Initial commit: TC264 smart car project with IPS200 menu system

- IPS200 display menu with real-time status and parameter settings
- Camera image processing and line tracking
- IMU attitude solution and PID control
- WiFi SPI oscilloscope data transmission

code/user_line_process.h

@@ -0,0 +1,57 @@
+#ifndef _USER_LINE_PROCESS_H_
+#define _USER_LINE_PROCESS_H_
+
+#include "zf_common_typedef.h"
+#include "zf_device_mt9v03x_double.h"
+
+/*============================================================
+ * 常量配置
+ *============================================================*/
+#define MAX_EDGE_PTS        240    /* 最大边线点数 (图像高度)    */
+
+/*============================================================
+ * 全局输出变量
+ *============================================================*/
+extern float center_line[MAX_EDGE_PTS][2];    /* 赛道中线 (图像坐标)   */
+extern uint16 center_line_num;                /* 中线点数             */
+extern float left_edge[MAX_EDGE_PTS][2];      /* 左边线 (重采样后)    */
+extern float right_edge[MAX_EDGE_PTS][2];     /* 右边线 (重采样后)    */
+extern uint16 left_edge_num, right_edge_num;  /* 边线点数             */
+extern float inflection_point[2];             /* 左拐点坐标 (图像)    */
+extern uint8 inflection_found;                /* 左拐点是否有效       */
+extern float inflection_point_r[2];           /* 右拐点坐标 (图像)    */
+extern uint8 inflection_found_r;              /* 右拐点是否有效       */
+
+/*============================================================
+ * 赛道边界检测 (迷宫法)
+ *
+ * 从 (start_x, start_y) 开始, 用左右手定则沿白线边缘向上追踪.
+ * 内置底行全宽搜索兜底: 当中心点无赛道时自动扫描全行.
+ *============================================================*/
+void find_circuit_edges(uint8 *binary, uint16 w, uint16 h,
+                         int16 start_x, int16 start_y,
+                         int16 left_pts[][2], uint16 *left_num,
+                         int16 right_pts[][2], uint16 *right_num);
+
+/*============================================================
+ * 中线计算 (插值补齐缺失边, 产生平滑稠密中线)
+ *
+ * 原始迷宫法左右追踪点 y 坐标不对齐, 同行配对极稀疏.
+ * 本函数先对缺失边线做线性插值, 再对中线做空间平滑和鲁棒拟合.
+ *============================================================*/
+void compute_center_line_interp(int16 left[][2], uint16 left_num,
+                                 int16 right[][2], uint16 right_num,
+                                 float center[][2], uint16 *center_num);
+
+/*============================================================
+ * 一帧图像处理主入口
+ *
+ * 输入: binary — 已二值化的图像 (140x80, 0x00=黑/背景, 0xFF=白/赛道)
+ * 输出: center_line / left_edge / right_edge 全局变量
+ *============================================================*/
+void line_process_run(uint8 *binary);
+
+/* 中线加权偏差 (仅计入 y>=min_row 的下半部分, 底部权重更大) */
+float line_compute_weighted_deviation(uint16 image_center_x, uint16 min_row);
+
+#endif /* _USER_LINE_PROCESS_H_ */