This commit is contained in:
124
app/main.c
124
app/main.c
@@ -1,105 +1,42 @@
|
||||
/*********************************************************************************************************************
|
||||
* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
|
||||
* Copyright (c) 2022 SEEKFREE ?????
|
||||
* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
|
||||
* Copyright (c) 2022 SEEKFREE 逐飞科技
|
||||
*
|
||||
* ??????? CH32V307VCT6 ???????????
|
||||
* 本文件是 CH32V307VCT6 开源库的一部分
|
||||
*
|
||||
* CH32V307VCT6 ????? ?????????
|
||||
* ?????????????????????????? GPL??GNU General Public License???? GNU ??锟斤拷？???????????????
|
||||
* ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
|
||||
* CH32V307VCT6 开源库 是免费软件
|
||||
* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU 通用公共许可证）的条款
|
||||
* 即 GPL 的第 3 版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
|
||||
*
|
||||
* ????????????????????????????????锟斤拷？??????锟绞︼拷？??
|
||||
* ?????????????????????????????????
|
||||
* ?????????锟斤拷？GPL
|
||||
* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
|
||||
* 甚至没有隐含的适销性或适合特定用途的保证
|
||||
* 更多细节请参见 GPL
|
||||
*
|
||||
* ?????????????????????????? GPL ?????
|
||||
* ?????锟斤拷？?????<https://www.gnu.org/licenses/>
|
||||
* 您应该在收到本开源库的同时收到一份 GPL 的副本
|
||||
* 如果没有，请参阅<https://www.gnu.org/licenses/>
|
||||
*
|
||||
* ?????????
|
||||
* ?????????? GPL3.0 ????????锟斤拷？? ?????????????????锟斤拷
|
||||
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
|
||||
* ??????????? libraries ??????? ???????????? LICENSE ???
|
||||
* ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
|
||||
*
|
||||
* ??????? main
|
||||
* ??????? ??????????????
|
||||
* ?锟斤拷？?? ?? libraries/doc ??????? version ??? ?锟斤拷？??
|
||||
* ???????? MounRiver Studio V1.8.1
|
||||
* ?????? CH32V307VCT6
|
||||
* ???????? https://seekfree.taobao.com/
|
||||
*
|
||||
* ?????
|
||||
* ???? ???? ???
|
||||
* 2022-09-15 ?? W first version
|
||||
* 额外注明：
|
||||
* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
|
||||
* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
|
||||
* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
|
||||
* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
|
||||
********************************************************************************************************************/
|
||||
#include "zf_common_headfile.h"
|
||||
#include "gl_headfile.h"
|
||||
#include "by_pt_button.h"
|
||||
#include "by_rt_button.h"
|
||||
#include "by_fan_control.h"
|
||||
#include "cw_servo.h"
|
||||
#include "./page/cw_page.h"
|
||||
|
||||
uint8_t (*Img_Gray)[MT9V03X_W];
|
||||
int32_t pts_left[PT_MAXLEN][2];
|
||||
int32_t pts_right[PT_MAXLEN][2];
|
||||
int32_t pts_left_count, pts_right_count;
|
||||
float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
|
||||
int32_t pts_inv_l_count, pts_inv_r_count;
|
||||
float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
|
||||
int32_t pts_filter_l_count, pts_filter_r_count;
|
||||
float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
|
||||
int32_t pts_resample_left_count, pts_resample_right_count;
|
||||
float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
|
||||
int32_t mid_left_count, mid_right_count;
|
||||
|
||||
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];
|
||||
|
||||
float angle_left[PT_MAXLEN];
|
||||
float angle_right[PT_MAXLEN];
|
||||
int angle_left_num, angle_right_num;
|
||||
|
||||
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];
|
||||
|
||||
bool is_straight0, is_straight1;
|
||||
|
||||
bool is_turn0, is_turn1;
|
||||
|
||||
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();
|
||||
void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value);
|
||||
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
|
||||
debug_init(); // 务必保留，本函数用于初始化 MPU 时钟 调试串口
|
||||
//mt9v03x_init();
|
||||
// system_delay_ms(2000);
|
||||
ips200_init(IPS200_TYPE_SPI);
|
||||
clock_init(SYSTEM_CLOCK_120M);
|
||||
system_delay_init();
|
||||
debug_init();
|
||||
mt9v03x_init();
|
||||
// by_gpio_init();
|
||||
// by_exit_init();
|
||||
// by_pwm_init();
|
||||
// cw_servo_init();
|
||||
//printf("hello world\n");
|
||||
ips200_init(IPS200_TYPE_SPI);
|
||||
by_gpio_init();
|
||||
by_exit_init();
|
||||
by_pwm_init();
|
||||
// while (imu660ra_init())
|
||||
// ;
|
||||
|
||||
@@ -108,18 +45,11 @@ int main(void)
|
||||
// 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);
|
||||
// ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
|
||||
// mt9v03x_finish_flag = 0;
|
||||
// frame_count++;
|
||||
// }
|
||||
|
||||
//}
|
||||
Page_Run();
|
||||
|
||||
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);
|
||||
|
||||
Reference in New Issue
Block a user