166 lines
5.6 KiB
C
166 lines
5.6 KiB
C
/*********************************************************************************************************************
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* CH32V307VCT6 Opensourec Library ????CH32V307VCT6 ???????????????? SDK ??????????????
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* Copyright (c) 2022 SEEKFREE ?????
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*
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* ??????? CH32V307VCT6 ???????????
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*
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* CH32V307VCT6 ????? ?????????
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* ?????????????????????????? GPL??GNU General Public License???? GNU ??锟斤拷？???????????????
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* ?? GPL ??? 3 ?锟斤拷？? GPL3.0????????????锟绞︼拷？????锟斤拷？????锟斤拷？????/???????
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*
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* ????????????????????????????????锟斤拷？??????锟绞︼拷？??
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* ?????????????????????????????????
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* ?????????锟斤拷？GPL
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*
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* ?????????????????????????? GPL ?????
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* ?????锟斤拷？?????<https://www.gnu.org/licenses/>
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*
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* ?????????
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* ?????????? GPL3.0 ????????锟斤拷？? ?????????????????锟斤拷
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* ?????????????? libraries/doc ???????? GPL3_permission_statement.txt ?????
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* ??????????? libraries ??????? ???????????? LICENSE ???
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* ?????锟斤拷？?锟斤拷？?????????? ?????????????????????????????????????????
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*
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* ??????? main
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* ??????? ??????????????
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* ?锟斤拷？?? ?? libraries/doc ??????? version ??? ?锟斤拷？??
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* ???????? MounRiver Studio V1.8.1
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* ?????? CH32V307VCT6
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* ???????? https://seekfree.taobao.com/
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*
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* ?????
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* ???? ???? ???
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* 2022-09-15 ?? W first version
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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_pt_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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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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void img_processing();
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void get_corners();
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void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value);
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int main(void)
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{
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clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
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debug_init(); // 务必保留，本函数用于初始化 MPU 时钟 调试串口
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//mt9v03x_init();
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// system_delay_ms(2000);
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ips200_init(IPS200_TYPE_SPI);
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mt9v03x_init();
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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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//printf("hello world\n");
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// while (imu660ra_init())
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// ;
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// system_delay_ms(2000);
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// gyroOffset_init();
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// pit_ms_init(TIM6_PIT, 2);
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while (1) {
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// while (frame_count < 20) {
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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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// adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 8);
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// //threshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, MT9V03X_W, MT9V03X_H, 110);
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// ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
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// mt9v03x_finish_flag = 0;
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// frame_count++;
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// }
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//}
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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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adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
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ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
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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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//printf("1\r\n");
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//system_delay_ms(100);
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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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}
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void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
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int half_block = block / 2;
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for(int y=half_block; y<height-half_block; y++){
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for(int x=half_block; x<width-half_block; x++){
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// 计算局部阈值
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int thres = 0;
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for(int dy=-half_block; dy<=half_block; dy++){
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for(int dx=-half_block; dx<=half_block; dx++){
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thres += img_data[(x+dx)+(y+dy)*width];
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}
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}
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thres = thres / (block * block) - clip_value;
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// 进行二值化
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output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
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}
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}
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} |