forked from xuos/xiuos
xuedongliang
commit
6fc420e6a3
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@ -308,7 +308,7 @@ static void *thread_instrusion_detect_entry(void *parameter)
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instrusion_detect_rl.input = output;
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region_layer_run(&instrusion_detect_rl, &instrusion_detect_info);
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/* display result */
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#ifdef BSP_USING_LCD
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for (int instrusion_cnt = 0; instrusion_cnt < instrusion_detect_info.obj_number; instrusion_cnt++) {
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// draw_edge((uint32_t *)showbuffer, &instrusion_detect_info, instrusion_cnt, 0xF800,
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// (uint16_t)sensor_output_size[1],
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@ -321,6 +321,7 @@ static void *thread_instrusion_detect_entry(void *parameter)
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if (0 != instrusion_detect_info.obj_number) {
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printf("\n");
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}
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#ifdef BSP_USING_LCD
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lcd_draw_picture(0, 0, (uint16_t)sensor_output_size[1], (uint16_t)sensor_output_size[0], (unsigned int *)showbuffer);
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#endif
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usleep(1);
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@ -5,4 +5,6 @@ menuconfig SUPPORT_KNOWING_FRAMEWORK
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if SUPPORT_KNOWING_FRAMEWORK
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source "$APP_DIR/Framework/knowing/tensorflow-lite/Kconfig"
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source "$APP_DIR/Framework/knowing/kpu-postprocessing/Kconfig"
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source "$APP_DIR/Framework/knowing/filter/Kconfig"
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source "$APP_DIR/Framework/knowing/ota/Kconfig"
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endif
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@ -0,0 +1,34 @@
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menuconfig USING_KNOWING_FILTER
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bool "filters "
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default n
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if USING_KNOWING_FILTER
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menuconfig USING_MEAN_FILTER
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bool "Using mean filter"
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default n
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if USING_MEAN_FILTER
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source "$APP_DIR/Framework/knowing/filter/mean_filter/Kconfig"
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endif
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menuconfig USING_KALMAN_FILTER
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bool "Using kalman filter"
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default n
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if USING_KALMAN_FILTER
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source "$APP_DIR/Framework/knowing/filter/kalman_filter/Kconfig"
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endif
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menuconfig USING_LOW_PASS_FILTER
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bool "Using low pass filter"
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default n
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if USING_LOW_PASS_FILTER
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source "$APP_DIR/Framework/knowing/filter/low_pass_filter/Kconfig"
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endif
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menuconfig USING_HIGH_PASS_FILTER
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bool "Using high pass filter"
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default n
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if USING_HIGH_PASS_FILTER
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source "$APP_DIR/Framework/knowing/filter/high_pass_filter/Kconfig"
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endif
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endif
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@ -0,0 +1,14 @@
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import os
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Import('RTT_ROOT')
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from building import *
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cwd = GetCurrentDir()
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objs = []
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list = os.listdir(cwd)
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for d in list:
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path = os.path.join(cwd, d)
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if os.path.isfile(os.path.join(path, 'SConscript')):
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objs = objs + SConscript(os.path.join(path, 'SConscript'))
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Return('objs')
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@ -0,0 +1,3 @@
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config ONE_ORDER_RC_HIGH_PASS_FILTER
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bool "one order rc hpf"
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default n
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@ -0,0 +1,10 @@
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from building import *
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import os
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cwd = GetCurrentDir()
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src = []
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if GetDepend(['ONE_ORDER_RC_HIGH_PASS_FILTER']):
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src += ['one_order_rc_hpf.c']
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group = DefineGroup('high_pass_filter', src, depend = ['USING_HIGH_PASS_FILTER'], CPPPATH = [cwd])
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Return('group')
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@ -0,0 +1,22 @@
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#include<one_order_rc_hpf.h>
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void OneOrderRcHpfInit(OneOrderRcHpfHander* hander,float cutoff_fre,float sampling)
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{
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hander->vi = 0;
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hander->fcutoff = cutoff_fre; // low pass filter cutoff frequency
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hander->vo = 0;
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hander->vo_prev = 0;
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hander->fs = sampling; //sampling rate
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hander->vi_prev = 0;
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}
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float OneOrderRcHpfFun(OneOrderRcHpfHander *hander)
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{
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float rc;
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float alpha;
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rc = (float) 1.0/2.0/3.1415926/hander->fcutoff;
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alpha = rc/(rc+1/hander->fs);
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hander->vo = (hander->vi - hander->vi_prev + hander->vo_prev)*alpha;
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hander->vi_prev = hander ->vi;
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hander->vo_prev = hander ->vo;
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return hander->vo;
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}
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@ -0,0 +1,17 @@
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#ifndef _ONE_ORDER_RC_HPF_H
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#define _ONE_ORDER_RC_HPF_H
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typedef struct
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{
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float vi;
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float vi_prev;
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float vo_prev;
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float vo;
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float fcutoff;
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float fs;
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} OneOrderRcHpfHander;
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void OneOrderRcHpfInit(OneOrderRcHpfHander* hander,float cutoff_fre,float sampling);
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float OneOrderRcHpfFun(OneOrderRcHpfHander *hander);
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#endif
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@ -0,0 +1,3 @@
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config ONE_ORDER_KALMAN_FILTER
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bool "one order kalman filter"
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default n
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@ -0,0 +1,10 @@
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from building import *
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import os
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cwd = GetCurrentDir()
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src = []
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if GetDepend(['ONE_ORDER_KALMAN_FILTER']):
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src += ['one_order_kalman.c']
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group = DefineGroup('kalman filter', src, depend = ['USING_KALMAN_FILTER'], CPPPATH = [cwd])
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Return('group')
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@ -0,0 +1,29 @@
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#include <one_order_kalman.h>
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/**
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* equation of state x = A*x + w; w~N(0,Q)
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* Measurement equation y = C*x + v; v~N(0,R)
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*
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*/
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void OneOrderKalmamInit(OneOrderKalmanHander *hander,float A,float C,float Q ,float R)
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{
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hander->A = A;
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hander->A2 = A * A;
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hander->C = C;
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hander->C2 = C * C;
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hander->Q = Q;
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hander->R = R;
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hander->x = 0;
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hander->P = Q;
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hander->K = 1;
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}
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float OneOrderKalmanFun(OneOrderKalmanHander *hander,float measure)
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{
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hander->x = hander->A * hander->x; //state prediction
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hander->P = hander->A2 * hander->P + hander->Q; //covariance prediction
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hander->K = hander->P * hander->C / (hander->C2 * hander->P + hander->R); //calculate kalman gain
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hander->x = hander->x + hander->K * (measure- hander->C * hander->x); //state correct
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hander->P = (1 - hander->K * hander->C) * hander->P; //covariance correction
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return hander->C * hander->x; //return resault
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}
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@ -0,0 +1,23 @@
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#ifndef _ONE_ORDER_KALMAN_H_
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#define _ONE_ORDER_KALMAN_H_
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/**
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* equation of state x = A*x + w; w~N(0,Q)
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* Measurement equation y = C*x + v; v~N(0,R)
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*
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*/
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typedef struct
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{
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float A;
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float C;
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float A2; //A*A
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float C2; //C*C
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float Q;
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float R;
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float K;
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float P;
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float x;
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}OneOrderKalmanHander;
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void OneOrderKalmamInit(OneOrderKalmanHander *hander,float A,float C,float Q ,float R);
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float OneOrderKalmanFun(OneOrderKalmanHander *hander,float measure);
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#endif
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@ -0,0 +1,3 @@
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config ONE_ORDER_RC_LOW_PASS_FILTER
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bool "one order rc lpf"
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default n
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@ -0,0 +1,10 @@
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from building import *
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import os
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cwd = GetCurrentDir()
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src = []
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if GetDepend(['ONE_ORDER_RC_LOW_PASS_FILTER']):
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src += ['one_order_rc_lpf.c']
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group = DefineGroup('low pass filter', src, depend = ['USING_LOW_PASS_FILTER'], CPPPATH = [cwd])
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Return('group')
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@ -0,0 +1,22 @@
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#include<one_order_rc_lpf.h>
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void OneOrderRcLpfInit(OneOrderRcLpfHander* hander,float cutoff_fre,float sampling)
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{
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hander->vi = 0;
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hander->fcutoff = cutoff_fre; // low pass filter cutoff frequency
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hander->vo = 0;
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hander->vo_prev = 0;
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hander->fs = sampling; //sampling rate
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}
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float OneOrderRcLpfFun(OneOrderRcLpfHander *hander)
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{
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float rc;
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float alpha1;
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float alpha2;
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rc = (float) 1.0/2.0/3.1415926/hander->fcutoff;
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alpha1 = 1/(1+rc*hander->fs);
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alpha2 = rc*hander->fs/(1+rc*hander->fs);
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hander->vo = alpha1*hander->vi + alpha2 *hander->vo_prev;
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hander->vo_prev = hander ->vo;
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return hander->vo;
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}
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@ -0,0 +1,16 @@
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#ifndef _ONE_ORDER_RC_LPF_H
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#define _ONE_ORDER_RC_LPF_H
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typedef struct
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{
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float vi;
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float vo_prev;
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float vo;
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float fcutoff;
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float fs;
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} OneOrderRcLpfHander;
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void OneOrderRcLpfInit(OneOrderRcLpfHander* hander,float cutoff_fre,float sample);
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float OneOrderRcLpfFun(OneOrderRcLpfHander *hander);
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#endif
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@ -0,0 +1,8 @@
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config SLIDING_WINDOW_MEAN_FILTER
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bool "sliding window mean filter"
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select LIB_USING_QUEUE
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default n
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config ORDINARY_MEAN_FILTER
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bool "ordinary mean filter"
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default n
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@ -0,0 +1,12 @@
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from building import *
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import os
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cwd = GetCurrentDir()
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src = []
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if GetDepend(['SLIDING_WINDOW_MEAN_FILTER']):
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src += ['sliding_window_mean_filter.c']
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if GetDepend(['ORDINARY_MEAN_FILTER']):
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src += ['ordinary_mean_filter.c']
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group = DefineGroup('mean_filter', src, depend = ['USING_MEAN_FILTER'], CPPPATH = [cwd])
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Return('group')
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@ -0,0 +1,16 @@
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#include <ordinary_mean_filter.h>
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/**
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* @description:
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* @param {int *} hander array address
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* @param {int} len array length
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* @return {*}
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*/
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int OrdinaryMeanFilter(int * hander,int len)
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{
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int sum = 0;
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for(int i = 0;i < len ;i++)
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{
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sum = sum + *(hander +i);
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}
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return (int)(sum/len);
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}
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@ -0,0 +1,4 @@
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#ifndef _ORDINARY_MEAN_FILTER_H
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#define _ORDINARY_MEAN_FILTER_H
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int OrdinaryMeanFilter(int * hander,int len);
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#endif
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@ -0,0 +1,26 @@
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#include <sliding_window_mean_filter.h>
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void SlidingWindowsMeanFliterInit(SlidingWindowsHander * hander,unsigned int window_len)
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{
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hander->window_len = window_len;
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hander->sumlast = 0;
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InitQueue(&(hander->window_queue));
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}
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int SlidingWindowsMeanFliterFun(SlidingWindowsHander * hander,int newvalue)
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{
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int headtemf = 0;
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if(QueueLength(&(hander->window_queue)) < hander->window_len)
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{
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EnQueue(&(hander->window_queue),newvalue);
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hander->sumlast = hander->sumlast + newvalue;
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return (int)((hander->sumlast)/(QueueLength(&(hander->window_queue))));
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}
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else
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{
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DeQueue(&(hander->window_queue),&headtemf);
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hander->sumlast = hander->sumlast - headtemf + newvalue;
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EnQueue(&(hander->window_queue),newvalue);
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return (int)((hander->sumlast)/(hander->window_len));
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}
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}
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@ -0,0 +1,15 @@
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#ifndef _SLIDING_WINDOW_MEAN_FILTER_H
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#define _SLIDING_WINDOW_MEAN_FILTER_H
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#include <queue.h>
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typedef struct
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{
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SqQueue window_queue;
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unsigned int window_len; //the window_len value must less than MAXSIZE 1024
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long long int sumlast;
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}SlidingWindowsHander;
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void SlidingWindowsMeanFliterInit(SlidingWindowsHander * hander,unsigned int window_len);
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int SlidingWindowsMeanFliterFun(SlidingWindowsHander * hander,int newvalue);
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#endif
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@ -1,5 +1,6 @@
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menuconfig USING_KPU_POSTPROCESSING
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bool "kpu model postprocessing"
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default y
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source "$APP_DIR/Framework/knowing/kpu-postprocessing/yolov2/Kconfig"
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if USING_KPU_POSTPROCESSING
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source "$APP_DIR/Framework/knowing/kpu-postprocessing/yolov2/Kconfig"
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endif
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@ -0,0 +1,4 @@
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menuconfig USING_OTA_MODEL
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bool "OTA (KPU MODEL)"
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select PKG_USING_RW007
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default n
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@ -0,0 +1,10 @@
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from building import *
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import os
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cwd = GetCurrentDir()
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src = []
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if GetDepend(['USING_OTA_MODEL']):
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src += ['httpclient.c']
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group = DefineGroup('ota model', src, depend = [], CPPPATH = [cwd])
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Return('group')
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File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,132 @@
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/*
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* @Author: chunyexixiaoyu
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* @Date: 2021-08-26 13:53:03
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* @LastEditTime: 2021-08-30 14:44:05
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* @LastEditors: Please set LastEditors
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* @Description: In User Settings Edit
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* @FilePath: \xiuos\APP_Framework\Framework\knowing\ota\httpclient.h
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*/
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#ifndef _OTA_HTTPCLIENT_H
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#define _OTA_HTTPCLIENT_H
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#include <transform.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef HTTP_MALLOC
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#define HTTP_MALLOC malloc
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#endif
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#ifndef HTTP_CALLOC
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#define HTTP_CALLOC calloc
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#endif
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#ifndef HTTP_REALLOC
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#define HTTP_REALLOC realloc
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#endif
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#ifndef HTTP_FREE
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#define HTTP_FREE free
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#endif
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#ifndef HTTP_STRDUP
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#define HTTP_STRDUP strdup
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#endif
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#define HTTPCLIENT_SW_VERSION "2.2.0"
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#define HTTPCLIENT_SW_VERSION_NUM 0x20200
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#define HTTPCLIENT_HEADER_BUFSZ 4096
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#define HTTPCLIENT_RESPONSE_BUFSZ 4096
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#define HTTPCLIENT_DEFAULT_TIMEO 6
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enum webClientStatus
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{
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HTTPCLIENT_OK,
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HTTPCLIENT_ERROR,
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HTTPCLIENT_TIMEOUT,
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HTTPCLIENT_NOMEM,
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HTTPCLIENT_NOSOCKET,
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HTTPCLIENT_NOBUFFER,
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HTTPCLIENT_CONNECT_FAILED,
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HTTPCLIENT_DISCONNECT,
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HTTPCLIENT_FILE_ERROR,
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};
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enum httpClientMethod
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{
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WEBCLIENT_USER_METHOD,
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WEBCLIENT_GET,
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WEBCLIENT_POST,
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};
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struct httpClientHeader
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||||
{
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char *buffer;
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size_t length; /* content header buffer size */
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size_t size; /* maximum support header size */
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};
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struct httpClientSession
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||||
{
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struct httpClientHeader *header; /* webclient response header information */
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int socket;
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int resp_status;
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char *host; /* server host */
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char *req_url; /* HTTP request address*/
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||||
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int chunk_sz;
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int chunk_offset;
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||||
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int content_length;
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size_t content_remainder; /* remainder of content length */
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int is_tls; /* HTTPS connect */
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};
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/* create webclient session and set header response size */
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struct httpClientSession *httpClientSessionCreate(size_t header_sz);
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||||
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/* send HTTP GET request */
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int httpClientGet(struct httpClientSession *session, const char *URI);
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int httpClientGetPosition(struct httpClientSession *session, const char *URI, int position);
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/* send HTTP POST request */
|
||||
int httpClientPost(struct httpClientSession *session, const char *URI, const void *post_data, size_t data_len);
|
||||
|
||||
/* close and release wenclient session */
|
||||
int httpClientClose(struct httpClientSession *session);
|
||||
|
||||
int httpClientSetTimeout(struct httpClientSession *session, int millisecond);
|
||||
|
||||
/* send or receive data from server */
|
||||
int httpClientRead(struct httpClientSession *session, void *buffer, size_t size);
|
||||
int httpClientWrite(struct httpClientSession *session, const void *buffer, size_t size);
|
||||
|
||||
/* webclient GET/POST header buffer operate by the header fields */
|
||||
int httpClientHeaderFieldsAdd(struct httpClientSession *session, const char *fmt, ...);
|
||||
const char *httpClientHeaderFieldsGet(struct httpClientSession *session, const char *fields);
|
||||
|
||||
/* send HTTP POST/GET request, and get response data */
|
||||
int httpClientResponse(struct httpClientSession *session, void **response, size_t *resp_len);
|
||||
int httpClientRequest(const char *URI, const char *header, const void *post_data, size_t data_len, void **response, size_t *resp_len);
|
||||
int httpClientRequestHeaderAdd(char **request_header, const char *fmt, ...);
|
||||
int httpClientRespStatusGet(struct httpClientSession *session);
|
||||
int httpClientContentLengthGet(struct httpClientSession *session);
|
||||
|
||||
/*
|
||||
file system must be supported
|
||||
*/
|
||||
/* file related operations */
|
||||
int httpClientGetFile(const char *URI, const char *filename);
|
||||
int httpClientPostFile(const char *URI, const char *filename, const char *form_data);
|
||||
|
||||
extern long int strtol(const char *nptr, char **endptr, int base);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
|
@ -22,7 +22,13 @@
|
|||
#define TRANSFORM_H
|
||||
#include <rtthread.h>
|
||||
#include <rtdevice.h>
|
||||
#include <assert.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <ctype.h>
|
||||
#include <sys/time.h>
|
||||
#include <errno.h>
|
||||
#include <pthread.h>
|
||||
#include <sched.h>
|
||||
#include <unistd.h>
|
||||
|
|
@ -33,10 +39,19 @@
|
|||
#ifdef DRV_USING_OV2640
|
||||
#include <drv_ov2640.h>
|
||||
#endif
|
||||
#if defined(RT_USING_SAL)
|
||||
#include <netdb.h>
|
||||
#include <sys/socket.h>
|
||||
#else
|
||||
#include <lwip/netdb.h>
|
||||
#include <lwip/sockets.h>
|
||||
#endif /* RT_USING_SAL */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -11,4 +11,5 @@ menu "lib"
|
|||
bool "app select other lib"
|
||||
endchoice
|
||||
source "$APP_DIR/lib/cJSON/Kconfig"
|
||||
source "$APP_DIR/lib/queue/Kconfig"
|
||||
endmenu
|
||||
|
|
|
|||
|
|
@ -0,0 +1,3 @@
|
|||
menuconfig LIB_USING_QUEUE
|
||||
bool "USING QUEUE"
|
||||
default n
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
from building import *
|
||||
import os
|
||||
|
||||
cwd = GetCurrentDir()
|
||||
|
||||
src = Glob('*.c')
|
||||
|
||||
group = DefineGroup('queue', src, depend = ['LIB_USING_QUEUE'], CPPPATH = [cwd])
|
||||
|
||||
Return('group')
|
||||
|
|
@ -0,0 +1,104 @@
|
|||
/*
|
||||
* @Author: chunyexixiaoyu
|
||||
* @Date: 2021-08-16 15:16:51
|
||||
* @LastEditTime: 2021-08-18 14:45:47
|
||||
* @LastEditors: Please set LastEditors
|
||||
* @Description: In User Settings Edit
|
||||
* @FilePath: \xiuos\APP_Framework\lib\queue\queue.c
|
||||
*/
|
||||
#include <queue.h>
|
||||
|
||||
|
||||
/**
|
||||
* @description: Initialize an empty queue
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @return {*}
|
||||
*/
|
||||
Status InitQueue(SqQueue *Q)
|
||||
{
|
||||
Q->front=0;
|
||||
Q->rear=0;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: Clear Q to an empty queue
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @return {*}
|
||||
*/
|
||||
Status ClearQueue(SqQueue *Q)
|
||||
{
|
||||
Q->front=Q->rear=0;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: Return TRUE if Q is an empty queue, FALSE otherwise
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @return TRUE
|
||||
* FALSE
|
||||
*/
|
||||
Status QueueEmpty(SqQueue *Q)
|
||||
{
|
||||
if(Q->front==Q->rear)
|
||||
return TRUE;
|
||||
else
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: Returns the number of elements of Q, which is the current length of the queue
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @return length of the queue
|
||||
*/
|
||||
int QueueLength(SqQueue *Q)
|
||||
{
|
||||
return (Q->rear-Q->front+MAXSIZE)%MAXSIZE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: If the queue is not empty, return the header element of Q with e and OK, otherwise return ERROR
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @param {QElemType} *e header element
|
||||
* @return TRUE
|
||||
* FALSE
|
||||
*/
|
||||
Status GetHead(SqQueue *Q,QElemType *e)
|
||||
{
|
||||
if(Q->front==Q->rear)
|
||||
return ERROR;
|
||||
*e=Q->data[Q->front];
|
||||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: If the queue is not full, insert element E as Q's new tail element
|
||||
* @param {SqQueue} *Q queue struct
|
||||
* @param {QElemType} e new element
|
||||
* @return TRUE insert successfully
|
||||
* FALSE
|
||||
*/
|
||||
Status EnQueue(SqQueue *Q,QElemType e)
|
||||
{
|
||||
if ((Q->rear+1)%MAXSIZE == Q->front)
|
||||
return ERROR;
|
||||
Q->data[Q->rear]=e;
|
||||
Q->rear=(Q->rear+1)%MAXSIZE;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: If the queue is not empty, the header element in Q is removed and its value is returned with e
|
||||
* @param {SqQueue} *Q
|
||||
* @param {QElemType} *e the header element
|
||||
* @return {*}
|
||||
*/
|
||||
Status DeQueue(SqQueue *Q,QElemType *e)
|
||||
{
|
||||
if (Q->front == Q->rear)
|
||||
return ERROR;
|
||||
*e=Q->data[Q->front];
|
||||
Q->front=(Q->front+1)%MAXSIZE;
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
/*
|
||||
* @Author: chunyexixiaoyu
|
||||
* @Date: 2021-08-16 15:16:51
|
||||
* @LastEditTime: 2021-08-18 14:48:11
|
||||
* @LastEditors: Please set LastEditors
|
||||
* @Description: In User Settings Edit
|
||||
* @FilePath: \xiuos\APP_Framework\lib\queue\queue.h
|
||||
*/
|
||||
#ifndef __QUEUE_H__
|
||||
#define __QUEUE_H__
|
||||
#include <stdio.h>
|
||||
#define OK 1
|
||||
#define ERROR 0
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
#define MAXSIZE 1024
|
||||
|
||||
typedef int Status;
|
||||
typedef int QElemType;
|
||||
typedef struct
|
||||
{
|
||||
QElemType data[MAXSIZE];
|
||||
int front;
|
||||
int rear;
|
||||
}SqQueue;
|
||||
|
||||
Status InitQueue(SqQueue *Q);
|
||||
Status ClearQueue(SqQueue *Q);
|
||||
Status QueueEmpty(SqQueue *Q);
|
||||
Status GetHead(SqQueue *Q,QElemType *e);
|
||||
Status EnQueue(SqQueue *Q,QElemType e);
|
||||
Status DeQueue(SqQueue *Q,QElemType *e);
|
||||
int QueueLength(SqQueue *Q);
|
||||
#endif
|
||||
Loading…
Reference in New Issue