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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
16 changed files with 1008 additions and 571 deletions
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2
app/gl_common.c
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@@ -2,7 +2,7 @@
#include "gl_headfile.h"
sint32 limit(sint32 x, sint32 low, sint32 up)
int32_t limit(int32_t x, int32_t low, int32_t up)
{
return x > up ? up : x < low ? low : x;
}

5
app/gl_common.h
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@@ -23,10 +23,7 @@
#define FRAMETOLEFT (5)
#define FRAMETORIGHT (5)
typedef signed int sint32;
typedef float float32;
sint32 limit(sint32 x, sint32 low, sint32 up);
int32_t limit(int32_t x, int32_t low, int32_t up);
int clip(int x, int low, int up);
float fclip(float x, float low, float up) ;

24
app/gl_handle_img.c
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@@ -5,12 +5,12 @@
const sint32 direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
const sint32 direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
const sint32 direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
const int32_t direction_front[4][2] = {{0, -1},{1, 0},{0, 1},{-1, 0}};
const int32_t direction_frontleft[4][2] = {{-1, -1},{1, -1},{1, 1},{-1, 1}};
const int32_t direction_frontright[4][2] ={{1, -1},{1, 1},{-1, 1},{-1, -1}};
void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num)
{
int half = block_size / 2;
int step = 0, dir = 0, turn = 0;
@@ -53,7 +53,7 @@ void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_va
*line_num = step;
}
void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num)
void SearchLineAdaptive_Right(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num)
{
int half = block_size / 2;
int step = 0, dir = 0, turn = 0;
@@ -100,7 +100,7 @@ void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_v
void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize)
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize)
{
int half = kernelsize / 2;
for (int i = 0; i < pts_in_count; i++) {
@@ -115,7 +115,7 @@ void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][
}
}
void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist)
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist)
{
if (num1 < 0) {
*num2 = 0;
@@ -192,7 +192,7 @@ void nms_angle(float angle_in[], int num, float angle_out[], int kernel) {
}
}
void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist)
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist)
{
for (int i = 0; i < pts_left_count; i++) {
float dx = pts_left[clip(i + approx_num, 0, pts_left_count - 1)][1] - pts_left[clip(i - approx_num, 0, pts_left_count - 1)][1];
@@ -207,7 +207,7 @@ void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_l
}
void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist)
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist)
{
for (int i = 0; i < pts_right_count; i++) {
float dx = pts_right[clip(i + approx_num, 0, pts_right_count -1)][1] - pts_right[clip(i - approx_num, 0, pts_right_count -1 )][1];
@@ -223,10 +223,10 @@ void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mi
}
int is_curve(float32 angle[], int n, float32 threshold) {
int is_curve(float angle[], int n, float threshold) {
for (int i = 1; i < n - 1; i++) {
float32 da = fabs(angle[i] - angle[i-1]);
float32 db = fabs(angle[i+1] - angle[i]);
float da = fabs(angle[i] - angle[i-1]);
float db = fabs(angle[i+1] - angle[i]);
if (da > threshold && db > threshold) {
return 1; // 是弯道
}

12
app/gl_handle_img.h
View File

@@ -3,13 +3,13 @@
void SearchStartPoint_Left(uint8 img_gray[], sint32* h_start, sint32* w_start, uint8 threshold);
void GetLinesFilter(float32 pts_in[][2], sint32 pts_in_count, float32 pts_out[][2], sint32 kernelsize);
void GetLinesResample(float32 pts_in[][2], sint32 num1, float32 pts_out[][2], sint32* num2, float32 dist);
void SearchStartPoint_Left(uint8_t img_gray[], int32_t* h_start, int32_t* w_start, uint8_t threshold);
void GetLinesFilter(float pts_in[][2], int32_t pts_in_count, float pts_out[][2], int32_t kernelsize);
void GetLinesResample(float pts_in[][2], int32_t num1, float pts_out[][2], int32_t* num2, float dist);
void local_angle_points(float pts_in[][2], int num, float angle_out[], int dist);
void nms_angle(float angle_in[], int num, float angle_out[], int kernel);
void GetMidLine_Left(float32 pts_left[][2], sint32 pts_left_count, float32 mid_left[][2], sint32 approx_num, float32 dist);
void GetMidLine_Right(float32 pts_right[][2], sint32 pts_right_count, float32 mid_right[][2], sint32 approx_num, float32 dist);
int is_curve(float32 angle[], int n, float32 threshold) ;
void GetMidLine_Left(float pts_left[][2], int32_t pts_left_count, float mid_left[][2], int32_t approx_num, float dist);
void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_right[][2], int32_t approx_num, float dist);
int is_curve(float angle[], int n, float threshold) ;
#endif /* COMMON_H_ */

3
app/gl_img_process.c
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@@ -5,9 +5,6 @@
/*
@author: glz
@brief:
*/

6
app/gl_img_process.h
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@@ -3,10 +3,8 @@
#include "zf_common_headfile.h"
typedef signed int sint32;
void img_processing(void);
void SearchLineAdaptive_Left(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
void SearchLineAdaptive_Right(uint8 img_gray[], sint32 block_size, sint32 down_value, sint32 h, sint32 w, sint32 pts[][2], sint32* line_num);
void SearchLineAdaptive_Left(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num);
void SearchLineAdaptive_Right(uint8_t img_gray[], int32_t block_size, int32_t down_value, int32_t h, int32_t w, int32_t pts[][2], int32_t* line_num);
#endif /* STATE_H_ */

95
app/main.c
View File

@@ -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;
}
}

28
app/main.h
View File

@@ -2,32 +2,29 @@
#define MAIN_H
#include "zf_common_headfile.h"
#include "gl_common.h"
// extern uint8 *mt9v03x_image_copy[0];
extern sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; //0:H,1:W
extern sint32 pts_left_count, pts_right_count;
extern float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
extern sint32 pts_inv_l_count, pts_inv_r_count;
extern float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
extern sint32 pts_filter_l_count, pts_filter_r_count;
extern float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
extern sint32 pts_resample_left_count, pts_resample_right_count;
extern int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; // 0:H,1:W
extern int32_t pts_left_count, pts_right_count;
extern float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
extern int32_t pts_inv_l_count, pts_inv_r_count;
extern float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
extern int32_t pts_filter_l_count, pts_filter_r_count;
extern float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
extern int32_t pts_resample_left_count, pts_resample_right_count;
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
extern sint32 mid_left_count, mid_right_count;
extern float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
extern int32_t mid_left_count, mid_right_count;
extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern int angle_left_num, angle_right_num;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern int angle_new_left_num, angle_new_right_num;
extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
extern bool Lpt0_found, Lpt1_found;
extern int Lpt1[2], Lpt0[2];
@@ -44,9 +41,6 @@ extern float rptsn[PT_MAXLEN][2];
extern int rptsn_num;
extern float aim_distance;
enum track_type_e {
TRACK_LEFT,
TRACK_RIGHT,

120
app/page/cw_page.c Normal file
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@@ -0,0 +1,120 @@
#include "cw_page.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;
/**
* @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
* @param pageID: 页面编号
* @param pageText: 页面标题的指针
* @param setupCallback: 初始化函数回调
* @param loopCallback: 循环函数回调
* @param exitCallback: 退出函数回调
* @param eventCallback: 事件函数回调
* @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;
pagelist[pageID].SetupCallback = setupCallback;
pagelist[pageID].LoopCallback = loopCallback;
pagelist[pageID].ExitCallback = exitCallback;
pagelist[pageID].EventCallback = eventCallback;
}
/**
* @brief 页面事件传递
* @param event: 事件编号
* @retval 无
*/
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);
}
/**
* @brief 页面切换
* @param pageID：页面号
* @retval 1：成功 0：失败
*/
void Page_Shift(unsigned char pageID) {
if (page_busy == 0) {
new_page = pageID;
}
}
/**
* @brief 关闭当前页面
*
*/
void Page_CloseCurrentPage() {
pagelist[now_page].ExitCallback();
}
/**
* @brief 打开当前页面
*
*/
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
*/
uint8_t Page_GetStatus(void) {
if (page_busy)
return 1;
else
return 0;
}
/**
* @brief 页面运行函数
*
*/
void Page_Run(void) {
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
if ((pagelist[now_page].ExitCallback != 0)) {
pagelist[now_page].ExitCallback();
}
//执行新页面构造回调函数
if (pagelist[new_page].SetupCallback != 0) {
pagelist[new_page].SetupCallback();
}
now_page = new_page;
}
if (page_busy == 0) {
//执行循环函数
pagelist[now_page].LoopCallback();
}
}
/**
* @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) {
PAGE_REG(page_menu);
// 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
}

64
app/page/cw_page.h Normal file
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@@ -0,0 +1,64 @@
/*
* @Author: CaoWangrenbo cao.wangrenbo@yandex.com
* @Date: 2023-03-19 18:28:44
* @LastEditors: CaoWangrenbo cao.wangrenbo@yandex.com
* @LastEditTime: 2023-03-19 20:43:00
* @FilePath: \icr18_btl143_ch32v_slave\project\code\page\fd_page.h
* @Description:
*
*
*/
#ifndef _FD_PAGE_H__
#define _FD_PAGE_H__
#include "zf_common_headfile.h"
enum PageID {
PAGE_NULL = -1,
//......
page_menu,
// page_argv,
// page_sys,
// page_run,
//......
page_max,
};
typedef enum page_event{
page_event_forward,
page_event_backward,
page_event_press
} page_event;
typedef void (*CallbackFunction_t)(void);
typedef void (*EventFunction_t)(page_event);
typedef struct {
char *Text;
CallbackFunction_t SetupCallback;
CallbackFunction_t LoopCallback;
CallbackFunction_t ExitCallback;
EventFunction_t EventCallback;
} PAGE_LIST;
//页面注册函数
#define PAGE_REG(name)\
do{\
extern void PageRegister_##name(unsigned char pageID);\
PageRegister_##name(name);\
}while(0)
void Page_Register(uint8_t pageID, char *pageText,
CallbackFunction_t setupCallback, CallbackFunction_t loopCallback,
CallbackFunction_t exitCallback, EventFunction_t eventCallback);
void Page_EventTransmit(unsigned char event);
void Page_Shift(unsigned char pageID);
void Page_CloseCurrentPage(void);
void Page_OpenCurrentPage(void);
uint8_t Page_GetStatus(void);
void Page_Run(void);
void Page_Init(void);
extern PAGE_LIST pagelist[page_max];
#endif

107
app/page/cw_page_menu.c Normal file
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@@ -0,0 +1,107 @@
#include "zf_common_headfile.h"
#include "cw_page_ui_widget.h"
#include "cw_page.h"
#define LINE_HEAD 1
#define LINE_END 7
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 void Print_Menu_p(void);
/***************************************************************************************
*
* 以下为页面模板函数
*
***************************************************************************************/
/**
* @brief 页面初始化事件
* @param 无
* @retval 无
*/
static void Setup()
{
ips114_clear();
Print_Menu_p();
Print_Curser(Curser, Curser_Last);
}
/**
* @brief 页面退出事件
* @param 无
* @retval 无
*/
static void Exit()
{
}
/**
* @brief 页面循环执行的内容
* @param 无
* @retval 无
*/
static void Loop()
{
Show_Marked_Image();
}
/**
* @brief 页面事件
* @param btn:发出事件的按键
* @param event:事件编号
* @retval 无
*/
static void Event(page_event event)
{
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
} else if (page_event_press == event) {
if (page_max > Curser && page_menu < Curser) {
Page_Shift(Curser); // 切换到光标选中的页面
}
}
if (Curser < LINE_HEAD) {
Curser = LINE_END;
} else if (Curser > LINE_END) {
Curser = LINE_HEAD;
}
Print_Curser(Curser, Curser_Last);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_menu(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}
/***************************************************************************************
*
* 以下为页面自定义功能函数
*
***************************************************************************************/
/**
* @brief 打印菜单项
*
*/
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);
}
}

106
app/page/cw_page_rtcam.c Normal file
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@@ -0,0 +1,106 @@
#include "zf_common_headfile.h"
#include "cw_page_ui_widget.h"
#include "cw_page.h"
#define LINE_HEAD 1
#define LINE_END 7
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 void Print_Menu_p(void);
/***************************************************************************************
*
* 以下为页面模板函数
*
***************************************************************************************/
/**
* @brief 页面初始化事件
* @param 无
* @retval 无
*/
static void Setup()
{
ips114_clear();
Print_Menu_p();
Print_Curser(Curser, Curser_Last);
}
/**
* @brief 页面退出事件
* @param 无
* @retval 无
*/
static void Exit()
{
}
/**
* @brief 页面循环执行的内容
* @param 无
* @retval 无
*/
static void Loop()
{
}
/**
* @brief 页面事件
* @param btn:发出事件的按键
* @param event:事件编号
* @retval 无
*/
static void Event(page_event event)
{
Curser_Last = Curser;
if (page_event_forward == event) {
Curser--; // 光标上移
} else if (page_event_backward == event) {
Curser++; // 光标下移
} else if (page_event_press == event) {
if (page_max > Curser && page_menu < Curser) {
Page_Shift(Curser); // 切换到光标选中的页面
}
}
if (Curser < LINE_HEAD) {
Curser = LINE_END;
} else if (Curser > LINE_END) {
Curser = LINE_HEAD;
}
Print_Curser(Curser, Curser_Last);
}
/**
* @brief 页面注册函数
*
* @param pageID
*/
void PageRegister_page_rtcam(unsigned char pageID)
{
Page_Register(pageID, Text, Setup, Loop, Exit, Event);
}
/***************************************************************************************
*
* 以下为页面自定义功能函数
*
***************************************************************************************/
/**
* @brief 打印菜单项
*
*/
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);
}
}

150
app/page/cw_page_ui_widget.c Normal file
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@@ -0,0 +1,150 @@
#include "cw_page_ui_widget.h"
#include "zf_common_headfile.h"
#include "main.h"
/**
* @brief 绘制光标
*
* @param Curser_In 当前光标位置
* @param Curser_Last_In 上一时刻光标位置
*/
void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In)
{
ips200_show_string(0, Curser_Last_In * 16, " ");
ips200_show_string(0, Curser_In * 16, ">");
}
/**
* @brief 打印菜单项
*
*/
void Print_Menu(const ITEM *item, uint8_t item_sum)
{
ips200_show_string(0, 0, " --return--");
for (uint8_t i = 0; i < item_sum; i++) {
ips200_show_string(8, i * 16 + 16, item[i].text);
}
}
/**
* @brief 打印数值项
*
*/
void Print_Value(const ITEM *item, uint8_t item_sum)
{
// for (uint8_t i = 0; i < item_sum; i++) {
// switch (Param_Data[item[i].data_tag].type) {
// case EINT8:
// ips200_show_int(128, i + 1,
// *((int8_t *)Param_Data[item[i].data_tag].p_data), 5);
// break;
// case EINT16:
// ips200_show_int(128, i + 1,
// *((int16_t *)Param_Data[item[i].data_tag].p_data), 5);
// break;
// case EINT32:
// ips200_show_int(128, i + 1,
// *((int32_t *)Param_Data[item[i].data_tag].p_data), 5);
// break;
// case EUINT8:
// ips200_show_int(128, i + 1,
// *((uint8_t *)Param_Data[item[i].data_tag].p_data), 5);
// break;
// case EUINT16:
// ips200_show_int(128, i + 1,
// *((uint16_t *)Param_Data[item[i].data_tag].p_data), 5);
// break;
// case EUINT32:
// ips200_show_int(128, i + 1,
// *((uint32_t *)Param_Data[item[i].data_tag].p_data), 5);
// case EFLOAT:
// ips200_show_float(128, i + 1,
// *((float *)Param_Data[item[i].data_tag].p_data), 5, 2);
// break;
// default:
// break;
// }
// }
}
/**
* @brief
*
* @param item_num
* @param dir
*/
void Set_Vaule(ITEM *item, uint8_t item_num, float step)
{
// if (EFLOAT == Param_Data[item[item_num].data_tag].type) { // 待修改变量为浮点
// *((float *)Param_Data[item[item_num].data_tag].p_data) += step;
// ips200_show_float(128, item_num + 1,
// *((float *)Param_Data[item[item_num].data_tag].p_data), 6,
// 2);
// return;
// }
// if (0 < step &&
// 1 > step) { // 避免步进值小于 1 时截尾为 0，不知道为啥 ceil 函数不可用
// step = 1;
// } else if (0 > step && -1 < step) {
// step = -1;
// }
// switch (Param_Data[item[item_num].data_tag].type) {
// case EINT8:
// *((int8_t *)Param_Data[item[item_num].data_tag].p_data) += (int8_t)step;
// ips200_show_int(128, item_num + 1,
// *((int8_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// case EINT16:
// *((int16_t *)Param_Data[item[item_num].data_tag].p_data) += (int16_t)step;
// ips200_show_int(128, item_num + 1,
// *((int16_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// case EINT32:
// *((int32_t *)Param_Data[item[item_num].data_tag].p_data) += (int32_t)step;
// ips200_show_int(128, item_num + 1,
// *((int32_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// case EUINT8:
// *((uint8_t *)Param_Data[item[item_num].data_tag].p_data) += (uint8_t)step;
// ips200_show_int(128, item_num + 1,
// *((uint8_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// case EUINT16:
// *((uint16_t *)Param_Data[item[item_num].data_tag].p_data) += (uint16_t)step;
// ips200_show_int(128, item_num + 1,
// *((uint16_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// case EUINT32:
// *((uint32_t *)Param_Data[item[item_num].data_tag].p_data) += (uint32_t)step;
// ips200_show_int(128, item_num + 1,
// *((uint32_t *)Param_Data[item[item_num].data_tag].p_data), 5);
// break;
// default:
// break;
// }
}
void Show_Marked_Image(void)
{
#define IMAGE_DISPLAY_WIDTH (230U)
#define IMAGE_DISPLAY_HEIGHT (146U)
#define START_X ((240U - IMAGE_DISPLAY_WIDTH) / 2U)
#define START_Y (16U)
float horizontal_zoom_rate = ((float)(IMAGE_DISPLAY_WIDTH)) / ((float)(MT9V03X_W));
float vertical_zoom_rate = ((float)(IMAGE_DISPLAY_HEIGHT)) / ((float)(MT9V03X_H));
ips200_show_gray_image(START_X, START_Y, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, IMAGE_DISPLAY_WIDTH, IMAGE_DISPLAY_HEIGHT, 0);
// 确认边线数组在显示前不会清空
for (uint i = 0; i < PT_MAXLEN; i++) {
ips200_draw_point(START_X + (uint16_t)(mid_right[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_right[i][1] * vertical_zoom_rate), RGB565_GREEN);
ips200_draw_point(START_X + (uint16_t)(mid_left[i][0] * horizontal_zoom_rate), START_Y + (uint16_t)(mid_left[i][1] * vertical_zoom_rate), RGB565_GREEN);
}
#undef IMAGE_DISPLAY_WIDTH
#undef START_X
#undef START_Y
}

17
app/page/cw_page_ui_widget.h Normal file
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@@ -0,0 +1,17 @@
#ifndef _FD_SCREEN_WIDGET_H__
#define _FD_SCREEN_WIDGET_H__
#include "zf_common_headfile.h"
typedef struct {
char *text; //变量显示名
uint8_t data_tag; //变量结构体
} ITEM;
void Print_Curser(uint8_t Curser_In, uint8_t Curser_Last_In);
void Print_Menu(const ITEM* item, uint8_t item_sum);
void Print_Value(const ITEM* item, uint8_t item_sum);
void Set_Vaule(ITEM* item, uint8_t item_num, float step);
void Show_Marked_Image(void);
#endif

342
libraries/zf_device/zf_device_ips200.c
View File

@@ -174,7 +174,6 @@ static soft_spi_info_struct ips200_spi;
static void ips200_write_data(const uint8 dat)
{
IPS200_DATAPORT->OUTDR = ((dat << DATA_START_NUM) | (IPS200_DATAPORT->OUTDR & ~((uint32)(0xFF << DATA_START_NUM))));
}
// #define ips200_write_data(x) (*(volatile uint16 *)IPS200_DATA_ADD = (((uint16)x & 0x00FF) << 8))
@@ -188,8 +187,7 @@ static void ips200_write_data (const uint8 dat)
//-------------------------------------------------------------------------------------------------------------------
static void ips200_write_command(const uint8 command)
{
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
IPS200_CS(0);
IPS200_DC(0);
@@ -197,9 +195,7 @@ static void ips200_write_command (const uint8 command)
IPS200_DC(1);
IPS200_CS(1);
IPS200_CS(0);
}
else
{
} else {
IPS200_CS(0);
IPS200_RS(0);
IPS200_RD(1);
@@ -220,12 +216,9 @@ static void ips200_write_command (const uint8 command)
//-------------------------------------------------------------------------------------------------------------------
static void ips200_write_8bit_data(const uint8 dat)
{
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
ips200_write_8bit_data_spi(dat);
}
else
{
} else {
IPS200_CS(0);
IPS200_RD(1);
IPS200_WR(0);
@@ -243,16 +236,12 @@ static void ips200_write_8bit_data (const uint8 dat)
//-------------------------------------------------------------------------------------------------------------------
static void ips200_write_8bit_data_array(const uint8 *dat, uint32 len)
{
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
ips200_write_8bit_data_spi_array(dat, len);
}
else
{
} else {
IPS200_CS(0);
IPS200_RD(1);
while(len --)
{
while (len--) {
IPS200_WR(0);
ips200_write_data((uint8)*dat);
IPS200_WR(1);
@@ -271,12 +260,9 @@ static void ips200_write_8bit_data_array (const uint8 *dat, uint32 len)
//-------------------------------------------------------------------------------------------------------------------
static void ips200_write_16bit_data(const uint16 dat)
{
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
ips200_write_16bit_data_spi(dat);
}
else
{
} else {
IPS200_CS(0);
IPS200_RD(1);
IPS200_WR(0);
@@ -297,16 +283,12 @@ static void ips200_write_16bit_data (const uint16 dat)
//-------------------------------------------------------------------------------------------------------------------
static void ips200_write_16bit_data_array(const uint16 *dat, uint32 len)
{
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
ips200_write_16bit_data_spi_array(dat, len);
}
else
{
} else {
IPS200_CS(0);
IPS200_RD(1);
while(len --)
{
while (len--) {
IPS200_WR(0);
ips200_write_data((uint8)(*dat >> 8));
IPS200_WR(1);
@@ -366,20 +348,16 @@ static void ips200_debug_init (void)
info.display_x_max = ips200_x_max;
info.display_y_max = ips200_y_max;
switch(ips200_display_font)
{
case IPS200_6X8_FONT:
{
switch (ips200_display_font) {
case IPS200_6X8_FONT: {
info.font_x_size = 6;
info.font_y_size = 8;
} break;
case IPS200_8X16_FONT:
{
case IPS200_8X16_FONT: {
info.font_x_size = 8;
info.font_y_size = 16;
} break;
case IPS200_16X16_FONT:
{
case IPS200_16X16_FONT: {
// 暂不支持
} break;
}
@@ -401,21 +379,17 @@ void ips200_clear (void)
uint16 color_buffer[ips200_x_max];
uint16 i = 0, j = 0;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(0, 0, ips200_x_max - 1, ips200_y_max - 1);
for(i = 0; i < ips200_x_max; i ++)
{
for (i = 0; i < ips200_x_max; i++) {
color_buffer[i] = ips200_bgcolor;
}
for (j = 0; j < ips200_y_max; j ++)
{
for (j = 0; j < ips200_y_max; j++) {
ips200_write_16bit_data_array(color_buffer, ips200_x_max);
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -432,21 +406,17 @@ void ips200_full (const uint16 color)
uint16 color_buffer[ips200_x_max];
uint16 i = 0, j = 0;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(0, 0, ips200_x_max - 1, ips200_y_max - 1);
for(i = 0; i < ips200_x_max; i ++)
{
for (i = 0; i < ips200_x_max; i++) {
color_buffer[i] = color;
}
for (j = 0; j < ips200_y_max; j ++)
{
for (j = 0; j < ips200_y_max; j++) {
ips200_write_16bit_data_array(color_buffer, ips200_x_max);
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -461,17 +431,14 @@ void ips200_full (const uint16 color)
void ips200_set_dir(ips200_dir_enum dir)
{
ips200_display_dir = dir;
switch(ips200_display_dir)
{
switch (ips200_display_dir) {
case IPS200_PORTAIT:
case IPS200_PORTAIT_180:
{
case IPS200_PORTAIT_180: {
ips200_x_max = 240;
ips200_y_max = 320;
} break;
case IPS200_CROSSWISE:
case IPS200_CROSSWISE_180:
{
case IPS200_CROSSWISE_180: {
ips200_x_max = 320;
ips200_y_max = 240;
} break;
@@ -520,14 +487,12 @@ void ips200_draw_point (uint16 x, uint16 y, const uint16 color)
zf_assert(x < ips200_x_max);
zf_assert(y < ips200_y_max);
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, x, y);
ips200_write_16bit_data(color);
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -557,37 +522,27 @@ void ips200_draw_line (uint16 x_start, uint16 y_start, uint16 x_end, uint16 y_en
float temp_rate = 0;
float temp_b = 0;
do
{
if(x_start != x_end)
{
do {
if (x_start != x_end) {
temp_rate = (float)(y_start - y_end) / (float)(x_start - x_end);
temp_b = (float)y_start - (float)x_start * temp_rate;
}
else
{
while(y_start != y_end)
{
} else {
while (y_start != y_end) {
ips200_draw_point(x_start, y_start, color);
y_start += y_dir;
}
ips200_draw_point(x_start, y_start, color);
break;
}
if(func_abs(y_start - y_end) > func_abs(x_start - x_end))
{
while(y_start != y_end)
{
if (func_abs(y_start - y_end) > func_abs(x_start - x_end)) {
while (y_start != y_end) {
ips200_draw_point(x_start, y_start, color);
y_start += y_dir;
x_start = (int16)(((float)y_start - temp_b) / temp_rate);
}
ips200_draw_point(x_start, y_start, color);
}
else
{
while(x_start != x_end)
{
} else {
while (x_start != x_end) {
ips200_draw_point(x_start, y_start, color);
x_start += x_dir;
y_start = (int16)((float)x_start * temp_rate + temp_b);
@@ -615,28 +570,20 @@ void ips200_show_char (uint16 x, uint16 y, const char dat)
uint8 i = 0, j = 0;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
switch(ips200_display_font)
{
case IPS200_6X8_FONT:
{
switch (ips200_display_font) {
case IPS200_6X8_FONT: {
uint16 display_buffer[6 * 8];
ips200_set_region(x, y, x + 5, y + 7);
for(i = 0; 6 > i; i ++)
{
for (i = 0; 6 > i; i++) {
// 减 32 因为是取模是从空格开始取得 空格在 ascii 中序号是 32
uint8 temp_top = ascii_font_6x8[dat - 32][i];
for(j = 0; 8 > j; j ++)
{
if(temp_top & 0x01)
{
for (j = 0; 8 > j; j++) {
if (temp_top & 0x01) {
display_buffer[i + j * 6] = (ips200_pencolor);
}
else
{
} else {
display_buffer[i + j * 6] = (ips200_bgcolor);
}
temp_top >>= 1;
@@ -644,34 +591,24 @@ void ips200_show_char (uint16 x, uint16 y, const char dat)
}
ips200_write_16bit_data_array(display_buffer, 6 * 8);
} break;
case IPS200_8X16_FONT:
{
case IPS200_8X16_FONT: {
uint16 display_buffer[8 * 16];
ips200_set_region(x, y, x + 7, y + 15);
for(i = 0; 8 > i; i ++)
{
for (i = 0; 8 > i; i++) {
uint8 temp_top = ascii_font_8x16[dat - 32][i];
uint8 temp_bottom = ascii_font_8x16[dat - 32][i + 8];
for(j = 0; 8 > j; j ++)
{
if(temp_top & 0x01)
{
for (j = 0; 8 > j; j++) {
if (temp_top & 0x01) {
display_buffer[i + j * 8] = (ips200_pencolor);
}
else
{
} else {
display_buffer[i + j * 8] = (ips200_bgcolor);
}
temp_top >>= 1;
}
for(j = 0; 8 > j; j ++)
{
if(temp_bottom & 0x01)
{
for (j = 0; 8 > j; j++) {
if (temp_bottom & 0x01) {
display_buffer[i + j * 8 + 4 * 16] = (ips200_pencolor);
}
else
{
} else {
display_buffer[i + j * 8 + 4 * 16] = (ips200_bgcolor);
}
temp_bottom >>= 1;
@@ -679,13 +616,11 @@ void ips200_show_char (uint16 x, uint16 y, const char dat)
}
ips200_write_16bit_data_array(display_buffer, 8 * 16);
} break;
case IPS200_16X16_FONT:
{
case IPS200_16X16_FONT: {
// 暂不支持
} break;
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -707,13 +642,16 @@ void ips200_show_string (uint16 x, uint16 y, const char dat[])
zf_assert(y < ips200_y_max);
uint16 j = 0;
while('\0' != dat[j])
{
switch(ips200_display_font)
{
case IPS200_6X8_FONT: ips200_show_char(x + 6 * j, y, dat[j]); break;
case IPS200_8X16_FONT: ips200_show_char(x + 8 * j, y, dat[j]); break;
case IPS200_16X16_FONT: break; // 暂不支持
while ('\0' != dat[j]) {
switch (ips200_display_font) {
case IPS200_6X8_FONT:
ips200_show_char(x + 6 * j, y, dat[j]);
break;
case IPS200_8X16_FONT:
ips200_show_char(x + 8 * j, y, dat[j]);
break;
case IPS200_16X16_FONT:
break; // 暂不支持
}
j++;
}
@@ -746,10 +684,8 @@ void ips200_show_int (uint16 x, uint16 y, const int32 dat, uint8 num)
memset(data_buffer, ' ', num + 1);
// 用来计算余数显示 123 显示 2 位则应该显示 23
if(10 > num)
{
for(; 0 < num; num --)
{
if (10 > num) {
for (; 0 < num; num--) {
offset *= 10;
}
dat_temp %= offset;
@@ -784,10 +720,8 @@ void ips200_show_uint (uint16 x, uint16 y, const uint32 dat, uint8 num)
memset(data_buffer, ' ', num);
// 用来计算余数显示 123 显示 2 位则应该显示 23
if(10 > num)
{
for(; 0 < num; num --)
{
if (10 > num) {
for (; 0 < num; num--) {
offset *= 10;
}
dat_temp %= offset;
@@ -828,8 +762,7 @@ void ips200_show_float (uint16 x, uint16 y, const double dat, uint8 num, uint8 p
memset(data_buffer, ' ', num + pointnum + 2);
// 用来计算余数显示 123 显示 2 位则应该显示 23
for(; 0 < num; num --)
{
for (; 0 < num; num--) {
offset *= 10;
}
dat_temp = dat_temp - ((int)dat_temp / (int)offset) * offset;
@@ -867,32 +800,25 @@ void ips200_show_binary_image (uint16 x, uint16 y, const uint8 *image, uint16 wi
uint16 data_buffer[dis_width];
const uint8 *image_temp;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, x + dis_width - 1, y + dis_height - 1); // 设置显示区域
for(j = 0; j < dis_height; j ++)
{
for (j = 0; j < dis_height; j++) {
image_temp = image + j * height / dis_height * width / 8; // 直接对 image 操作会 Hardfault 暂时不知道为什么
for(i = 0; i < dis_width; i ++)
{
for (i = 0; i < dis_width; i++) {
width_index = i * width / dis_width;
temp = *(image_temp + width_index / 8); // 读取像素点
if(0x80 & (temp << (width_index % 8)))
{
if (0x80 & (temp << (width_index % 8))) {
data_buffer[i] = (RGB565_WHITE);
}
else
{
} else {
data_buffer[i] = (RGB565_BLACK);
}
}
ips200_write_16bit_data_array(data_buffer, dis_width);
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -927,38 +853,29 @@ void ips200_show_gray_image (uint16 x, uint16 y, const uint8 *image, uint16 widt
uint16 data_buffer[dis_width];
const uint8 *image_temp;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, x + dis_width - 1, y + dis_height - 1); // 设置显示区域
for(j = 0; j < dis_height; j ++)
{
for (j = 0; j < dis_height; j++) {
image_temp = image + j * height / dis_height * width; // 直接对 image 操作会 Hardfault 暂时不知道为什么
for(i = 0; i < dis_width; i ++)
{
for (i = 0; i < dis_width; i++) {
temp = *(image_temp + i * width / dis_width); // 读取像素点
if(threshold == 0)
{
if (threshold == 0) {
color = (0x001f & ((temp) >> 3)) << 11;
color = color | (((0x003f) & ((temp) >> 2)) << 5);
color = color | (0x001f & ((temp) >> 3));
data_buffer[i] = (color);
}
else if(temp < threshold)
{
} else if (temp < threshold) {
data_buffer[i] = (RGB565_BLACK);
}
else
{
} else {
data_buffer[i] = (RGB565_WHITE);
}
}
ips200_write_16bit_data_array(data_buffer, dis_width);
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -992,30 +909,23 @@ void ips200_show_rgb565_image (uint16 x, uint16 y, const uint16 *image, uint16 w
uint16 data_buffer[dis_width];
const uint16 *image_temp;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, x + dis_width - 1, y + dis_height - 1); // 设置显示区域
for(j = 0; j < dis_height; j ++)
{
for (j = 0; j < dis_height; j++) {
image_temp = image + j * height / dis_height * width; // 直接对 image 操作会 Hardfault 暂时不知道为什么
for(i = 0; i < dis_width; i ++)
{
for (i = 0; i < dis_width; i++) {
data_buffer[i] = *(image_temp + i * width / dis_width); // 读取像素点
}
if(color_mode)
{
if (color_mode) {
ips200_write_8bit_data_array((uint8 *)data_buffer, dis_width * 2);
}
else
{
} else {
ips200_write_16bit_data_array(data_buffer, dis_width);
}
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -1045,27 +955,21 @@ void ips200_show_wave (uint16 x, uint16 y, const uint16 *wave, uint16 width, uin
uint32 width_index = 0, value_max_index = 0;
uint16 data_buffer[dis_width];
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, x + dis_width - 1, y + dis_value_max - 1); // 设置显示区域
for(j = 0; j < dis_value_max; j ++)
{
for(i = 0; i < dis_width; i ++)
{
for (j = 0; j < dis_value_max; j++) {
for (i = 0; i < dis_width; i++) {
data_buffer[i] = (ips200_bgcolor);
}
ips200_write_16bit_data_array(data_buffer, dis_width);
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
for(i = 0; i < dis_width; i ++)
{
for (i = 0; i < dis_width; i++) {
width_index = i * width / dis_width;
value_max_index = *(wave + width_index) * (dis_value_max - 1) / value_max;
ips200_draw_point(i + x, (dis_value_max - 1) - value_max_index + y, ips200_pencolor);
@@ -1098,29 +1002,21 @@ void ips200_show_chinese (uint16 x, uint16 y, uint8 size, const uint8 *chinese_b
temp2 = size / 8;
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_set_region(x, y, number * size - 1 + x, y + size - 1);
for(i = 0; i < size; i ++)
{
for (i = 0; i < size; i++) {
temp1 = number;
p_data = chinese_buffer + i * temp2;
while(temp1 --)
{
for(k = 0; k < temp2; k ++)
{
for(j = 8; 0 < j; j --)
{
while (temp1--) {
for (k = 0; k < temp2; k++) {
for (j = 8; 0 < j; j--) {
temp = (*p_data >> (j - 1)) & 0x01;
if(temp)
{
if (temp) {
ips200_write_16bit_data(color);
}
else
{
} else {
ips200_write_16bit_data(ips200_bgcolor);
}
}
@@ -1129,8 +1025,7 @@ void ips200_show_chinese (uint16 x, uint16 y, uint8 size, const uint8 *chinese_b
p_data = p_data - temp2 + temp2 * size;
}
}
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}
}
@@ -1144,8 +1039,7 @@ void ips200_show_chinese (uint16 x, uint16 y, uint8 size, const uint8 *chinese_b
//-------------------------------------------------------------------------------------------------------------------
void ips200_init(ips200_type_enum type_select)
{
if(IPS200_TYPE_SPI == type_select)
{
if (IPS200_TYPE_SPI == type_select) {
ips200_display_type = IPS200_TYPE_SPI;
ips_rst_pin = IPS200_RST_PIN_SPI;
ips_bl_pin = IPS200_BLk_PIN_SPI;
@@ -1160,9 +1054,7 @@ void ips200_init (ips200_type_enum type_select)
gpio_init(ips_rst_pin, GPO, GPIO_LOW, GPO_PUSH_PULL);
gpio_init(IPS200_CS_PIN_SPI, GPO, GPIO_LOW, GPO_PUSH_PULL);
gpio_init(ips_bl_pin, GPO, GPIO_HIGH, GPO_PUSH_PULL);
}
else
{
} else {
ips200_display_type = IPS200_TYPE_PARALLEL8;
ips_rst_pin = IPS200_RST_PIN_PARALLEL8;
ips_bl_pin = IPS200_BL_PIN_PARALLEL8;
@@ -1185,8 +1077,7 @@ void ips200_init (ips200_type_enum type_select)
uint8 i = 0;
uint8 pin_value = (((uint32)IPS200_DATAPORT - GPIOA_BASE) / 0x400) * 0x20 + DATA_START_NUM; // 获取端口的枚举体值
for(i = 0;i < 8;i++)
{
for (i = 0; i < 8; i++) {
gpio_init((gpio_pin_enum)(pin_value + i), GPO, 0, GPO_PUSH_PULL);
}
}
@@ -1200,20 +1091,26 @@ void ips200_init (ips200_type_enum type_select)
IPS200_RST(1);
system_delay_ms(120);
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(0);
}
ips200_write_command(0x11);
system_delay_ms(120);
ips200_write_command(0x36);
switch(ips200_display_dir)
{
case IPS200_PORTAIT: ips200_write_8bit_data(0x00); break;
case IPS200_PORTAIT_180: ips200_write_8bit_data(0xC0); break;
case IPS200_CROSSWISE: ips200_write_8bit_data(0x70); break;
case IPS200_CROSSWISE_180: ips200_write_8bit_data(0xA0); break;
switch (ips200_display_dir) {
case IPS200_PORTAIT:
ips200_write_8bit_data(0x00);
break;
case IPS200_PORTAIT_180:
ips200_write_8bit_data(0xC0);
break;
case IPS200_CROSSWISE:
ips200_write_8bit_data(0x70);
break;
case IPS200_CROSSWISE_180:
ips200_write_8bit_data(0xA0);
break;
}
ips200_write_command(0x3A);
@@ -1286,8 +1183,7 @@ void ips200_init (ips200_type_enum type_select)
ips200_write_command(0x21);
ips200_write_command(0x29);
if(IPS200_TYPE_SPI == ips200_display_type)
{
if (IPS200_TYPE_SPI == ips200_display_type) {
IPS200_CS(1);
}