File content as of revision 0:2a825db40e1b:

#include "camctl.h"
#include "srvctl.h"
#include "mtrctl.h"

DigitalOut MAIN__xPinAlive( LED_BLUE );
Serial xComPort1(USBTX,USBRX);


/**********************************************************************************
* CAMCTL-Module
***********************************************************************************/
uint16_t au16ThresholdBuffer[BUFFER_LENGTH] = {0};
uint16_t *pu16DataBuffer;
uint8_t u8Index = 0;
uint8_t u8FrameCtr = 0;
/* Variables to get the line center */
uint32_t u32Sum = 0;
uint32_t u32Avg = 0;
uint32_t u3SampleCtr = 0;
bool boCalibrationDone = false;

int main()
{   
    /* Initialization of modules */
    CAMCTL_vInit();
    MTRCTL_vInit();
    SRVCTL_vInit();
    xComPort1.baud(115200);
    /* Main loop */
    while(true)
    {
        /* Wait until camera is calibrated */
        if(boCalibrationDone == false)
        {
            boCalibrationDone = CAMCTL_boCalibrateCamera( au16ThresholdBuffer, 4 );
        }
        else
        {
            /* Get frame */          
            CAMCTL_vTriggerOneShotCapture();
            pu16DataBuffer = CAMCTL_pu16GetData();
            while( pu16DataBuffer == NULL )
            {
                pu16DataBuffer = CAMCTL_pu16GetData();
            }
            /* Detect path center */
            for( u8Index = 0; u8Index < BUFFER_LENGTH; u8Index++ )
            {
                if( pu16DataBuffer[u8Index] < au16ThresholdBuffer[u8Index] )
                {
                    u32Sum = u32Sum + u8Index;
                    u3SampleCtr++;
                    
                }
                else
                {
                    
                }
            }
            /*Move servo according to camer readings*/
            u32Avg = (uint32_t)( u32Sum / u3SampleCtr );
            SRVCTL_vSetPosition( u32Avg, BUFFER_LENGTH );
            MTRCTL_vSetSystemSpeed( 400, (uint8_t)(u32Avg) );
            /* Report data through COM port */
            xComPort1.printf("u8CenterPos = %f\r\n",(float)(u32Avg/128.0));
            /* Reinitialize variables */
            u32Sum = 0;
            u3SampleCtr = 0;
        }
        /* Pin alive message */
        MAIN__xPinAlive = !MAIN__xPinAlive;
        wait(0.0001);
    }
}