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
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/*********************************************************************************************************************
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* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
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*
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* TC264 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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* 文件名称 seekfree_assistant
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 ADS v1.10.2
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* 适用平台 TC264D
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2024-01-01 pudding first version
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********************************************************************************************************************/
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#include "zf_common_debug.h"
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#include "seekfree_assistant.h"
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extern uint32 seekfree_assistant_transfer (const uint8 *buff, uint32 length);
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extern uint32 seekfree_assistant_receive (uint8 *buff, uint32 length);
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#if (1 == SEEKFREE_ASSISTANT_SET_PARAMETR_ENABLE)
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#include "zf_common_fifo.h"
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static uint8 seekfree_assistant_buffer[SEEKFREE_ASSISTANT_BUFFER_SIZE]; // FIFO缓冲区
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static fifo_struct seekfree_assistant_fifo = // FIFO结构体
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{
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.buffer = seekfree_assistant_buffer,
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.execution = FIFO_IDLE,
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.type = FIFO_DATA_8BIT,
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.head = 0,
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.end = 0,
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.size = SEEKFREE_ASSISTANT_BUFFER_SIZE,
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.max = SEEKFREE_ASSISTANT_BUFFER_SIZE,
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};
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#endif
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static seekfree_assistant_camera_struct seekfree_assistant_camera_data; // 图像上位机协议数据
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static seekfree_assistant_camera_dot_struct seekfree_assistant_camera_dot_data; // 图像上位机打点协议数据
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static seekfree_assistant_camera_buffer_struct seekfree_assistant_camera_buffer; // 图像以及边界缓冲区信息
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seekfree_assistant_transfer_callback_function seekfree_assistant_transfer_callback = seekfree_assistant_transfer; // 数据发送函数指针
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seekfree_assistant_receive_callback_function seekfree_assistant_receive_callback = seekfree_assistant_receive; // 数据接收函数指针
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seekfree_assistant_oscilloscope_struct seekfree_assistant_oscilloscope_data; // 虚拟示波器数据
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float seekfree_assistant_parameter[SEEKFREE_ASSISTANT_SET_PARAMETR_COUNT] = {0}; // 保存接收到的参数
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vuint8 seekfree_assistant_parameter_update_flag[SEEKFREE_ASSISTANT_SET_PARAMETR_COUNT] = {0}; // 参数更新标志位
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手求和函数
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// 参数说明 *buffer 需要校验的数据地址
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// 参数说明 length 校验长度
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// 返回参数 uint8 和值
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// 使用示例
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 seekfree_assistant_sum (uint8 *buffer, uint32 length)
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{
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uint8 temp_sum = 0;
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while(length--)
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{
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temp_sum += *buffer++;
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}
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return temp_sum;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手 图像发送函数
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// 参数说明 camera_type 摄像头类型
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// 参数说明 *image_addr 图像首地址
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// 参数说明 boundary_num 图像中包含边界数量
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// 参数说明 width 图像宽度
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// 参数说明 height 图像高度
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// 返回参数 void
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// 使用示例
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//-------------------------------------------------------------------------------------------------------------------
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void seekfree_assistant_camera_data_send (seekfree_assistant_image_type_enum camera_type, void *image_addr, uint8 boundary_num, uint16 width, uint16 height)
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{
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uint32 image_size = 0;
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seekfree_assistant_camera_data.head = SEEKFREE_ASSISTANT_SEND_HEAD;
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seekfree_assistant_camera_data.function = SEEKFREE_ASSISTANT_CAMERA_FUNCTION;
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seekfree_assistant_camera_data.camera_type = (camera_type << 5) | ((image_addr != NULL ? 0 : 1) << 4) | boundary_num;
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// 写入包长度信息，仅包含协议部分
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seekfree_assistant_camera_data.length = sizeof(seekfree_assistant_camera_struct);
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seekfree_assistant_camera_data.image_width = width;
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seekfree_assistant_camera_data.image_height = height;
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// 首先发送帧头、功能、摄像头类型、以及宽度高度等信息
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seekfree_assistant_transfer_callback((const uint8 *)&seekfree_assistant_camera_data, sizeof(seekfree_assistant_camera_struct));
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// 根据摄像头类型计算图像大小
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switch(camera_type)
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{
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case SEEKFREE_ASSISTANT_OV7725_BIN:
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{
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image_size = width * height / 8;
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}break;
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case SEEKFREE_ASSISTANT_MT9V03X:
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{
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image_size = width * height;
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}break;
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case SEEKFREE_ASSISTANT_SCC8660:
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{
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image_size = width * height * 2;
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}break;
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}
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// 发送图像数据
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if(NULL != image_addr)
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{
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seekfree_assistant_transfer_callback(image_addr, image_size);
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手 图像边线绘制函数
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// 参数说明 boundary_id 边线ID
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// 参数说明 dot_num 点数量
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// 参数说明 *dot_x 横坐标数据首地址
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// 参数说明 *dot_y 纵坐标数据首地址
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// 参数说明 width 图像宽度
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// 参数说明 height 图像高度
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// 返回参数 void
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// 使用示例
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//-------------------------------------------------------------------------------------------------------------------
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void seekfree_assistant_camera_dot_send (seekfree_assistant_camera_buffer_struct *buffer)
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{
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uint8 i;
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uint16 dot_bytes = 0; // 点字节数量
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dot_bytes = seekfree_assistant_camera_dot_data.dot_num;
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if(seekfree_assistant_camera_dot_data.dot_type & (1 << 5))
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{
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dot_bytes *= 2;
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}
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// 首先发送帧头、功能、边界编号、坐标长度、点个数
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seekfree_assistant_transfer_callback((const uint8 *)&seekfree_assistant_camera_dot_data, sizeof(seekfree_assistant_camera_dot_struct));
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for(i=0; i < SEEKFREE_ASSISTANT_CAMERA_MAX_BOUNDARY; i++)
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{
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// 判断是否发送横坐标数据
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if(NULL != buffer->boundary_x[i])
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{
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seekfree_assistant_transfer_callback((const uint8 *)buffer->boundary_x[i], dot_bytes);
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}
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// 判断是否发送纵坐标数据
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if(NULL != buffer->boundary_y[i])
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{
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// 如果没有纵坐标数据，则表示每一行只有一个边界
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// 指定了横纵坐标数据，这种方式可以实现同一行多个边界的情况，例如搜线算法能够搜索出回弯。
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seekfree_assistant_transfer_callback((const uint8 *)buffer->boundary_y[i], dot_bytes);
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}
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手 虚拟示波器发送函数
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// 参数说明 *seekfree_assistant_oscilloscope 示波器数据结构体
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// 返回参数 void
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// 使用示例 seekfree_assistant_oscilloscope_send(&seekfree_assistant_oscilloscope_data);
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//-------------------------------------------------------------------------------------------------------------------
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void seekfree_assistant_oscilloscope_send (seekfree_assistant_oscilloscope_struct *seekfree_assistant_oscilloscope)
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{
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uint8 packet_size;
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// 将高四位清空
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seekfree_assistant_oscilloscope->channel_num &= 0x0f;
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zf_assert(SEEKFREE_ASSISTANT_SET_OSCILLOSCOPE_COUNT >= seekfree_assistant_oscilloscope->channel_num);
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// 帧头
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seekfree_assistant_oscilloscope->head = SEEKFREE_ASSISTANT_SEND_HEAD;
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// 写入包长度信息
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packet_size = sizeof(seekfree_assistant_oscilloscope_struct) - (SEEKFREE_ASSISTANT_SET_OSCILLOSCOPE_COUNT - seekfree_assistant_oscilloscope->channel_num) * 4;
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seekfree_assistant_oscilloscope->length = packet_size;
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// 写入功能字与通道数量
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seekfree_assistant_oscilloscope->channel_num |= SEEKFREE_ASSISTANT_CAMERA_OSCILLOSCOPE;
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// 和校验计算
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seekfree_assistant_oscilloscope->check_sum = 0;
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seekfree_assistant_oscilloscope->check_sum = seekfree_assistant_sum((uint8 *)seekfree_assistant_oscilloscope, packet_size);
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// 数据在调用本函数之前，由用户将需要发送的数据写入seekfree_assistant_oscilloscope_data.data[]
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seekfree_assistant_transfer_callback((const uint8 *)seekfree_assistant_oscilloscope, packet_size);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手图像信息配置函数
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// 参数说明 camera_type 图像类型
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// 参数说明 image_addr 图像地址 如果传递NULL参数则表示只发送边线信息到上位机
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// 参数说明 width 图像宽度
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// 参数说明 height 图像高度
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// 返回参数 void
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// 使用示例 seekfree_assistant_camera_information_config(SEEKFREE_ASSISTANT_MT9V03X, mt9v03x_image[0], MT9V03X_W, MT9V03X_H);
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void seekfree_assistant_camera_information_config (seekfree_assistant_image_type_enum camera_type, void *image_addr, uint16 width, uint16 height)
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{
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seekfree_assistant_camera_dot_data.head = SEEKFREE_ASSISTANT_SEND_HEAD;
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seekfree_assistant_camera_dot_data.function = SEEKFREE_ASSISTANT_CAMERA_DOT_FUNCTION;
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// 写入包长度信息
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seekfree_assistant_camera_dot_data.length = sizeof(seekfree_assistant_camera_dot_struct);
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seekfree_assistant_camera_buffer.camera_type = camera_type;
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seekfree_assistant_camera_buffer.image_addr = image_addr;
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seekfree_assistant_camera_buffer.width = width;
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seekfree_assistant_camera_buffer.height = height;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 逐飞助手图像边线发送配置函数
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// 参数说明 boundary_type 边界类型
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// 参数说明 dot_num 一条边界有多少个点
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// 参数说明 dot_x1 存放边线1横坐标的地址 如果传递NULL参数则表示不发送边线1
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// 参数说明 dot_x2 存放边线2横坐标的地址 如果传递NULL参数则表示不发送边线2
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// 参数说明 dot_x3 存放边线3横坐标的地址 如果传递NULL参数则表示不发送边线3
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// 参数说明 dot_y1 存放边线1纵坐标的地址 如果传递NULL参数则表示不发送边线1
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// 参数说明 dot_y2 存放边线2纵坐标的地址 如果传递NULL参数则表示不发送边线2
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// 参数说明 dot_y3 存放边线3纵坐标的地址 如果传递NULL参数则表示不发送边线3
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// 返回参数 void
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// 使用示例 seekfree_assistant_camera_config(X_BOUNDARY, MT9V03X_H, x1_boundary, x2_boundary, x3_boundary, NULL, NULL, NULL); // 图像发送时包含三条边线，边线只有横坐标
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// 使用示例 seekfree_assistant_camera_config(Y_BOUNDARY, MT9V03X_W, NULL, NULL, NULL, y1_boundary, y2_boundary, y3_boundary); // 图像发送时包含三条边线，边线只有纵坐标
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// 使用示例 seekfree_assistant_camera_config(XY_BOUNDARY, 160, xy_x1_boundary, xy_x2_boundary, xy_x3_boundary, xy_y1_boundary, xy_y2_boundary, xy_y3_boundary); // 图像发送时包含三条边线，边线包含横纵坐标
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void seekfree_assistant_camera_boundary_config (seekfree_assistant_boundary_type_enum boundary_type, uint16 dot_num, void *dot_x1, void *dot_x2, void *dot_x3, void *dot_y1, void *dot_y2, void *dot_y3)
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{
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uint8 i = 0;
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uint8 boundary_num = 0;
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uint8 boundary_data_type = 0;
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// 检查图像发送缓冲区是否准备就绪, 调用此函数之前需要先调用seekfree_assistant_camera_config设置好图像信息
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zf_assert(0 != seekfree_assistant_camera_buffer.camera_type);
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seekfree_assistant_camera_dot_data.dot_num = dot_num;
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seekfree_assistant_camera_dot_data.valid_flag = 0;
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for(i = 0; i < 3; i++)
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{
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seekfree_assistant_camera_buffer.boundary_x[i] = NULL;
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seekfree_assistant_camera_buffer.boundary_y[i] = NULL;
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}
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switch(boundary_type)
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{
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case X_BOUNDARY:
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{
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if(NULL != dot_x1)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 0;
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seekfree_assistant_camera_buffer.boundary_x[i++] = dot_x1;
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}
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if(NULL != dot_x2)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 1;
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seekfree_assistant_camera_buffer.boundary_x[i++] = dot_x2;
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}
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if(NULL != dot_x3)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 2;
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seekfree_assistant_camera_buffer.boundary_x[i++] = dot_x3;
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}
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if(255 < seekfree_assistant_camera_buffer.height)
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{
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boundary_data_type = 1;
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||||
}
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}break;
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case Y_BOUNDARY:
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{
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if(NULL != dot_y1)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 0;
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seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y1;
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}
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if(NULL != dot_y2)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 1;
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seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y2;
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}
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if(NULL != dot_y3)
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{
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boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 2;
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seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y3;
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}
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if(255 < seekfree_assistant_camera_buffer.width)
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{
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boundary_data_type = 1;
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}
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}break;
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case XY_BOUNDARY:
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||||
{
|
||||
if((NULL != dot_x1) && (NULL != dot_y1))
|
||||
{
|
||||
boundary_num++;
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seekfree_assistant_camera_dot_data.valid_flag |= 1 << 0;
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seekfree_assistant_camera_buffer.boundary_x[i] = dot_x1;
|
||||
seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y1;
|
||||
}
|
||||
if((NULL != dot_x2) && (NULL != dot_y2))
|
||||
{
|
||||
boundary_num++;
|
||||
seekfree_assistant_camera_dot_data.valid_flag |= 1 << 1;
|
||||
seekfree_assistant_camera_buffer.boundary_x[i] = dot_x2;
|
||||
seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y2;
|
||||
}
|
||||
if((NULL != dot_x3) && (NULL != dot_y3))
|
||||
{
|
||||
boundary_num++;
|
||||
seekfree_assistant_camera_dot_data.valid_flag |= 1 << 2;
|
||||
seekfree_assistant_camera_buffer.boundary_x[i] = dot_x3;
|
||||
seekfree_assistant_camera_buffer.boundary_y[i++] = dot_y3;
|
||||
}
|
||||
|
||||
if((255 < seekfree_assistant_camera_buffer.width) || (255 < seekfree_assistant_camera_buffer.height))
|
||||
{
|
||||
boundary_data_type = 1;
|
||||
}
|
||||
}break;
|
||||
|
||||
case NO_BOUNDARY:break;
|
||||
}
|
||||
|
||||
seekfree_assistant_camera_dot_data.dot_type = (boundary_type << 6) | (boundary_data_type << 5) | boundary_num;
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 逐飞助手发送摄像头图像
|
||||
// 参数说明 void
|
||||
// 返回参数 void
|
||||
// 使用示例
|
||||
// 备注信息 在调用图像发送函数之前，请务必调用一次seekfree_assistant_camera_config函数，将对应的参数设置好
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
void seekfree_assistant_camera_send (void)
|
||||
{
|
||||
// 检查图像发送缓冲区是否准备就绪
|
||||
zf_assert(0 != seekfree_assistant_camera_buffer.camera_type);
|
||||
|
||||
seekfree_assistant_camera_data_send(seekfree_assistant_camera_buffer.camera_type, seekfree_assistant_camera_buffer.image_addr, seekfree_assistant_camera_dot_data.dot_type & 0x0f, seekfree_assistant_camera_buffer.width, seekfree_assistant_camera_buffer.height);
|
||||
|
||||
if(seekfree_assistant_camera_dot_data.dot_type & 0x0f)
|
||||
{
|
||||
seekfree_assistant_camera_dot_send(&seekfree_assistant_camera_buffer);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
// 函数简介 逐飞助手解析接收到的数据
|
||||
// 参数说明 void
|
||||
// 返回参数 void
|
||||
// 使用示例 函数只需要放到周期运行的PIT中断或者主循环即可
|
||||
//-------------------------------------------------------------------------------------------------------------------
|
||||
#if (1 == SEEKFREE_ASSISTANT_SET_PARAMETR_ENABLE)
|
||||
void seekfree_assistant_data_analysis (void)
|
||||
{
|
||||
uint8 temp_sum;
|
||||
uint32 read_length;
|
||||
seekfree_assistant_parameter_struct *receive_packet;
|
||||
|
||||
// 这里使用uint32进行定义，目的是为了保证数组四字节对齐
|
||||
uint32 temp_buffer[SEEKFREE_ASSISTANT_BUFFER_SIZE / 4];
|
||||
|
||||
// 尝试读取数据, 如果不是自定义的传输方式则从接收回调中读取数据
|
||||
read_length = seekfree_assistant_receive_callback((uint8 *)temp_buffer, SEEKFREE_ASSISTANT_BUFFER_SIZE);
|
||||
if(read_length)
|
||||
{
|
||||
// 将读取到的数据写入FIFO
|
||||
fifo_write_buffer(&seekfree_assistant_fifo, (uint8 *)temp_buffer, read_length);
|
||||
}
|
||||
|
||||
while(sizeof(seekfree_assistant_parameter_struct) <= fifo_used(&seekfree_assistant_fifo))
|
||||
{
|
||||
read_length = sizeof(seekfree_assistant_parameter_struct);
|
||||
fifo_read_buffer(&seekfree_assistant_fifo, (uint8 *)temp_buffer, &read_length, FIFO_READ_ONLY);
|
||||
|
||||
if(SEEKFREE_ASSISTANT_RECEIVE_HEAD != ((uint8 *)temp_buffer)[0])
|
||||
{
|
||||
// 没有帧头则从FIFO中去掉第一个数据
|
||||
read_length = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
// 找到帧头
|
||||
receive_packet = (seekfree_assistant_parameter_struct *)temp_buffer;
|
||||
temp_sum = receive_packet->check_sum;
|
||||
receive_packet->check_sum = 0;
|
||||
if(temp_sum == seekfree_assistant_sum((uint8 *)temp_buffer, sizeof(seekfree_assistant_parameter_struct)))
|
||||
{
|
||||
// 和校验成功保存数据
|
||||
seekfree_assistant_parameter[receive_packet->channel - 1] = receive_packet->data;
|
||||
seekfree_assistant_parameter_update_flag[receive_packet->channel - 1] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
read_length = 1;
|
||||
}
|
||||
}
|
||||
|
||||
// 丢弃无需使用的数据
|
||||
fifo_read_buffer(&seekfree_assistant_fifo, (uint8 *)temp_buffer, &read_length, FIFO_READ_AND_CLEAN);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
Reference in new issue
Block a user