129 lines
4.2 KiB
C
129 lines
4.2 KiB
C
/*********************************************************************************************************************
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* 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
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是 CH32V307VCT6 开源库的一部分
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*
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* CH32V307VCT6 开源库 是免费软件
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* 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
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* 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
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*
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* 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
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 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
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 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）
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********************************************************************************************************************/
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#include "zf_common_headfile.h"
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#include "gl_headfile.h"
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#include "by_rt_button.h"
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#include "by_fan_control.h"
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#include "cw_servo.h"
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#include "./page/cw_page.h"
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uint8_t (*Img_Gray)[MT9V03X_W];
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// uint8_t *mt9v03x_image_copy[0];
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int32_t pts_left[PT_MAXLEN][2];
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int32_t pts_right[PT_MAXLEN][2];
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int32_t pts_left_count, pts_right_count;
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float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
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int32_t pts_inv_l_count, pts_inv_r_count;
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float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
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int32_t pts_filter_l_count, pts_filter_r_count;
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float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
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int32_t pts_resample_left_count, pts_resample_right_count;
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float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
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int32_t mid_left_count, mid_right_count;
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float angle_new_left[PT_MAXLEN];
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float angle_new_right[PT_MAXLEN];
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int angle_new_left_num, angle_new_right_num;
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uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
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float angle_left[PT_MAXLEN];
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float angle_right[PT_MAXLEN];
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int angle_left_num, angle_right_num;
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int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
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bool Lpt0_found, Lpt1_found;
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int Lpt1[2], Lpt0[2];
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int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
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bool Lpt_in0_found, Lpt_in1_found;
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int Lpt_in1[2], Lpt_in0[2];
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bool is_straight0, is_straight1;
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bool is_turn0, is_turn1;
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float rptsn[PT_MAXLEN][2];
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int rptsn_num;
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float aim_distance;
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enum track_type_e track_type = TRACK_RIGHT;
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int frame_count = 0;
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uint16_t pwm_cnt = 500;
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void img_processing();
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void get_corners();
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int main(void)
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{
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clock_init(SYSTEM_CLOCK_120M);
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system_delay_init();
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debug_init();
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mt9v03x_init();
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pwm_init(TIM2_PWM_MAP0_CH1_A0, 50, 1000);
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pwm_init(TIM2_PWM_MAP0_CH2_A1, 50, 1000);
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ips200_init(IPS200_TYPE_SPI);
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by_gpio_init();
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by_exit_init();
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by_pwm_init();
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// cw_servo_init();
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// while (imu660ra_init())
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// ;
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Page_Init();
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while (1) {
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// ips200_show_uint(0, 0, pwm_cnt, 6);
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// uint8_t temp_status = by_get_rb_status();
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// if (2 == temp_status) {
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// pwm_cnt += 50;
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// } else if (3 == temp_status) {
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// pwm_cnt -= 50;
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// }
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// pwm_cnt = (uint16_t)clip(pwm_cnt, 500, 1000);
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// by_pwm_update_duty(4000);
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// pwm_set_duty(TIM2_PWM_MAP0_CH1_A0, pwm_cnt);
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// pwm_set_duty(TIM2_PWM_MAP0_CH2_A1, pwm_cnt);
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// by_pwm_update_duty(pwm_cnt);
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Page_Run();
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if (mt9v03x_finish_flag) {
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memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
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mt9v03x_finish_flag = 0;
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state_type = COMMON_STATE;
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img_processing();
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get_corners();
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aim_distance = COMMON_AIM;
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tracking();
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ElementJudge();
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ElementRun();
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MidLineTrack();
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}
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}
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} |