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#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "lcd.h"
#include "pwm.h"
#include "key.h"
#include "openmv.h"
#include "data_deal.h"
#include "control.h"
#include "ui.h"
extern int32_t out_pwm,last_out_pwm;
#define Focal 180//焦距測量所得
#define X_Error_MAX 0 //X 軸偏差允許范圍
openmv_s Dealover_OV;
TFmini Dealover_TF;
int32_t X_error,cen_x;
u16 OV_Deal_count=0,TF_Deal_count=0;
int Shape_buf[100],i;
u32 distance_buf[100];
float Cx_buf[100],Cy_buf[100],Length_buf[100];
float dealover_distance,Actual_length;
int still_pwm=0;
u8 First_start_test_flag,TF_over_flag=0,OV_over_flag=0,Third_start_test_flag=0;
void GET_Size();
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設置系統中斷優先級分組2
delay_init(168); //初始化延時函數
LED_Init();
KEY_Init();
uart1_init(115200); //初始化串口波特率為115200
openmv_init();
TIM10_PWM_Init(40000,50); //設置為 20000 20ms/20000=0.001ms 脈寬范圍為（20000-500）19500-（20000-2500） 17500
LCD_Init(); //初始化LCD FSMC接口
POINT_COLOR=BLACK; //畫筆顏色：紅色
LED1=0; //PF10 連接openMV p7 LED1亮為1,2
Servo=1; // PF9 連接openMV p LED1滅為4
delay_ms(1000);//等待數據穩定
while(1)
{
/**********題1.2**********/
if(KEY_Scan(1)==1)
{
First_start_test_flag=1;
LED1=1;
}
/**********題3**********/
if(KEY_Scan(1)==3)
{
Third_start_test_flag=1;
}
/***************開始讀取值并處理***************/
if(First_start_test_flag)
{
LCD_ShowString(60,10,140,140,16,"Testing");
GET_Size();
//delay_ms(1000);//測完值就等待1s
/***********所有數據處理完畢顯示界面*******************/
if(TF_over_flag&&OV_over_flag)
{
LCD_ShowString(20,10,140,140,16,"Test Over");
if(First_start_test_flag)
UI_1(Dealover_OV,Actual_length,dealover_distance);
TF_over_flag=0;
OV_over_flag=0;
First_start_test_flag=0;
}
}
if(Third_start_test_flag==1)
{
LCD_ShowString(60,10,140,140,16,"Start Find");
if(openmvs.flag==1)
{
if(openmvs.shape==2)
cen_x=openmvs.cx+openmvs.length/2;
else
cen_x=openmvs.cx;
if((int)cen_x<80)
X_error= 80-(int)cen_x;
else
X_error= (int)cen_x-80;
LCD_ShowNum(80,160,(int)openmvs.cx,5,16);
/*************獲取中點**************/
/************得出偏差************/
//LCD_ShowNum(80,160,openmvs.shape,5,16);
LCD_ShowNum(80,200,X_error,5,16);
if(X_error<=X_Error_MAX)
{
GET_Size();
LCD_ShowNum(80,200,X_error,5,16);
LCD_ShowString(20,10,140,140,16,"Find over");
UI_1(openmvs,Actual_length,dealover_distance);
Servo=0; //舵機斷電
TF_over_flag=0;
OV_over_flag=0;
Third_start_test_flag=0;
still_pwm=last_out_pwm;
}
if(Third_start_test_flag==1)
{
if(openmvs.shape!=0)
{
PlacePID_CS(cen_x);
delay_ms(30);
if(X_error<=15)
delay_ms(50);
}
else
{
saomiao();
delay_ms(30);
}
}
}
}
}
}
void GET_Size(void )
{
if(tfmini.receiveComplete==1&&TF_Deal_count<100)
{
distance_buf[TF_Deal_count]=tfmini.distance;
TF_Deal_count++;
}
if(TF_Deal_count>=100)
{
dealover_distance=tfmini_deal(distance_buf);
//LCD_ShowNum(150,50,dealover_distance,5,16);
TF_Deal_count=0;
TF_over_flag=1;
//LCD_ShowString(10,70,140,140,16,"2");
}
if((openmvs.flag==1)&&(OV_Deal_count<100) )
{
//LCD_ShowString(10,70,140,140,16,"2");
Shape_buf[OV_Deal_count]=openmvs.shape ;
Cx_buf[OV_Deal_count]= openmvs.cx;
Cy_buf[OV_Deal_count]= openmvs.cx ;
Length_buf[OV_Deal_count]= openmvs.length ;
openmvs.flag=0;
OV_Deal_count++;
}
// LCD_ShowNum(80,300,(u16)Shape_buf[OV_Deal_count-1],1,16);
if(OV_Deal_count>=100)
{
// for(i=0;i<100;i++) //數據處理
// LCD_ShowNum(80,200,Shape_buf[i],5,16);
Dealover_OV=openmv_data_deal(Shape_buf,Cx_buf,Cy_buf,Length_buf) ;
OV_Deal_count=0;
OV_over_flag=1;
//LCD_ShowNum(80,200,(u16)Dealover_OV.shape,5,16);
}
Actual_length=Get_Actuallength(Dealover_OV,dealover_distance,Focal);
}

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