QD4C-firmware/app/main.c

/*********************************************************************************************************************
 * CH32V307VCT6 Opensourec Library <EFBFBD><EFBFBD><EFBFBD><EFBFBD>CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD>⣩<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹٷ<EFBFBD> SDK <EFBFBD>ӿڵĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>
 * Copyright (c) 2022 SEEKFREE <EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD>
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 *
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 *
 * <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>          main
 * <EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD>          <EFBFBD>ɶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>޹<EFBFBD>˾
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 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>          MounRiver Studio V1.8.1
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨          CH32V307VCT6
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>          https://seekfree.taobao.com/
 *
 * <EFBFBD>޸ļ<EFBFBD>¼
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>                                      <EFBFBD><EFBFBD><EFBFBD><EFBFBD>                             <EFBFBD><EFBFBD>ע
 * 2022-09-15        <EFBFBD><EFBFBD> W            first version
 ********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "gl_headfile.h"
#include "cw_servo.h"
#include "by_pt_button.h"
#include "by_fan_control.h"
#include "by_imu.h"

uint8 (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8 <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
// uint8 *mt9v03x_image_copy[0];               // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
sint32 pts_left_count, pts_right_count;
float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
sint32 pts_inv_l_count, pts_inv_r_count;
float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
sint32 pts_filter_l_count, pts_filter_r_count;
float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
sint32 pts_resample_left_count, pts_resample_right_count;
float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
sint32 mid_left_count, mid_right_count;

// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF> + <20>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
int angle_new_left_num, angle_new_right_num;
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];

// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>
float angle_left[PT_MAXLEN];
float angle_right[PT_MAXLEN];
int angle_left_num, angle_right_num;

// L <20>ǵ<EFBFBD>
int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
bool Lpt0_found, Lpt1_found;
int Lpt1[2], Lpt0[2];

int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
bool Lpt_in0_found, Lpt_in1_found;
int Lpt_in1[2], Lpt_in0[2];

// <20><>ֱ<EFBFBD><D6B1>
bool is_straight0, is_straight1;

// <20><><EFBFBD><EFBFBD>
bool is_turn0, is_turn1;

// <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float rptsn[PT_MAXLEN][2];
int rptsn_num;
float aim_distance;

enum track_type_e track_type = TRACK_RIGHT;

int frame_count = 0;

void img_processing();
void get_corners();

int main(void)
{
    clock_init(SYSTEM_CLOCK_120M); // <20><>ʼ<EFBFBD><CABC>оƬʱ<C6AC><CAB1> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
    debug_init();                  // <20><><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC> MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
    // mt9v03x_init();
    ips200_init(IPS200_TYPE_SPI);
    by_gpio_init();
    by_exit_init();
    by_pwm_init();
    cw_servo_init();
    while (imu660ra_init())
        ;

    system_delay_ms(2000);
    gyroOffset_init();
    pit_ms_init(TIM6_PIT, 2);

    while (1) {
        // while (frame_count < 20) {
        //  if (mt9v03x_finish_flag) {
        //      memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
        //      adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 8);
        //      //threshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, MT9V03X_W, MT9V03X_H, 110);
        //      ips114_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
        //      mt9v03x_finish_flag = 0;
        //      frame_count++;
        //  }

        //}
        if (mt9v03x_finish_flag) {
            // ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
            memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
            // Img_Gray = mt9v03x_image;
            // mt9v03x_image_copy[0] = Img_Gray[0];
            mt9v03x_finish_flag = 0;

            state_type = COMMON_STATE;
            img_processing();

            get_corners();

            aim_distance = COMMON_AIM;

            tracking();

            ElementJudge();

            ElementRun();

            MidLineTrack();
        }
        // by_imu_data_get();
        by_ips_show();
        system_delay_ms(200);
    }
}