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Merge http://git.isthmus.tk:441/btl143/firmware_violet_zf

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Glz
2023-12-24 22:28:03 +08:00
parent eca0d27752 b037e231c8
commit afb16ae44a
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app/main.c
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@@ -1,69 +1,66 @@
/*********************************************************************************************************************
* CH32V307VCT6 Opensourec Library <EFBFBD><EFBFBD><EFBFBD><EFBFBD>CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD>⣩<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹٷ<EFBFBD> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD>
* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
* Copyright (c) 2022 SEEKFREE ?????
*
* <EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD> CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ??????? CH32V307VCT6 ???????????
*
* CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GPL<EFBFBD><EFBFBD>GNU General Public License<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD> GPL <EFBFBD>ĵ<EFBFBD> 3 <20>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
* CH32V307VCT6 ????? ?????????
* ?????????????????????????? GPL??GNU General Public License???? GNU ??锟斤拷？???????????????
* ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
*
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<EFBFBD>֤
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD>ض<EFBFBD><EFBFBD><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
* ????????????????????????????????锟斤拷？??????锟绞︼拷？??
* ?????????????????????????????????
* ?????????锟斤拷？GPL
*
* <EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<EFBFBD>յ<EFBFBD>һ<EFBFBD><EFBFBD> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
* ?????????????????????????? GPL ?????
* ?????锟斤拷？?????<https://www.gnu.org/licenses/>
*
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><EFBFBD><EFBFBD> libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <EFBFBD>ļ<EFBFBD>
* <EFBFBD><EFBFBD>ӭ<EFBFBD><EFBFBD>λʹ<EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ?????????
* ?????????? GPL3.0 ????????锟斤拷？? ?????????????????锟斤拷
* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
* ??????????? libraries ??????? ???????????? LICENSE ???
* ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
*
* <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> main
* <EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD>ɶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <EFBFBD>汾<EFBFBD><EFBFBD>Ϣ <EFBFBD>鿴 libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> version <EFBFBD>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
* ??????? main
* ??????? ??????????????
* ?锟斤拷？?? ?? libraries/doc ??????? version ??? ?锟斤拷？??
* ???????? MounRiver Studio V1.8.1
* ?????? CH32V307VCT6
* ???????? https://seekfree.taobao.com/
*
* <EFBFBD>޸ļ<EFBFBD>¼
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>ע
* 2022-09-15 <EFBFBD><EFBFBD> W first version
* ?????
* ???? ???? ???
* 2022-09-15 ?? W first version
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "gl_headfile.h"
#include "cw_servo.h"
#include "by_pt_button.h"
#include "by_fan_control.h"
#include "by_imu.h"
#include "cw_servo.h"
#include "./page/cw_page.h"
uint8 (*Img_Gray)[MT9V03X_W]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MT9V03X_W <20>е<EFBFBD> uint8 <20><><EFBFBD>͵Ķ<CDB5>ά<EFBFBD><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
// uint8 *mt9v03x_image_copy[0]; // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8> uint8 <20><><EFBFBD>͵<EFBFBD>һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2];
sint32 pts_left_count, pts_right_count;
float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
sint32 pts_inv_l_count, pts_inv_r_count;
float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
sint32 pts_filter_l_count, pts_filter_r_count;
float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
sint32 pts_resample_left_count, pts_resample_right_count;
float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
sint32 mid_left_count, mid_right_count;
uint8_t (*Img_Gray)[MT9V03X_W];
int32_t pts_left[PT_MAXLEN][2];
int32_t pts_right[PT_MAXLEN][2];
int32_t pts_left_count, pts_right_count;
float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
int32_t pts_inv_l_count, pts_inv_r_count;
float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
int32_t pts_filter_l_count, pts_filter_r_count;
float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
int32_t pts_resample_left_count, pts_resample_right_count;
float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
int32_t mid_left_count, mid_right_count;
// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF> + <20>Ǽ<EFBFBD><C7BC><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
int angle_new_left_num, angle_new_right_num;
uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
// <20><><EFBFBD>ұ<EFBFBD><D2B1>߾ֲ<DFBE><D6B2>Ƕȱ仯<C8B1><E4BBAF>
float angle_left[PT_MAXLEN];
float angle_right[PT_MAXLEN];
int angle_left_num, angle_right_num;
// L <20>ǵ<EFBFBD>
int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
bool Lpt0_found, Lpt1_found;
int Lpt1[2], Lpt0[2];
@@ -72,13 +69,10 @@ int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
bool Lpt_in0_found, Lpt_in1_found;
int Lpt_in1[2], Lpt_in0[2];
// <20><>ֱ<EFBFBD><D6B1>
bool is_straight0, is_straight1;
// <20><><EFBFBD><EFBFBD>
bool is_turn0, is_turn1;
// <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float rptsn[PT_MAXLEN][2];
int rptsn_num;
float aim_distance;
@@ -95,8 +89,8 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
int main(void)
{
clock_init(SYSTEM_CLOCK_120M); // <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>оƬʱ<EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
debug_init(); // <EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><EFBFBD> MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
debug_init(); // 务必保留，本函数用于初始化 MPU 时钟 调试串口
//mt9v03x_init();
// system_delay_ms(2000);
ips200_init(IPS200_TYPE_SPI);
@@ -148,9 +142,6 @@ int main(void)
//MidLineTrack();
}
// // by_imu_data_get();
// // by_ips_show();
// // system_delay_ms(200);
}
}
@@ -160,7 +151,7 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
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++){
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֲ<EFBFBD><EFBFBD><EFBFBD>ֵ
// 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++){
@@ -168,7 +159,7 @@ void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int h
}
}
thres = thres / (block * block) - clip_value;
// <EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ֵ<EFBFBD><EFBFBD>
// 进行二值化
output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
}
}