Merge branch 'master' of https://git.brisky.space/btl143/QDAC-firmware

feat:增加cross处理开关

.eide/eide.json

@@ -65,10 +65,9 @@
         "libList": [
           "libraries/zf_device"
         ],
-        "sourceDirList": [],
         "defineList": []
       }
     }
   },
-  "version": "3.3"
+  "version": "3.4"
 }

app/by_frame.c

@@ -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_recv[(2 * (4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t))) + 1];
-uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)];
+uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM_SEND * sizeof(uint32_t)];
 uint8_t frame_parse_busy;
 lwrb_t lwrb_ctx;
 
@@ -16,13 +16,13 @@ void by_frame_init(void)
 {
     lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一
     uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN);
-   // uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
+    uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
 }
 
 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 frame_buf[4 + BY_FRAME_DATA_NUM_RECV * 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
+    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 * sizeof(uint32_t);
+    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

app/by_frame.h

@@ -16,14 +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 uint8_t frame_buffer[50];
 
 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

app/gl_barrier.c

@@ -2,7 +2,15 @@
 #include "gl_headfile.h"
 
 enum barrier_type_e barrier_type = BARRIER_NONE;
-uint16 time_barrier;
+enum s_type_e s_type             = S_NONE;
+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) {
@@ -15,49 +23,222 @@ 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 (Lpt0_found) {
+        if (barrier_type == BARRIER_LEFT_BEGIN)
-            Lpt0_found_count++;
+        {
-        }
+            timer_clear(TIM_2);
-        if (Lpt0_found_count >= 1) {
+            timer_start(TIM_2);
-            Lpt0_found_count = 0;
             barrier_type = BARRIER_LEFT_RUNNING;
-            track_type       = TRACK_RIGHT;
-            timer_clear(TIM_3);
-            timer_start(TIM_3);
         }
-    } else if (barrier_type == BARRIER_LEFT_RUNNING) {
+        if (barrier_type == BARRIER_LEFT_RUNNING)
-        track_type   = TRACK_RIGHT;
+        {
-        time_barrier = timer_get(TIM_3);
+            if (timer_get(TIM_2) >= barrirer_time)
-        if (time_barrier >= 250) {
+            {
                 barrier_type = BARRIER_NONE;
-            track_type   = TRACK_RIGHT;
+                timer_stop(TIM_2);
-            timer_start(TIM_3);
+                timer_clear(TIM_2);
-            timer_clear(TIM_3);
+            }
+            else{
+                barrier_type = BARRIER_LEFT_RUNNING;
             }
         }
         
-    if (barrier_type == BARRIER_RIGHT_BEGIN) {
+        
-        track_type = TRACK_LEFT;
+        //     if (barrier_begin_flag == 0) {
-        if (Lpt1_found) {
+        //         timer_clear(TIM_3);
-            Lpt1_found_count++;
+        //         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 && 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);
+        //     }
+        // }
     }
-        if (Lpt1_found_count >= 1) {
+
-            Lpt1_found_count = 0;
+    if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
+        track_type = TRACK_LEFT;
+        if (barrier_type == BARRIER_RIGHT_BEGIN)
+        {
+            timer_clear(TIM_2);
+            timer_start(TIM_2);
             barrier_type = BARRIER_RIGHT_RUNNING;
-            track_type       = TRACK_LEFT;
-            timer_clear(TIM_3);
-            timer_start(TIM_3);
         }
-    } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+        if (barrier_type == BARRIER_RIGHT_RUNNING)
-        track_type   = TRACK_LEFT;
+        {
-        time_barrier = timer_get(TIM_3);
+            if (timer_get(TIM_2) >= barrirer_time)
-        if (time_barrier >= 250) {
+            {
-            timer_start(TIM_3);
-            timer_clear(TIM_3);
                 barrier_type = BARRIER_NONE;
-            track_type   = TRACK_LEFT;
+                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 && barrier_type == BARRIER_RIGHT_BEGIN) {
+        //         Lpt1_found_count = 0;
+        //         barrier_type     = BARRIER_RIGHT_RUNNING;
+        //         track_type       = TRACK_LEFT;
+        //         timer_clear(TIM_2);
+        //         timer_start(TIM_2);
+        //     } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
+        //         track_type = TRACK_LEFT;
+        //         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()
+{
+    if (track_type == TRACK_LEFT) {
+        mid_track_s       = mid_left;
+        mid_track_count_s = mid_left_count;
+    } else {
+        mid_track_s       = mid_right;
+        mid_track_count_s = mid_right_count;
+    }
+
+    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) {
+            min_s      = mid_track_s[i][1];
+            temp_min_s = min_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) {
+        s_type = S_BEGIN;
+    }
+}
+
+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);
+//     }
+
+// }

app/gl_barrier.h

@@ -10,11 +10,31 @@ enum barrier_type_e {
   BARRIER_LEFT_OUT,
   BARRIER_RIGHT_OUT,
 };
-extern uint16 time_barrier;
-extern enum barrier_type_e barrier_type;
 
+enum s_type_e {
+  S_NONE,
+  S_BEGIN,
+  S_RUNNING,
+  S_OUT,
+};
+
+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_ */

app/gl_circle.c

@@ -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 &&
+        if (pts_resample_right_count > (0.7 / RESAMPLEDIST) && Right_Border_None_Circle > FRAMENONE) {
-            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;
         }
+
     }
 }

app/gl_circle.h

@@ -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);

app/gl_common.h

@@ -4,17 +4,19 @@
 #define IMAGE_H               (MT9V03X_H)
 #define IMAGE_W               (MT9V03X_W)
 #define BEGINH_L              (61)
+#define BEGINH_L_curvature    (75)
 #define BEGINH_R              (61)
+#define BEGINH_R_curvature    (75)
 #define BEGINW_L              (-18)
 #define BEGINW_R              (-12)
 #define PT_MAXLEN             (75)
 #define GET_PIX_1C(IMG, H, W) (IMG[(H) * MT9V03X_W + (W)]) // 获取像素点的值
-#define FIX_BINTHRESHOLD      (140)                        // 设置最开始的阈值
 #define SELFADAPT_KERNELSIZE  (7)                          // 巡线区域核大小
 #define FILTER_KERNELSIZE     (7)                          // 滤波核大小
 #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)

app/gl_cross.c

@@ -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)
+    if (far_x1 <= 4) {
-    {
+        far_x1 = 4;
-        far_x1 = 30;
     }
 
     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
-    else pts_far_left_count = 0;
+        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)
+    if (far_x2 >= 136) {
-    {
+        far_x2 = 136;
-        far_x2 = 120;
     }
 
     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
-    else pts_far_right_count = 0;
+        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;
         }
-
     }
-
 }

app/gl_cross.h

@@ -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); 

app/gl_data.c

@@ -6,6 +6,11 @@ int32_t pts_left[PT_MAXLEN][2];
 int32_t pts_right[PT_MAXLEN][2];
 int32_t pts_left_count;
 int32_t pts_right_count;
+int32_t pts_left_curvature[PT_MAXLEN][2];
+int32_t pts_right_curvature[PT_MAXLEN][2];
+int32_t pts_left_count_curvature;
+int32_t pts_right_count_curvature;
+int32_t mid_s_count;
 int32_t pts_far_left[PT_MAXLEN][2];
 int32_t pts_far_right[PT_MAXLEN][2];
 int32_t pts_far_left_count;
@@ -42,9 +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];
@@ -112,5 +123,8 @@ float rptsn[PT_MAXLEN][2];
 int32_t rptsn_num;
 float aim_distance;
 float aim_judge_far=0.3f;
+float FIX_BINTHRESHOLD = 140;
 
 track_type_e track_type = TRACK_RIGHT;
+
+int begin_flag = 0;

app/gl_data.h

@@ -16,10 +16,15 @@ extern int32_t pts_left[PT_MAXLEN][2];
 extern int32_t pts_right[PT_MAXLEN][2];
 extern int32_t pts_left_count;
 extern int32_t pts_right_count;
+extern int32_t pts_left_curvature[PT_MAXLEN][2];
+extern int32_t pts_right_curvature[PT_MAXLEN][2];
+extern int32_t pts_left_count_curvature;
+extern int32_t pts_right_count_curvature;
 extern int32_t pts_far_left[PT_MAXLEN][2];
 extern int32_t pts_far_right[PT_MAXLEN][2];
 extern int32_t pts_far_left_count;
 extern int32_t pts_far_right_count;
+extern int32_t mid_s_count;
 //逆透视后边线数组
 extern float pts_inv_l[PT_MAXLEN][2];
 extern float pts_inv_r[PT_MAXLEN][2];
@@ -51,9 +56,15 @@ 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];
@@ -125,5 +136,7 @@ extern float aim_distance;
 extern float aim_judge_far;
 
 extern track_type_e track_type;
+extern float FIX_BINTHRESHOLD;
+extern int begin_flag;
 
 #endif

app/gl_garage.c

@@ -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;

app/gl_garage.h

@@ -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;
 

app/gl_get_corners.c

@@ -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]);

app/gl_handle_img.c

@@ -237,3 +237,4 @@ int is_curve(float angle[], int n, float threshold) {
     return 0; // 不是弯道
 }
 
+

app/gl_img_process.c

@@ -11,7 +11,7 @@
 
 void img_processing() {
 
-
+    //
     int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
     pts_left_count = sizeof(pts_left) / sizeof(pts_left[0]);
     for (; w1 > 0; w1--) {
@@ -23,6 +23,20 @@ void img_processing() {
         SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h1, w1, pts_left, &pts_left_count);
     }
     else pts_left_count = 0;
+    //算曲率
+    int w1_curvature = IMAGE_W / 2 - BEGINW_R, h1_curvature = BEGINH_L_curvature;
+    pts_left_count_curvature = sizeof(pts_left_curvature) / sizeof(pts_left_curvature[0]);
+    for (; w1_curvature > 0; w1_curvature--) {
+        if (GET_PIX_1C(mt9v03x_image_copy[0], h1_curvature, w1_curvature - 1) < FIX_BINTHRESHOLD) 
+            break;
+    }
+
+    if (GET_PIX_1C(mt9v03x_image_copy[0], h1_curvature, w1_curvature) >= FIX_BINTHRESHOLD){
+        SearchLineAdaptive_Left(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h1_curvature, w1_curvature, pts_left_curvature, &pts_left_count_curvature);
+    }
+    else pts_left_count_curvature = 0;
+
+
 
     int w2 = IMAGE_W / 2 + BEGINW_L, h2 = BEGINH_R;
     pts_right_count = sizeof(pts_right) / sizeof(pts_right[0]);
@@ -35,6 +49,18 @@ void img_processing() {
         SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h2, w2, pts_right, &pts_right_count);
     }
     else pts_right_count = 0;
+    //算曲率
+    int w2_curvature = IMAGE_W / 2 + BEGINW_L, h2_curvature = BEGINH_R_curvature;
+    pts_right_count_curvature = sizeof(pts_right_curvature) / sizeof(pts_right_curvature[0]);
+    for (; w2_curvature < IMAGE_W - 1; w2_curvature++) {
+        if (GET_PIX_1C(mt9v03x_image_copy[0], h2_curvature, w2_curvature + 1) < FIX_BINTHRESHOLD) 
+            break;
+    }
+
+    if (GET_PIX_1C(mt9v03x_image_copy[0], h2_curvature, w2_curvature) >= FIX_BINTHRESHOLD){
+        SearchLineAdaptive_Right(mt9v03x_image_copy[0], SELFADAPT_KERNELSIZE, SELFADAPT_OFFSET, h2_curvature, w2_curvature, pts_right_curvature, &pts_right_count_curvature);
+    }
+    else pts_right_count_curvature = 0;
 
     //透视变换
     for (int i = 0; i < pts_left_count; i++) {
@@ -87,6 +113,7 @@ void img_processing() {
         }
     }
     
+
     pts_resample_right_count = valid_points_count;
 
     // 大距离边线角度变化率
@@ -119,5 +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;
+
 
 }

app/gl_state.c

@@ -2,8 +2,12 @@
 #include "gl_headfile.h"
 
 enum state_type_e state_type =0;
+enum state_type_e last_state =0;
 float cricle_aim=0.2f;
 float cross_aim=0.49f;
 float common_aim=0.35f;
+float straight_aim=0.35f; 
+float turn_aim=0.35f;  
+float mid_aim=0.5f;
 float barrier_aim=0.5f;
-float barrier_offset=17.0f;
+float barrier_offset=10.0f;

app/gl_state.h

@@ -6,12 +6,17 @@ enum state_type_e {
     TURN_STATE,
     STRAIGHT_STATE,
     CIRCLE_STATE,
+    CIRCLE_RUNNING_STATE,
+    BARRIER_STATE,
 };
-
+extern enum state_type_e last_state;
 extern enum state_type_e state_type;
 extern float cricle_aim;
 extern float cross_aim;
 extern float common_aim;
+extern float straight_aim; 
+extern float turn_aim;  
+extern float mid_aim;
 extern float barrier_aim;
 extern float barrier_offset;
 

app/gl_tracking.c

@@ -1,14 +1,23 @@
 #include "zf_common_headfile.h"
 #include "gl_headfile.h"
 #include "jj_blueteeth.h"
+#include <float.h>
 float (*mid_track)[2];
 int32_t mid_track_count;
 float pure_angle;
+float pure_angle_half;
+float curvature;
 float dx_near;
+float curvature;
+float last_curvature;
 float (*rpts)[2];
 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)
 {
@@ -40,7 +49,41 @@ float leastSquaresSlope(float points[][2], int n)
     return temp;
 }
 
-float calculateX(float a_x, float a_y, float slope, float b_y) {
+// 计算曲率的函数
+// 计算曲率的函数
+float calculate_curvature(float x[], float y[], int n)
+{
+    float total_curvature = 0.0;
+
+    for (int i = 1; i < n - 1; i++) {
+        float x1 = x[i - 1], y1 = y[i - 1];
+        float x2 = x[i], y2 = y[i];
+        float x3 = x[i + 1], y3 = y[i + 1];
+
+        float dx1 = x2 - x1;
+        float dy1 = y2 - y1;
+        float dx2 = x3 - x2;
+        float dy2 = y3 - y2;
+
+        float dx = (dx1 + dx2) / 2;
+        float dy = (dy1 + dy2) / 2;
+
+        float ddx = x3 - 2 * x2 + x1;
+        float ddy = y3 - 2 * y2 + y1;
+
+        float numerator   = dx * ddy - dy * ddx;
+        float denominator = powf(dx * dx + dy * dy, 1.5f);
+
+        if (fabs(denominator) > FLT_EPSILON) {
+            total_curvature += numerator / denominator;
+        }
+    }
+
+    return total_curvature / (float)(n - 2);
+}
+
+float calculateX(float a_x, float a_y, float slope, float b_y)
+{
     float b_x = a_x - (b_y - a_y) * slope;
     return b_x;
 }
@@ -62,18 +105,18 @@ void tracking()
 void aim_distance_select(void)
 {
     if (cross_type != CROSS_NONE) {
-        aim_distance = cricle_aim;
-    } else if (circle_type != CIRCLE_NONE) {
         aim_distance = cross_aim;
+    } else if (circle_type != CIRCLE_NONE) {
+        aim_distance = cricle_aim;
     } else if (barrier_type != BARRIER_NONE) {
         aim_distance = barrier_aim;
-    } else {
-        aim_distance = common_aim;
     }
 }
 
 void ElementJudge()
 {
+
+    if (shield_type == SHIELD_NONE) {
         CheckGarage();
         if (garage_type == GARAGE_NONE) {
             CheckCross();
@@ -81,6 +124,10 @@ void ElementJudge()
                 CheckBarrier();
                 if (barrier_type == BARRIER_NONE) {
                     CheckCircle();
+                    if (circle_type == CIRCLE_NONE) {
+                        Check_s();
+                    }
+                }
             }
         }
     }
@@ -88,6 +135,7 @@ 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;
@@ -106,17 +154,22 @@ 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();
     }
 }
 
 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
@@ -127,6 +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;
@@ -135,66 +196,29 @@ void MidLineTrack()
             mid_track       = mid_right;
             mid_track_count = mid_right_count;
         }
+        float x[mid_track_count];
+        float y[mid_track_count];
+
+        for (int i = 0; i < mid_track_count; i++) {
+            x[i] = mid_track[i][1];
+            y[i] = mid_track[i][0];
+        }
+
+        if (mid_track_count <= 5) {
+            curvature = last_curvature;
+            /* code */
+        } else {
+            curvature = calculate_curvature(x, y, mid_track_count);
+        }
+        last_curvature = curvature;
     }
 
     // 车轮对应点 (纯跟踪起始点)
     float cx = InverseMapW[(int)(IMAGE_H * 0.8f)][70];
     float cy = InverseMapH[(int)(IMAGE_H * 0.8f)][70];
 
-
+    int neary = (int)mid_track[0][0];
-    // float slope = leastSquaresSlope(mid_track, mid_track_count);
+    int nearx = (int)mid_track[0][1];
-    int neary = mid_track[0][0];
-    int nearx = mid_track[0][1];
-    // float near_distance = calculateX(a_x, a_y, slope, cy);
-    int w1 = (int)cx;
-    int h1 = (int)cy;
-    int near_x1 = 0;
-    int near_x2 = 0;
-    if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1) >= FIX_BINTHRESHOLD)
-    {
-        for(;w1>10; w1--) 
-        {
-            if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) < FIX_BINTHRESHOLD) {
-                near_x1 = w1;
-                break;
-            }   
-        }
-        for(;w1<130; w1++) 
-        {
-            if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 1) < FIX_BINTHRESHOLD) {
-                near_x2 = w1;
-                break;
-            }   
-        }
-    }
-    else
-    {
-        if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - BEGINW_R) < FIX_BINTHRESHOLD)
-        {
-            for(;w1>10; w1--) 
-            {
-                if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 1) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 - 2) > FIX_BINTHRESHOLD) {
-                    near_x1 = w1;
-                    near_x2 = cx;
-                    break;
-                }      
-            }
-        }
-        if (GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + BEGINW_R) < FIX_BINTHRESHOLD)
-        {
-            for(;w1<130; w1++) 
-            {
-                if(GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 1) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], h1, w1 + 2) > FIX_BINTHRESHOLD) {
-                    near_x1 = cx;
-                    near_x2 = w1;
-                    break;
-                }   
-            }
-        }
-        
-    }
-
-
 
     // 找最近点 (起始点中线归一化)
     float min_dist = 1e10;
@@ -217,12 +241,29 @@ void MidLineTrack()
         rptsn_num              = sizeof(rptsn) / sizeof(rptsn[0]);
         GetLinesResample(mid_track + begin_id, mid_track_count - begin_id, rptsn, &rptsn_num, RESAMPLEDIST * PIXPERMETER);
 
+        if (cross_type == CROSS_IN) {
+            float x[rptsn_num];
+            float y[rptsn_num];
+
+            for (int i = 0; i < rptsn_num; i++) {
+                x[i] = rptsn[i][1];
+                y[i] = rptsn[i][0];
+            }
+            if (rptsn_num <= 5) {
+                curvature = last_curvature;
+                /* code */
+            } else {
+                curvature = calculate_curvature(x, y, rptsn_num);
+            }
+            last_curvature = curvature;
+        }
+
         // 远预锚点位置-
         int aim_idx       = clip(round(aim_distance / RESAMPLEDIST), 0, rptsn_num - 1);
         int aim_idx_judge = clip(round(aim_judge_far / RESAMPLEDIST), 0, mid_track_count - 1);
 
         // 近锚点位置
-        int aim_idx_near = clip(round(0.09 / RESAMPLEDIST), 0, rptsn_num - 1);
+        int aim_idx_near = clip(round(aim_distance / 2 / RESAMPLEDIST), 0, rptsn_num - 1);
 
         float dx1     = mid_track[3 * (mid_track_count / 4)][1] - mid_track[aim_idx_judge][1];
         float dy1     = mid_track[3 * (mid_track_count / 4)][0] - mid_track[aim_idx_judge][0];
@@ -235,6 +276,7 @@ void MidLineTrack()
         float c2      = dx2 / dn2;
         float s2      = dy2 / dn2;
         float angle_1 = atan2f(c1 * s2 - c2 * s1, c2 * c1 + s2 * s1);
+
         if (angle_1 >= 0.2f || angle_1 <= -0.2f) {
             state_type = TURN_STATE;
         } else {
@@ -246,54 +288,130 @@ 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 || barrier_type == BARRIER_LEFT_RUNNING) {
-            dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
-            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20;
-        } else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) {
-            dx_near    = mid_track[aim_idx_near][1] - cx - barrier_offset;
-            pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20;
-        } else {
-            if (fabs(cx - near_x1) > fabs(cx - near_x2))
-            {
-                dx_near     = near_x2 - cx - 45;
-                temp_near = dx_near;
-            }
-            if (fabs(cx - near_x1) < fabs(cx - near_x2))
-            {
-                dx_near     = near_x1 - cx + 45;
-                temp_near = dx_near;
-            }
-            if (fabs(cx - near_x1) == fabs(cx - near_x2))
-            {
-                dx_near = 0;
-                temp_near = dx_near;
-            }
-            
 
+        switch (barrier_type) {
+            case BARRIER_LEFT_BEGIN:
+                // dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;
+                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;
                     last_pure_angle = pure_angle;
+                    // last_pure_angle_half = pure_angle_half;
                 } else {
                     pure_angle = last_pure_angle;
+                    // 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;
         // // float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
         // // float dn_near = Q_sqrt(dx_near * dx_near + dy_near * dy_near);
         // // float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
-
-        // // //考虑近点
-        // // near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI32 * 180 ;
-        // // //考虑远点
-        // pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
     }
-    if (circle_type == CIRCLE_LEFT_IN || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_RIGHT_IN || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING) {
+
+    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) {
+        if (circle_flag == 1) {
             state_type = CIRCLE_STATE;
         }
+
+        uint16 ti = timer_get(TIM_3);
+        if (ti >= 1000) {
+            timer_stop(TIM_3);
+            timer_clear(TIM_3);
+
+            circle_flag = 0;
+        }
+        if (circle_flag == 0) {
+            state_type = CIRCLE_RUNNING_STATE;
+        }
+    }
+
+    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;
+    }
+
     if (cross_type == CROSS_BEGIN || cross_type == CROSS_IN) {
         state_type = STRAIGHT_STATE;
     }
+
+    if (state_type == STRAIGHT_STATE) {
+        aim_distance = straight_aim;
+    } else if (state_type == TURN_STATE) {
+        aim_distance = turn_aim;
+    }
+    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;
+            }
+        } 
+    }
 }

app/gl_tracking.h

@@ -4,8 +4,13 @@
 extern float (*mid_track)[2];
 extern int32_t mid_track_count;
 extern float pure_angle;
+extern float pure_angle_half;
 extern float dx_near;
+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);

app/isr.c

@@ -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"
@@ -92,8 +93,14 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
     if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
+        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);
+    }
 }
 void USART3_IRQHandler(void)
 {
@@ -279,8 +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();
     }
 }

app/jj_param.c

@@ -3,12 +3,14 @@
 #include "./page/page.h"
 #include "gl_tracking.h"
 #include "gl_state.h"
+#include "gl_data.h"
 #include "zf_common_headfile.h"
 PARAM_INFO Param_Data[DATA_NUM];
 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
  *
@@ -20,10 +22,16 @@ void jj_param_eeprom_init(void)
     PARAM_REG(aim_cricle, &cricle_aim, EFLOAT, 1, "cric:");                                               // 注冊
     PARAM_REG(aim_common, &common_aim, EFLOAT, 1, "comm:");                                               // 注冊
     PARAM_REG(aim_barrier, &barrier_aim, EFLOAT, 1, "barr:");
+    PARAM_REG(aim_mid, &mid_aim, EFLOAT, 1, "mid:");
     PARAM_REG(offset_barrier, &barrier_offset, EFLOAT, 1, "offs:");
     PARAM_REG(delta_x, &pure_angle, EFLOAT, 2, "far:");
-    PARAM_REG(delta_y, &dx_near, EFLOAT, 2, "near:");
+    PARAM_REG(delta_y, &curvature, EFLOAT, 2, "cur:");
-
+    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
 }
 /**

app/jj_param.h

@@ -23,12 +23,15 @@ typedef enum {
     aim_cricle,
     aim_barrier,
     offset_barrier,
+    aim_straight,
+    aim_turn,
+    aim_mid,
     Page2_head,
     // 第二页参数
-    imgax_Kp = Page2_head,
+    baoguang = Page2_head,
-    imgax_Ki,
+    auto_exp_param,
-    imgax_Kd,
+    barr_time,
-
+    cross_sw,
     Page3_head,
     DATA_IN_FLASH_NUM,
 
@@ -64,4 +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

app/main.c

@@ -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();
@@ -46,18 +47,30 @@ 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;
-        tiny_frame_param[1].f32 = dx_near;
+        tiny_frame_param[1].f32   = curvature;
         tiny_frame_param[2].u8[0] = (uint8_t)state_type;  // 0: 无状态 1: 弯道 2: 直行
         tiny_frame_param[2].u8[1] = (uint8_t)garage_type; // 0: 无车库 1: 有车库
         if (mt9v03x_finish_flag) {
@@ -68,12 +81,14 @@ int main(void)
             state_type = COMMON_STATE;
             img_processing();
             get_corners();
-            aim_distance_select();
             tracking();
             ElementJudge();
             ElementRun();
+            aim_distance_select();
             MidLineTrack();
-            bt_printf("type= %d", circle_type);
+            // if (barrier_type) {
+            //     bt_printf("type= %d", barrier_type);
+            // }
         }
     }
 }

app/page/page.c

@@ -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);

app/page/page_dparam.c

@@ -49,11 +49,15 @@ static void Loop()
 {
     // 刷新参数数值
     ips200_show_float(90, 18 + 2, *((float *)(Param_Data[delta_x].p_data)), 4, 5);
-    ips200_show_float(90, 18 + 20, *((float *)(Param_Data[delta_y].p_data)), 4, 5);
+    ips200_show_float(90, 18 + 20, FIX_BINTHRESHOLD, 4, 5);
     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);
+    ips200_show_int(90, 18 + 164, Lpt1_found_barrier_in, 1);
 }
 /**
  * @brief  页面事件

app/page/page_rtcam.c

@@ -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);
 }
 
 /**

app/page/page_sparam1.c

@@ -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;
@@ -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);

app/page/page_sparam2.c

@@ -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;
@@ -45,11 +45,19 @@ static void Setup()
     Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
     for (int16 i = 0; i < palong; i++) {
         ips200_show_string(20, i * 18 + 20, Param_Data[i + pafrist].text);
-        if (Param_Data[i].type == EINT32)
+        if (Param_Data[i+ pafrist].type == EINT32)
-            ips200_show_int(60, i * 18 + 20, *((int32 *)(Param_Data[i + pafrist].p_data)), 5);
+        {
-        else if (Param_Data[i].type == EFLOAT)
+            ips200_show_int(60, i * 18 + 20, *((int32_t *)(Param_Data[i + pafrist].p_data)), 5);
+        }
+        else if (Param_Data[i+ pafrist].type == EFLOAT)
+        {
             ips200_show_float(60, i * 18 + 20, *((float *)(Param_Data[i + pafrist].p_data)), 4, 5);
         }
+        else if (Param_Data[i+ pafrist].type == EUINT32)
+        {
+            ips200_show_uint(60, i * 18 + 20, *((uint32_t *)(Param_Data[i + pafrist].p_data)), 4);
+        }
+    }
     ips200_show_int(50, palong * 18 + 20, index_power, 5);
 }
 
@@ -92,6 +100,7 @@ static void Event(page_event event)
             return;
         } else if (page_event_press_long == event) {
             jj_param_write();
+            mt9v03x_set_exposure_time(auto_exp);
             Page_Shift(page_menu);
             return;
         }
@@ -102,21 +111,21 @@ 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);
+                    *((float *)(Param_Data[Curser + pafrist - 1].p_data)) += powf(10.0f, (float)index_power);
                     break;
                 case EINT32:
                     *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)) += 1;
                     break;
                 case EUINT32:
-                    *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) += 1;
+                    *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) +=(uint32_t)powf(10, index_power);
                     break;
                 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);
@@ -125,14 +134,14 @@ static void Event(page_event event)
                     *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= 1;
                     break;
                 case EUINT32:
-                    *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= 1;
+                    *((uint32 *)(Param_Data[Curser + pafrist - 1].p_data)) -= (uint32_t)powf(10, index_power);
                     break;
                 default:
                     break;
             }
         } else if (page_event_press_short == event) {
             index_power++;
-            if (index_power > 2) {
+            if (index_power > 5) {
                 index_power = -2;
             }
             ips200_show_int(50, palong * 18 + 20, index_power, 5);
@@ -143,9 +152,9 @@ static void Event(page_event event)
         if (EINT32 == Param_Data[Curser + pafrist - 1].type)
             ips200_show_int(60, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
         else if (EUINT32 == Param_Data[Curser + pafrist - 1].type)
-            ips200_show_uint(60, Curser * 18 + 2, *((int32 *)(Param_Data[Curser + pafrist - 1].p_data)), 5);
+            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);
     }
 }
 

app/page/page_ui_widget.c

@@ -171,10 +171,10 @@ void Show_Marked_Image(void)
         uint16_t mix_y = START_Y + (uint16_t)(rptsn[i][0] * vertical_zoom_rate);
 
         // 近线数组显示
-        if (i < pts_inv_l_count) {
+        if (i < pts_resample_left_count) {
             ips200_draw_rect(l_x, l_y, l_x + 2, l_y + 1, RGB565_RED);
         }
-        if (i < pts_inv_r_count) {
+        if (i < pts_resample_right_count) {
             ips200_draw_rect(r_x - 2, r_y, r_x, r_y + 1, RGB565_BLUE);
         }
 

libraries/zf_common/zf_common_fifo.c

@@ -34,6 +34,7 @@
 ********************************************************************************************************************/
 
 #include "zf_common_debug.h"
+
 #include "zf_common_fifo.h"
 
 //-------------------------------------------------------------------------------------------------------------------
@@ -81,33 +82,26 @@ static void fifo_end_offset (fifo_struct *fifo, uint32 offset)
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_clear (fifo_struct *fifo)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
     do
     {
-        if(FIFO_CLEAR & fifo->execution)
+//        if(FIFO_IDLE != fifo->execution)                                        // <20>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD>ǰ FIFO <20>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
-        {
+//        {
-            return_state = FIFO_CLEAR_UNDO;
+//            return_state = FIFO_RESET_UNDO;                                     // <20><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
-            break;
+//            break;
-        }
+//        }
-        fifo->execution |= FIFO_CLEAR;
+        fifo->execution |= FIFO_RESET;                                          // <20><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>λ
-        fifo->head      = 0;
+        fifo->head      = 0;                                                    // <20><><EFBFBD><EFBFBD> FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>λ
-        fifo->end       = 0;
+        fifo->end       = 0;                                                    // <20><><EFBFBD><EFBFBD> FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>λ
-        fifo->size      = fifo->max;
+        fifo->size      = fifo->max;                                            // <20><><EFBFBD><EFBFBD> FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>λ
         switch(fifo->type)
         {
-            case FIFO_DATA_8BIT:
+            case FIFO_DATA_8BIT:    memset(fifo->buffer, 0, fifo->max);     break;
-                memset(fifo->buffer, 0, fifo->max);
+            case FIFO_DATA_16BIT:   memset(fifo->buffer, 0, fifo->max * 2); break;
-                break;
+            case FIFO_DATA_32BIT:   memset(fifo->buffer, 0, fifo->max * 4); break;
-            case FIFO_DATA_16BIT:
-                memset(fifo->buffer, 0, fifo->max * 2);
-                break;
-            case FIFO_DATA_32BIT:
-                memset(fifo->buffer, 0, fifo->max * 4);
-                break;
         }
-//        memset(fifo->buffer, 0, fifo->max);
+        fifo->execution = FIFO_IDLE;                                            // <20><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>λ
-        fifo->execution &= ~FIFO_CLEAR;
     }while(0);
     return return_state;
 }
@@ -122,7 +116,7 @@ fifo_state_enum fifo_clear (fifo_struct *fifo)
 uint32 fifo_used (fifo_struct *fifo)
 {
     zf_assert(fifo != NULL);
-    return (fifo->max - fifo->size);
+    return (fifo->max - fifo->size);                                            // <20><><EFBFBD>ص<EFBFBD>ǰ FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8><EFBFBD>
 }
 
 //-------------------------------------------------------------------------------------------------------------------
@@ -135,40 +129,34 @@ uint32 fifo_used (fifo_struct *fifo)
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_write_element (fifo_struct *fifo, uint32 dat)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 
     do
     {
-        if(FIFO_WRITE & fifo->execution)
+        if((FIFO_RESET | FIFO_WRITE) & fifo->execution)                         // <20><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ <20><><EFBFBD><EFBFBD>д<EFBFBD>뾺<EFBFBD><EBBEBA><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
         {
-            return_state = FIFO_WRITE_UNDO;
+            return_state = FIFO_WRITE_UNDO;                                     // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
             break;
         }
-        fifo->execution |= FIFO_WRITE;
+        fifo->execution |= FIFO_WRITE;                                          // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
 
         if(1 <= fifo->size)                                                     // ʣ<><CAA3><EFBFBD>ռ<EFBFBD><D5BC>㹻װ<E3B9BB>±<EFBFBD><C2B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
         {
             switch(fifo->type)
             {
-                case FIFO_DATA_8BIT:
+                case FIFO_DATA_8BIT:    ((uint8 *)fifo->buffer)[fifo->head]  = dat;  break;
-                    ((uint8 *)fifo->buffer)[fifo->head] = dat;
+                case FIFO_DATA_16BIT:   ((uint16 *)fifo->buffer)[fifo->head] = dat; break;
-                    break;
+                case FIFO_DATA_32BIT:   ((uint32 *)fifo->buffer)[fifo->head] = dat; break;
-                case FIFO_DATA_16BIT:
-                    ((uint16 *)fifo->buffer)[fifo->head] = dat;
-                    break;
-                case FIFO_DATA_32BIT:
-                    ((uint32 *)fifo->buffer)[fifo->head] = dat;
-                    break;
             }
             fifo_head_offset(fifo, 1);                                          // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
             fifo->size -= 1;                                                    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD>೤<EFBFBD>ȼ<EFBFBD>С
         }
         else
         {
-            return_state = FIFO_SPACE_NO_ENOUGH;
+            return_state = FIFO_SPACE_NO_ENOUGH;                                // <20><>ǰ FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ؿռ䲻<D5BC><E4B2BB>
         }
-        fifo->execution &= ~FIFO_WRITE;
+        fifo->execution &= ~FIFO_WRITE;                                         // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
     }while(0);
 
     return return_state;
@@ -185,23 +173,23 @@ fifo_state_enum fifo_write_element (fifo_struct *fifo, uint32 dat)
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
     uint32 temp_length = 0;
     
     do
     {
         if(NULL == dat)
         {
-            return_state = FIFO_BUFFER_NULL;
+            return_state = FIFO_BUFFER_NULL;                                    // <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣
             break;
         }
-        if(FIFO_WRITE & fifo->execution)
+        if((FIFO_RESET | FIFO_WRITE) & fifo->execution)                         // <20><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ <20><><EFBFBD><EFBFBD>д<EFBFBD>뾺<EFBFBD><EBBEBA><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
         {
-            return_state = FIFO_WRITE_UNDO;
+            return_state = FIFO_WRITE_UNDO;                                     // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
             break;
         }
-        fifo->execution |= FIFO_WRITE;
+        fifo->execution |= FIFO_WRITE;                                          // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
 
         if(length <= fifo->size)                                                // ʣ<><CAA3><EFBFBD>ռ<EFBFBD><D5BC>㹻װ<E3B9BB>±<EFBFBD><C2B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
         {
@@ -212,6 +200,7 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
                 switch(fifo->type)
                 {
                     case FIFO_DATA_8BIT:
+                    {
                         memcpy(
                             &(((uint8 *)fifo->buffer)[fifo->head]),
                             dat, temp_length);                                  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -221,8 +210,9 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
                             &(((uint8 *)dat)[temp_length]),
                             length - temp_length);                              // <20><><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
                         fifo_head_offset(fifo, length - temp_length);           // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                     case FIFO_DATA_16BIT:
+                    {
                         memcpy(
                             &(((uint16 *)fifo->buffer)[fifo->head]),
                             dat, temp_length * 2);                              // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -232,8 +222,9 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
                             &(((uint16 *)dat)[temp_length]),
                             (length - temp_length) * 2);                        // <20><><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
                         fifo_head_offset(fifo, length - temp_length);           // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                     case FIFO_DATA_32BIT:
+                    {
                         memcpy(
                             &(((uint32 *)fifo->buffer)[fifo->head]),
                             dat, temp_length * 4);                              // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -243,7 +234,7 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
                             &(((uint32 *)dat)[temp_length]),
                             (length - temp_length) * 4);                        // <20><><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
                         fifo_head_offset(fifo, length - temp_length);           // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                 }
             }
             else
@@ -251,35 +242,36 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
                 switch(fifo->type)
                 {
                     case FIFO_DATA_8BIT:
+                    {
                         memcpy(
                             &(((uint8 *)fifo->buffer)[fifo->head]),
                             dat, length);                                       // һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>
                         fifo_head_offset(fifo, length);                         // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                     case FIFO_DATA_16BIT:
+                    {
                         memcpy(
                             &(((uint16 *)fifo->buffer)[fifo->head]),
                             dat, length * 2);                                   // һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>
                         fifo_head_offset(fifo, length);                         // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                     case FIFO_DATA_32BIT:
+                    {
                         memcpy(
                             &(((uint32 *)fifo->buffer)[fifo->head]),
                             dat, length * 4);                                   // һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>
                         fifo_head_offset(fifo, length);                         // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
-                        break;
+                    }break;
                 }
-//                memcpy(&fifo->buffer[fifo->head], dat, length);                 // һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>
-//                fifo_head_offset(fifo, length);                                 // ͷָ<CDB7><D6B8>ƫ<EFBFBD><C6AB>
             }
 
             fifo->size -= length;                                               // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD>೤<EFBFBD>ȼ<EFBFBD>С
         }
         else
         {
-            return_state = FIFO_SPACE_NO_ENOUGH;
+            return_state = FIFO_SPACE_NO_ENOUGH;                                // <20><>ǰ FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ؿռ䲻<D5BC><E4B2BB>
         }
-        fifo->execution &= ~FIFO_WRITE;
+        fifo->execution &= ~FIFO_WRITE;                                         // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
     }while(0);
 
     return return_state;
@@ -296,50 +288,52 @@ fifo_state_enum fifo_write_buffer (fifo_struct *fifo, void *dat, uint32 length)
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_read_element (fifo_struct *fifo, void *dat, fifo_operation_enum flag)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 
     do
     {
         if(NULL == dat)
         {
-            return_state = FIFO_BUFFER_NULL;
+            return_state = FIFO_BUFFER_NULL;                                    // <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣
+        }
+        else
+        {
+            if((FIFO_RESET | FIFO_CLEAR) & fifo->execution)                     // <20>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD>ǰ FIFO <20>Ƿ<EFBFBD><C7B7><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>
+            {
+                return_state = FIFO_READ_UNDO;                                  // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-        fifo->execution |= FIFO_READ;
 
             if(1 > fifo_used(fifo))
             {
-            return_state = FIFO_DATA_NO_ENOUGH;                                 // <20><>־<EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><EFBFBD><EFBFBD>
+                return_state = FIFO_DATA_NO_ENOUGH;                             // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3>Ȳ<EFBFBD><EFBFBD><EFBFBD>
+                break;                                                          // ֱ<><D6B1><EFBFBD>˳<EFBFBD><CBB3><EFBFBD><EFBFBD><EFBFBD>
             }
 
+            fifo->execution |= FIFO_READ;                                       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
             switch(fifo->type)
             {
-            case FIFO_DATA_8BIT:
+                case FIFO_DATA_8BIT:    *((uint8 *)dat) = ((uint8 *)fifo->buffer)[fifo->end];   break;
-                *((uint8 *)dat) = ((uint8 *)fifo->buffer)[fifo->end];
+                case FIFO_DATA_16BIT:   *((uint16 *)dat) = ((uint16 *)fifo->buffer)[fifo->end]; break;
-                break;
+                case FIFO_DATA_32BIT:   *((uint32 *)dat) = ((uint32 *)fifo->buffer)[fifo->end]; break;
-            case FIFO_DATA_16BIT:
+            }
-                *((uint16 *)dat) = ((uint16 *)fifo->buffer)[fifo->end];
+            fifo->execution &= ~FIFO_READ;                                      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
-                break;
-            case FIFO_DATA_32BIT:
-                *((uint32 *)dat) = ((uint32 *)fifo->buffer)[fifo->end];
-                break;
         }
 
-        if(flag == FIFO_READ_AND_CLEAN)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
+        if(FIFO_READ_AND_CLEAN == flag)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
         {
-            if(FIFO_CLEAR & fifo->execution)
+            if((FIFO_RESET | FIFO_CLEAR | FIFO_READ) == fifo->execution)        // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ȡ ״̬ <20><><EFBFBD><EFBFBD><EFBFBD>쳣
             {
-                return_state = FIFO_CLEAR_UNDO;
+                return_state = FIFO_CLEAR_UNDO;                                 // <20><><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-            fifo->execution |= FIFO_CLEAR;
+            fifo->execution |= FIFO_CLEAR;                                      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
             fifo_end_offset(fifo, 1);                                           // <20>ƶ<EFBFBD> FIFO ͷָ<CDB7><D6B8>
-            fifo->size += 1;
+            fifo->size += 1;                                                    // <20>ͷŶ<CDB7>Ӧ<EFBFBD><D3A6><EFBFBD>ȿռ<C8BF>
-            fifo->execution &= ~FIFO_CLEAR;
+            fifo->execution &= ~FIFO_CLEAR;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
         }
     }while(0);
-    fifo->execution &= FIFO_READ;
 
     return return_state;
 }
@@ -356,43 +350,48 @@ fifo_state_enum fifo_read_element (fifo_struct *fifo, void *dat, fifo_operation_
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_read_buffer (fifo_struct *fifo, void *dat, uint32 *length, fifo_operation_enum flag)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    zf_assert(length != NULL);
+    zf_assert(NULL != length);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
-    uint32 temp_length;
+    uint32 temp_length = 0;
-    uint32 fifo_data_length;
+    uint32 fifo_data_length = 0;
 
     do
     {
         if(NULL == dat)
         {
             return_state = FIFO_BUFFER_NULL;
+        }
+        else
+        {
+            if((FIFO_RESET | FIFO_CLEAR) & fifo->execution)                     // <20>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD>ǰ FIFO <20>Ƿ<EFBFBD><C7B7><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>
+            {
+                *length = fifo_data_length;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+                return_state = FIFO_READ_UNDO;                                  // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-        fifo->execution |= FIFO_READ;
 
-        fifo_data_length = fifo_used(fifo);
+            fifo_data_length = fifo_used(fifo);                                 // <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD>
-
+            if(*length > fifo_data_length)                                      // <20>жϳ<D0B6><CFB3><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>㹻
-        if(*length > fifo_data_length)
             {
                 *length = fifo_data_length;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
                 return_state = FIFO_DATA_NO_ENOUGH;                             // <20><>־<EFBFBD><D6BE><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD>
+                if(0 == fifo_data_length)                                       // <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ֱ<EFBFBD><D6B1><EFBFBD>˳<EFBFBD>
+                {
+                    fifo->execution &= ~FIFO_READ;                              // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
+                    break;
+                }
             }
 
+            fifo->execution |= FIFO_READ;                                       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
             temp_length = fifo->max - fifo->end;                                // <20><><EFBFBD><EFBFBD>βָ<CEB2><D6B8><EFBFBD><EFBFBD><EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>β<EFBFBD><CEB2><EFBFBD>ж<EFBFBD><D0B6>ٿռ<D9BF>
             if(*length <= temp_length)                                          // <20>㹻һ<E3B9BB><D2BB><EFBFBD>Զ<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
             {
                 switch(fifo->type)
                 {
-                case FIFO_DATA_8BIT:
+                    case FIFO_DATA_8BIT:    memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->end]), *length);        break;
-                    memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->end]), *length);
+                    case FIFO_DATA_16BIT:   memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->end]), *length * 2);   break;
-                    break;
+                    case FIFO_DATA_32BIT:   memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->end]), *length * 4);   break;
-                case FIFO_DATA_16BIT:
-                    memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->end]), *length * 2);
-                    break;
-                case FIFO_DATA_32BIT:
-                    memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->end]), *length * 4);
-                    break;
                 }
             }
             else
@@ -400,34 +399,38 @@ fifo_state_enum fifo_read_buffer (fifo_struct *fifo, void *dat, uint32 *length,
                 switch(fifo->type)
                 {
                     case FIFO_DATA_8BIT:
+                    {
                         memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->end]), temp_length);
                         memcpy(&(((uint8 *)dat)[temp_length]), fifo->buffer, *length - temp_length);
-                    break;
+                    }break;
                     case FIFO_DATA_16BIT:
+                    {
                         memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->end]), temp_length * 2);
                         memcpy(&(((uint16 *)dat)[temp_length]), fifo->buffer, (*length - temp_length) * 2);
-                    break;
+                    }break;
                     case FIFO_DATA_32BIT:
+                    {
                         memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->end]), temp_length * 4);
                         memcpy(&(((uint32 *)dat)[temp_length]), fifo->buffer, (*length - temp_length) * 4);
-                    break;
+                    }break;
                 }
             }
+            fifo->execution &= ~FIFO_READ;                                      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
+        }
 
-        if(flag == FIFO_READ_AND_CLEAN)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
+        if(FIFO_READ_AND_CLEAN == flag)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
         {
-            if(FIFO_CLEAR & fifo->execution)
+            if((FIFO_RESET | FIFO_CLEAR | FIFO_READ) == fifo->execution)        // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ȡ ״̬ <20><><EFBFBD><EFBFBD><EFBFBD>쳣
             {
-                return_state = FIFO_CLEAR_UNDO;
+                return_state = FIFO_CLEAR_UNDO;                                 // <20><><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-            fifo->execution |= FIFO_CLEAR;
+            fifo->execution |= FIFO_CLEAR;                                      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
             fifo_end_offset(fifo, *length);                                     // <20>ƶ<EFBFBD> FIFO ͷָ<CDB7><D6B8>
-            fifo->size += *length;
+            fifo->size += *length;                                              // <20>ͷŶ<CDB7>Ӧ<EFBFBD><D3A6><EFBFBD>ȿռ<C8BF>
-            fifo->execution &= ~FIFO_CLEAR;
+            fifo->execution &= ~FIFO_CLEAR;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
         }
     }while(0);
-    fifo->execution &= FIFO_READ;
 
     return return_state;
 }
@@ -446,41 +449,47 @@ fifo_state_enum fifo_read_buffer (fifo_struct *fifo, void *dat, uint32 *length,
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_read_tail_buffer (fifo_struct *fifo, void *dat, uint32 *length, fifo_operation_enum flag)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    zf_assert(length != NULL);
+    zf_assert(NULL != length);
-    fifo_state_enum return_state = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;                                // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
-    uint32 temp_length;
+    uint32 temp_length = 0;
-    uint32 fifo_data_length;
+    uint32 fifo_data_length = 0;
 
     do
     {
         if(NULL == dat)
         {
             return_state = FIFO_BUFFER_NULL;
+        }
+        else
+        {
+            if((FIFO_RESET | FIFO_CLEAR | FIFO_WRITE) & fifo->execution)        // <20>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD>ǰ FIFO <20>Ƿ<EFBFBD><C7B7><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>
+            {
+                *length = fifo_data_length;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
+                return_state = FIFO_READ_UNDO;                                  // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-        fifo->execution |= FIFO_READ;
 
-        fifo_data_length = fifo_used(fifo);
+            fifo_data_length = fifo_used(fifo);                                 // <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD>
-        if(*length > fifo_data_length)
+            if(*length > fifo_data_length)                                      // <20>жϳ<D0B6><CFB3><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>㹻
             {
                 *length = fifo_data_length;                                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>ij<EFBFBD><C4B3><EFBFBD>
                 return_state = FIFO_DATA_NO_ENOUGH;                             // <20><>־<EFBFBD><D6BE><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD>
+                if(0 == fifo_data_length)                                       // <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ֱ<EFBFBD><D6B1><EFBFBD>˳<EFBFBD>
+                {
+                    fifo->execution &= ~FIFO_READ;                              // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
+                    break;
+                }
             }
 
+            fifo->execution |= FIFO_READ;                                       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
             if((fifo->head > fifo->end) || (fifo->head >= *length))
             {
                 switch(fifo->type)
                 {
-                case FIFO_DATA_8BIT:
+                    case FIFO_DATA_8BIT:    memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->head - *length]), *length);     break;
-                    memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->head - *length]), *length);
+                    case FIFO_DATA_16BIT:   memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->head - *length]), *length * 2);break;
-                    break;
+                    case FIFO_DATA_32BIT:   memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->head - *length]), *length * 4);break;
-                case FIFO_DATA_16BIT:
-                    memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->head - *length]), *length * 2);
-                    break;
-                case FIFO_DATA_32BIT:
-                    memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->head - *length]), *length * 4);
-                    break;
                 }
             }
             else
@@ -489,34 +498,35 @@ fifo_state_enum fifo_read_tail_buffer (fifo_struct *fifo, void *dat, uint32 *len
                 switch(fifo->type)
                 {
                     case FIFO_DATA_8BIT:
+                    {
                         memcpy(dat, &(((uint8 *)fifo->buffer)[fifo->max - temp_length]), temp_length);
                         memcpy(&(((uint8 *)dat)[temp_length]), &(((uint8 *)fifo->buffer)[fifo->head - *length]), (*length - temp_length));
-                    break;
+                    }break;
                     case FIFO_DATA_16BIT:
+                    {
                         memcpy(dat, &(((uint16 *)fifo->buffer)[fifo->max - temp_length]), temp_length * 2);
                         memcpy(&(((uint16 *)dat)[temp_length]), &(((uint16 *)fifo->buffer)[fifo->head - *length]), (*length - temp_length) * 2);
-                    break;
+                    }break;
                     case FIFO_DATA_32BIT:
+                    {
                         memcpy(dat, &(((uint32 *)fifo->buffer)[fifo->max - temp_length]), temp_length * 4);
                         memcpy(&(((uint32 *)dat)[temp_length]), &(((uint32 *)fifo->buffer)[fifo->head - *length]), (*length - temp_length) * 4);
-                    break;
+                    }break;
                 }
             }
+            fifo->execution &= ~FIFO_READ;                                      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
+        }
 
-        if(flag == FIFO_READ_AND_CLEAN)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
+        if(FIFO_READ_AND_CLEAN == flag)                                         // <20><><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO ״̬
         {
-            if(FIFO_CLEAR & fifo->execution)
+            if((FIFO_RESET | FIFO_CLEAR | FIFO_READ) == fifo->execution)        // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ȡ ״̬ <20><><EFBFBD><EFBFBD><EFBFBD>쳣
             {
-                return_state = FIFO_CLEAR_UNDO;
+                return_state = FIFO_CLEAR_UNDO;                                 // <20><><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
                 break;
             }
-            fifo->execution |= FIFO_CLEAR;
+            fifo_clear(fifo);
-            fifo_end_offset(fifo, (fifo->max - fifo->size));
-            fifo->size = fifo->max;
-            fifo->execution &= ~FIFO_CLEAR;
         }
     }while(0);
-    fifo->execution &= FIFO_READ;
 
     return return_state;
 }
@@ -533,15 +543,10 @@ fifo_state_enum fifo_read_tail_buffer (fifo_struct *fifo, void *dat, uint32 *len
 //-------------------------------------------------------------------------------------------------------------------
 fifo_state_enum fifo_init (fifo_struct *fifo, fifo_data_type_enum type, void *buffer_addr, uint32 size)
 {
-    zf_assert(fifo != NULL);
+    zf_assert(NULL != fifo);
-    fifo_state_enum return_value = FIFO_SUCCESS;
+    fifo_state_enum return_state = FIFO_SUCCESS;
     do
     {
-        if(NULL == buffer_addr)
-        {
-            return_value = FIFO_BUFFER_NULL;
-            break;
-        }
         fifo->buffer    = buffer_addr;
         fifo->execution = FIFO_IDLE;
         fifo->type      = type;
@@ -550,5 +555,5 @@ fifo_state_enum fifo_init (fifo_struct *fifo, fifo_data_type_enum type, void *bu
         fifo->size      = size;
         fifo->max       = size;
     }while(0);
-    return return_value;
+    return return_state;
 }

libraries/zf_common/zf_common_fifo.h

@@ -40,37 +40,48 @@
 
 typedef enum
 {
-    FIFO_SUCCESS,
+    FIFO_SUCCESS,                                                               // FIFO <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>
 
-    FIFO_WRITE_UNDO,
+    FIFO_RESET_UNDO,                                                            // FIFO <20><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>δִ<CEB4><D6B4>
-    FIFO_CLEAR_UNDO,
+    FIFO_CLEAR_UNDO,                                                            // FIFO <20><><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>δִ<CEB4><D6B4>
-    FIFO_BUFFER_NULL,
+    FIFO_BUFFER_NULL,                                                           // FIFO <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣
-    FIFO_SPACE_NO_ENOUGH,
+    FIFO_WRITE_UNDO,                                                            // FIFO д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δִ<CEB4><D6B4>
-    FIFO_DATA_NO_ENOUGH,
+    FIFO_SPACE_NO_ENOUGH,                                                       // FIFO д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ռ䲻<D5BC><E4B2BB>
-}fifo_state_enum;
+    FIFO_READ_UNDO,                                                             // FIFO <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>δִ<CEB4><D6B4>
+    FIFO_DATA_NO_ENOUGH,                                                        // FIFO <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD> <20><><EFBFBD>ݳ<EFBFBD><DDB3>Ȳ<EFBFBD><C8B2><EFBFBD>
+}fifo_state_enum;                                                               // FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+// <20><><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>   <20><><EFBFBD><EFBFBD>ǿ<EFBFBD><C7BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD> FIFO <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
+// <20><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+// ˳<><CBB3><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+// β<><CEB2><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+// <20><>ȡ<EFBFBD><C8A1><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+// <20><><EFBFBD><EFBFBD>Ϊ<EFBFBD>˷<EFBFBD>ֹ<EFBFBD>ж<EFBFBD>Ƕ<EFBFBD>׵<EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD>
+typedef enum
+{
+    FIFO_IDLE       = 0x00,                                                     // <20><><EFBFBD><EFBFBD>״̬
+
+    FIFO_RESET      = 0x01,                                                     // <20><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
+    FIFO_CLEAR      = 0x02,                                                     // <20><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD>
+    FIFO_WRITE      = 0x04,                                                     // <20><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>д<EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>
+    FIFO_READ       = 0x08,                                                     // <20><><EFBFBD><EFBFBD>ִ<EFBFBD>ж<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+}fifo_execution_enum;                                                           // FIFO <20><><EFBFBD><EFBFBD>״̬ ΪǶ<CEAA><C7B6>ʹ<EFBFBD><CAB9>Ԥ<EFBFBD><D4A4> <20>޷<EFBFBD><DEB7><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
 typedef enum
 {
-    FIFO_IDLE       = 0x00,
+    FIFO_READ_AND_CLEAN,                                                        // FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷŶ<CDB7>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    FIFO_CLEAR      = 0x01,
+    FIFO_READ_ONLY,                                                             // FIFO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ <20><><EFBFBD><EFBFBD>ȡ
-    FIFO_WRITE      = 0x02,
-    FIFO_READ       = 0x04,
-}fifo_execution_enum;
-
-typedef enum
-{
-    FIFO_READ_AND_CLEAN,
-    FIFO_READ_ONLY,
 }fifo_operation_enum;
 
 typedef enum
 {
-    FIFO_DATA_8BIT,
+    FIFO_DATA_8BIT,                                                             // FIFO <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> 8bit
-    FIFO_DATA_16BIT,
+    FIFO_DATA_16BIT,                                                            // FIFO <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> 16bit
-    FIFO_DATA_32BIT,
+    FIFO_DATA_32BIT,                                                            // FIFO <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> 32bit
 }fifo_data_type_enum;
 
-typedef struct
+typedef struct __attribute__((packed))
 {
     uint8               execution;                                              // ִ<>в<EFBFBD><D0B2><EFBFBD>
     fifo_data_type_enum type;                                                   // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -93,4 +104,3 @@ fifo_state_enum fifo_read_tail_buffer   (fifo_struct *fifo, void *dat, uint32 *l
 fifo_state_enum fifo_init               (fifo_struct *fifo, fifo_data_type_enum type, void *buffer_addr, uint32 size);
 
 #endif
-