7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/Camera.cpp@16:88433b5650df, 2015-01-14 (annotated)

Committer:
RobinN7
Date:
Wed Jan 14 18:53:40 2015 +0000
Revision:
16:88433b5650df
Parent:
15:b77dc649e4f3
Child:
18:278f49df6df3
Passe-bas suivi d'une d?rivation, c'est extr?mement efficace ! :D

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
AlexandreN7 8:8f886cd6a59f 9 extern unsigned int pixel[128]= {0}; //
RobinN7 0:3af30bfbc3e5 10
AlexandreN7 8:8f886cd6a59f 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;
AlexandreN7 8:8f886cd6a59f 15
AlexandreN7 8:8f886cd6a59f 16 while (!capture_finie) {
RobinN7 0:3af30bfbc3e5 17 if (compteur & 1) // si compteur impair => front descendant
RobinN7 0:3af30bfbc3e5 18 clk = 0;
RobinN7 0:3af30bfbc3e5 19 else // compteur pair => montant
RobinN7 0:3af30bfbc3e5 20 clk = 1;
RobinN7 0:3af30bfbc3e5 21 if(compteur == 5)
RobinN7 0:3af30bfbc3e5 22 si = 1;
AlexandreN7 8:8f886cd6a59f 23
RobinN7 0:3af30bfbc3e5 24 if (compteur == 7)
AlexandreN7 8:8f886cd6a59f 25 si=0;
AlexandreN7 8:8f886cd6a59f 26 if ( (compteur & 1) && compteur >= 7) { // mesure sur front descendant,
RobinN7 0:3af30bfbc3e5 27 // pc.printf("lecture pixel\n");
RobinN7 0:3af30bfbc3e5 28 pixel[index_pixel]=pix.read_u16();
RobinN7 0:3af30bfbc3e5 29 index_pixel ++;
RobinN7 0:3af30bfbc3e5 30 }
RobinN7 0:3af30bfbc3e5 31 wait_us(10);
RobinN7 0:3af30bfbc3e5 32 compteur++;
AlexandreN7 8:8f886cd6a59f 33
RobinN7 0:3af30bfbc3e5 34 if (index_pixel == 128)
AlexandreN7 8:8f886cd6a59f 35 capture_finie = 1;
RobinN7 0:3af30bfbc3e5 36 }
RobinN7 0:3af30bfbc3e5 37 wait_ms(1);
RobinN7 0:3af30bfbc3e5 38 }
RobinN7 0:3af30bfbc3e5 39
RobinN7 15:b77dc649e4f3 40 void passebas(int ordre)
RobinN7 0:3af30bfbc3e5 41 {
AlexandreN7 10:3424e7b66671 42
AlexandreN7 8:8f886cd6a59f 43 unsigned int tamponpixel[256] = {0};
RobinN7 15:b77dc649e4f3 44 int i=0;
RobinN7 15:b77dc649e4f3 45
RobinN7 2:804797b0b298 46 // Passe bas en partant de la gauche sur tamponpixel[0:127]
RobinN7 15:b77dc649e4f3 47 // et de la droite sur tamponpixel[128:255]
AlexandreN7 8:8f886cd6a59f 48 for (i=ordre; i<128; i++) {
RobinN7 15:b77dc649e4f3 49 for (int a=0; a<=ordre; a++) {
RobinN7 0:3af30bfbc3e5 50 tamponpixel[i]+=pixel[i-a];
RobinN7 15:b77dc649e4f3 51 tamponpixel[255-i]+=pixel[127-i+a];
RobinN7 0:3af30bfbc3e5 52 }
RobinN7 15:b77dc649e4f3 53 tamponpixel[i]/=(ordre+1);
RobinN7 15:b77dc649e4f3 54 tamponpixel[255-i]/=(ordre+1);
RobinN7 0:3af30bfbc3e5 55 }
AlexandreN7 8:8f886cd6a59f 56
RobinN7 15:b77dc649e4f3 57 // Prolongement par continuité à gauche et à droite
RobinN7 15:b77dc649e4f3 58 for (i=0; i<ordre; i++) {
RobinN7 15:b77dc649e4f3 59 tamponpixel[i]=tamponpixel[ordre];
RobinN7 15:b77dc649e4f3 60 tamponpixel[255-i]=tamponpixel[255-ordre];
RobinN7 0:3af30bfbc3e5 61 }
AlexandreN7 8:8f886cd6a59f 62
RobinN7 0:3af30bfbc3e5 63 // Actualisation de l'image filtrée
RobinN7 0:3af30bfbc3e5 64 for (i=0;i<128;i++)
RobinN7 0:3af30bfbc3e5 65 {
RobinN7 16:88433b5650df 66 pixel[i]=(tamponpixel[i]+tamponpixel[127+i])/2;
AlexandreN7 10:3424e7b66671 67
RobinN7 0:3af30bfbc3e5 68 }
AlexandreN7 8:8f886cd6a59f 69 }
AlexandreN7 8:8f886cd6a59f 70
AlexandreN7 8:8f886cd6a59f 71 //fonction qui dérive le signal de la camera
AlexandreN7 8:8f886cd6a59f 72 void derivation()
AlexandreN7 8:8f886cd6a59f 73 {
RobinN7 15:b77dc649e4f3 74 unsigned int tamponpixel[128] = {0};
AlexandreN7 8:8f886cd6a59f 75
AlexandreN7 8:8f886cd6a59f 76 for (int i=1; i<128; i++) {
RobinN7 15:b77dc649e4f3 77 tamponpixel[i]=(pixel[i]-pixel[i-1]);
AlexandreN7 8:8f886cd6a59f 78 }
RobinN7 15:b77dc649e4f3 79 tamponpixel[0]=tamponpixel[1];
AlexandreN7 8:8f886cd6a59f 80
AlexandreN7 8:8f886cd6a59f 81 // Actualisation de l'image filtrée
AlexandreN7 8:8f886cd6a59f 82 for (int i=0; i<128; i++) {
AlexandreN7 8:8f886cd6a59f 83 pixel[i]=tamponpixel[i];
AlexandreN7 8:8f886cd6a59f 84 }
AlexandreN7 8:8f886cd6a59f 85
RobinN7 0:3af30bfbc3e5 86 }