btl143/QDAC-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

日常更新

Browse Source
This commit is contained in:
井明江
2024-03-27 16:20:49 +08:00
parent 5343e5ac33
commit 902d639475
3 changed files with 15 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
app/by_frame.c
View File

@@ -16,7 +16,7 @@ void by_frame_init(void)
{ {
lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一 lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一
uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN); uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN);
uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE); // uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
} }
void by_frame_send(uint32_t *data_array) void by_frame_send(uint32_t *data_array)

23
app/gl_get_corners.c
View File

@@ -14,7 +14,7 @@ void get_corners()
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1); int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1); int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2; float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
ips114_show_float(120, 80, conf, 3, 4);
// L 角点阈值 // L 角点阈值
if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) { if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i; Lpt0_rpts0s_id = i;
@@ -22,20 +22,20 @@ void get_corners()
// transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删 // transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删
} }
// 长直道阈值 // 长直道阈值
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) { if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) {
is_straight0 = false; is_straight0 = false;
} }
if (Lpt0_found == true && is_straight0 == false) break; if (Lpt0_found == true && is_straight0 == false) break;
} }
if (is_straight0 == false && Lpt0_found == false) if (Lpt0_found == false)
{ {
is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05); is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
} }
if (is_turn0) //if (is_turn0)
{ //{
state_type = TURN_LEFT_STATE; //state_type = TURN_LEFT_STATE;
} //}
@@ -67,6 +67,7 @@ void get_corners()
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1); int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1); int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2; float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
ips114_show_float(100, 100, conf, 3, 4);
if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) { if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i; Lpt1_rpts1s_id = i;
@@ -74,7 +75,7 @@ void get_corners()
// transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]); // transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
} }
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight1 = false; if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) is_straight1 = false;
if (Lpt1_found == true && is_straight1 == false) break; if (Lpt1_found == true && is_straight1 == false) break;
} }
@@ -82,7 +83,7 @@ void get_corners()
state_type = STRAIGHT_STATE; state_type = STRAIGHT_STATE;
} }
if (is_straight1 == false && Lpt1_found == false) if (Lpt1_found == false)
{ {
is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05); is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
} }
@@ -107,8 +108,8 @@ void get_corners()
} }
} }
if (is_turn1) if (is_turn1 && is_turn0)
{ {
state_type = TURN_RIGHT_STATE; state_type = TURN_LEFT_STATE;
} }
} }

4
app/gl_handle_img.c
View File

@@ -228,8 +228,8 @@ void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_r
int is_curve(float angle[], int n, float threshold) { int is_curve(float angle[], int n, float threshold) {
for (int i = 1; i < n - 1; i++) { for (int i = 1; i < n - 1; i++) {
float da = fabs(angle[i] - angle[i-1]); float da = fabs(angle[i] - angle[i-3]);
float db = fabs(angle[i+1] - angle[i]); float db = fabs(angle[i+3] - angle[i]);
if (da > threshold && db > threshold) { if (da > threshold && db > threshold) {
return 1; // 是弯道 return 1; // 是弯道
} }