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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/*********************************************************************************************************************
* TC264 Opensourec Library ����TC264 ��Դ�⣩��һ�����ڹٷ� SDK �ӿڵĵ�������Դ��
* Copyright (c) 2022 SEEKFREE ��ɿƼ�
*
* ���ļ��� TC264 ��Դ���һ����
*
* TC264 ��Դ�� ���������
* �����Ը���������������ᷢ���� GPL��GNU General Public License���� GNUͨ�ù�������֤��������
* �� GPL �ĵ�3�棨�� GPL3.0������ѡ��ģ��κκ����İ汾�����·�����/���޸���
*
* ����Դ��ķ�����ϣ�����ܷ������ã�����δ�������κεı�֤
* ����û�������������Ի��ʺ��ض���;�ı�֤
* ����ϸ����μ� GPL
*
* ��Ӧ�����յ�����Դ���ͬʱ�յ�һ�� GPL �ĸ���
* ���û�У������<https://www.gnu.org/licenses/>
*
* ����ע����
* ����Դ��ʹ�� GPL3.0 ��Դ����֤Э�� ������������Ϊ���İ汾
* ��������Ӣ�İ��� libraries/doc �ļ����µ� GPL3_permission_statement.txt �ļ���
* ����֤������ libraries �ļ����� �����ļ����µ� LICENSE �ļ�
* ��ӭ��λʹ�ò����������� ���޸�����ʱ���뱣����ɿƼ��İ�Ȩ����������������
*
* ����� zf_device_camera
* ��˾���� �ɶ���ɿƼ����޹�˾
* �汾��Ϣ �鿴 libraries/doc �ļ����� version �ļ� �汾˵��
* �������� ADS v1.10.2
* ����ƽ̨ TC264D
* �������� https://seekfree.taobao.com/
*
* �޸ļ�¼
* ���� ���� ��ע
* 2022-09-15 pudding first version
* 2023-04-25 pudding ��������ע��˵��
********************************************************************************************************************/
#include "zf_common_debug.h"
#include "zf_common_interrupt.h"
#include "zf_driver_gpio.h"
#include "zf_driver_dma.h"
#include "zf_driver_exti.h"
#include "zf_device_mt9v03x_double.h"
#include "zf_device_ov7725.h"
#include "zf_device_scc8660.h"
#include "isr_config.h"
#include "zf_device_camera.h"
fifo_struct camera_receiver_fifo; // ��������ͷ��������fifo�ṹ��
uint8 camera_receiver_buffer[CAMERA_RECEIVER_BUFFER_SIZE]; // ��������ͷ�������ݻ�����
uint8 camera_send_image_frame_header[4] = {0x00, 0xFF, 0x01, 0x01}; // ��������ͷ���ݷ��͵���λ����֡ͷ
//-------------------------------------------------------------------------------------------------------------------
// ������� ����ͷ������ͼ�����ݽ�ѹΪʮ�����ư�λ���� С�����
// ����˵�� *data1 ����ͷͼ������
// ����˵�� *data2 ��Ž�ѹ���ݵĵ�ַ
// ����˵�� image_size ͼ��Ĵ�С
// @return void
// Sample usage: camera_binary_image_decompression(&ov7725_image_binary[0][0], &data_buffer[0][0], OV7725_SIZE);
//-------------------------------------------------------------------------------------------------------------------
void camera_binary_image_decompression (const uint8 *data1, uint8 *data2, uint32 image_size)
{
zf_assert(NULL != data1);
zf_assert(NULL != data2);
uint8 i = 8;
while(image_size --)
{
i = 8;
while(i --)
{
*data2 ++ = (((*data1 >> i) & 0x01) ? 255 : 0);
}
data1 ++;
}
}
//-------------------------------------------------------------------------------------------------------------------
// ������� ����ͷͼ��������λ���鿴ͼ��
// ����˵�� uartn ʹ�õĴ��ں�
// ����˵�� *image_addr ��Ҫ���͵�ͼ���ַ
// ����˵�� image_size ͼ��Ĵ�С
// @return void
// Sample usage: camera_send_image(DEBUG_UART_INDEX, &mt9v03x_image[0][0], MT9V03X_IMAGE_SIZE);
//-------------------------------------------------------------------------------------------------------------------
void camera_send_image (uart_index_enum uartn, const uint8 *image_addr, uint32 image_size)
{
zf_assert(NULL != image_addr);
// ��������
uart_write_buffer(uartn, camera_send_image_frame_header, 4);
// ����ͼ��
uart_write_buffer(uartn, (uint8 *)image_addr, image_size);
}
//-------------------------------------------------------------------------------------------------------------------
// ������� ����ͷ���� FIFO ��ʼ��
// ����˵�� void
// ���ز��� void
// ʹ��ʾ�� camera_fifo_init();
// ��ע��Ϣ
//-------------------------------------------------------------------------------------------------------------------
void camera_fifo_init (void)
{
fifo_init(&camera_receiver_fifo, FIFO_DATA_8BIT, camera_receiver_buffer, CAMERA_RECEIVER_BUFFER_SIZE);
}
//-------------------------------------------------------------------------------------------------------------------
// ������� ����ͷ�ɼ���ʼ��
// ����˵�� source_addr ������Դ�����ַ
// ����˵�� destination_addr ͼ�񻺳�����ַ
// ����˵�� image_size ͼ��Ĵ�С
// ���ز��� uint8 DMA ��������
// @return void
// Sample usage: camera_init();
//-------------------------------------------------------------------------------------------------------------------
uint8 camera_init (uint8 *source_addr, uint8 *destination_addr, uint32 image_size)
{
uint8 num;
uint8 link_list_num;
switch(camera_type)
{
case CAMERA_BIN_IIC: // IIC ���
case CAMERA_BIN_UART: // UART ���
for(num = 0; num < 8; num ++)
{
gpio_init((gpio_pin_enum)(OV7725_DATA_PIN + num), GPI, GPIO_LOW, GPI_FLOATING_IN);
}
link_list_num = dma_init(OV7725_DMA_CH,
source_addr,
destination_addr,
OV7725_PCLK_PIN,
EXTI_TRIGGER_FALLING,
image_size);
exti_init(OV7725_VSYNC_PIN, EXTI_TRIGGER_FALLING); //��ʼ�����жϣ�������Ϊ�½��ش����ж�
break;
case CAMERA_GRAYSCALE_1: // ����� 1
for(num = 0; num < 8; num ++)
{
gpio_init((gpio_pin_enum)(MT9V03X_1_DATA_PIN + num), GPI, GPIO_LOW, GPI_FLOATING_IN);
}
link_list_num = dma_init(MT9V03X_1_DMA_CH,
source_addr,
destination_addr,
MT9V03X_1_PCLK_PIN,
EXTI_TRIGGER_FALLING,
image_size); // 主频在300M 用于倍频时采集改为FALLING
exti_init(MT9V03X_1_VSYNC_PIN, EXTI_TRIGGER_BOTH); // ��ʼ�����жϣ�������Ϊ�½��ش����ж�
break;
case CAMERA_GRAYSCALE_2: // ����� 2
for(num = 0; num < 8; num ++)
{
gpio_init((gpio_pin_enum)(MT9V03X_2_DATA_PIN + num), GPI, GPIO_LOW, GPI_FLOATING_IN);
}
link_list_num = dma_init_2(MT9V03X_2_DMA_CH,
source_addr,
destination_addr,
MT9V03X_2_PCLK_PIN,
EXTI_TRIGGER_FALLING,
image_size); // 主频在300M 用于倍频时采集改为FALLING
exti_init(MT9V03X_2_VSYNC_PIN, EXTI_TRIGGER_BOTH); // ��ʼ�����жϣ�������Ϊ�½��ش����ж�
break;
case CAMERA_COLOR: // ��ͫ
for(num=0; num<8; num++)
{
gpio_init((gpio_pin_enum)(SCC8660_DATA_PIN + num), GPI, GPIO_LOW, GPI_FLOATING_IN);
}
link_list_num = dma_init(SCC8660_DMA_CH,
source_addr,
destination_addr,
SCC8660_PCLK_PIN,
EXTI_TRIGGER_RISING,
image_size); // �����Ƶ��300M �����ڶ�������������ΪFALLING
exti_init(SCC8660_VSYNC_PIN, EXTI_TRIGGER_FALLING); // ��ʼ�����жϣ�������Ϊ�½��ش����ж�
break;
default:
break;
}
return link_list_num;
}