陀螺仪的初级数据获取

app/by_imu.c

@@ -0,0 +1,26 @@
+#include "by_imu.h"
+#include "zf_common_headfile.h"
+
+float imu_acc_x;
+float imu_acc_y;
+float imu_acc_z;
+float imu_gyro_x;
+float imu_gyro_y;
+float imu_gyro_z;
+
+void by_imu_data_get(void)
+{
+    imu660ra_get_acc();
+    imu660ra_get_gyro();
+    imu660ra_get_temperature();
+
+    imu_acc_x = imu660ra_acc_transition(imu660ra_acc_x);
+    imu_acc_y = imu660ra_acc_transition(imu660ra_acc_y);
+    imu_acc_z = imu660ra_acc_transition(imu660ra_acc_z);
+
+    imu_gyro_x = imu660ra_gyro_transition(imu660ra_gyro_x);
+    imu_gyro_y = imu660ra_gyro_transition(imu660ra_gyro_y);
+    imu_gyro_z = imu660ra_gyro_transition(imu660ra_gyro_z);
+
+    
+}

app/by_imu.h

@@ -0,0 +1,15 @@
+#ifndef _BY_IMU_H__
+#define _BY_IMU_H__
+
+#include "stdio.h"
+#include "ch32v30x.h"
+
+extern float imu_acc_x;
+extern float imu_acc_y;
+extern float imu_acc_z;
+extern float imu_gyro_x;
+extern float imu_gyro_y;
+extern float imu_gyro_z;
+
+extern void by_imu_data_get(void);
+#endif

app/by_pt_button.c

@@ -1,6 +1,8 @@
 #include "by_pt_button.h"
 #include "zf_common_headfile.h"
+#include "by_imu.h"
 uint8_t potate_button;
+
 void by_gpio_init(void)
 {
     gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
@@ -21,7 +23,32 @@ uint8_t by_get_pb_statu(void)
 
 void by_ips_show(void)
 {
-    ips114_show_string(0, 0, "button statu:");
+    ips200_show_string(0, 0, "button statu:");
-    ips114_show_uint(104, 0, by_get_pb_statu(), 1);
+    // ips200_show_uint(104, 0, by_get_pb_statu(), 1);
+    switch (by_get_pb_statu()) {
+        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;
+
+        default:
+            ips200_show_string(104, 0, "     ");
+            break;
+    }
+    // 按钮
+    ips200_show_string(0, 16, "imu:");
+    ips200_show_float(46, 16, imu_acc_x, 2, 2);
+    ips200_show_float(106, 16, imu_acc_y, 2, 2);
+    ips200_show_float(166, 16, imu_acc_z, 2, 2);
+    ips200_show_float(46, 32, imu_gyro_x, 2, 2);
+    ips200_show_float(106, 32, imu_gyro_y, 2, 2);
+    ips200_show_float(166, 32, imu_gyro_z, 2, 2);
+    ips200_show_float(46, 48, imu660ra_temperature, 2, 2);
+    printf("%d,%d,%d\n",(int16_t)(imu_gyro_x*10),(int16_t)(imu_gyro_y*10),(int16_t)(imu_gyro_z*10));
 
 }

app/by_pt_button.h

@@ -8,8 +8,10 @@
 #define POTATE_BUTTOM_BACKWARD 3
 extern uint8_t potate_button;
 
+
 extern void by_exit_init(void);
 extern void by_gpio_init(void);
-extern uint8_t by_get_pb_statu(void);
+extern uint8_t by_get_statu(void);
 extern void by_ips_show(void);
+
 #endif

app/isr.c

@@ -199,6 +199,7 @@ void EXTI9_5_IRQHandler(void)
         if (SET == gpio_get_level(E10)) {
             potate_button = POTATE_BUTTOM_BACKWARD;
             
+
         } else {
             potate_button = POTATE_BUTTOM_FOREWARD;
            
@@ -222,6 +223,7 @@ void EXTI15_10_IRQHandler(void)
         system_delay_us(200);
         if (SET == !gpio_get_level(E11)) {
             potate_button = POTATE_BUTTOM_PRESS;
+            
         }
     }
     if (SET == EXTI_GetITStatus(EXTI_Line12)) {

app/main.c

@@ -37,9 +37,10 @@
 #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>
+// 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];
@@ -51,8 +52,7 @@ 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>+<2B>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
-//<2F><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>+<2B>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;
@@ -66,7 +66,7 @@ int angle_left_num, angle_right_num;
 // L<>ǵ<EFBFBD>
 int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
 bool Lpt0_found, Lpt1_found;
-int Lpt1[2],Lpt0[2];
+int Lpt1[2], Lpt0[2];
 
 int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
 bool Lpt_in0_found, Lpt_in1_found;
@@ -85,26 +85,26 @@ 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();
+    // mt9v03x_init();
-    ips114_init();
+    ips200_init(IPS200_TYPE_SPI);
     by_gpio_init();
     by_exit_init();
     by_pwm_init();
     cw_servo_init();
+    while (imu660ra_init())
+        ;
 
     while (1) {
-        //while (frame_count < 20) {
+        // 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);
@@ -116,13 +116,12 @@ int main(void)
 
         //}
         if (mt9v03x_finish_flag) {
-            //ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
+            // 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)));
+            memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
-            //Img_Gray = mt9v03x_image;
+            // Img_Gray = mt9v03x_image;
-            //mt9v03x_image_copy[0] = Img_Gray[0];
+            // mt9v03x_image_copy[0] = Img_Gray[0];
             mt9v03x_finish_flag = 0;
 
-
             state_type = COMMON_STATE;
             img_processing();
 
@@ -137,10 +136,9 @@ int main(void)
             ElementRun();
 
             MidLineTrack();
-
-                      
         }
-
+        by_imu_data_get();
-        
+        by_ips_show();
+        system_delay_ms(200);
     }
 }

libraries/zf_device/zf_device_ips200.h

@@ -85,10 +85,10 @@
 #endif
 
 // 如果使用的是单排排针的两寸屏幕 SPI 驱动控制引脚 可以修改
-#define IPS200_RST_PIN_SPI              (B7 )                                   // 液晶复位引脚定义
+#define IPS200_RST_PIN_SPI              (D8 )                                   // 液晶复位引脚定义
-#define IPS200_DC_PIN_SPI               (D7 )                                   // 液晶命令位引脚定义
+#define IPS200_DC_PIN_SPI               (D9 )                                   // 液晶命令位引脚定义
-#define IPS200_CS_PIN_SPI               (D4 )
+#define IPS200_CS_PIN_SPI               (D10 )
-#define IPS200_BLk_PIN_SPI              (D0 )
+#define IPS200_BLk_PIN_SPI              (D11 )
 
 
 // --------------------单排两寸屏幕SPI接口引脚定义--------------------//