for(;w1>cross_width*2; w1--)
{
for (; w1 > cross_width * 2; w1--) {
if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
far_x1 = w1 - cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x1 <= 30)
{
far_x1 = 30;
if (far_x1 <= 4) {
far_x1 = 4;
}
for (; h1 > 0; h1--) {
@@ -84,23 +141,21 @@ void cross_farline(){
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y1, far_x1) >= FIX_BINTHRESHOLD) {
SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y1, far_x1, pts_far_left, &pts_far_left_count);
}
else pts_far_left_count = 0;
} else
pts_far_left_count = 0;
int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
white_found = false;
pts_far_right_count = sizeof(pts_far_right) / sizeof(pts_far_right[0]);
for(;w2 < IMAGE_W - cross_width*2; w2++)
{
for (; w2 < IMAGE_W - cross_width * 2; w2++) {
if (GET_PIX_1C(mt9v03x_image_copy[0], h2, w2 + 1) < FIX_BINTHRESHOLD) {
far_x2 = w2 + cross_width;
break;
}
}
/*如果一行全为白色没写*/
if (far_x2 >= 120)
{
far_x2 = 120;
if (far_x2 >= 136) {
far_x2 = 136;
}
for (; h2 > 0; h2--) {
@@ -113,8 +168,8 @@ void cross_farline(){
}
if (GET_PIX_1C(mt9v03x_image_copy[0], far_y2, far_x2) >= FIX_BINTHRESHOLD) {
SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, far_y2, far_x2, pts_far_right, &pts_far_right_count);
}
else pts_far_right_count = 0;
} else
pts_far_right_count = 0;
// 透视变换
for (int i = 0; i < pts_far_left_count; i++) {
@@ -141,7 +196,6 @@ void cross_farline(){
pts_far_resample_right_count = sizeof(pts_far_resample_right) / sizeof(pts_far_resample_right[0]);
GetLinesResample(pts_far_filter_r, pts_far_filter_r_count, pts_far_resample_right, &pts_far_resample_right_count, RESAMPLEDIST * PIXPERMETER);
int valid_far_points_count = 0;
for (int i = 0; i < pts_far_resample_left_count; i++) {
@@ -200,19 +254,15 @@ void cross_farline(){
}
}
for (int i = 0; i < pts_far_resample_right_count; i++) {
if (far_angle_new_right[i] == 0) continue;
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_far_resample_right_count - 1);
float conf = fabs(far_angle_right[i]) - (fabs(far_angle_right[im1]) + fabs(far_angle_right[ip1])) / 2;
if (far_Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.7 / RESAMPLEDIST) {
far_Lpt1_rpts1s_id = i;
far_Lpt1_found = true;
}
}
}

1
app/gl_cross.h
View File

@@ -10,6 +10,7 @@ enum cross_type_e {
extern enum cross_type_e cross_type;
extern int32_t Both_Boder_None_Cross;
extern int far_Lpt0_rpts0s_id, far_Lpt1_rpts1s_id;
extern float cross_open;
void CheckCross(void);
void RunCross(void);

6
app/gl_data.c
View File

@@ -47,11 +47,15 @@ int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2];
float mid_left_barrier[PT_MAXLEN][2];
float mid_right_barrier[PT_MAXLEN][2];
float mid_s[PT_MAXLEN][2];
int32_t mid_left_count;
int32_t mid_right_count;
int32_t mid_left_barrier_count;
int32_t mid_right_barrier_count;
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
@@ -122,3 +126,5 @@ float aim_judge_far=0.3f;
float FIX_BINTHRESHOLD = 140;
track_type_e track_type = TRACK_RIGHT;
int begin_flag = 0;

6
app/gl_data.h
View File

@@ -57,9 +57,14 @@ extern int32_t pts_far_resample_right_count;
extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2];
extern float mid_s[PT_MAXLEN][2];
extern float mid_left_barrier[PT_MAXLEN][2];
extern float mid_right_barrier[PT_MAXLEN][2];
extern int32_t mid_left_count;
extern int32_t mid_right_count;
extern int32_t mid_left_barrier_count;
extern int32_t mid_right_barrier_count;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
@@ -132,5 +137,6 @@ extern float aim_judge_far;
extern track_type_e track_type;
extern float FIX_BINTHRESHOLD;
extern int begin_flag;
#endif

2
app/gl_garage.c
View File

@@ -44,7 +44,7 @@ void CheckGarage()
int banmaxian_hangshu = 0;//斑马线行数
//从下往上扫描
for (int y = BEGINH_L - 6; y >= BEGINH_L - 9; y--)
for (int y = BEGINH_L + 4; y >= BEGINH_L - 4; y--)
{
int banmaxian_kuandu=0;
//int banmaxian_hangshu=0;

1
app/gl_garage.h
View File

@@ -5,6 +5,7 @@
enum garage_type_e {
GARAGE_NONE, // 非车库模式
GARAGE_FOUND,
OUT_STOP,
};
extern enum garage_type_e garage_type;

23
app/gl_get_corners.c
View File

@@ -59,10 +59,18 @@ void get_corners()
float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
// L 角点阈值
if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
if (Lpt0_found_barrier == false && (40. / 180. * PI32) < conf && conf < (160. / 180. * PI32) && i < 0.6 / RESAMPLEDIST) {
Lpt0_rpts0s_id_barrier = i;
if (pts_resample_left[i][1] <= pts_resample_left[clip(i + 2, 0, pts_resample_left_count - 1)][1])
{
Lpt0_found_barrier = true;
}
else{
Lpt0_found_barrier = false;
}
//Lpt0_found_barrier = true;
}
}
if (Lpt0_found_barrier) {
float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1], pts_resample_left[Lpt0_rpts0s_id_barrier][0], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][1], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][0]);
@@ -73,6 +81,9 @@ void get_corners()
}
}
for (int i = 0; i < pts_resample_right_count; i++) {
if (angle_new_right[i] == 0) continue;
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
@@ -116,10 +127,18 @@ void get_corners()
int ip1 = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
if (Lpt1_found_barrier == false && (40. / 180. * PI32) < conf && conf < 160. / 180. * PI32 && i < 0.6 / RESAMPLEDIST) {
Lpt1_rpts1s_id_barrier = i;
if (pts_resample_right[i][1] >= pts_resample_right[clip(i + 2, 0, pts_resample_left_count - 1)][1])
{
Lpt1_found_barrier = true;
}
else{
Lpt1_found_barrier = false;
}
//Lpt1_found_barrier = true;
}
}
if (Lpt1_found_barrier) {
float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1], pts_resample_right[Lpt1_rpts1s_id_barrier][0], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][1], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][0]);

6
app/gl_img_process.c
View File

@@ -146,5 +146,11 @@ void img_processing() {
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
mid_right_count = pts_resample_right_count;
// 左右中线跟踪(避障专属)
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_left_barrier_count = pts_resample_left_count;
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_right_barrier_count = pts_resample_right_count;
}

140
app/gl_tracking.c
View File

@@ -15,6 +15,9 @@ int rpts_num;
float last_pure_angle = 0.0f;
int8_t turn_flag = 0;
int circle_flag = 1;
int pingbi_num = 0;
int last_garage_type = GARAGE_NONE;
float turn_threshold = 12.0f;
// 计算最小二乘法斜率的函数
float leastSquaresSlope(float points[][2], int n)
{
@@ -112,6 +115,8 @@ void aim_distance_select(void)
void ElementJudge()
{
if (shield_type == SHIELD_NONE) {
CheckGarage();
if (garage_type == GARAGE_NONE) {
CheckCross();
@@ -125,10 +130,12 @@ void ElementJudge()
}
}
}
}
if (garage_type != GARAGE_NONE) {
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE;
}
if (cross_type != CROSS_NONE) {
circle_type = CIRCLE_NONE;
@@ -147,12 +154,10 @@ void ElementRun()
else if (cross_type != CROSS_NONE) {
RunCross();
}
else if (circle_type != CIRCLE_NONE) {
RunCircle();
} else if (barrier_type != BARRIER_NONE) {
RunBarrier();
} else if (circle_type != CIRCLE_NONE) {
RunCircle();
} else if (s_type != S_NONE) {
// RunS();
}
@@ -160,6 +165,11 @@ void ElementRun()
void MidLineTrack()
{
// if (shield_type == SHIELD_BEGIN) {
// shield_type = SHIELD_NONE;
// pure_angle = 0.f;
// system_delay_ms(3500); // 斑马线发车延时
// }
if (cross_type == CROSS_IN) {
if (track_type == TRACK_LEFT) {
mid_track = mid_left; // 这是为了预先分配内存
@@ -170,6 +180,14 @@ void MidLineTrack()
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count = pts_far_resample_right_count - far_Lpt1_rpts1s_id;
}
} else if (barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_RUNNING) {
if (track_type == TRACK_LEFT) {
mid_track = mid_left_barrier;
mid_track_count = mid_left_barrier_count;
} else {
mid_track = mid_right_barrier;
mid_track_count = mid_right_barrier_count;
}
} else {
if (track_type == TRACK_LEFT) {
mid_track = mid_left;
@@ -270,20 +288,15 @@ void MidLineTrack()
float dy = cy - rptsn[aim_idx][0]; // + 0.2f * PIXPERMETER;
float dn = (dx * dx + dy * dy);
float temp_near = 0;
if (barrier_type == BARRIER_LEFT_BEGIN) {
switch (barrier_type) {
case BARRIER_LEFT_BEGIN:
// dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -25.f;
}else if (barrier_type == BARRIER_LEFT_RUNNING)
{
pure_angle = 25.f;
}else if (barrier_type == BARRIER_RIGHT_BEGIN)
{
pure_angle = 25.f;
}
else if (barrier_type == BARRIER_RIGHT_RUNNING) {
//dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -25.f;
} else {
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
break;
case BARRIER_RIGHT_BEGIN:
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
default:
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
if (dy > 0) {
pure_angle = -atanf(dx / dy) / PI32 * 180.0f;
@@ -294,6 +307,14 @@ void MidLineTrack()
// pure_angle_half = last_pure_angle_half;
}
}
if (garage_type == GARAGE_FOUND) {
pure_angle = 0.f;
}
if (cross_type == CROSS_IN)
{
pure_angle = -atanf(dx / (dy / 2)) / PI32 * 180.0f;
}
// // 计算近锚点偏差值
// dx_near = rptsn[aim_idx_near][1] - cx;
@@ -302,14 +323,13 @@ void MidLineTrack()
// // float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
}
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_RIGHT_IN) {
if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_LEFT_BEGIN || circle_type == CIRCLE_RIGHT_BEGIN) {
state_type = CIRCLE_STATE;
timer_clear(TIM_3);
timer_start(TIM_3);
}
if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) {
if (circle_flag == 1)
{
if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT) {
if (circle_flag == 1) {
state_type = CIRCLE_STATE;
}
@@ -320,20 +340,18 @@ void MidLineTrack()
circle_flag = 0;
}
if (circle_flag == 0)
{
if (circle_flag == 0) {
state_type = CIRCLE_RUNNING_STATE;
}
}
if (circle_type == CIRCLE_NONE)
{
if (circle_type == CIRCLE_NONE) {
circle_flag = 1;
}
if (circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) {
state_type = STRAIGHT_STATE;
}
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
state_type = BARRIER_STATE;
@@ -342,26 +360,58 @@ void MidLineTrack()
if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN) {
state_type = STRAIGHT_STATE;
}
// last_state = state_type;
if (state_type == STRAIGHT_STATE) {
aim_distance = straight_aim;
} else if (state_type == TURN_STATE) {
aim_distance = turn_aim;
}
// if (last_state == STRAIGHT_STATE && (state_type == TURN_STATE || state_type == CIRCLE_STATE)) {
// turn_flag = 1;
// timer_clear(TIM_3);
// timer_start(TIM_3);
// }
// if (turn_flag == 1) {
// aim_distance = turn_aim;
// uint16 ti = timer_get(TIM_3);
// if (ti >= 2000) {
// turn_flag = 0;
// timer_stop(TIM_3);
// timer_clear(TIM_3);
// }
// }
if (cross_type == CROSS_IN)
{
aim_distance = cross_aim;
}
if (curvature >= turn_threshold)
{
aim_distance = turn_aim;
}
if (curvature <= turn_threshold)
{
aim_distance = mid_aim;
}
if (garage_type == GARAGE_FOUND) {
last_garage_type = GARAGE_FOUND;
}
if (last_garage_type == GARAGE_FOUND) {
pingbi_num++;
if (pingbi_num >= 300)
{
pingbi_num = 300;
}
if (pingbi_num >= 100) {
if (state_type != BARRIER_STATE || garage_type != GARAGE_FOUND) {
if ((pts_left_count <= 2) && (pts_right_count <= 2) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 - BEGINW_R) <= FIX_BINTHRESHOLD) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 + BEGINW_L) <= FIX_BINTHRESHOLD)) {
garage_type = OUT_STOP;
}
}
}
else{
if (garage_type == OUT_STOP)
{
garage_type = GARAGE_FOUND;
}
}
} else {
if (state_type != BARRIER_STATE || garage_type != GARAGE_FOUND) {
if ((pts_left_count <= 2) && (pts_right_count <= 2) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 - BEGINW_R) <= FIX_BINTHRESHOLD) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 + BEGINW_L) <= FIX_BINTHRESHOLD)) {
garage_type = OUT_STOP;
}
}
}
}

1
app/gl_tracking.h
View File

@@ -10,6 +10,7 @@ extern float curvature;
extern int8_t turn_flag ;
extern float curvature;
extern float turn_threshold;
void aim_distance_select(void);
void tracking(void);
void ElementJudge(void);

9
app/isr.c
View File

@@ -34,6 +34,7 @@
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "gl_headfile.h"
#include "by_button.h"
#include "by_buzzer.h"
#include "by_frame.h"
@@ -92,15 +93,11 @@ void USART1_IRQHandler(void)
void USART2_IRQHandler(void)
{
if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
// uint8_t data = (uint8_t)USART_ReceiveData(USART2);
// by_frame_parse_uart_handle(data);
USART_ReceiveData(USART2);
NVIC_SystemReset();
by_frame_parse_uart_handle((uint8_t)USART_ReceiveData(USART2));
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
}
if (USART_GetFlagStatus(USART2, USART_FLAG_ORE) != RESET) {
USART_ClearFlag(USART2, USART_FLAG_ORE); // <20><><EFBFBD><EFBFBD> ORE <20><>־λ
USART_ReceiveData(USART2);
}
@@ -289,8 +286,8 @@ void EXTI15_10_IRQHandler(void)
void TIM1_UP_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
by_frame_send(&tiny_frame_param[0].u32);
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
by_frame_send(&tiny_frame_param[0].u32);
by_led_warn_blink();
}
}

4
app/jj_param.c
View File

@@ -10,6 +10,7 @@ soft_iic_info_struct eeprom_param;
TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
TYPE_UNION tiny_frame_param[20];
uint32_t *addre[2];
float auto_exp;
/**
* @brief 参数初始化注册
*
@@ -28,6 +29,9 @@ void jj_param_eeprom_init(void)
PARAM_REG(aim_straight, &straight_aim, EFLOAT, 1, "str:");
PARAM_REG(aim_turn, &turn_aim, EFLOAT, 1, "tur:");
PARAM_REG(baoguang, &FIX_BINTHRESHOLD, EFLOAT, 1, "bao:");
PARAM_REG(auto_exp_param, &auto_exp, EFLOAT, 1, "exp:");
PARAM_REG(barr_time, &barrirer_time, EFLOAT, 1, "bar:");
PARAM_REG(cross_sw, &cross_open, EFLOAT, 1, "cro_sw:");
jj_param_read(); // 注冊
}
/**

5
app/jj_param.h
View File

@@ -29,7 +29,9 @@ typedef enum {
Page2_head,
// 第二页参数
baoguang = Page2_head,
auto_exp_param,
barr_time,
cross_sw,
Page3_head,
DATA_IN_FLASH_NUM,
@@ -65,4 +67,5 @@ void jj_param_eeprom_init(void);
void jj_param_write(void);
void jj_param_read(void);
extern float data7;
extern float auto_exp;
#endif

21
app/main.c
View File

@@ -29,14 +29,15 @@
#include "by_led.h"
#include "jj_param.h"
#include "jj_blueteeth.h"
#include "zf_device_config.h"
int main(void)
{
TYPE_UNION recv_data[BY_FRAME_DATA_NUM_RECV];
clock_init(SYSTEM_CLOCK_144M);
system_delay_init();
debug_init();
mt9v03x_init();
ips200_init(IPS200_TYPE_SPI);
by_led_init();
@@ -46,14 +47,26 @@ int main(void)
jj_bt_init();
jj_param_eeprom_init();
mt9v03x_init();
mt9v03x_sccb_set_exposure_time((uint16_t)auto_exp);
Page_Init();
pit_ms_init(TIM1_PIT, 10);
timer_init(TIM_3, TIMER_MS);
timer_init(TIM_2, TIMER_MS);
by_frame_init();
printf("start running\r\n");
while (1) {
memset(recv_data, 0, sizeof(recv_data));
by_frame_parse(&recv_data[0].u32);
if (0x0D == recv_data[0].u32) {
NVIC_SystemReset();
} else if (0x5C == recv_data[0].u32) {
begin_flag = 1;
}
Page_Run();
by_buzzer_run();
tiny_frame_param[0].f32 = pure_angle;
@@ -73,7 +86,9 @@ int main(void)
ElementRun();
aim_distance_select();
MidLineTrack();
//bt_printf("type= %d", (int)curvature);
// if (barrier_type) {
// bt_printf("type= %d", barrier_type);
// }
}
}
}

2
app/page/page.c
View File

@@ -130,7 +130,7 @@ void Page_Init(void)
PAGE_REG(page_menu, "main");
PAGE_REG(page_rtcam, "rtcam");
PAGE_REG(page_param1, "aim_param");
PAGE_REG(page_param2, "param2");
PAGE_REG(page_param2, "exp");
PAGE_REG(page_dparam, "dparam");
PAGE_REG(page_reset, "reset");
// PAGE_REG(page_argv);

2
app/page/page_dparam.c
View File

@@ -53,7 +53,7 @@ static void Loop()
ips200_show_int(90, 18 + 38, track_type, 1);
ips200_show_int(90, 18 + 56, garage_type, 1);
ips200_show_int(90, 18 + 74, cross_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 2);
ips200_show_int(90, 18 + 110, s_type, 1);
ips200_show_float(90, 18 + 128, curvature, 4, 5);
ips200_show_int(90, 18 + 146, Lpt0_found_barrier_in, 1);

1
app/page/page_rtcam.c
View File

@@ -63,6 +63,7 @@ static void Loop()
ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
ips200_show_uint(200, 165, barrier_type, 3);
ips200_show_uint(200, 185, state_type, 5);
//ips200_show_uint(200, 205, ceshi, 5);
}
/**

10
app/page/page_sparam1.c
View File

@@ -33,7 +33,7 @@ static void Setup()
} else if (Get_new_page() == page_param2) {
pafrist = Page2_head;
paend = Page3_head;
ips200_show_string(0, 0, "Param2");
ips200_show_string(0, 0, "exp");
}
palong = paend - pafrist;
@@ -83,9 +83,9 @@ static void Event(page_event event)
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
Curser++; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
Curser--; // 光标下移
} else if (page_event_press_short == event) {
event_flag = 1; // 选中参数
Print_Curser(Curser, Curser_Last, RGB565_RED);
@@ -102,7 +102,7 @@ static void Event(page_event event)
}
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) {
if (page_event_forward == event) {
if (page_event_backward == event) {
switch (Param_Data[Curser + pafrist - 1].type) {
case EFLOAT:
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) += powf(10, index_power);
@@ -116,7 +116,7 @@ static void Event(page_event event)
default:
break;
}
} else if (page_event_backward == event) {
} else if ( page_event_forward== event) {
switch (Param_Data[Curser + pafrist - 1].type) {
case EFLOAT:
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) -= powf(10.0f, (float)index_power);

13
app/page/page_sparam2.c
View File

@@ -33,7 +33,7 @@ static void Setup()
} else if (Get_new_page() == page_param2) {
pafrist = Page2_head;
paend = Page3_head;
ips200_show_string(0, 0, "Param2");
ips200_show_string(0, 0, "exp");
}
palong = paend - pafrist;
@@ -91,15 +91,16 @@ static void Event(page_event event)
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
Curser++; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
Curser--; // 光标下移
} else if (page_event_press_short == event) {
event_flag = 1; // 选中参数
Print_Curser(Curser, Curser_Last, RGB565_RED);
return;
} else if (page_event_press_long == event) {
jj_param_write();
mt9v03x_set_exposure_time(auto_exp);
Page_Shift(page_menu);
return;
}
@@ -110,7 +111,7 @@ static void Event(page_event event)
}
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) {
if (page_event_forward == event) {
if (page_event_backward == event) {
switch (Param_Data[Curser + pafrist - 1].type) {
case EFLOAT:
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) += powf(10.0f, (float)index_power);
@@ -124,7 +125,7 @@ static void Event(page_event event)
default:
break;
}
} else if (page_event_backward == event) {
} else if ( page_event_forward == event) {
switch (Param_Data[Curser + pafrist - 1].type) {
case EFLOAT:
*((float *)(Param_Data[Curser + pafrist - 1].p_data)) -= powf(10.0f, (float)index_power);
@@ -153,7 +154,7 @@ static void Event(page_event event)
else if (EUINT32 == Param_Data[Curser + pafrist - 1].type)
ips200_show_uint(60, Curser * 18 + 2, *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
else if (EFLOAT == Param_Data[Curser + pafrist - 1].type)
ips200_show_float(60, Curser * 18 + 2, *((float *)(Param_Data[Curser + pafrist - 1].p_data)), 4, 5);
ips200_show_float(60, Curser * 18 + 2, *((float *)(Param_Data[Curser + pafrist - 1].p_data)), 8, 1);
}
}