Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed freescal_cup_k22f
source/Camera.cpp@18:278f49df6df3, 2015-01-17 (annotated)
- Committer:
- AlexandreN7
- Date:
- Sat Jan 17 13:25:59 2015 +0000
- Revision:
- 18:278f49df6df3
- Parent:
- 16:88433b5650df
- Child:
- 19:5e8260f3bdb2
interfa?age de la seconde camera en parallele
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RobinN7 | 0:3af30bfbc3e5 | 1 | #include "mbed.h" |
RobinN7 | 0:3af30bfbc3e5 | 2 | #include "Camera.h" |
RobinN7 | 0:3af30bfbc3e5 | 3 | |
AlexandreN7 | 18:278f49df6df3 | 4 | // les 2 cameras sont en parallèle |
AlexandreN7 | 18:278f49df6df3 | 5 | DigitalOut clk(PTE1); //clocl camera |
AlexandreN7 | 18:278f49df6df3 | 6 | DigitalOut si(PTE0); // start camera |
AlexandreN7 | 18:278f49df6df3 | 7 | |
AlexandreN7 | 18:278f49df6df3 | 8 | AnalogIn pix1(PTB2);//lecture camera1 |
AlexandreN7 | 18:278f49df6df3 | 9 | AnalogIn pix2(PTB3);//lecture camera2 |
RobinN7 | 0:3af30bfbc3e5 | 10 | |
RobinN7 | 0:3af30bfbc3e5 | 11 | |
AlexandreN7 | 18:278f49df6df3 | 12 | |
AlexandreN7 | 18:278f49df6df3 | 13 | extern unsigned int pixel1[128]= {0}; // |
AlexandreN7 | 18:278f49df6df3 | 14 | extern unsigned int pixel2[128]= {0}; // |
RobinN7 | 0:3af30bfbc3e5 | 15 | |
AlexandreN7 | 8:8f886cd6a59f | 16 | void readline(void) // fonction de détection de la ligne |
RobinN7 | 0:3af30bfbc3e5 | 17 | { |
RobinN7 | 0:3af30bfbc3e5 | 18 | clk=0; // la clock est nulle au départ |
RobinN7 | 0:3af30bfbc3e5 | 19 | int compteur = 0,index_pixel = 0, capture_finie = 0; |
AlexandreN7 | 8:8f886cd6a59f | 20 | |
AlexandreN7 | 8:8f886cd6a59f | 21 | while (!capture_finie) { |
RobinN7 | 0:3af30bfbc3e5 | 22 | if (compteur & 1) // si compteur impair => front descendant |
RobinN7 | 0:3af30bfbc3e5 | 23 | clk = 0; |
RobinN7 | 0:3af30bfbc3e5 | 24 | else // compteur pair => montant |
RobinN7 | 0:3af30bfbc3e5 | 25 | clk = 1; |
RobinN7 | 0:3af30bfbc3e5 | 26 | if(compteur == 5) |
RobinN7 | 0:3af30bfbc3e5 | 27 | si = 1; |
AlexandreN7 | 8:8f886cd6a59f | 28 | |
RobinN7 | 0:3af30bfbc3e5 | 29 | if (compteur == 7) |
AlexandreN7 | 8:8f886cd6a59f | 30 | si=0; |
AlexandreN7 | 8:8f886cd6a59f | 31 | if ( (compteur & 1) && compteur >= 7) { // mesure sur front descendant, |
RobinN7 | 0:3af30bfbc3e5 | 32 | // pc.printf("lecture pixel\n"); |
AlexandreN7 | 18:278f49df6df3 | 33 | pixel1[index_pixel]=pix.read_u16(); |
RobinN7 | 0:3af30bfbc3e5 | 34 | index_pixel ++; |
RobinN7 | 0:3af30bfbc3e5 | 35 | } |
RobinN7 | 0:3af30bfbc3e5 | 36 | wait_us(10); |
RobinN7 | 0:3af30bfbc3e5 | 37 | compteur++; |
AlexandreN7 | 8:8f886cd6a59f | 38 | |
RobinN7 | 0:3af30bfbc3e5 | 39 | if (index_pixel == 128) |
AlexandreN7 | 8:8f886cd6a59f | 40 | capture_finie = 1; |
RobinN7 | 0:3af30bfbc3e5 | 41 | } |
RobinN7 | 0:3af30bfbc3e5 | 42 | wait_ms(1); |
RobinN7 | 0:3af30bfbc3e5 | 43 | } |
RobinN7 | 0:3af30bfbc3e5 | 44 | |
RobinN7 | 15:b77dc649e4f3 | 45 | void passebas(int ordre) |
RobinN7 | 0:3af30bfbc3e5 | 46 | { |
AlexandreN7 | 10:3424e7b66671 | 47 | |
AlexandreN7 | 8:8f886cd6a59f | 48 | unsigned int tamponpixel[256] = {0}; |
RobinN7 | 15:b77dc649e4f3 | 49 | int i=0; |
RobinN7 | 15:b77dc649e4f3 | 50 | |
RobinN7 | 2:804797b0b298 | 51 | // Passe bas en partant de la gauche sur tamponpixel[0:127] |
RobinN7 | 15:b77dc649e4f3 | 52 | // et de la droite sur tamponpixel[128:255] |
AlexandreN7 | 8:8f886cd6a59f | 53 | for (i=ordre; i<128; i++) { |
RobinN7 | 15:b77dc649e4f3 | 54 | for (int a=0; a<=ordre; a++) { |
AlexandreN7 | 18:278f49df6df3 | 55 | tamponpixel[i]+=pixel1[i-a]; |
AlexandreN7 | 18:278f49df6df3 | 56 | tamponpixel[255-i]+=pixel1[127-i+a]; |
RobinN7 | 0:3af30bfbc3e5 | 57 | } |
RobinN7 | 15:b77dc649e4f3 | 58 | tamponpixel[i]/=(ordre+1); |
RobinN7 | 15:b77dc649e4f3 | 59 | tamponpixel[255-i]/=(ordre+1); |
RobinN7 | 0:3af30bfbc3e5 | 60 | } |
AlexandreN7 | 8:8f886cd6a59f | 61 | |
RobinN7 | 15:b77dc649e4f3 | 62 | // Prolongement par continuité à gauche et à droite |
RobinN7 | 15:b77dc649e4f3 | 63 | for (i=0; i<ordre; i++) { |
RobinN7 | 15:b77dc649e4f3 | 64 | tamponpixel[i]=tamponpixel[ordre]; |
RobinN7 | 15:b77dc649e4f3 | 65 | tamponpixel[255-i]=tamponpixel[255-ordre]; |
RobinN7 | 0:3af30bfbc3e5 | 66 | } |
AlexandreN7 | 8:8f886cd6a59f | 67 | |
RobinN7 | 0:3af30bfbc3e5 | 68 | // Actualisation de l'image filtrée |
RobinN7 | 0:3af30bfbc3e5 | 69 | for (i=0;i<128;i++) |
RobinN7 | 0:3af30bfbc3e5 | 70 | { |
AlexandreN7 | 18:278f49df6df3 | 71 | pixel1[i]=(tamponpixel[i]+tamponpixel[127+i])/2; |
AlexandreN7 | 10:3424e7b66671 | 72 | |
RobinN7 | 0:3af30bfbc3e5 | 73 | } |
AlexandreN7 | 8:8f886cd6a59f | 74 | } |
AlexandreN7 | 8:8f886cd6a59f | 75 | |
AlexandreN7 | 8:8f886cd6a59f | 76 | //fonction qui dérive le signal de la camera |
AlexandreN7 | 8:8f886cd6a59f | 77 | void derivation() |
AlexandreN7 | 8:8f886cd6a59f | 78 | { |
RobinN7 | 15:b77dc649e4f3 | 79 | unsigned int tamponpixel[128] = {0}; |
AlexandreN7 | 8:8f886cd6a59f | 80 | |
AlexandreN7 | 8:8f886cd6a59f | 81 | for (int i=1; i<128; i++) { |
AlexandreN7 | 18:278f49df6df3 | 82 | tamponpixel[i]=(pixel1[i]-pixel1[i-1]); |
AlexandreN7 | 8:8f886cd6a59f | 83 | } |
RobinN7 | 15:b77dc649e4f3 | 84 | tamponpixel[0]=tamponpixel[1]; |
AlexandreN7 | 8:8f886cd6a59f | 85 | |
AlexandreN7 | 8:8f886cd6a59f | 86 | // Actualisation de l'image filtrée |
AlexandreN7 | 8:8f886cd6a59f | 87 | for (int i=0; i<128; i++) { |
AlexandreN7 | 18:278f49df6df3 | 88 | pixel1[i]=tamponpixel[i]; |
AlexandreN7 | 8:8f886cd6a59f | 89 | } |
AlexandreN7 | 8:8f886cd6a59f | 90 | |
RobinN7 | 0:3af30bfbc3e5 | 91 | } |