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Dependencies: mbed freescal_cup_k22f
source/Camera.cpp@8:8f886cd6a59f, 2015-01-13 (annotated)
- Committer:
- AlexandreN7
- Date:
- Tue Jan 13 16:18:03 2015 +0000
- Revision:
- 8:8f886cd6a59f
- Parent:
- 3:f6a91455109c
- Child:
- 10:3424e7b66671
ajout d'une fonction de d?rivation non test?e
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 | |
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 | 0:3af30bfbc3e5 | 40 | void passebas() |
RobinN7 | 0:3af30bfbc3e5 | 41 | { |
AlexandreN7 | 8:8f886cd6a59f | 42 | unsigned int tamponpixel[256] = {0}; |
RobinN7 | 3:f6a91455109c | 43 | int ordre=7, i=0; |
AlexandreN7 | 8:8f886cd6a59f | 44 | |
RobinN7 | 2:804797b0b298 | 45 | // Passe bas en partant de la gauche sur tamponpixel[0:127] |
AlexandreN7 | 8:8f886cd6a59f | 46 | for (i=ordre; i<128; i++) { |
AlexandreN7 | 8:8f886cd6a59f | 47 | for (int a=0; a<ordre; a++) { |
RobinN7 | 0:3af30bfbc3e5 | 48 | tamponpixel[i]+=pixel[i-a]; |
RobinN7 | 0:3af30bfbc3e5 | 49 | } |
RobinN7 | 0:3af30bfbc3e5 | 50 | tamponpixel[i]/=ordre; |
RobinN7 | 0:3af30bfbc3e5 | 51 | } |
AlexandreN7 | 8:8f886cd6a59f | 52 | |
RobinN7 | 2:804797b0b298 | 53 | // Passe bas en partant de la droite sur tamponpixel[128:255] |
AlexandreN7 | 8:8f886cd6a59f | 54 | for (i=127-ordre; i>=0; i--) { |
AlexandreN7 | 8:8f886cd6a59f | 55 | for (int a=0; a<ordre; a++) { |
RobinN7 | 2:804797b0b298 | 56 | tamponpixel[255-i]+=pixel[i+a]; |
RobinN7 | 0:3af30bfbc3e5 | 57 | } |
RobinN7 | 2:804797b0b298 | 58 | tamponpixel[255-i]/=ordre; |
RobinN7 | 0:3af30bfbc3e5 | 59 | } |
AlexandreN7 | 8:8f886cd6a59f | 60 | |
AlexandreN7 | 8:8f886cd6a59f | 61 | |
RobinN7 | 0:3af30bfbc3e5 | 62 | // Actualisation de l'image filtrée |
AlexandreN7 | 8:8f886cd6a59f | 63 | for (i=0; i<128; i++) { |
RobinN7 | 0:3af30bfbc3e5 | 64 | pixel[i]=tamponpixel[i]; |
RobinN7 | 0:3af30bfbc3e5 | 65 | } |
AlexandreN7 | 8:8f886cd6a59f | 66 | } |
AlexandreN7 | 8:8f886cd6a59f | 67 | |
AlexandreN7 | 8:8f886cd6a59f | 68 | //fonction qui dérive le signal de la camera |
AlexandreN7 | 8:8f886cd6a59f | 69 | void derivation() |
AlexandreN7 | 8:8f886cd6a59f | 70 | { |
AlexandreN7 | 8:8f886cd6a59f | 71 | unsigned int tamponpixel[256] = {0}; |
AlexandreN7 | 8:8f886cd6a59f | 72 | |
AlexandreN7 | 8:8f886cd6a59f | 73 | for (int i=1; i<128; i++) { |
AlexandreN7 | 8:8f886cd6a59f | 74 | tamponpixel[i]=pixel[i-1]-pixel[i]; |
AlexandreN7 | 8:8f886cd6a59f | 75 | } |
AlexandreN7 | 8:8f886cd6a59f | 76 | |
AlexandreN7 | 8:8f886cd6a59f | 77 | // Actualisation de l'image filtrée |
AlexandreN7 | 8:8f886cd6a59f | 78 | for (int i=0; i<128; i++) { |
AlexandreN7 | 8:8f886cd6a59f | 79 | pixel[i]=tamponpixel[i]; |
AlexandreN7 | 8:8f886cd6a59f | 80 | } |
AlexandreN7 | 8:8f886cd6a59f | 81 | |
RobinN7 | 0:3af30bfbc3e5 | 82 | } |