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21
3rd-lib/PID-Library/LICENSE
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MIT License
Copyright (c) 2021 Majid Derhambakhsh
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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3rd-lib/PID-Library/README.md
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![Banner](Banner.png)
# PID-Library (C Version)
PID Controller library for ARM Cortex M (STM32)
> #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)
## Release
- #### Version : 1.0.0
- #### Type : Embedded Software.
- #### Support :
- ARM STM32 series
- #### Program Language : C/C++
- #### Properties :
- #### Changes :
- #### Required Library/Driver :
## Overview
### Initialization and de-initialization functions:
```c++
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
```
### Operation functions:
```c++
/* ::::::::::: Computing ::::::::::: */
uint8_t PID_Compute(PID_TypeDef *uPID);
/* ::::::::::: PID Mode :::::::::::: */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
/* :::::::::: PID Limits ::::::::::: */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
/* :::::::::: PID Tunings :::::::::: */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
/* ::::::::: PID Direction ::::::::: */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
/* ::::::::: PID Sampling :::::::::: */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
/* ::::::: Get Tunings Param ::::::: */
float PID_GetKp(PID_TypeDef *uPID);
float PID_GetKi(PID_TypeDef *uPID);
float PID_GetKd(PID_TypeDef *uPID);
```
### Macros:
```diff
non
```
## Guide
#### This library can be used as follows:
#### 1. Add pid.h header
#### 2. Create PID struct and initialize it, for example:
* Initializer:
```c++
PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
```
* Parameters:
* uPID : Pointer to pid struct
* Input : The variable we're trying to control (float)
* Output : The variable that will be adjusted by the pid (float)
* Setpoint : The value we want to Input to maintain (float)
* Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (float>=0)
* POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.
* ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common
* Example:
```c++
PID_TypeDef TPID;
float Temp, PIDOut, TempSetpoint;
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
```
#### 3. Set 'mode', 'sample time' and 'output limit', for example:
* Functions:
```c++
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
```
* Parameters:
* uPID : Pointer to pid struct
* Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
* Min : Low end of the range. must be < max (float)
* Max : High end of the range. must be > min (float)
* NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)
* Example:
```c++
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
```
#### 4. Using Compute function, for example:
```c++
PID_Compute(&TPID);
```
## Examples
#### Example 1: PID Compute for temperature
```c++
#include "main.h"
#include "pid.h"
PID_TypeDef TPID;
char OutBuf[50];
float Temp, PIDOut, TempSetpoint;
int main(void)
{
HW_Init();
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
while (1)
{
Temp = GetTemp();
PID_Compute(&TPID);
sprintf(OutBuf, "Temp%3.2f : %u\n", Temp, (uint16_t)PIDOut);
UART_Transmit((uint8_t *)OutBuf, strlen(OutBuf));
Delay_ms(500);
}
}
```
## Tests performed:
- [x] Run on STM32 Fx cores
## Developers:
- ### Majid Derhambakhsh

293
3rd-lib/PID-Library/pid.c
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 /*
------------------------------------------------------------------------------
~ File : pid.c
~ Author : Majid Derhambakhsh
~ Version: V1.0.0
~ Created: 02/11/2021 03:43:00 AM
~ Brief :
~ Support:
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
Github : https://github.com/Majid-Derhambakhsh
------------------------------------------------------------------------------
~ Description:
~ Attention :
~ Changes :
------------------------------------------------------------------------------
*/
#include "pid.h"
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~ Initialize ~~~~~~~~~~~~~~~~ */
void PID_Init(PID_TypeDef *uPID)
{
/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
uPID->OutputSum = *uPID->MyOutput;
uPID->LastInput = *uPID->MyInput;
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
}
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
{
/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
uPID->MyOutput = Output;
uPID->MyInput = Input;
uPID->MySetpoint = Setpoint;
uPID->InAuto = (PIDMode_TypeDef)_FALSE;
PID_SetOutputLimits(uPID, 0, _PID_8BIT_PWM_MAX);
uPID->SampleTime = _PID_SAMPLE_TIME_MS_DEF; /* default Controller Sample Time is 0.1 seconds */
PID_SetControllerDirection(uPID, ControllerDirection);
PID_SetTunings2(uPID, Kp, Ki, Kd, POn);
}
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
{
PID(uPID, Input, Output, Setpoint, Kp, Ki, Kd, _PID_P_ON_E, ControllerDirection);
}
/* ~~~~~~~~~~~~~~~~~ Computing ~~~~~~~~~~~~~~~~~ */
uint8_t PID_Compute(PID_TypeDef *uPID)
{
float input=0;
float error=0;
float dInput=0;
float output=0;
/* ~~~~~~~~~~ Check PID mode ~~~~~~~~~~ */
if (!uPID->InAuto)
{
return _FALSE;
}
/* ..... Compute all the working error variables ..... */
input = *uPID->MyInput;
error = *uPID->MySetpoint - input;
dInput = (input - uPID->LastInput);
uPID->OutputSum += (uPID->Ki * error);
/* ..... Add Proportional on Measurement, if P_ON_M is specified ..... */
if (!uPID->POnE)
{
uPID->OutputSum -= uPID->Kp * dInput;
}
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
else { }
/* ..... Add Proportional on Error, if P_ON_E is specified ..... */
if (uPID->POnE)
{
output = uPID->Kp * error;
}
else
{
output = 0;
}
/* ..... Compute Rest of PID Output ..... */
output += uPID->OutputSum - uPID->Kd * dInput;
if (output > uPID->OutMax)
{
output = uPID->OutMax;
}
else if (output < uPID->OutMin)
{
output = uPID->OutMin;
}
else { }
*uPID->MyOutput = output;
/* ..... Remember some variables for next time ..... */
uPID->LastInput = input;
return _TRUE;
}
/* ~~~~~~~~~~~~~~~~~ PID Mode ~~~~~~~~~~~~~~~~~~ */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode)
{
uint8_t newAuto = (Mode == _PID_MODE_AUTOMATIC);
/* ~~~~~~~~~~ Initialize the PID ~~~~~~~~~~ */
if (newAuto && !uPID->InAuto)
{
PID_Init(uPID);
}
uPID->InAuto = (PIDMode_TypeDef)newAuto;
}
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID)
{
return uPID->InAuto ? _PID_MODE_AUTOMATIC : _PID_MODE_MANUAL;
}
/* ~~~~~~~~~~~~~~~~ PID Limits ~~~~~~~~~~~~~~~~~ */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max)
{
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (Min >= Max)
{
return;
}
uPID->OutMin = Min;
uPID->OutMax = Max;
/* ~~~~~~~~~~ Check PID Mode ~~~~~~~~~~ */
if (uPID->InAuto)
{
/* ..... Check out value ..... */
if (*uPID->MyOutput > uPID->OutMax)
{
*uPID->MyOutput = uPID->OutMax;
}
else if (*uPID->MyOutput < uPID->OutMin)
{
*uPID->MyOutput = uPID->OutMin;
}
else { }
/* ..... Check out value ..... */
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
else { }
}
}
/* ~~~~~~~~~~~~~~~~ PID Tunings ~~~~~~~~~~~~~~~~ */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd)
{
PID_SetTunings2(uPID, Kp, Ki, Kd, uPID->POn);
}
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn)
{
float SampleTimeInSec;
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (Kp < 0 || Ki < 0 || Kd < 0)
{
return;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
uPID->POn = POn;
uPID->POnE = (PIDPON_TypeDef)(POn == _PID_P_ON_E);
uPID->DispKp = Kp;
uPID->DispKi = Ki;
uPID->DispKd = Kd;
/* ~~~~~~~~~ Calculate time ~~~~~~~~ */
SampleTimeInSec = ((float)uPID->SampleTime) / 1000;
uPID->Kp = Kp;
uPID->Ki = Ki * SampleTimeInSec;
uPID->Kd = Kd / SampleTimeInSec;
/* ~~~~~~~~ Check direction ~~~~~~~~ */
if (uPID->ControllerDirection == _PID_CD_REVERSE)
{
uPID->Kp = (0 - uPID->Kp);
uPID->Ki = (0 - uPID->Ki);
uPID->Kd = (0 - uPID->Kd);
}
}
/* ~~~~~~~~~~~~~~~ PID Direction ~~~~~~~~~~~~~~~ */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction)
{
/* ~~~~~~~~~~ Check parameters ~~~~~~~~~~ */
if ((uPID->InAuto) && (Direction !=uPID->ControllerDirection))
{
uPID->Kp = (0 - uPID->Kp);
uPID->Ki = (0 - uPID->Ki);
uPID->Kd = (0 - uPID->Kd);
}
uPID->ControllerDirection = Direction;
}
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID)
{
return uPID->ControllerDirection;
}
/* ~~~~~~~~~~~~~~~ PID Sampling ~~~~~~~~~~~~~~~~ */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime)
{
float ratio;
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (NewSampleTime > 0)
{
ratio = (float)NewSampleTime / (float)uPID->SampleTime;
uPID->Ki *= ratio;
uPID->Kd /= ratio;
uPID->SampleTime = (uint32_t)NewSampleTime;
}
}
/* ~~~~~~~~~~~~~ Get Tunings Param ~~~~~~~~~~~~~ */
float PID_GetKp(PID_TypeDef *uPID)
{
return uPID->DispKp;
}
float PID_GetKi(PID_TypeDef *uPID)
{
return uPID->DispKi;
}
float PID_GetKd(PID_TypeDef *uPID)
{
return uPID->DispKd;
}

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3rd-lib/PID-Library/pid.h
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/*
------------------------------------------------------------------------------
~ File : pid.h
~ Author : Majid Derhambakhsh
~ Version: V1.0.0
~ Created: 02/11/2021 03:43:00 AM
~ Brief :
~ Support:
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
Github : https://github.com/Majid-Derhambakhsh
------------------------------------------------------------------------------
~ Description:
~ Attention :
~ Changes :
------------------------------------------------------------------------------
*/
#ifndef __PID_H_
#define __PID_H_
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Include ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
#include <stdint.h>
#include <string.h>
#include "zf_common_headfile.h"
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ------------------------ Library ------------------------ */
#define _PID_LIBRARY_VERSION 1.0.0
/* ------------------------ Public ------------------------- */
#define _PID_8BIT_PWM_MAX UINT8_MAX
#define _PID_SAMPLE_TIME_MS_DEF 100
#ifndef _FALSE
#define _FALSE 0
#endif
#ifndef _TRUE
#define _TRUE 1
#endif
/* ---------------------- By compiler ---------------------- */
#ifndef GetTime
/* ---------------------- By compiler ---------------------- */
#ifdef __CODEVISIONAVR__ /* Check compiler */
#define GetTime() 0
/* ------------------------------------------------------------------ */
#elif defined(__GNUC__) /* Check compiler */
#define GetTime() 0
/* ------------------------------------------------------------------ */
#else
#endif /* __CODEVISIONAVR__ */
/* ------------------------------------------------------------------ */
#endif
/* --------------------------------------------------------- */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* PID Mode */
typedef enum
{
_PID_MODE_MANUAL = 0,
_PID_MODE_AUTOMATIC = 1
}PIDMode_TypeDef;
/* PID P On x */
typedef enum
{
_PID_P_ON_M = 0, /* Proportional on Measurement */
_PID_P_ON_E = 1
}PIDPON_TypeDef;
/* PID Control direction */
typedef enum
{
_PID_CD_DIRECT = 0,
_PID_CD_REVERSE = 1
}PIDCD_TypeDef;
/* PID Structure */
typedef struct
{
PIDPON_TypeDef POnE;
PIDMode_TypeDef InAuto;
PIDPON_TypeDef POn;
PIDCD_TypeDef ControllerDirection;
uint32_t LastTime;
uint32_t SampleTime;
float DispKp;
float DispKi;
float DispKd;
float Kp;
float Ki;
float Kd;
float *MyInput;
float *MyOutput;
float *MySetpoint;
float OutputSum;
float LastInput;
float OutMin;
float OutMax;
}PID_TypeDef;
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Variables ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Struct ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* :::::::::::::: Init ::::::::::::: */
void PID_Init(PID_TypeDef *uPID);
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
/* ::::::::::: Computing ::::::::::: */
uint8_t PID_Compute(PID_TypeDef *uPID);
/* ::::::::::: PID Mode :::::::::::: */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
/* :::::::::: PID Limits ::::::::::: */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
/* :::::::::: PID Tunings :::::::::: */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
/* ::::::::: PID Direction ::::::::: */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
/* ::::::::: PID Sampling :::::::::: */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
/* ::::::: Get Tunings Param ::::::: */
float PID_GetKp(PID_TypeDef *uPID);
float PID_GetKi(PID_TypeDef *uPID);
float PID_GetKd(PID_TypeDef *uPID);
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ End of the program ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
#endif /* __PID_H_ */

58
app/by_fan_control.c
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#include "by_fan_control.h"
#include "zf_common_headfile.h"
#define Fan_pwm_up1 TIM8_PWM_MAP0_CH1_C6
#define Fan_pwm_up2 TIM8_PWM_MAP0_CH2_C7
#define Fan_pwm_power1 TIM4_PWM_MAP1_CH3_D14
#define Fan_pwm_power2 TIM4_PWM_MAP1_CH4_D15
#define Fan_pwm_power3 TIM4_PWM_MAP1_CH2_D13
#define Fan_pwm_power4 TIM4_PWM_MAP1_CH1_D12
uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
{
return (x > up ? up : x < low ? low
: x);
}
void by_pwm_init(void)
{
pwm_init(Fan_pwm_up1, 50, 500); // 浮力风扇左
pwm_init(Fan_pwm_up2, 50, 500); // 浮力风扇右
pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左1
pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右1
pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左2
pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右2
// system_delay_ms(3000);
// // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左1
// // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右1
// // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左2
// // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右2
// // system_delay_ms(5000);
// pwm_set_duty(Fan_pwm_power1, 600);
// pwm_set_duty(Fan_pwm_power2, 600);
// pwm_set_duty(Fan_pwm_power3, 600);
// pwm_set_duty(Fan_pwm_power4, 600);
// while(1);
}
void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
{
update_pwm_duty1=myclip(update_pwm_duty1, 500, 900);
update_pwm_duty2=myclip(update_pwm_duty2, 500, 900);
pwm_set_duty(Fan_pwm_up1, update_pwm_duty1);
pwm_set_duty(Fan_pwm_up2, update_pwm_duty2);
}
void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1, uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2)
{
power_pwm_duty_l1=myclip(power_pwm_duty_l1, 500, 900);
power_pwm_duty_r1=myclip(power_pwm_duty_r1, 500, 900);
power_pwm_duty_l2=myclip(power_pwm_duty_l2, 500, 900);
power_pwm_duty_r2=myclip(power_pwm_duty_r2, 500, 900);
pwm_set_duty(Fan_pwm_power1, power_pwm_duty_l1);
pwm_set_duty(Fan_pwm_power2, power_pwm_duty_r1);
pwm_set_duty(Fan_pwm_power3, power_pwm_duty_l2);
pwm_set_duty(Fan_pwm_power4, power_pwm_duty_r2);
}

11
app/by_fan_control.h
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#ifndef _BY_FAN_CONTROL_H_
#define _BY_FAN_CONTROL_H_
#include "stdio.h"
#include "ch32v30x.h"
extern void by_pwm_init(void);
void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2);
void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
#endif

192
app/by_imu.c
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#include "by_imu.h"
#include "zf_common_headfile.h"
#include <math.h>
#define delta_T 0.002f // 2ms 计算一次
float I_ex, I_ey, I_ez; // 误差积分
quater_param_t Q_info = {1, 0, 0}; // 全局四元数
euler_param_t eulerAngle; // 欧拉角
icm_param_t icm_data;
gyro_param_t GyroOffset;
bool GyroOffset_init = 0;
float param_Kp = 0.17f; // 加速度计的收敛速率比例增益 0.17
float param_Ki = 0.004f; // 陀螺仪收敛速率的积分增益 0.004
float fast_sqrt(float x)
{
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
y = y * (1.5f - (halfx * y * y));
return y;
}
void gyroOffset_init(void) /////////陀螺仪零飘初始化
{
float xdata_temp = 0;
float ydata_temp = 0;
float zdata_temp = 0;
imu660ra_get_gyro();
xdata_temp = imu660ra_gyro_x;
ydata_temp = imu660ra_gyro_y;
zdata_temp = imu660ra_gyro_z;
GyroOffset.Xdata = 0;
GyroOffset.Ydata = 0;
GyroOffset.Zdata = 0;
for (uint16_t i = 0; i < 5000; i++) {
imu660ra_get_gyro();
xdata_temp = imu660ra_gyro_x * 0.3f + xdata_temp * 0.7f;
ydata_temp = imu660ra_gyro_y * 0.3f + ydata_temp * 0.7f;
zdata_temp = imu660ra_gyro_z * 0.3f + zdata_temp * 0.7f;
GyroOffset.Xdata += xdata_temp;
GyroOffset.Ydata += ydata_temp;
GyroOffset.Zdata += zdata_temp;
system_delay_ms(5);
}
GyroOffset.Xdata /= 5000.0f;
GyroOffset.Ydata /= 5000.0f;
GyroOffset.Zdata /= 5000.0f;
// GyroOffset.Xdata = -1.034f;
// GyroOffset.Ydata = -2.21f;
// GyroOffset.Zdata = -3.15f;
GyroOffset_init = 1;
}
// 转化为实际物理值
void ICM_getValues()
{
#define alpha 0.2738f
// icm_data.acc_x = imu660ra_acc_x * alpha + icm_data.acc_x * (1 - alpha);
// icm_data.acc_y = imu660ra_acc_y * alpha + icm_data.acc_y * (1 - alpha);
// icm_data.acc_z = imu660ra_acc_z * alpha + icm_data.acc_z * (1 - alpha);
icm_data.acc_x = imu660ra_acc_x;
icm_data.acc_y = imu660ra_acc_y;
icm_data.acc_z = imu660ra_acc_z;
icm_data.gyro_x = icm_data.gyro_x * alpha + ((imu660ra_gyro_x - GyroOffset.Xdata) / 939.65f) * (1 - alpha);
icm_data.gyro_y = icm_data.gyro_y * alpha + ((imu660ra_gyro_y - GyroOffset.Ydata) / 939.65f) * (1 - alpha);
icm_data.gyro_z = icm_data.gyro_z * alpha + ((imu660ra_gyro_z - GyroOffset.Zdata) / 939.65f) * (1 - alpha);
}
// 互补滤波
void ICM_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az)
{
float halfT = 0.5 * delta_T;
float vx, vy, vz; // 当前的机体坐标系上的重力单位向量
float ex, ey, ez; // 四元数计算值与加速度计测量值的误差
float q0 = Q_info.q0;
float q1 = Q_info.q1;
float q2 = Q_info.q2;
float q3 = Q_info.q3;
float q0q0 = q0 * q0;
float q0q1 = q0 * q1;
float q0q2 = q0 * q2;
// float q0q3 = q0 * q3;
float q1q1 = q1 * q1;
// float q1q2 = q1 * q2;
float q1q3 = q1 * q3;
float q2q2 = q2 * q2;
float q2q3 = q2 * q3;
float q3q3 = q3 * q3;
// float delta_2 = 0;
// 对加速度数据进行归一化 得到单位加速度
float norm = fast_sqrt(ax * ax + ay * ay + az * az);
ax = ax * norm;
ay = ay * norm;
az = az * norm;
// 根据当前四元数的姿态值来估算出各重力分量。用于和加速计实际测量出来的各重力分量进行对比，从而实现对四轴姿态的修正
vx = 2.0f * (q1q3 - q0q2);
vy = 2.0f * (q0q1 + q2q3);
vz = q0q0 - q1q1 - q2q2 + q3q3;
// vz = 1.0f - 2.0f * q1q1 - 2.0f * q2q2;
// vz = (q0*q0-0.5f+q3 * q3) * 2;
// 叉积来计算估算的重力和实际测量的重力这两个重力向量之间的误差。
ex = ay * vz - az * vy;
ey = az * vx - ax * vz;
ez = ax * vy - ay * vx;
// 用叉乘误差来做 PI 修正陀螺零偏，
// 通过调节 param_Kp，param_Ki 两个参数，
// 可以控制加速度计修正陀螺仪积分姿态的速度。
I_ex += halfT * ex; // integral error scaled by Ki
I_ey += halfT * ey;
I_ez += halfT * ez;
gx = gx + param_Kp * ex + param_Ki * I_ex;
gy = gy + param_Kp * ey + param_Ki * I_ey;
gz = gz + param_Kp * ez + param_Ki * I_ez;
/*数据修正完成，下面是四元数微分方程*/
// 四元数微分方程，其中 halfT 为测量周期的 1/2，gx gy gz 为陀螺仪角速度，以下都是已知量，这里使用了一阶龙哥库塔求解四元数微分方程
q0 = q0 + (-q1 * gx - q2 * gy - q3 * gz) * halfT;
q1 = q1 + (q0 * gx + q2 * gz - q3 * gy) * halfT;
q2 = q2 + (q0 * gy - q1 * gz + q3 * gx) * halfT;
q3 = q3 + (q0 * gz + q1 * gy - q2 * gx) * halfT;
// delta_2=(2*halfT*gx)*(2*halfT*gx)+(2*halfT*gy)*(2*halfT*gy)+(2*halfT*gz)*(2*halfT*gz);
// 整合四元数率 四元数微分方程 四元数更新算法，二阶毕卡法
// q0 = (1-delta_2/8)*q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
// q1 = (1-delta_2/8)*q1 + (q0*gx + q2*gz - q3*gy)*halfT;
// q2 = (1-delta_2/8)*q2 + (q0*gy - q1*gz + q3*gx)*halfT;
// q3 = (1-delta_2/8)*q3 + (q0*gz + q1*gy - q2*gx)*halfT
// normalise quaternion
norm = fast_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
Q_info.q0 = q0 * norm;
Q_info.q1 = q1 * norm;
Q_info.q2 = q2 * norm;
Q_info.q3 = q3 * norm;
}
void ICM_getEulerianAngles(void)
{
// 采集陀螺仪数据
imu660ra_get_acc();
imu660ra_get_gyro();
imu660ra_get_temperature();
ICM_getValues();
ICM_AHRSupdate(icm_data.gyro_x, icm_data.gyro_y, icm_data.gyro_z, icm_data.acc_x, icm_data.acc_y, icm_data.acc_z);
float q0 = Q_info.q0;
float q1 = Q_info.q1;
float q2 = Q_info.q2;
float q3 = Q_info.q3;
// 四元数计算欧拉角
eulerAngle.pitch = asinf(-2 * q1 * q3 + 2 * q0 * q2) * 180.0f / M_PI; // pitch
eulerAngle.roll = atan2f(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 180.0f / M_PI; // roll
eulerAngle.yaw = atan2f(2 * q1 * q2 + 2 * q0 * q3, -2 * q2 * q2 - 2 * q3 * q3 + 1) * 180.0f / M_PI; // yaw
/* 姿态限制*/
if (eulerAngle.roll > 90 || eulerAngle.roll < -90) {
if (eulerAngle.pitch > 0) {
eulerAngle.pitch = 180 - eulerAngle.pitch;
}
if (eulerAngle.pitch < 0) {
eulerAngle.pitch = -(180 + eulerAngle.pitch);
}
}
if (eulerAngle.yaw > 180) {
eulerAngle.yaw -= 180;
} else if (eulerAngle.yaw < -180) {
eulerAngle.yaw += 180;
}
}

47
app/by_imu.h
View File

@@ -1,47 +0,0 @@
#ifndef _BY_IMU_H__
#define _BY_IMU_H__
#include <stdio.h>
#include "ch32v30x.h"
typedef struct {
float gyro_x;
float gyro_y;
float gyro_z;
float acc_x;
float acc_y;
float acc_z;
} icm_param_t;
typedef struct {
float q0;
float q1;
float q2;
float q3;
} quater_param_t;
typedef struct {
float pitch; //俯仰角
float roll; //偏航角
float yaw; //翻滚角
} euler_param_t;
typedef struct {
float Xdata;
float Ydata;
float Zdata;
} gyro_param_t;
extern icm_param_t icm_data;
extern euler_param_t eulerAngle;
extern gyro_param_t GyroOffset;
void gyroOffset_init(void);
float fast_sqrt(float x);
void ICM_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az);
void ICM_getValues();
void ICM_getEulerianAngles(void);
#endif

32
app/by_rt_button.c
View File

@@ -1,6 +1,5 @@
#include "by_rt_button.h" #include "by_rt_button.h"
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "by_imu.h"
uint8_t rotate_button; uint8_t rotate_button;
void by_gpio_init(void) void by_gpio_init(void)
@@ -25,34 +24,3 @@ uint8_t by_get_rb_status(void)
rotate_button = 0; rotate_button = 0;
return temp_s; return temp_s;
} }
void by_ips_show(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;
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));
}

6
app/gl_common.h
View File

@@ -3,8 +3,8 @@
#define IMAGE_H (MT9V03X_H) #define IMAGE_H (MT9V03X_H)
#define IMAGE_W (MT9V03X_W) #define IMAGE_W (MT9V03X_W)
#define BEGINH_L (50) #define BEGINH_L (80)
#define BEGINH_R (50) #define BEGINH_R (80)
#define BEGINW_L (-18) #define BEGINW_L (-18)
#define BEGINW_R (-12) #define BEGINW_R (-12)
#define PT_MAXLEN (75) #define PT_MAXLEN (75)
@@ -13,7 +13,7 @@
#define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小 #define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小
#define FILTER_KERNELSIZE (7) // 滤波核大小 #define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小 #define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (56) #define PIXPERMETER (70)
#define RESAMPLEDIST (0.02f) #define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f) #define ANGLEDIST (0.2f)
#define ROADWIDTH (0.45f) #define ROADWIDTH (0.45f)

8
app/gl_cross.c
View File

@@ -70,9 +70,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x1 <= 20) if (far_x1 <= 40)
{ {
far_x1 = 20; far_x1 = 40;
} }
for (; h1 > 0; h1--) { for (; h1 > 0; h1--) {
@@ -99,9 +99,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x2 >= 100) if (far_x2 >= 140)
{ {
far_x2 = 100; far_x2 = 140;
} }
for (; h2 > 0; h2--) { for (; h2 > 0; h2--) {

5
app/gl_garage.c
View File

@@ -21,7 +21,7 @@ float calculate_vector_angle(float x1, float y1, float x2, float y2) {
void CheckGarage() { void CheckGarage() {
int change_num = 0; int change_num = 0;
int check_garage_h = 60; int check_garage_h = 60;
for (int check_garage_w = 30; check_garage_w < IMAGE_W - 30; check_garage_w++) for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++)
{ {
if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) || if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
(GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) (GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD))
@@ -32,7 +32,7 @@ void CheckGarage() {
} }
if (change_num > 7) if (change_num > 9)
{ {
garage_type = GARAGE_FOUND; garage_type = GARAGE_FOUND;
//printf("跳变点的数量为：%d\r\n", change_num); //printf("跳变点的数量为：%d\r\n", change_num);
@@ -47,6 +47,7 @@ void RunGarage(){
if (garage_type == GARAGE_FOUND) if (garage_type == GARAGE_FOUND)
{ {
printf("识别到车库\r\n"); printf("识别到车库\r\n");
garage_type == GARAGE_NONE;
} }
} }

4
app/gl_tracking.c
View File

@@ -79,8 +79,8 @@ void MidLineTrack() {
} }
// 车轮对应点 (纯跟踪起始点) // 车轮对应点 (纯跟踪起始点)
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][94]; float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][100];
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][94]; float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][100];
// 找最近点 (起始点中线归一化) // 找最近点 (起始点中线归一化)
float min_dist = 1e10; float min_dist = 1e10;

2
app/gl_tracking.h
View File

@@ -1,6 +1,8 @@
#ifndef TRACKING #ifndef TRACKING
#define TRACKING #define TRACKING
extern float (*mid_track)[2];
extern float pure_angle;
void tracking(void); void tracking(void);
void ElementJudge(void); void ElementJudge(void);

406
app/gl_transform_table.c
View File

@@ -22,169 +22,247 @@ void transform(float X, float Y, int* x, int* y) {
} }
const float InverseMapH[80][140] = { const float InverseMapH[120][188] = {
{-17.59, -17.51, -17.44, -17.36, -17.29, -17.21, -17.14, -17.07, -16.99, -16.92, -16.84, -16.77, -16.70, -16.62, -16.55, -16.48, -16.41, -16.34, -16.26, -16.19, -16.12, -16.05, -15.98, -15.91, -15.84, -15.77, -15.70, -15.63, -15.56, -15.49, -15.42, -15.35, -15.28, -15.21, -15.14, -15.07, -15.01, -14.94, -14.87, -14.80, -14.73, -14.67, -14.60, -14.53, -14.47, -14.40, -14.33, -14.27, -14.20, -14.13, -14.07, -14.00, -13.94, -13.87, -13.81, -13.74, -13.68, -13.61, -13.55, -13.49, -13.42, -13.36, -13.29, -13.23, -13.17, -13.10, -13.04, -12.98, -12.92, -12.85, -12.79, -12.73, -12.67, -12.61, -12.54, -12.48, -12.42, -12.36, -12.30, -12.24, -12.18, -12.12, -12.06, -12.00, -11.94, -11.88, -11.82, -11.76, -11.70, -11.64, -11.58, -11.52, -11.46, -11.40, -11.35, -11.29, -11.23, -11.17, -11.11, -11.06, -11.00, -10.94, -10.88, -10.83, -10.77, -10.71, -10.66, -10.60, -10.54, -10.49, -10.43, -10.37, -10.32, -10.26, -10.21, -10.15, -10.10, -10.04, -9.99, -9.93, -9.88, -9.82, -9.77, -9.71, -9.66, -9.61, -9.55, -9.50, -9.44, -9.39, -9.34, -9.28, -9.23, -9.18, -9.13, -9.07, -9.02, -8.97, -8.92, -8.86}, {-1306.94, -1336.96, -1368.32, -1401.13, -1435.48, -1471.49, -1509.27, -1548.97, -1590.72, -1634.71, -1681.10, -1730.11, -1781.96, -1836.91, -1895.23, -1957.26, -2023.35, -2093.92, -2169.45, -2250.46, -2337.59, -2431.55, -2533.18, -2643.46, -2763.53, -2894.78, -3038.82, -3197.63, -3373.60, -3569.68, -3789.52, -4037.71, -4320.12, -4644.35, -5020.43, -5461.87, -5987.36, -6623.39, -7408.98, -8403.87, -9704.59, -11477.76, -14037.91, -18058.37, -25287.13, -42113.96, -125411.75, 128727.61, 42587.23, 25533.02, 18241.62, 14195.38, 11622.19, 9841.51, 8536.08, 7538.04, 6750.25, 6112.61, 5585.92, 5143.54, 4766.73, 4441.92, 4159.04, 3910.46, 3690.29, 3493.94, 3317.73, 3158.72, 3014.51, 2883.11, 2762.91, 2652.51, 2550.78, 2456.73, 2369.52, 2288.43, 2212.84, 2142.21, 2076.06, 2013.99, 1955.62, 1900.63, 1848.75, 1799.70, 1753.28, 1709.26, 1667.48, 1627.76, 1589.95, 1553.92, 1519.55, 1486.72, 1455.34, 1425.31, 1396.54, 1368.96, 1342.49, 1317.07, 1292.64, 1269.14, 1246.52, 1224.73, 1203.72, 1183.46, 1163.90, 1145.01, 1126.76, 1109.11, 1092.03, 1075.50, 1059.49, 1043.98, 1028.94, 1014.35, 1000.20, 986.45, 973.11, 960.14, 947.54, 935.28, 923.36, 911.75, 900.46, 889.46, 878.74, 868.30, 858.12, 848.19, 838.51, 829.06, 819.83, 810.83, 802.03, 793.44, 785.05, 776.85, 768.82, 760.98, 753.31, 745.80, 738.46, 731.26, 724.22, 717.33, 710.58, 703.96, 697.48, 691.13, 684.90, 678.79, 672.80, 666.93, 661.17, 655.51, 649.96, 644.52, 639.17, 633.92, 628.76, 623.70, 618.72, 613.83, 609.03, 604.31, 599.67, 595.10, 590.62, 586.20, 581.86, 577.60, 573.40, 569.26, 565.20, 561.20, 557.26, 553.38, 549.56, 545.80, 542.10, 538.46, 534.86, 531.33, 527.84, 524.40, 521.02, 517.68, 514.40, 511.15},
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}; };
const float InverseMapW[120][188] = {
{-1340.82, -1356.94, -1373.79, -1391.41, -1409.87, -1429.21, -1449.50, -1470.82, -1493.26, -1516.88, -1541.80, -1568.13, -1595.98, -1625.49, -1656.82, -1690.14, -1725.64, -1763.55, -1804.12, -1847.64, -1894.44, -1944.91, -1999.50, -2058.73, -2123.23, -2193.73, -2271.10, -2356.41, -2450.93, -2556.26, -2674.34, -2807.66, -2959.35, -3133.51, -3335.53, -3572.65, -3854.91, -4196.56, -4618.54, -5152.95, -5851.63, -6804.09, -8179.28, -10338.88, -14221.82, -23260.38, -68003.93, 68507.46, 22237.01, 13076.31, 9159.72, 6986.28, 5604.08, 4647.59, 3946.38, 3410.28, 2987.11, 2644.60, 2361.69, 2124.07, 1921.66, 1747.19, 1595.24, 1461.71, 1343.45, 1237.98, 1143.33, 1057.92, 980.45, 909.87, 845.30, 786.01, 731.36, 680.84, 634.00, 590.44, 549.84, 511.90, 476.37, 443.02, 411.67, 382.13, 354.26, 327.92, 302.98, 279.34, 256.89, 235.56, 215.25, 195.90, 177.43, 159.80, 142.94, 126.81, 111.36, 96.54, 82.33, 68.67, 55.55, 42.93, 30.77, 19.07, 7.79, -3.10, -13.60, -23.75, -33.56, -43.04, -52.21, -61.09, -69.69, -78.02, -86.10, -93.93, -101.54, -108.92, -116.09, -123.05, -129.82, -136.41, -142.81, -149.04, -155.11, -161.02, -166.78, -172.39, -177.86, -183.19, -188.39, -193.47, -198.42, -203.26, -207.98, -212.60, -217.10, -221.51, -225.82, -230.03, -234.15, -238.19, -242.13, -245.99, -249.78, -253.48, -257.11, -260.66, -264.14, -267.55, -270.90, -274.18, -277.40, -280.55, -283.65, -286.69, -289.67, -292.59, -295.46, -298.28, -301.05, -303.78, -306.45, -309.07, -311.65, -314.19, -316.68, -319.13, -321.54, -323.91, -326.25, -328.54, -330.79, -333.01, -335.20, -337.35, -339.46, -341.55, -343.60, -345.62, -347.60, -349.56, -351.49, -353.39, -355.27, -357.11, -358.93, -360.72, -362.49, -364.23},
const float InverseMapW[80][140] = { {-919.97, -924.80, -929.78, -934.92, -940.23, -945.71, -951.37, -957.23, -963.29, -969.57, -976.06, -982.80, -989.79, -997.04, -1004.57, -1012.40, -1020.55, -1029.02, -1037.86, -1047.07, -1056.68, -1066.72, -1077.22, -1088.21, -1099.73, -1111.81, -1124.51, -1137.85, -1151.90, -1166.72, -1182.37, -1198.91, -1216.44, -1235.03, -1254.80, -1275.85, -1298.31, -1322.34, -1348.09, -1375.77, -1405.60, -1437.84, -1472.79, -1510.81, -1552.32, -1597.83, -1647.95, -1703.40, -1765.10, -1834.15, -1911.96, -2000.31, -2101.50, -2218.53, -2355.44, -2517.79, -2713.37, -2953.56, -3255.57, -3646.82, -4173.70, -4921.53, -6066.16, -8037.44, -12237.07, -27354.99, 88579.19, 16112.20, 8617.16, 5761.99, 4256.55, 3326.72, 2695.36, 2238.63, 1892.89, 1622.05, 1404.17, 1225.08, 1075.28, 948.12, 838.83, 743.90, 660.66, 587.09, 521.58, 462.89, 410.00, 362.09, 318.50, 278.65, 242.10, 208.44, 177.35, 148.54, 121.77, 96.84, 73.55, 51.76, 31.32, 12.10, -5.98, -23.05, -39.17, -54.42, -68.88, -82.60, -95.64, -108.04, -119.86, -131.13, -141.89, -152.17, -162.02, -171.44, -180.47, -189.14, -197.46, -205.45, -213.14, -220.55, -227.67, -234.54, -241.17, -247.56, -253.74, -259.70, -265.47, -271.05, -276.45, -281.68, -286.75, -291.66, -296.42, -301.04, -305.53, -309.88, -314.12, -318.23, -322.23, -326.12, -329.90, -333.59, -337.18, -340.67, -344.08, -347.40, -350.63, -353.79, -356.87, -359.88, -362.81, -365.68, -368.48, -371.21, -373.89, -376.50, -379.06, -381.56, -384.00, -386.40, -388.74, -391.03, -393.28, -395.48, -397.63, -399.74, -401.81, -403.84, -405.83, -407.78, -409.69, -411.56, -413.40, -415.21, -416.98, -418.72, -420.43, -422.11, -423.76, -425.38, -426.97, -428.53, -430.07, -431.58, -433.06, -434.52, -435.96, -437.37},
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{66.55, 66.85, 67.15, 67.45, 67.74, 68.04, 68.34, 68.64, 68.94, 69.24, 69.54, 69.84, 70.14, 70.44, 70.75, 71.05, 71.35, 71.65, 71.95, 72.26, 72.56, 72.86, 73.17, 73.47, 73.78, 74.08, 74.38, 74.69, 74.99, 75.30, 75.61, 75.91, 76.22, 76.52, 76.83, 77.14, 77.45, 77.75, 78.06, 78.37, 78.68, 78.99, 79.30, 79.61, 79.92, 80.23, 80.54, 80.85, 81.16, 81.47, 81.78, 82.09, 82.40, 82.72, 83.03, 83.34, 83.65, 83.97, 84.28, 84.59, 84.91, 85.22, 85.54, 85.85, 86.17, 86.48, 86.80, 87.12, 87.43, 87.75, 88.07, 88.38, 88.70, 89.02, 89.34, 89.66, 89.97, 90.29, 90.61, 90.93, 91.25, 91.57, 91.89, 92.21, 92.53, 92.86, 93.18, 93.50, 93.82, 94.14, 94.47, 94.79, 95.11, 95.44, 95.76, 96.09, 96.41, 96.74, 97.06, 97.39, 97.71, 98.04, 98.37, 98.69, 99.02, 99.35, 99.67, 100.00, 100.33, 100.66, 100.99, 101.32, 101.65, 101.98, 102.31, 102.64, 102.97, 103.30, 103.63, 103.96, 104.29, 104.63, 104.96, 105.29, 105.63, 105.96, 106.29, 106.63, 106.96, 107.30, 107.63, 107.97, 108.30, 108.64, 108.98, 109.31, 109.65, 109.99, 110.32, 110.66, 111.00, 111.34, 111.68, 112.02, 112.36, 112.70, 113.04, 113.38, 113.72, 114.06, 114.40, 114.74, 115.08, 115.43, 115.77, 116.11, 116.46, 116.80, 117.14, 117.49, 117.83, 118.18, 118.52, 118.87, 119.22, 119.56, 119.91, 120.26, 120.60, 120.95, 121.30, 121.65, 122.00, 122.35, 122.69, 123.04, 123.39, 123.75, 124.10, 124.45, 124.80, 125.15, 125.50, 125.85, 126.21, 126.56, 126.91, 127.27},
{66.80, 67.10, 67.39, 67.69, 67.98, 68.28, 68.58, 68.87, 69.17, 69.47, 69.77, 70.07, 70.36, 70.66, 70.96, 71.26, 71.56, 71.86, 72.16, 72.46, 72.76, 73.06, 73.36, 73.66, 73.97, 74.27, 74.57, 74.87, 75.18, 75.48, 75.78, 76.08, 76.39, 76.69, 77.00, 77.30, 77.61, 77.91, 78.22, 78.52, 78.83, 79.13, 79.44, 79.75, 80.06, 80.36, 80.67, 80.98, 81.29, 81.59, 81.90, 82.21, 82.52, 82.83, 83.14, 83.45, 83.76, 84.07, 84.38, 84.69, 85.01, 85.32, 85.63, 85.94, 86.25, 86.57, 86.88, 87.19, 87.51, 87.82, 88.14, 88.45, 88.77, 89.08, 89.40, 89.71, 90.03, 90.34, 90.66, 90.98, 91.29, 91.61, 91.93, 92.25, 92.57, 92.88, 93.20, 93.52, 93.84, 94.16, 94.48, 94.80, 95.12, 95.44, 95.77, 96.09, 96.41, 96.73, 97.05, 97.38, 97.70, 98.02, 98.35, 98.67, 98.99, 99.32, 99.64, 99.97, 100.29, 100.62, 100.95, 101.27, 101.60, 101.92, 102.25, 102.58, 102.91, 103.24, 103.56, 103.89, 104.22, 104.55, 104.88, 105.21, 105.54, 105.87, 106.20, 106.53, 106.86, 107.20, 107.53, 107.86, 108.19, 108.53, 108.86, 109.19, 109.53, 109.86, 110.20, 110.53, 110.87, 111.20, 111.54, 111.87, 112.21, 112.55, 112.88, 113.22, 113.56, 113.90, 114.24, 114.57, 114.91, 115.25, 115.59, 115.93, 116.27, 116.61, 116.95, 117.29, 117.64, 117.98, 118.32, 118.66, 119.01, 119.35, 119.69, 120.04, 120.38, 120.72, 121.07, 121.41, 121.76, 122.11, 122.45, 122.80, 123.14, 123.49, 123.84, 124.19, 124.54, 124.88, 125.23, 125.58, 125.93, 126.28, 126.63, 126.98},
{67.05, 67.34, 67.63, 67.93, 68.22, 68.51, 68.81, 69.10, 69.40, 69.69, 69.99, 70.28, 70.58, 70.88, 71.17, 71.47, 71.77, 72.06, 72.36, 72.66, 72.96, 73.26, 73.56, 73.85, 74.15, 74.45, 74.75, 75.05, 75.35, 75.65, 75.95, 76.25, 76.56, 76.86, 77.16, 77.46, 77.76, 78.07, 78.37, 78.67, 78.98, 79.28, 79.58, 79.89, 80.19, 80.50, 80.80, 81.11, 81.41, 81.72, 82.02, 82.33, 82.64, 82.94, 83.25, 83.56, 83.87, 84.17, 84.48, 84.79, 85.10, 85.41, 85.72, 86.03, 86.34, 86.65, 86.96, 87.27, 87.58, 87.89, 88.20, 88.52, 88.83, 89.14, 89.45, 89.77, 90.08, 90.39, 90.71, 91.02, 91.34, 91.65, 91.97, 92.28, 92.60, 92.91, 93.23, 93.54, 93.86, 94.18, 94.50, 94.81, 95.13, 95.45, 95.77, 96.09, 96.41, 96.72, 97.04, 97.36, 97.68, 98.01, 98.33, 98.65, 98.97, 99.29, 99.61, 99.93, 100.26, 100.58, 100.90, 101.23, 101.55, 101.87, 102.20, 102.52, 102.85, 103.17, 103.50, 103.82, 104.15, 104.48, 104.80, 105.13, 105.46, 105.78, 106.11, 106.44, 106.77, 107.10, 107.43, 107.76, 108.09, 108.42, 108.75, 109.08, 109.41, 109.74, 110.07, 110.40, 110.73, 111.07, 111.40, 111.73, 112.07, 112.40, 112.73, 113.07, 113.40, 113.74, 114.07, 114.41, 114.74, 115.08, 115.42, 115.75, 116.09, 116.43, 116.77, 117.10, 117.44, 117.78, 118.12, 118.46, 118.80, 119.14, 119.48, 119.82, 120.16, 120.50, 120.84, 121.19, 121.53, 121.87, 122.21, 122.56, 122.90, 123.24, 123.59, 123.93, 124.28, 124.62, 124.97, 125.31, 125.66, 126.01, 126.35, 126.70},
{67.29, 67.58, 67.87, 68.16, 68.45, 68.74, 69.04, 69.33, 69.62, 69.91, 70.21, 70.50, 70.79, 71.09, 71.38, 71.68, 71.97, 72.27, 72.56, 72.86, 73.15, 73.45, 73.74, 74.04, 74.34, 74.63, 74.93, 75.23, 75.53, 75.82, 76.12, 76.42, 76.72, 77.02, 77.32, 77.62, 77.92, 78.22, 78.52, 78.82, 79.12, 79.42, 79.72, 80.02, 80.33, 80.63, 80.93, 81.23, 81.54, 81.84, 82.14, 82.45, 82.75, 83.06, 83.36, 83.67, 83.97, 84.28, 84.58, 84.89, 85.19, 85.50, 85.81, 86.11, 86.42, 86.73, 87.04, 87.35, 87.65, 87.96, 88.27, 88.58, 88.89, 89.20, 89.51, 89.82, 90.13, 90.44, 90.75, 91.07, 91.38, 91.69, 92.00, 92.31, 92.63, 92.94, 93.25, 93.57, 93.88, 94.20, 94.51, 94.82, 95.14, 95.46, 95.77, 96.09, 96.40, 96.72, 97.04, 97.35, 97.67, 97.99, 98.31, 98.62, 98.94, 99.26, 99.58, 99.90, 100.22, 100.54, 100.86, 101.18, 101.50, 101.82, 102.14, 102.47, 102.79, 103.11, 103.43, 103.76, 104.08, 104.40, 104.73, 105.05, 105.37, 105.70, 106.02, 106.35, 106.68, 107.00, 107.33, 107.65, 107.98, 108.31, 108.63, 108.96, 109.29, 109.62, 109.95, 110.28, 110.61, 110.93, 111.26, 111.59, 111.92, 112.26, 112.59, 112.92, 113.25, 113.58, 113.91, 114.25, 114.58, 114.91, 115.25, 115.58, 115.91, 116.25, 116.58, 116.92, 117.25, 117.59, 117.92, 118.26, 118.60, 118.93, 119.27, 119.61, 119.95, 120.28, 120.62, 120.96, 121.30, 121.64, 121.98, 122.32, 122.66, 123.00, 123.34, 123.68, 124.02, 124.37, 124.71, 125.05, 125.39, 125.74, 126.08, 126.42},
{67.52, 67.81, 68.10, 68.39, 68.68, 68.97, 69.26, 69.55, 69.84, 70.13, 70.42, 70.71, 71.00, 71.29, 71.59, 71.88, 72.17, 72.46, 72.76, 73.05, 73.34, 73.64, 73.93, 74.22, 74.52, 74.81, 75.11, 75.40, 75.70, 75.99, 76.29, 76.59, 76.88, 77.18, 77.48, 77.77, 78.07, 78.37, 78.67, 78.96, 79.26, 79.56, 79.86, 80.16, 80.46, 80.76, 81.06, 81.36, 81.66, 81.96, 82.26, 82.56, 82.86, 83.17, 83.47, 83.77, 84.07, 84.38, 84.68, 84.98, 85.29, 85.59, 85.89, 86.20, 86.50, 86.81, 87.11, 87.42, 87.73, 88.03, 88.34, 88.65, 88.95, 89.26, 89.57, 89.87, 90.18, 90.49, 90.80, 91.11, 91.42, 91.73, 92.04, 92.35, 92.66, 92.97, 93.28, 93.59, 93.90, 94.21, 94.52, 94.84, 95.15, 95.46, 95.77, 96.09, 96.40, 96.71, 97.03, 97.34, 97.66, 97.97, 98.29, 98.60, 98.92, 99.23, 99.55, 99.87, 100.18, 100.50, 100.82, 101.14, 101.46, 101.77, 102.09, 102.41, 102.73, 103.05, 103.37, 103.69, 104.01, 104.33, 104.65, 104.97, 105.29, 105.62, 105.94, 106.26, 106.58, 106.91, 107.23, 107.55, 107.88, 108.20, 108.53, 108.85, 109.18, 109.50, 109.83, 110.15, 110.48, 110.80, 111.13, 111.46, 111.79, 112.11, 112.44, 112.77, 113.10, 113.43, 113.76, 114.09, 114.42, 114.75, 115.08, 115.41, 115.74, 116.07, 116.40, 116.73, 117.07, 117.40, 117.73, 118.06, 118.40, 118.73, 119.06, 119.40, 119.73, 120.07, 120.40, 120.74, 121.08, 121.41, 121.75, 122.09, 122.42, 122.76, 123.10, 123.44, 123.77, 124.11, 124.45, 124.79, 125.13, 125.47, 125.81, 126.15}
}; };

4
app/gl_transform_table.h
View File

@@ -4,8 +4,8 @@
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
extern const float InverseMapH[80][140] ; extern const float InverseMapH[120][188] ;
extern const float InverseMapW[80][140] ; extern const float InverseMapW[120][188] ;
void transform(float X, float Y, int* x, int* y); void transform(float X, float Y, int* x, int* y);

5
app/isr.c
View File

@@ -35,10 +35,8 @@
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "by_rt_button.h" #include "by_rt_button.h"
#include "by_imu.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#include "by_buzzer.h" #include "by_buzzer.h"
#include "jj_motion.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
void NMI_Handler(void) __attribute__((interrupt())); void NMI_Handler(void) __attribute__((interrupt()));
@@ -274,8 +272,6 @@ void TIM1_UP_IRQHandler(void)
{ {
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM1, TIM_IT_Update); TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
sport_motion2(bt_fly);
} }
} }
@@ -310,7 +306,6 @@ void TIM5_IRQHandler(void)
void TIM6_IRQHandler(void) void TIM6_IRQHandler(void)
{ {
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) { if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
ICM_getEulerianAngles();
TIM_ClearITPendingBit(TIM6, TIM_IT_Update); TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
} }
} }

44
app/jj_blueteeth.c
View File

@@ -1,21 +1,19 @@
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#include "jj_motion.h" bool bt_rx_flag = false;
#include "by_fan_control.h" bool bt_run_flag = false;
bool bt_rx_flag = false; bool bt_flow_flag = false;
uint8 bt_buffer; // 接收字符存入 uint8_t bt_buffer; // 接收字符存入
float bt_angle = 0.0f; uint32_t bt_run = 0;
uint32_t bt_run_flag = 0; uint32_t bt_flow = 0;
uint8_t bt_flow_flag = 0; float bt_angle = 0.0f;
uint32_t bt_fly = 0;
uint32_t bt_flow = 0;
enum bt_order { enum bt_order {
Start_work = 0x01, Start_work = 0x01,
Turn_Left = 0x02, Turn_Left = 0x02,
Turn_Right = 0x03, Turn_Right = 0x03,
Speed_up = 0x04, Speed_up = 0x04,
Speed_down = 0x05, Speed_down = 0x05,
Stop_fly = 0x06, Run_flag = 0x06,
Flow_on = 0x08, Flow_flag = 0x08,
Flow_up = 0x09, Flow_up = 0x09,
Flow_down = 0x10, Flow_down = 0x10,
}; };
@@ -26,35 +24,35 @@ enum bt_order {
void jj_bt_init() void jj_bt_init()
{ {
uart_init(UART_2, 115200, UART2_MAP1_TX_D5, UART2_MAP1_RX_D6); uart_init(UART_2, 115200, UART2_MAP1_TX_D5, UART2_MAP1_RX_D6);
// uart_tx_interrupt(UART_2, 1);
uart_rx_interrupt(UART_2, ENABLE); uart_rx_interrupt(UART_2, ENABLE);
} }
/** /**
*@brief 蓝牙中断回调函数 * @brief 蓝牙中断回调
*
*/ */
void jj_bt_run() void jj_bt_run()
{ {
if (bt_rx_flag) { if (bt_rx_flag) {
switch (bt_buffer) { switch (bt_buffer) {
case Start_work: case Start_work:
bt_angle = 0.0f;
break; break;
case Turn_Left: case Turn_Left:
bt_angle = 10.0f;
break; break;
case Turn_Right: case Turn_Right:
bt_angle = -10.0f;
break; break;
case Speed_down: case Speed_down:
bt_fly -= 10; bt_run -= 10;
break; break;
case Speed_up: case Speed_up:
bt_fly += 10; bt_run += 10;
break; break;
case Stop_fly: case Run_flag:
bt_run_flag = !bt_run_flag; bt_run_flag = !bt_run_flag;
break; break;
case Flow_on: case Flow_flag:
bt_flow_flag = !bt_flow_flag; bt_flow_flag = !bt_flow_flag;
break; break;
case Flow_up: case Flow_up:
@@ -66,11 +64,6 @@ void jj_bt_run()
default: default:
break; break;
} }
if (bt_flow_flag == 0) {
bt_flow = 0;
}
by_pwm_update_duty(bt_flow + 500, bt_flow + 500);
bt_rx_flag = false; bt_rx_flag = false;
} }
} }
@@ -88,5 +81,4 @@ void bt_printf(const char *format, ...)
; ;
USART_SendData((USART_TypeDef *)uart_index[UART_2], sbuf[i]); USART_SendData((USART_TypeDef *)uart_index[UART_2], sbuf[i]);
} }
} }

8
app/jj_blueteeth.h
View File

@@ -4,11 +4,15 @@
#include "zf_driver_uart.h" #include "zf_driver_uart.h"
extern bool bt_rx_flag; extern bool bt_rx_flag;
extern bool bt_run_flag;
extern bool bt_flow_flag;
extern uint8_t bt_buffer; extern uint8_t bt_buffer;
extern uint32_t bt_fly; extern uint32_t bt_run;
extern uint32_t bt_run_flag; extern uint32_t bt_flow;
extern float bt_angle; extern float bt_angle;
void jj_bt_init(); void jj_bt_init();
void jj_bt_run(); void jj_bt_run();
void bt_printf(const char *format, ...); void bt_printf(const char *format, ...);
#endif #endif

60
app/jj_motion.c
View File

@@ -1,60 +0,0 @@
#include "jj_motion.h"
#include "by_fan_control.h"
#include "by_imu.h"
#include "../3rd-lib/PID-Library/pid.h"
#include "jj_blueteeth.h"
#include "gl_common.h"
PID_TypeDef angle_pid;
PID_TypeDef gyro_z_pid;
PID_TypeDef img_x_pid;
float an_Kp = 8.0f;
float an_Ki = 0.0f;
float an_Kd = 2.0f;
float im_Kp = 1.0f;
float im_Ki = 0.0f;
float im_Kd = 0.0f;
float set_x = 0.0f;
float img_x = 40.0f;
float yaw0 = 0;
float out_M = 0;
float out_yaw;
uint32_t cnt1 = 0;
/**
* @brief
*
* @param fy y轴的加速度
*/
void sport_motion2(uint32_t fy)
{
cnt1++;
yaw0 = imu660ra_gyro_z;
if (cnt1 >= 50) {
PID_Compute(&angle_pid);
cnt1 = 0;
}
PID_Compute(&gyro_z_pid);
if (bt_run_flag == 1) {
by_pwm_power_duty((int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M),
(int32_t)(500 + fy + out_M), (int32_t)(500 + fy - out_M));
} else {
by_pwm_power_duty(500, 500, 500, 500);
}
}
/**
* @brief 结构体初始化
*
*/
void sport_pid_init()
{
PID(&angle_pid, &bt_angle, &out_yaw, &set_x, im_Kp, im_Ki, im_Kd, 0, 0);
PID(&gyro_z_pid, &yaw0, &out_M, &out_yaw, an_Kp, an_Ki, an_Kd, 1, 1);
PID_Init(&angle_pid);
PID_Init(&gyro_z_pid);
PID_SetOutputLimits(&angle_pid, -500.0f, 500.0f);
PID_SetOutputLimits(&gyro_z_pid, -400.0f, 400.0f);
PID_SetMode(&gyro_z_pid, 1);
PID_SetMode(&angle_pid, 1);
}

18
app/jj_motion.h
View File

@@ -1,18 +0,0 @@
#ifndef _JJ_MOTION_H_
#define _JJ_MOTION_H_
#include "ch32v30x.h"
#include "../3rd-lib/PID-Library/pid.h"
extern PID_TypeDef angle_pid;
extern PID_TypeDef gyro_z_pid;
extern float an_Kp;
extern float an_Ki;
extern float an_Kd;
extern float im_Kp;
extern float im_Ki;
extern float im_Kd;
extern float out_M;
extern float out_yaw;
extern float yaw0;
void sport_pid_init();
void sport_motion2(uint32_t fy);
#endif

75
app/jj_param.c
View File

@@ -2,21 +2,56 @@
#include "./page/page_ui_widget.h" #include "./page/page_ui_widget.h"
#include "./page/page.h" #include "./page/page.h"
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "jj_motion.h"
PARAM_INFO Param_Data[DATA_NUM]; PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param; soft_iic_info_struct eeprom_param;
TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM]; TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
/**
* @brief 参数初始化注册
*
*/
void jj_param_eeprom_init() void jj_param_eeprom_init()
{ {
soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化 soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
PARAM_REG(angle_Kp, &an_Kp, EFLOAT, 1, "an_P"); // 注冊 //PARAM_REG(CA_PT_MAXLEN, &PT_MAXLEN, EFLOAT, 1, "PT_MAXLEN:"); // 注冊
PARAM_REG(angle_Ki, &an_Ki, EFLOAT, 1, "an_I"); // 注冊 // PARAM_REG(CA_FIX_BINTHRESHOLD, &FIX_BINTHRESHOLD, EFLOAT, 1, "FIX_BINTHRESHOLD:"); // 注冊
PARAM_REG(angle_Kd, &an_Kd, EFLOAT, 1, "an_D"); // 注冊 // PARAM_REG(CA_PIXPERMETER, &PIXPERMETER, EFLOAT, 1, "PIXPERMETER:"); // 注冊
PARAM_REG(imgax_Kp, &im_Kp, EFLOAT, 1, "im_P"); // 注冊 // PARAM_REG(CA_RESAMPLEDIST, &RESAMPLEDIST, EFLOAT, 1, "RESAMPLEDIST:"); // 注冊
PARAM_REG(imgax_Ki, &im_Ki, EFLOAT, 1, "im_I"); // 注冊 // PARAM_REG(CA_COMMON_AIM, &COMMON_AIM, EFLOAT, 1, "COMMON_AIM:"); // 注冊
PARAM_REG(imgax_Kd, &im_Kd, EFLOAT, 1, "im_D"); // 注冊 // PARAM_REG(CA_CROSS_AIM, &CROSS_AIM, EFLOAT, 1, "CROSS_AIM:");
}
/**
* @brief 参数写入
*
*/
void jj_param_write()
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
switch (Param_Data[i].type) {
case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
break;
case EUINT32:
iic_buffer[i].u32 = *((uint32_t *)(Param_Data[i].p_data));
break;
case EINT32:
iic_buffer[i].s32 = *((int32_t *)(Param_Data[i].p_data));
break;
default:
break;
}
soft_iic_write_8bit_registers(&eeprom_param, 4 * i, (uint8_t *)&iic_buffer[i], 4);
system_delay_ms(10);
}
}
/**
* @brief 参数读出
*
*/
void jj_param_read()
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) { for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
soft_iic_read_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4); soft_iic_read_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
@@ -39,27 +74,3 @@ void jj_param_eeprom_init()
system_delay_ms(10); system_delay_ms(10);
} }
} }
/**
* @brief 参数更新
*
*/
void jj_param_update()
{
for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
switch (Param_Data[i].type) {
case EFLOAT:
iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
break;
case EUINT32:
iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
break;
case EINT32:
iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
break;
default:
break;
}
soft_iic_write_8bit_registers(&eeprom_param, 4 * i, (uint8 *)&iic_buffer[i], 4);
system_delay_ms(10);
}
}

44
app/jj_param.h
View File

@@ -6,22 +6,24 @@
#include "zf_driver_soft_iic.h" #include "zf_driver_soft_iic.h"
/** /**
* @brief 注册需调参数 * @brief 注册需调参数
* *
*/ */
#define PARAM_REG(_data_tag_, _p_data_, _type_, _cmd_,_text_) \ #define PARAM_REG(_data_tag_, _p_data_, _type_, _cmd_, _text_) \
Param_Data[_data_tag_].p_data = (void *)_p_data_; \ Param_Data[_data_tag_].p_data = (void *)_p_data_; \
Param_Data[_data_tag_].type = _type_; \ Param_Data[_data_tag_].type = _type_; \
Param_Data[_data_tag_].cmd = _cmd_; \ Param_Data[_data_tag_].cmd = _cmd_; \
Param_Data[_data_tag_].text = _text_; Param_Data[_data_tag_].text = _text_; \
//zf_assert(sizeof(_p_data_)<4);
typedef enum { typedef enum {
DATA_HEAD = -1, DATA_HEAD = -1,
angle_Kp, CA_PT_MAXLEN,
angle_Ki, CA_FIX_BINTHRESHOLD,
angle_Kd, CA_PIXPERMETER,
imgax_Kp, CA_RESAMPLEDIST,
imgax_Ki, CA_COMMON_AIM,
imgax_Kd, CA_CROSS_AIM,
DATA_IN_FLASH_NUM, DATA_IN_FLASH_NUM,
DATA_NUM, DATA_NUM,
} data_tag_t; } data_tag_t;
@@ -30,26 +32,28 @@ typedef enum {
EUINT32, EUINT32,
EINT32, EINT32,
EFLOAT, EFLOAT,
}ENUM_TYPE; } ENUM_TYPE;
typedef union{ typedef union {
uint32_t u32; uint32_t u32;
int32_t s32; int32_t s32;
float f32; float f32;
uint8_t u8; uint8_t u8[4];
}TYPE_UNION; } TYPE_UNION;
typedef struct { typedef struct {
void *p_data; void *p_data;
ENUM_TYPE type; ENUM_TYPE type;
uint8_t cmd; uint8_t cmd;
char *text; char *text;
}PARAM_INFO; } PARAM_INFO;
extern soft_iic_info_struct eeprom_param; extern soft_iic_info_struct eeprom_param;
extern PARAM_INFO Param_Data[DATA_NUM]; extern PARAM_INFO Param_Data[DATA_NUM];
extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM]; extern TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
void jj_param_eeprom_init(); void jj_param_eeprom_init();
void jj_param_update(); void jj_param_read();
void jj_param_show(); void jj_param_write();
#endif #endif

39
app/main.c
View File

@@ -23,14 +23,11 @@
********************************************************************************************************************/ ********************************************************************************************************************/
#include "gl_headfile.h" #include "gl_headfile.h"
#include "by_rt_button.h" #include "by_rt_button.h"
#include "by_fan_control.h"
#include "./page/page.h" #include "./page/page.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#include "jj_param.h" #include "jj_param.h"
#include "./page/page_ui_widget.h" #include "./page/page_ui_widget.h"
#include "by_buzzer.h" #include "by_buzzer.h"
#include "jj_motion.h"
#include "by_imu.h"
int main(void) int main(void)
{ {
@@ -41,29 +38,19 @@ int main(void)
ips200_init(IPS200_TYPE_SPI); ips200_init(IPS200_TYPE_SPI);
by_gpio_init(); by_gpio_init();
by_exit_init(); by_exit_init();
by_pwm_init();
jj_bt_init(); jj_bt_init();
by_buzzer_init(); by_buzzer_init();
while (imu660ra_init())
;
jj_param_eeprom_init(); jj_param_eeprom_init();
Page_Init(); Page_Init();
sport_pid_init();
pit_ms_init(TIM6_PIT, 2);
pit_ms_init(TIM1_PIT, 2);
// gyroOffset_init();
while (1) { while (1) {
Page_Run(); Page_Run();
jj_bt_run(); jj_bt_run();
queue_pop_read(); queue_pop_read();
bt_printf("hello:%f,%f\n",out_M,out_yaw);
if (mt9v03x_finish_flag) { if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us // 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))); 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; mt9v03x_finish_flag = 0;
state_type = COMMON_STATE; state_type = COMMON_STATE;
img_processing(); img_processing();
get_corners(); get_corners();
@@ -72,27 +59,13 @@ int main(void)
ElementJudge(); ElementJudge();
ElementRun(); ElementRun();
MidLineTrack(); MidLineTrack();
ips200_show_float(0,180,pure_angle,2,2);
ips200_show_int(0, 200, track_type, 2);
ips200_show_int(0, 220, garage_type, 2);
ips200_show_int(0, 240, cross_type, 2);
ips200_show_int(0, 260, circle_type, 2);
} }
} }
} }
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;
}
}
}

122
app/page/page_param.c
View File

@@ -1,8 +1,7 @@
#include "jj_param.h" #include "jj_param.h"
#include "page_ui_widget.h" #include "page_ui_widget.h"
#include "jj_motion.h"
#include "page.h" #include "page.h"
#include "math.h"
#define LINE_HEAD 0 #define LINE_HEAD 0
#define LINE_END DATA_NUM - 2 #define LINE_END DATA_NUM - 2
static char Text[] = "RealTime Param"; static char Text[] = "RealTime Param";
@@ -10,7 +9,9 @@ int event_flag = 0;
int32_t index_power = 0; int32_t index_power = 0;
static int8_t Curser = LINE_HEAD; // 定义光标位置 static int8_t Curser = LINE_HEAD; // 定义光标位置
static int8_t Curser_Last = LINE_HEAD; // 定义光标位置 static int8_t Curser_Last = LINE_HEAD; // 定义光标位置
void jj_param_show(); void param_set();
void param_printf();
void param_change(uint8_t index, int param_event);
/*************************************************************************************** /***************************************************************************************
* *
* 以下为页面模板函数 * 以下为页面模板函数
@@ -24,16 +25,8 @@ void jj_param_show();
static void Setup() static void Setup()
{ {
ips200_clear(); ips200_clear();
param_set();
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
for (int16 i = 0; i < DATA_NUM - 1; i++) {
ips200_show_string(10, i * 18 + 2, Param_Data[i].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32 *)(Param_Data[i].p_data)), 5);
else if (Param_Data[i].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
}
ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
} }
/** /**
@@ -63,7 +56,6 @@ static void Event(page_event event)
{ {
if (0 == event_flag) { if (0 == event_flag) {
Curser_Last = Curser; Curser_Last = Curser;
if (page_event_forward == event) { if (page_event_forward == event) {
Curser--; // 光标上移 Curser--; // 光标上移
@@ -74,8 +66,7 @@ static void Event(page_event event)
Print_Curser(Curser, Curser_Last, RGB565_RED); Print_Curser(Curser, Curser_Last, RGB565_RED);
return; return;
} else if (page_event_press_long == event) { } else if (page_event_press_long == event) {
jj_param_update(); jj_param_write();
sport_pid_init();
Page_Shift(page_menu); Page_Shift(page_menu);
return; return;
} }
@@ -86,44 +77,10 @@ static void Event(page_event event)
} }
Print_Curser(Curser, Curser_Last, RGB565_PURPLE); Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
} else if (1 == event_flag) { } else if (1 == event_flag) {
if (page_event_forward == event) { param_change(Curser, event);
if (Param_Data[Curser].type == EFLOAT) { param_printf();
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f,(float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) += 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) += 1;
}
} else if (page_event_backward == event) {
if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) -=powf(10.0f,(float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32 *)(Param_Data[Curser].p_data)) -= 1;
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32 *)(Param_Data[Curser].p_data)) -= 1;
}
} else if (page_event_press_short == event) {
index_power++;
if (index_power > 2) {
index_power = -2;
}
ips200_show_int(50, (DATA_NUM-1)* 18 + 2, index_power, 5);
} else if (page_event_press_long == event) {
event_flag = 0;
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}
jj_param_show();
} }
} }
void jj_param_show()
{
if (EINT32 == Param_Data[Curser].type)
ips200_show_int(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
else if (EUINT32 == Param_Data[Curser].type)
ips200_show_uint(50, Curser * 18 + 2, *((int32 *)(Param_Data[Curser].p_data)), 5);
else if (EFLOAT == Param_Data[Curser].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser].p_data)), 4, 5);
}
/** /**
* @brief 页面注册函数 * @brief 页面注册函数
* *
@@ -133,3 +90,66 @@ void PageRegister_page_param(unsigned char pageID)
{ {
Page_Register(pageID, Text, Setup, Loop, Exit, Event); Page_Register(pageID, Text, Setup, Loop, Exit, Event);
} }
/**
* @brief 参数显示更新
*
*/
void param_printf()
{
if (EINT32 == Param_Data[Curser].type)
ips200_show_int(50, Curser * 18 + 2, *((int32_t *)(Param_Data[Curser].p_data)), 5);
else if (EUINT32 == Param_Data[Curser].type)
ips200_show_uint(50, Curser * 18 + 2, *((uint32_t *)(Param_Data[Curser].p_data)), 5);
else if (EFLOAT == Param_Data[Curser].type)
ips200_show_float(50, Curser * 18 + 2, *((float *)(Param_Data[Curser].p_data)), 4, 5);
}
/**
* @brief 参数初始化显示
*
*/
void param_set()
{
for (int16_t i = 0; i < DATA_NUM - 1; i++) {
ips200_show_string(10, i * 18 + 2, Param_Data[i].text);
if (Param_Data[i].type == EINT32)
ips200_show_int(50, i * 18 + 2, *((int32_t *)(Param_Data[i].p_data)), 5);
else if (Param_Data[i].type == EFLOAT)
ips200_show_float(50, i * 18 + 2, *((float *)(Param_Data[i].p_data)), 4, 5);
}
ips200_show_int(50, (DATA_NUM - 1) * 18 + 2, index_power, 5);
}
/**
* @brief 参数改变
*
* @param index 当前指针所指参数索引
* @param param_event 触发事件
*/
void param_change(uint8_t index, int param_event)
{
if (page_event_forward == param_event) {
if (Param_Data[Curser].type == EFLOAT) {
*((float *)(Param_Data[Curser].p_data)) += powf(10.0f, (float)index_power);
} else if (Param_Data[Curser].type == EINT32) {
*((int32_t *)(Param_Data[Curser].p_data)) += pow(10, index_power + 2);
} else if (Param_Data[Curser].type == EUINT32) {
*((uint32_t *)(Param_Data[Curser].p_data)) += pow(10, index_power + 2);
}
} else if (page_event_backward == param_event) {
if (Param_Data[index].type == EFLOAT) {
*((float *)(Param_Data[index].p_data)) -= powf(10.0f, (float)index_power);
} else if (Param_Data[index].type == EINT32) {
*((int32_t *)(Param_Data[index].p_data)) -= pow(10, index_power + 2);
} else if (Param_Data[index].type == EUINT32) {
*((uint32_t *)(Param_Data[index].p_data)) -= pow(10, index_power + 2);
}
} else if (page_event_press_short == param_event) {
index_power++;
if (index_power > 2) {
index_power = -2;
}
ips200_show_int(50, (DATA_NUM - 1) * 18 + 2, index_power, 5);
} else if (page_event_press_long == param_event) {
event_flag = 0; // 回归选择参数事件
Print_Curser(Curser, Curser_Last, RGB565_PURPLE);
}
}

12
app/page/page_ui_widget.c
View File

@@ -167,6 +167,9 @@ void Show_Marked_Image(void)
uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate); uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate);
uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate); uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate);
uint16_t mid_x = START_X + (uint16_t)(mid_track[i][1] * horizontal_zoom_rate);
uint16_t mix_y = START_Y + (uint16_t)(mid_track[i][0] * vertical_zoom_rate);
//近线数组显示 //近线数组显示
ips200_draw_rect(l_x, l_y, l_x + 2, l_y, RGB565_RED); ips200_draw_rect(l_x, l_y, l_x + 2, l_y, RGB565_RED);
ips200_draw_rect(r_x - 2, r_y, r_x, r_y, RGB565_BLUE); ips200_draw_rect(r_x - 2, r_y, r_x, r_y, RGB565_BLUE);
@@ -175,9 +178,12 @@ void Show_Marked_Image(void)
//ips200_draw_rect(far_l_x, far_l_y, far_l_x + 2, far_l_y, RGB565_RED); //ips200_draw_rect(far_l_x, far_l_y, far_l_x + 2, far_l_y, RGB565_RED);
//ips200_draw_rect(far_r_x - 2, far_r_y, far_r_x, far_r_y, RGB565_BLUE); //ips200_draw_rect(far_r_x - 2, far_r_y, far_r_x, far_r_y, RGB565_BLUE);
//中线数组显示 //左右中线数组显示
ips200_draw_rect(mid_x_l, mix_y_l, mid_x_l + 2, mix_y_l, RGB565_BLACK); // ips200_draw_rect(mid_x_l, mix_y_l, mid_x_l + 2, mix_y_l, RGB565_BLACK);
ips200_draw_rect(mid_x_r, mix_y_r, mid_x_r + 2, mix_y_r, RGB565_BLUE); // ips200_draw_rect(mid_x_r, mix_y_r, mid_x_r + 2, mix_y_r, RGB565_BLUE);
//最终中线数字显示
ips200_draw_rect(mid_x, mix_y, mid_x + 2, mix_y, RGB565_BLACK);
// ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN); // ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate), START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);
// ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate) - 1, START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN); // ips200_draw_point(START_X + (uint16_t)((float)pts_right[i][1] * horizontal_zoom_rate) - 1, START_Y + (uint16_t)((float)pts_right[i][0] * vertical_zoom_rate), RGB565_GREEN);

38
libraries/zf_device/zf_device_ips200.c
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@@ -79,7 +79,7 @@ static ips200_dir_enum ips200_display_dir = IPS200_DEFAULT_DISPLAY_DIR;
static ips200_font_size_enum ips200_display_font = IPS200_DEFAULT_DISPLAY_FONT; static ips200_font_size_enum ips200_display_font = IPS200_DEFAULT_DISPLAY_FONT;
static uint16 ips200_x_max = 240; static uint16 ips200_x_max = 240;
static uint16 ips200_y_max = 320; static uint16 ips200_y_max = 280;
static gpio_pin_enum ips_rst_pin = IPS200_RST_PIN_SPI; static gpio_pin_enum ips_rst_pin = IPS200_RST_PIN_SPI;
static gpio_pin_enum ips_bl_pin = IPS200_BLk_PIN_SPI; static gpio_pin_enum ips_bl_pin = IPS200_BLk_PIN_SPI;
@@ -322,12 +322,12 @@ static void ips200_set_region(uint16 x1, uint16 y1, uint16 x2, uint16 y2)
// zf_assert(y2 < ips200_y_max); // zf_assert(y2 < ips200_y_max);
ips200_write_command(0x2a); ips200_write_command(0x2a);
ips200_write_16bit_data(x1); ips200_write_16bit_data(x1+0);
ips200_write_16bit_data(x2); ips200_write_16bit_data(x2+0);
ips200_write_command(0x2b); ips200_write_command(0x2b);
ips200_write_16bit_data(y1); ips200_write_16bit_data(y1+20);
ips200_write_16bit_data(y2); ips200_write_16bit_data(y2+20);
ips200_write_command(0x2c); ips200_write_command(0x2c);
} }
@@ -430,19 +430,19 @@ void ips200_full(const uint16 color)
//------------------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------
void ips200_set_dir(ips200_dir_enum dir) void ips200_set_dir(ips200_dir_enum dir)
{ {
ips200_display_dir = dir; // ips200_display_dir = dir;
switch (ips200_display_dir) { // switch (ips200_display_dir) {
case IPS200_PORTAIT: // case IPS200_PORTAIT:
case IPS200_PORTAIT_180: { // case IPS200_PORTAIT_180: {
ips200_x_max = 240; // ips200_x_max = 240;
ips200_y_max = 320; // ips200_y_max = 320;
} break; // } break;
case IPS200_CROSSWISE: // case IPS200_CROSSWISE:
case IPS200_CROSSWISE_180: { // case IPS200_CROSSWISE_180: {
ips200_x_max = 320; // ips200_x_max = 320;
ips200_y_max = 240; // ips200_y_max = 240;
} break; // } break;
} // }
} }
//------------------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------
@@ -1046,7 +1046,7 @@ void ips200_init(ips200_type_enum type_select)
#if IPS200_USE_SOFT_SPI #if IPS200_USE_SOFT_SPI
soft_spi_init(&ips200_spi, 0, IPS200_SOFT_SPI_DELAY, IPS200_SCL_PIN, IPS200_SDA_PIN, SOFT_SPI_PIN_NULL, SOFT_SPI_PIN_NULL); soft_spi_init(&ips200_spi, 0, IPS200_SOFT_SPI_DELAY, IPS200_SCL_PIN, IPS200_SDA_PIN, SOFT_SPI_PIN_NULL, SOFT_SPI_PIN_NULL);
#else #else
spi_init(IPS200_SPI, SPI_MODE0, IPS200_SPI_SPEED, IPS200_SCL_PIN_SPI, IPS200_SDA_PIN_SPI, SPI_MISO_NULL, SPI_CS_NULL); spi_init(IPS200_SPI, SPI_MODE0, IPS200_SPI_SPEED, IPS200_SCL_PIN_SPI, IPS200_SDA_PIN_SPI, SPI_MISO_NULL, PIN_NULL);
#endif #endif
gpio_init(IPS200_DC_PIN_SPI, GPO, GPIO_LOW, GPO_PUSH_PULL); gpio_init(IPS200_DC_PIN_SPI, GPO, GPIO_LOW, GPO_PUSH_PULL);

4
libraries/zf_device/zf_device_mt9v03x_dvp.h
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@@ -90,8 +90,8 @@
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD>ͷĬ<CDB7>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ڴ<EFBFBD><DAB4>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD> // <20><><EFBFBD><EFBFBD>ͷĬ<CDB7>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ڴ<EFBFBD><DAB4>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
#define MT9V03X_W (140) // ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ [1-752] #define MT9V03X_W (188) // ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ [1-752]
#define MT9V03X_H (80) // ͼ<><CDBC><EFBFBD>߶<EFBFBD> <20><>Χ [1-480] #define MT9V03X_H (120) // ͼ<><CDBC><EFBFBD>߶<EFBFBD> <20><>Χ [1-480]
#define MT9V03X_IMAGE_SIZE ( MT9V03X_W * MT9V03X_H ) // <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD>ܳ<EFBFBD><DCB3><EFBFBD> 65535 #define MT9V03X_IMAGE_SIZE ( MT9V03X_W * MT9V03X_H ) // <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD>ܳ<EFBFBD><DCB3><EFBFBD> 65535
#define MT9V03X_COF_BUFFER_SIZE ( 64 ) // <20><><EFBFBD>ô<EFBFBD><C3B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 64 #define MT9V03X_COF_BUFFER_SIZE ( 64 ) // <20><><EFBFBD>ô<EFBFBD><C3B4>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 64