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feat: 蜂鸣器和旋钮适配

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This commit is contained in:
bmy
2024-02-07 10:24:11 +08:00
parent 845ab06586
commit 5f29a9eca2
9 changed files with 78 additions and 120 deletions
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26
app/by_buzzer.c
View File

@@ -1,12 +1,13 @@
#include "by_buzzer.h"
#include "by_rt_button.h"
#include "zf_common_headfile.h"
#include <string.h>
#include "zf_common_headfile.h"
#define BUZZER_QUEUE_LENGTH 40
uint16_t queue_long = 0;
uint32_t a[40] = {0};
uint16_t queue_long = 0;
const uint32_t max_long = 40;
uint32_t a[40];
void queue_init(void)
{
memset(a, 0, sizeof(a));
@@ -14,7 +15,7 @@ void queue_init(void)
void queue_add_element(int element)
{
if (queue_long < max_long) {
if (queue_long < BUZZER_QUEUE_LENGTH) {
a[queue_long] = element;
queue_long += 1;
}
@@ -38,5 +39,18 @@ void queue_pop_read(void)
void by_buzzer_init(void)
{
queue_init();
pwm_init(BUZZER_PIN, 2000, 0);
by_buzzer_add(1250);
by_buzzer_add(1500);
by_buzzer_add(1750);
by_buzzer_add(1500);
by_buzzer_add(1200);
by_buzzer_add(900);
}
void by_buzzer_add(uint16_t tone)
{
queue_add_element(tone);
}

19
app/by_buzzer.h
View File

@@ -1,24 +1,23 @@
#ifndef _BY_BUZZER_H__
#define _BY_BUZZER_H__
#include "by_rt_button.h"
#include "stdio.h"
#include "ch32v30x.h"
#include "zf_common_headfile.h"
#define BY_PRESS_SHORT 2000
#define BY_PRESS_LONG 2500
#define BY_FORWARD 1500
#define BY_BACKWARD 1800
#define BUZZER_PIN TIM3_PWM_MAP0_CH2_A7
extern void by_buzzer_init(void);
extern void queue_init(void);
extern void queue_add_element(int element);
extern void queue_pop_element(void);
extern void queue_pop_read(void);
#define BUZZER_PIN TIM9_PWM_MAP0_CH1_A2
extern uint32_t a[40];
extern uint16_t queue_long;
extern const uint32_t max_long;
extern uint8_t queue_flag;
extern void queue_init(void);
extern void queue_add_element(int element);
extern void queue_pop_element(void);
extern void queue_pop_read(void);
extern void by_buzzer_init(void);
extern void by_buzzer_add(uint16_t tone);
#endif

46
app/by_rt_button.c
View File

@@ -3,17 +3,6 @@
#include "by_imu.h"
uint8_t rotate_button;
void by_gpio_init(void)
{
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
}
void by_exit_init(void)
{
exti_init(E9, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_BOTH);
}
/**
* @brief 查询旋钮状态 - 查询后状态归零
*
@@ -22,37 +11,16 @@ void by_exit_init(void)
uint8_t by_get_rb_status(void)
{
uint8_t temp_s = rotate_button;
rotate_button = 0;
rotate_button = rotate_button_none;
return temp_s;
}
void by_ips_show(void)
void by_rb_init(void)
{
ips200_show_string(0, 0, "button status:");
// ips200_show_uint(104, 0, by_get_rb_status(), 1);
switch (by_get_rb_status()) {
case 1:
ips200_show_string(104, 0, "press");
break;
case 2:
ips200_show_string(104, 0, "up ");
break;
case 3:
ips200_show_string(104, 0, "down ");
break;
gpio_init(E9, GPI, GPIO_HIGH, GPI_PULL_UP);
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
gpio_init(E11, GPI, GPIO_HIGH, GPI_PULL_UP);
default:
ips200_show_string(104, 0, " ");
break;
}
// 按钮
ips200_show_string(0, 16, "imu:");
ips200_show_float(46, 32, eulerAngle.pitch, 3, 2);
ips200_show_float(46, 48, eulerAngle.roll, 3, 2);
ips200_show_float(46, 64, eulerAngle.yaw, 3, 2);
// ips200_show_float(46 , 32, icm_data.gyro_x, 2, 2);
// ips200_show_float(106, 32, icm_data.gyro_y, 2, 2);
// ips200_show_float(166, 32, icm_data.gyro_z, 2, 2);
ips200_show_float(46, 80, imu660ra_temperature, 2, 2);
// printf("%d,%d,%d\n", (int16_t)(icm_data.gyro_x * 10), (int16_t)(icm_data.gyro_y * 10), (int16_t)(icm_data.gyro_z * 10));
exti_init(E9, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_BOTH);
}

5
app/by_rt_button.h
View File

@@ -8,6 +8,7 @@
#define LONG_PRESS_THRESHOLD_TICK (LONG_PRESS_THRESHOLD_MS * 18000ULL)
typedef enum rotate_button_event {
rotate_button_none = 0,
rotate_button_press_short = 1,
rotate_button_press_long = 2,
rotate_button_forward = 3,
@@ -16,9 +17,7 @@ typedef enum rotate_button_event {
extern uint8_t rotate_button;
extern void by_exit_init(void);
extern void by_gpio_init(void);
extern uint8_t by_get_rb_status(void);
extern void by_ips_show(void);
extern void by_rb_init(void);
#endif

15
app/isr.c
View File

@@ -202,13 +202,16 @@ void EXTI9_5_IRQHandler(void)
}
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
if (SET == gpio_get_level(E10)) {
rotate_button = rotate_button_backward;
queue_add_element(BY_BACKWARD);
} else {
rotate_button = rotate_button_forward;
queue_add_element(BY_FORWARD);
if (rotate_button == rotate_button_none) {
if (SET == gpio_get_level(E10)) {
rotate_button = rotate_button_backward;
queue_add_element(BY_BACKWARD);
} else {
rotate_button = rotate_button_forward;
queue_add_element(BY_FORWARD);
}
}
EXTI_ClearITPendingBit(EXTI_Line9);
}
}

81
app/main.c
View File

@@ -33,66 +33,41 @@
#include "by_imu.h"
int main(void)
{
int16_t i = 0;
clock_init(SYSTEM_CLOCK_120M);
system_delay_init();
debug_init();
mt9v03x_init();
ips200_init(IPS200_TYPE_SPI);
by_gpio_init();
by_exit_init();
by_pwm_init();
jj_bt_init();
by_rb_init();
by_buzzer_init();
while (imu660ra_init())
;
jj_param_eeprom_init();
by_pwm_init();
Page_Init();
sport_pid_init();
pit_ms_init(TIM6_PIT, 2);
pit_ms_init(TIM1_PIT, 2);
// gyroOffset_init();
while (1) {
Page_Run();
jj_bt_run();
// switch (by_get_rb_status()) {
// case 3:
// i++;
// break;
// case 4:
// i--;
// break;
// default:
// break;
// }
// by_pwm_update_duty(500 + i * 50, 500 + i * 50);
// by_pwm_power_duty(500 + i * 50, 500 + i * 50, 500 + i * 50, 500 + i * 50);
// // ips200_show_uint(0, 0, 1000, 4);
// ips200_draw_rect(0, 0, 50, 50, RGB565_YELLOW);
// system_delay_ms(100);
// ips200_draw_rect(0, 0, 50, 50, RGB565_BLACK);
// system_delay_ms(10);
queue_pop_read();
bt_printf("hello:%f,%f\n",out_M,out_yaw);
if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us
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, 17);
//ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
mt9v03x_finish_flag = 0;
state_type = COMMON_STATE;
img_processing();
get_corners();
aim_distance = COMMON_AIM;
tracking();
ElementJudge();
ElementRun();
MidLineTrack();
}
Page_Run();
}
}
void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
int half_block = block / 2;
for(int y=half_block; y<height-half_block; y++){
for(int x=half_block; x<width-half_block; x++){
// 计算局部阈值
int thres = 0;
for(int dy=-half_block; dy<=half_block; dy++){
for(int dx=-half_block; dx<=half_block; dx++){
thres += img_data[(x+dx)+(y+dy)*width];
}
}
thres = thres / (block * block) - clip_value;
// 进行二值化
output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
}
}
}