diff --git a/app/by_fan_control.c b/app/by_fan_control.c index ad7ccc5..66d2b11 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -12,11 +12,13 @@ void by_pwm_init(void) void by_pwm_update_duty(uint32_t update_pwm_duty) { - if (7000UL > update_pwm_duty) { - update_pwm_duty = 7000UL; + if (4000UL < update_pwm_duty) { + update_pwm_duty = 4000UL; } pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty); pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty); + // pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, update_pwm_duty); + // pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, update_pwm_duty); } void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r) diff --git a/app/by_pt_button.h b/app/by_pt_button.h deleted file mode 100644 index 0a7202f..0000000 --- a/app/by_pt_button.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef _BY_PT_BUTTON_H__ -#define _BY_PT_BUTTON_H__ - -#include "stdio.h" -#include "ch32v30x.h" -#define POTATE_BUTTOM_PRESS 1 -#define POTATE_BUTTOM_FOREWARD 2 -#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_statu(void); -extern void by_ips_show(void); - -#endif \ No newline at end of file diff --git a/app/by_pt_button.c b/app/by_rt_button.c similarity index 72% rename from app/by_pt_button.c rename to app/by_rt_button.c index 549478d..c9147cd 100644 --- a/app/by_pt_button.c +++ b/app/by_rt_button.c @@ -1,7 +1,7 @@ -#include "by_pt_button.h" +#include "by_rt_button.h" #include "zf_common_headfile.h" #include "by_imu.h" -uint8_t potate_button; +uint8_t rotate_button; void by_gpio_init(void) { @@ -14,18 +14,23 @@ void by_exit_init(void) exti_init(E11, EXTI_TRIGGER_FALLING); } -uint8_t by_get_pb_statu(void) +/** + * @brief 查询旋钮状态 - 查询后状态归零 + * + * @return uint8_t 当前旋钮状态 + */ +uint8_t by_get_rb_status(void) { - uint8_t temp_s = potate_button; - potate_button = 0; + uint8_t temp_s = rotate_button; + rotate_button = 0; return temp_s; } void by_ips_show(void) { - ips200_show_string(0, 0, "button statu:"); - // ips200_show_uint(104, 0, by_get_pb_statu(), 1); - switch (by_get_pb_statu()) { + 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; @@ -45,7 +50,7 @@ void by_ips_show(void) 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(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); diff --git a/app/by_rt_button.h b/app/by_rt_button.h new file mode 100644 index 0000000..25e5699 --- /dev/null +++ b/app/by_rt_button.h @@ -0,0 +1,17 @@ +#ifndef _BY_RT_BUTTON_H__ +#define _BY_RT_BUTTON_H__ + +#include "stdio.h" +#include "ch32v30x.h" +#define ROTATE_BUTTON_PRESS 1 +#define ROTATE_BUTTON_FORWARD 2 +#define ROTATE_BUTTON_BACKWARD 3 + +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); + +#endif \ No newline at end of file diff --git a/app/isr.c b/app/isr.c index ce1e22e..4fe8bd1 100644 --- a/app/isr.c +++ b/app/isr.c @@ -2,11 +2,11 @@ * CH32V307VCT6 Opensourec Library CH32V307VCT6 Դ⣩һڹٷ SDK ӿڵĵԴ * Copyright (c) 2022 SEEKFREE ɿƼ * - * ļCH32V307VCT6 Դһ + * ļ CH32V307VCT6 Դһ * * CH32V307VCT6 Դ - * Ըᷢ GPLGNU General Public License GNUͨù֤ - * GPL ĵ3棨 GPL3.0ѡģκκİ汾·/޸ + * Ըᷢ GPLGNU General Public License GNU ͨù֤ + * GPL ĵ 3 棨 GPL3.0ѡģκκİ汾·/޸ * * Դķϣܷãδκεı֤ * ûԻʺض;ı֤ @@ -30,11 +30,12 @@ * * ޸ļ¼ * ע - * 2022-09-15 W first version + * 2022-09-15 W first version ********************************************************************************************************************/ #include "zf_common_headfile.h" -#include "by_pt_button.h" +#include "by_rt_button.h" +#include "by_imu.h" void NMI_Handler(void) __attribute__((interrupt())); void HardFault_Handler(void) __attribute__((interrupt())); @@ -197,10 +198,10 @@ void EXTI9_5_IRQHandler(void) if (SET == EXTI_GetITStatus(EXTI_Line9)) { if (SET == gpio_get_level(E10)) { - potate_button = POTATE_BUTTOM_BACKWARD; + rotate_button = ROTATE_BUTTON_BACKWARD; } else { - potate_button = POTATE_BUTTOM_FOREWARD; + rotate_button = ROTATE_BUTTON_FORWARD; } EXTI_ClearITPendingBit(EXTI_Line9); } @@ -220,7 +221,7 @@ void EXTI15_10_IRQHandler(void) system_delay_us(200); if (SET == !gpio_get_level(E11)) { - potate_button = POTATE_BUTTOM_PRESS; + rotate_button = ROTATE_BUTTON_PRESS; } EXTI_ClearITPendingBit(EXTI_Line11); } diff --git a/app/main.c b/app/main.c index ba8a864..2883964 100644 --- a/app/main.c +++ b/app/main.c @@ -1,29 +1,29 @@ /********************************************************************************************************************* -* 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 -* -* 本文件是 CH32V307VCT6 开源库的一部分 -* -* 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 -* -* 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 -* -* 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 -* -* 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） -********************************************************************************************************************/ + * 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 + * + * 本文件是 CH32V307VCT6 开源库的一部分 + * + * 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 + * + * 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 + * + * 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 + * + * 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" @@ -71,6 +71,8 @@ enum track_type_e track_type = TRACK_RIGHT; int frame_count = 0; +uint16_t pwm_cnt = 500; + void img_processing(); void get_corners(); @@ -79,19 +81,36 @@ int main(void) clock_init(SYSTEM_CLOCK_120M); debug_init(); mt9v03x_init(); + pwm_init(TIM2_PWM_MAP0_CH1_A0, 50, 1000); + pwm_init(TIM2_PWM_MAP0_CH2_A1, 50, 1000); ips200_init(IPS200_TYPE_SPI); by_gpio_init(); by_exit_init(); by_pwm_init(); - cw_servo_init(); + // cw_servo_init(); // while (imu660ra_init()) // ; Page_Init(); while (1) { + // ips200_show_uint(0, 0, pwm_cnt, 6); + // uint8_t temp_status = by_get_rb_status(); + // if (2 == temp_status) { + // pwm_cnt += 50; + // } else if (3 == temp_status) { + // pwm_cnt -= 50; + // } + + // pwm_cnt = (uint16_t)clip(pwm_cnt, 500, 1000); + // by_pwm_update_duty(4000); + // pwm_set_duty(TIM2_PWM_MAP0_CH1_A0, pwm_cnt); + // pwm_set_duty(TIM2_PWM_MAP0_CH2_A1, pwm_cnt); + + // by_pwm_update_duty(pwm_cnt); + Page_Run(); - + if (mt9v03x_finish_flag) { memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t))); mt9v03x_finish_flag = 0; diff --git a/app/page/cw_page.c b/app/page/cw_page.c index d948d63..8716b8e 100644 --- a/app/page/cw_page.c +++ b/app/page/cw_page.c @@ -1,9 +1,11 @@ #include "cw_page.h" +#include "by_rt_button.h" + PAGE_LIST pagelist[page_max]; static uint8_t page_busy = 0; -static int8_t now_page = page_menu; -static int8_t new_page = page_menu; +static int8_t now_page = page_menu; +static int8_t new_page = page_menu; /** * @brief 注册一个基本页面，包含一个初始化函数，循环函数，退出函数，事件函数 @@ -16,12 +18,13 @@ static int8_t new_page = page_menu; * @retval 无 */ void Page_Register(uint8_t pageID, char *pageText, - CallbackFunction_t setupCallback, CallbackFunction_t loopCallback, - CallbackFunction_t exitCallback, EventFunction_t eventCallback) { - pagelist[pageID].Text = pageText; + CallbackFunction_t setupCallback, CallbackFunction_t loopCallback, + CallbackFunction_t exitCallback, EventFunction_t eventCallback) +{ + pagelist[pageID].Text = pageText; pagelist[pageID].SetupCallback = setupCallback; - pagelist[pageID].LoopCallback = loopCallback; - pagelist[pageID].ExitCallback = exitCallback; + pagelist[pageID].LoopCallback = loopCallback; + pagelist[pageID].ExitCallback = exitCallback; pagelist[pageID].EventCallback = eventCallback; } @@ -30,7 +33,8 @@ void Page_Register(uint8_t pageID, char *pageText, * @param event: 事件编号 * @retval 无 */ -void Page_EventTransmit(unsigned char event) { +void Page_EventTransmit(unsigned char event) +{ /*将事件传递到当前页面*/ if (pagelist[now_page].EventCallback != 0) pagelist[now_page].EventCallback(event); @@ -41,7 +45,8 @@ void Page_EventTransmit(unsigned char event) { * @param pageID：页面号 * @retval 1：成功 0：失败 */ -void Page_Shift(unsigned char pageID) { +void Page_Shift(unsigned char pageID) +{ if (page_busy == 0) { new_page = pageID; } @@ -51,7 +56,8 @@ void Page_Shift(unsigned char pageID) { * @brief 关闭当前页面 * */ -void Page_CloseCurrentPage() { +void Page_CloseCurrentPage() +{ pagelist[now_page].ExitCallback(); } @@ -59,16 +65,18 @@ void Page_CloseCurrentPage() { * @brief 打开当前页面 * */ -void Page_OpenCurrentPage() { +void Page_OpenCurrentPage() +{ pagelist[now_page].SetupCallback(); } /** * @brief 获取页面状态 * - * @return uint8_t 页面忙返回1 空闲返回0 + * @return uint8_t 页面忙返回 1 空闲返回 0 */ -uint8_t Page_GetStatus(void) { +uint8_t Page_GetStatus(void) +{ if (page_busy) return 1; else @@ -79,18 +87,23 @@ uint8_t Page_GetStatus(void) { * @brief 页面运行函数 * */ -void Page_Run(void) { +void Page_Run(void) +{ + uint8_t temp_status = by_get_rb_status(); // 轮询旋钮状态 + if(temp_status){ + pagelist[now_page].EventCallback(temp_status); + } if (now_page != new_page) { if (new_page >= page_max && new_page < page_menu) { new_page = page_menu; } - //执行当前页面退出回调函数 + // 执行当前页面退出回调函数 if ((pagelist[now_page].ExitCallback != 0)) { pagelist[now_page].ExitCallback(); } - //执行新页面构造回调函数 + // 执行新页面构造回调函数 if (pagelist[new_page].SetupCallback != 0) { pagelist[new_page].SetupCallback(); } @@ -99,7 +112,7 @@ void Page_Run(void) { } if (page_busy == 0) { - //执行循环函数 + // 执行循环函数 pagelist[now_page].LoopCallback(); } } @@ -108,13 +121,15 @@ void Page_Run(void) { * @brief 页面初始化（注册，构建） //ATTENTION 在此处添加新加入的页面 * */ -void Page_Init(void) { +void Page_Init(void) +{ PAGE_REG(page_menu); + PAGE_REG(page_rtcam); // PAGE_REG(page_argv); // PAGE_REG(page_sys); // PAGE_REG(page_run); Page_Shift(page_menu); - pagelist[now_page].SetupCallback(); //先构建一遍 + pagelist[now_page].SetupCallback(); // 先构建一遍 } diff --git a/app/page/cw_page.h b/app/page/cw_page.h index cd4f20e..dc9e15f 100644 --- a/app/page/cw_page.h +++ b/app/page/cw_page.h @@ -13,10 +13,13 @@ #include "zf_common_headfile.h" +#include "by_rt_button.h" + enum PageID { PAGE_NULL = -1, //...... page_menu, + page_rtcam, // page_argv, // page_sys, // page_run, @@ -25,9 +28,9 @@ enum PageID { }; typedef enum page_event{ - page_event_forward, - page_event_backward, - page_event_press + page_event_forward = ROTATE_BUTTON_FORWARD, + page_event_backward = ROTATE_BUTTON_BACKWARD, + page_event_press = ROTATE_BUTTON_PRESS } page_event; typedef void (*CallbackFunction_t)(void); diff --git a/app/page/cw_page_menu.c b/app/page/cw_page_menu.c index 4296ba6..ea5b939 100644 --- a/app/page/cw_page_menu.c +++ b/app/page/cw_page_menu.c @@ -7,8 +7,8 @@ static char Text[] = "Menu"; -static int8_t Curser = 1; // 定义光标位置 -static int8_t Curser_Last = 1; // 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 void Print_Menu_p(void); /*************************************************************************************** * @@ -44,7 +44,6 @@ static void Exit() */ static void Loop() { - Show_Marked_Image(); } /** @@ -101,7 +100,7 @@ static void Print_Menu_p(void) // SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####"); ips200_show_string(0, 0, Text); for (uint8_t i = page_menu + 1; i < page_max; i++) { - ips200_show_string(8, i, pagelist[i].Text); + ips200_show_string(10, i * 16, pagelist[i].Text); // SCREEN_showstr(8, i, pagelist[i].Text); } } diff --git a/app/page/cw_page_rtcam.c b/app/page/cw_page_rtcam.c index 969963d..d23ccfa 100644 --- a/app/page/cw_page_rtcam.c +++ b/app/page/cw_page_rtcam.c @@ -2,13 +2,13 @@ #include "cw_page_ui_widget.h" #include "cw_page.h" -#define LINE_HEAD 1 -#define LINE_END 7 +#define LINE_HEAD 11 +#define LINE_END 18 static char Text[] = "RealTime Image"; -static int8_t Curser = 1; // 定义光标位置 -static int8_t Curser_Last = 1; // 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 void Print_Menu_p(void); /*************************************************************************************** * @@ -23,7 +23,7 @@ static void Print_Menu_p(void); */ static void Setup() { - ips114_clear(); + ips200_clear(); Print_Menu_p(); Print_Curser(Curser, Curser_Last); } @@ -44,6 +44,7 @@ static void Exit() */ static void Loop() { + Show_Marked_Image(); } /** @@ -99,8 +100,4 @@ static void Print_Menu_p(void) { // SCREEN_showstr_style(5 * 8, 0, RED, WHITE, "#### MAIN MENU ####"); ips200_show_string(0, 0, Text); - for (uint8_t i = page_menu + 1; i < page_max; i++) { - ips200_show_string(8, i, pagelist[i].Text); - // SCREEN_showstr(8, i, pagelist[i].Text); - } } diff --git a/libraries/zf_common/zf_common_font.c b/libraries/zf_common/zf_common_font.c index 094730a..e4e6515 100644 --- a/libraries/zf_common/zf_common_font.c +++ b/libraries/zf_common/zf_common_font.c @@ -2,11 +2,11 @@ * CH32V307VCT6 Opensourec Library CH32V307VCT6 Դ⣩һڹٷ SDK ӿڵĵԴ * Copyright (c) 2022 SEEKFREE ɿƼ * -* ļCH32V307VCT6 Դһ +* ļ CH32V307VCT6 Դһ * * CH32V307VCT6 Դ -* Ըᷢ GPLGNU General Public License GNUͨù֤ -* GPL ĵ3棨 GPL3.0ѡģκκİ汾·/޸ +* Ըᷢ GPLGNU General Public License GNU ͨù֤ +* GPL ĵ 3 棨 GPL3.0ѡģκκİ汾·/޸ * * Դķϣܷãδκεı֤ * ûԻʺض;ı֤ @@ -30,7 +30,7 @@ * * ޸ļ¼ * ע -* 2022-09-15 W first version +* 2022-09-15 W first version ********************************************************************************************************************/ #include "zf_common_font.h" @@ -93,7 +93,8 @@ const uint8 ascii_font_8x16[][16]= {0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00}, // ; 27 {0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00}, // < 28 {0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00}, // = 29 - {0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00}, // > 30 +// {0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00}, // > 30 + {0xFE,0xFC,0xF8,0xF0,0xE0,0xC0,0x80,0x00,0x7F,0x3F,0x1F,0x0F,0x07,0x03,0x01,0x00}, // > 30 {0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00}, // ? 31 {0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00}, // @ 32 {0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20}, // A 33 @@ -274,7 +275,7 @@ const uint8 ascii_font_6x8[][6] = }; //------------------------------------------------------------------------------------------------------------------- -// ʹPCtoLCD2002ȡģ +// ʹ PCtoLCD2002 ȡģ // 롢ʽ˳ 16*16 //------------------------------------------------------------------------------------------------------------------- const uint8 chinese_test[8][16] = @@ -290,7 +291,7 @@ const uint8 chinese_test[8][16] = }; //------------------------------------------------------------------------------------------------------------------- -// ʹPCtoLCD2002ȡģ +// ʹ PCtoLCD2002 ȡģ // 롢ʽ 16*16 //------------------------------------------------------------------------------------------------------------------- const uint8 oled_16x16_chinese[][16]= @@ -305,10 +306,10 @@ const uint8 oled_16x16_chinese[][16]= {0x04,0x44,0x82,0x7F,0x01,0x80,0x80,0x40,0x43,0x2C,0x10,0x28,0x46,0x81,0x80,0x00},/*"",3*/ }; -//16λBMP 240*80 ɿƼlogoͼȡģ -//Image2LCDȡģѡ +//16 λ BMP 240*80 ɿƼ logo ͼȡģ +//Image2LCD ȡģѡ //ˮƽɨ -//16λ +//16 λ //240*80 //ͼͷ //