feat: 蜂鸣器和旋钮适配

app/main.c

@@ -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;
-    }
-  }
-}