7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/Camera.cpp@2:804797b0b298, 2015-01-13 (annotated)

Committer:
RobinN7
Date:
Tue Jan 13 15:50:44 2015 +0000
Revision:
2:804797b0b298
Parent:
0:3af30bfbc3e5
Child:
3:f6a91455109c
passe bas am?lior?;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobinN7 0:3af30bfbc3e5 1 #include "mbed.h"
RobinN7 0:3af30bfbc3e5 2 #include "Camera.h"
RobinN7 0:3af30bfbc3e5 3
RobinN7 0:3af30bfbc3e5 4 DigitalOut clk(PTC2);
RobinN7 0:3af30bfbc3e5 5 DigitalOut si(PTB3);
RobinN7 0:3af30bfbc3e5 6 AnalogIn pix(PTB2);
RobinN7 0:3af30bfbc3e5 7
RobinN7 0:3af30bfbc3e5 8
RobinN7 0:3af30bfbc3e5 9 extern unsigned int pixel[128]={0}; //
RobinN7 0:3af30bfbc3e5 10
RobinN7 0:3af30bfbc3e5 11 void readline(void) // fonction de détection de la ligne
RobinN7 0:3af30bfbc3e5 12 {
RobinN7 0:3af30bfbc3e5 13 clk=0; // la clock est nulle au départ
RobinN7 0:3af30bfbc3e5 14 int compteur = 0,index_pixel = 0, capture_finie = 0;
RobinN7 0:3af30bfbc3e5 15
RobinN7 0:3af30bfbc3e5 16 while (!capture_finie)
RobinN7 0:3af30bfbc3e5 17 {
RobinN7 0:3af30bfbc3e5 18 if (compteur & 1) // si compteur impair => front descendant
RobinN7 0:3af30bfbc3e5 19 clk = 0;
RobinN7 0:3af30bfbc3e5 20 else // compteur pair => montant
RobinN7 0:3af30bfbc3e5 21 clk = 1;
RobinN7 0:3af30bfbc3e5 22 if(compteur == 5)
RobinN7 0:3af30bfbc3e5 23 si = 1;
RobinN7 0:3af30bfbc3e5 24
RobinN7 0:3af30bfbc3e5 25 if (compteur == 7)
RobinN7 0:3af30bfbc3e5 26 si=0;
RobinN7 0:3af30bfbc3e5 27 if ( (compteur & 1) && compteur >= 7) { // mesure sur front descendant,
RobinN7 0:3af30bfbc3e5 28 // pc.printf("lecture pixel\n");
RobinN7 0:3af30bfbc3e5 29 pixel[index_pixel]=pix.read_u16();
RobinN7 0:3af30bfbc3e5 30 index_pixel ++;
RobinN7 0:3af30bfbc3e5 31 }
RobinN7 0:3af30bfbc3e5 32 wait_us(10);
RobinN7 0:3af30bfbc3e5 33 compteur++;
RobinN7 0:3af30bfbc3e5 34
RobinN7 0:3af30bfbc3e5 35 if (index_pixel == 128)
RobinN7 0:3af30bfbc3e5 36 capture_finie = 1;
RobinN7 0:3af30bfbc3e5 37 }
RobinN7 0:3af30bfbc3e5 38 wait_ms(1);
RobinN7 0:3af30bfbc3e5 39 }
RobinN7 0:3af30bfbc3e5 40
RobinN7 0:3af30bfbc3e5 41 void passebas()
RobinN7 0:3af30bfbc3e5 42 {
RobinN7 2:804797b0b298 43 unsigned int tamponpixel[256] ={0};
RobinN7 0:3af30bfbc3e5 44 int ordre=10, i=0;
RobinN7 0:3af30bfbc3e5 45
RobinN7 2:804797b0b298 46 // Passe bas en partant de la gauche sur tamponpixel[0:127]
RobinN7 2:804797b0b298 47 for (i=ordre;i<128;i++)
RobinN7 0:3af30bfbc3e5 48 {
RobinN7 0:3af30bfbc3e5 49 for (int a=0;a<ordre;a++)
RobinN7 0:3af30bfbc3e5 50 {
RobinN7 0:3af30bfbc3e5 51 tamponpixel[i]+=pixel[i-a];
RobinN7 0:3af30bfbc3e5 52 }
RobinN7 0:3af30bfbc3e5 53 tamponpixel[i]/=ordre;
RobinN7 0:3af30bfbc3e5 54 }
RobinN7 0:3af30bfbc3e5 55
RobinN7 2:804797b0b298 56 // Passe bas en partant de la droite sur tamponpixel[128:255]
RobinN7 0:3af30bfbc3e5 57 for (i=127-ordre;i>=0;i--)
RobinN7 0:3af30bfbc3e5 58 {
RobinN7 0:3af30bfbc3e5 59 for (int a=0;a<ordre;a++)
RobinN7 0:3af30bfbc3e5 60 {
RobinN7 2:804797b0b298 61 tamponpixel[255-i]+=pixel[i+a];
RobinN7 0:3af30bfbc3e5 62 }
RobinN7 2:804797b0b298 63 tamponpixel[255-i]/=ordre;
RobinN7 0:3af30bfbc3e5 64 }
RobinN7 0:3af30bfbc3e5 65
RobinN7 0:3af30bfbc3e5 66 // Actualisation de l'image filtrée
RobinN7 0:3af30bfbc3e5 67 for (i=0;i<128;i++)
RobinN7 0:3af30bfbc3e5 68 {
RobinN7 0:3af30bfbc3e5 69 pixel[i]=tamponpixel[i];
RobinN7 0:3af30bfbc3e5 70 }
RobinN7 0:3af30bfbc3e5 71 }