File content as of revision 0:97cbef48166d:

//------------------------------------------------------------------//
//Supported MCU:   RZ/A1H
//File Contents:   Display Debug
//Version number:  Ver.1.00
//Date:            2016.11.17
//Copyright:       Renesas Electronics Corporation
//                 Hitachi Document Solutions Co., Ltd.
//------------------------------------------------------------------//

//This program supports the following boards:
//* GR-PEACH(E version)
//* Motor drive board Ver.5
//* Camera module (SC-310)

//Include
//------------------------------------------------------------------//
#include "mbed.h"
#include "math.h"
#include "iodefine.h"
#include "DisplayBace.h"
 
//Define
//------------------------------------------------------------------//
//LED Color on GR-PEACH
#define     LED_OFF             0x00
#define     LED_RED             0x01
#define     LED_GREEN           0x02
#define     LED_YELLOW          0x03
#define     LED_BLUE            0x04
#define     LED_PURPLE          0x05
#define     LED_SKYBLUE         0x06
#define     LED_WHITE           0x07
 
//Status
#define     ERROR               0x00
#define     STOP                0x01
#define     RUN                 0x02
#define     DEBUG               0x03
#define     MOTOR_START         0x04
#define     MOTOR_STOP          0x05
#define     MARK_T              0x06
 
//Define(NTSC-Video)
//------------------------------------------------------------------//
#define VIDEO_INPUT_CH         (DisplayBase::VIDEO_INPUT_CHANNEL_0)
#define VIDEO_INT_TYPE         (DisplayBase::INT_TYPE_S0_VFIELD)
#define DATA_SIZE_PER_PIC      (2u)
 
/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
    in accordance with the frame buffer burst transfer mode. */
#define PIXEL_HW               (320u)  /* QVGA */
#define PIXEL_VW               (240u)  /* QVGA */
#define VIDEO_BUFFER_STRIDE    (((PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
#define VIDEO_BUFFER_HEIGHT    (PIXEL_VW)
 
//Constructor
//------------------------------------------------------------------//
Ticker      interrput;
Serial      pc(USBTX, USBRX);
DigitalOut  LED_R(P6_13);               /* LED1 on the GR-PEACH board */
DigitalOut  LED_G(P6_14);               /* LED2 on the GR-PEACH board */
DigitalOut  LED_B(P6_15);               /* LED3 on the GR-PEACH board */
DigitalOut  USER_LED(P6_12);            /* USER_LED on the GR-PEACH board */
DigitalIn   user_botton(P6_0);          /* SW1 on the GR-PEACH board */
 
DigitalIn   push_sw(P2_13);             /* SW1 on the Motor Drive board */
DigitalOut  LED_3(P2_14);               /* LED3 on the Motor Drive board */
DigitalOut  LED_2(P2_15);               /* LED2 on the Motor Drive board */

//Prototype(NTSC-video)
//------------------------------------------------------------------//
static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type);
static void WaitVfield(const int32_t wait_count);
static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type);
static void WaitVsync(const int32_t wait_count);

//Prototype
//------------------------------------------------------------------//
//Peripheral functions
void intTimer( void );                  /* Interrupt fanction       */
 
//GR-peach board
void led_rgb(int led);
void led_m_user( int led );
unsigned int user_button_get( void );
void led_m_set( int set );
void led_m_process( void );             /* Function for only interrupt */
 
//Motor drive board
void led_out(int led);
unsigned int pushsw_get( void );
 
//Prototype(Image process)
//------------------------------------------------------------------//
void Image_Extraction( unsigned char *buff_addr, unsigned char *Data_Y, int frame );
void Image_Reduction( unsigned char *Data_Y, int Data_W , unsigned char *Comp_Y, int Comp_M );
void Binarization_process( unsigned char *Comp_Y, unsigned char *Binary, long items, int threshold );

//Prototype(Mark detection process)
//------------------------------------------------------------------//
void Image_part_Extraction( unsigned char *Binary, int Width, int Xpix, int Ypix, unsigned char *Data_B, int x_size, int y_size );
double Standard_Deviation( unsigned char *data, double *Devi, int items );
double Covariance( double *Devi_A, double *Devi_B, int items );
int Judgement_ImageMatching( double covari, double SDevi_A, double SDevi_B );
void MarkDetect_process_T( void );
int MarkCheck_Triangle( int percentage );

//Prototype(Display Debug)
//------------------------------------------------------------------//
void ImageData_Serial_Out( unsigned char *Data_Y, int Width );
void ImageData_Serial_Out2( unsigned char *Data_Y, int Width );

//Globle variable (NTSC-video)
//------------------------------------------------------------------//
static uint8_t FrameBuffer_Video_A[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16)));  //16 bytes aligned!;
uint8_t * write_buff_addr = FrameBuffer_Video_A;
static volatile int32_t vsync_count;
static volatile int32_t vfield_count;
static volatile int32_t vfield_count2 = 1;
static volatile int32_t vfield_count2_buff;

//Globle variable for Image process
//------------------------------------------------------------------//
unsigned char   ImageData_A[160*120];
unsigned char   ImageComp_A[20*15];
unsigned char   ImageBinary[20*15];

//Globle variable for Digital sensor process
//------------------------------------------------------------------//
volatile int            Sensor_X[8][6];
volatile unsigned char  sensor_value;

//Globle variable for Mark detection process
//------------------------------------------------------------------//
double          TempDevi_Triangle[15];
unsigned char   TempBinary_Triangle[15] = {0,1,1,1,0,
                                           0,0,1,0,0,
                                           0,0,0,0,0};

double          NowDevi[15];
unsigned char   NowImageBinary[15];

volatile double retDevi_Triangle;

volatile double retDevi;
volatile double retCovari;
volatile int    retJudgeIM;
volatile int    retJudgeIM_Max[1];

int             Xt, Yt;

//Globle variable for led fanction
//------------------------------------------------------------------//
volatile int    led_set;                /* Status                   */

                               // LED,  OnTime,  OffTime,
volatile int    led_data[10][3]= {LED_RED,     50,    50,   /* ERROR  */
                                  LED_RED,    500,     0,   /* STOP   */
                                  LED_GREEN,  500,   500,   /* RUN    */
                                  LED_BLUE,    50,    50,   /* DEBUG  */
                                  LED_GREEN,    1,     0,   /* MOTOR_START */
                                  LED_RED,      1,     0,   /* MOTOR_STOP */
                                  LED_WHITE,  500,   500};  /* MARK_T */

//Globle variable for Trace program
//------------------------------------------------------------------//
volatile unsigned long  cnt0;           /* Used by timer function   */
volatile unsigned long  cnt1;           /* Used within main         */

//******************************************************************//
// Main function
//*******************************************************************/
int main( void )
{
    /* NTSC-Video */
    DisplayBase::graphics_error_t error;
 
    /* Create DisplayBase object */
    DisplayBase Display;
 
    /* Graphics initialization process */
    error = Display.Graphics_init(NULL);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_VDEC, NULL);
    if( error != DisplayBase::GRAPHICS_OK ) {
        while(1);
    }
 
    /* Interrupt callback function setting (Vsync signal input to scaler 0) */
    error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VI_VSYNC, 0, IntCallbackFunc_Vsync);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Video capture setting (progressive form fixed) */
    error = Display.Video_Write_Setting(
                VIDEO_INPUT_CH,
                DisplayBase::COL_SYS_NTSC_358,
                write_buff_addr,
                VIDEO_BUFFER_STRIDE,
                DisplayBase::VIDEO_FORMAT_YCBCR422,
                DisplayBase::WR_RD_WRSWA_32_16BIT,
                PIXEL_VW,
                PIXEL_HW
            );
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Interrupt callback function setting (Field end signal for recording function in scaler 0) */
    error = Display.Graphics_Irq_Handler_Set(VIDEO_INT_TYPE, 0, IntCallbackFunc_Vfield);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Video write process start */
    error = Display.Video_Start (VIDEO_INPUT_CH);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Video write process stop */
    error = Display.Video_Stop (VIDEO_INPUT_CH);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Video write process start */
    error = Display.Video_Start (VIDEO_INPUT_CH);
    if (error != DisplayBase::GRAPHICS_OK) {
        printf("Line %d, error %d\n", __LINE__, error);
        while (1);
    }
 
    /* Wait vsync to update resister */
    WaitVsync(1);
 
    /* Wait 2 Vfield(Top or bottom field) */
    WaitVfield(2);
 
    /* Initialize MCU functions */
    interrput.attach(&intTimer, 0.001);
    pc.baud(230400);

    /* Initialize Micon Car state */
    led_out( 0x0 );
 
    /* wait to stabilize NTSC signal (about 170ms) */
    wait(0.2);

    /* Initialize Mark detection */
    retDevi_Triangle  = Standard_Deviation( TempBinary_Triangle, TempDevi_Triangle, 15 );

    wait(0.1);
    led_m_set( DEBUG );
    pc.printf( "Please push the SW ( on the Motor drive board )\n\r" );
    pc.printf( "\n\r" );
    while( pushsw_get() );
    wait(0.5);
    while( !pushsw_get() );
    while( 1 ){
        ImageData_Serial_Out2( ImageBinary, 20 );
    }
}

//******************************************************************//
// @brief       Interrupt callback function
// @param[in]   int_type    : VDC5 interrupt type
// @retval      None
//*******************************************************************/
static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type)
{
    if (vfield_count > 0) {
        vfield_count--;
    }
    /* top or bottom (Change) */
    if      ( vfield_count2 == 0 )  vfield_count2 = 1;
    else if ( vfield_count2 == 1 )  vfield_count2 = 0;
}
 
//******************************************************************//
// @brief       Wait for the specified number of times Vsync occurs
// @param[in]   wait_count          : Wait count
// @retval      None
//*******************************************************************/
static void WaitVfield(const int32_t wait_count)
{
    vfield_count = wait_count;
    while (vfield_count > 0) {
        /* Do nothing */
    }
}
 
//******************************************************************//
// @brief       Interrupt callback function for Vsync interruption
// @param[in]   int_type    : VDC5 interrupt type
// @retval      None
//*******************************************************************/
static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type)
{
    if (vsync_count > 0) {
        vsync_count--;
    }
}
 
//******************************************************************//
// @brief       Wait for the specified number of times Vsync occurs
// @param[in]   wait_count          : Wait count
// @retval      None
//*******************************************************************/
static void WaitVsync(const int32_t wait_count)
{
    vsync_count = wait_count;
    while (vsync_count > 0) {
        /* Do nothing */
    }
}

//******************************************************************//
// Interrupt function( intTimer )
//*******************************************************************/
void intTimer( void )
{
    static int  counter = 0;
 
    cnt0++;
    cnt1++;
 
    /* field check */
    if( vfield_count2 == vfield_count2_buff ) {
        vfield_count2_buff = vfield_count2;
    }
    /* Top field */
    if( !vfield_count2 ) {
        led_m_user( 1 );
        switch( counter++ ) {
        case 0:
            Image_Extraction( write_buff_addr, ImageData_A, vfield_count2 );
            break;
        case 1:
            Image_Extraction( write_buff_addr, ImageData_A, vfield_count2 );
            break;
        case 2:
            Image_Reduction( ImageData_A, 160, ImageComp_A, 8 );
            break;
        case 3:
            Image_Reduction( ImageData_A, 160, ImageComp_A, 8 );
            break;
        case 4:
            Binarization_process( ImageComp_A, ImageBinary, 20*15, 128 );
            break;
        case 5:
            /* Trace by image processing */
            break;
        case 6:
            //MarkCheck_Triangle
            MarkDetect_process_T();
            break;
        case 15:
            counter = 0;
            break;
        default:
            break;
        }
    }
    /* bottom field */
    else {
        led_m_user( 0 );
        switch( counter++ ) {
        case 0:
            Image_Extraction( write_buff_addr, ImageData_A, vfield_count2 );
            break;
        case 1:
            Image_Extraction( write_buff_addr, ImageData_A, vfield_count2 );
            break;
        case 2:
            Image_Reduction( ImageData_A, 160, ImageComp_A, 8 );
            break;
        case 3:
            Image_Reduction( ImageData_A, 160, ImageComp_A, 8 );
            break;
        case 4:
            Binarization_process( ImageComp_A, ImageBinary, 20*15, 128 );
            break;
        case 5:
            /* Trace by image processing */
            break;
        case 6:
            //MarkCheck_Triangle
            MarkDetect_process_T();
            break;
        case 15:
            counter = 0;
            break;
        default:
            break;
        }
    }

    /* LED processing */
    led_m_process();
}

//******************************************************************//
// functions ( on GR-PEACH board )
//*******************************************************************/
//led_rgb Function
//------------------------------------------------------------------//
void led_rgb(int led)
{
    LED_R = led & 0x1;
    LED_G = (led >> 1 ) & 0x1;
    LED_B = (led >> 2 ) & 0x1;
}
 
//user_button_get Function
//------------------------------------------------------------------//
unsigned int user_button_get( void )
{
    return (~user_botton) & 0x1;        /* Read ports with switches */
}

//led_m_user Function
//------------------------------------------------------------------//
void led_m_user( int led )
{
    USER_LED = led & 0x01;
}

//Lled_m_set Function
//------------------------------------------------------------------//
void led_m_set( int set )
{
    led_set = set;
}

//led_m_process Function for only interrupt
//------------------------------------------------------------------//
void led_m_process( void )
{
    static unsigned long    led_timer;

    led_timer++;

    /* Display */
    if( led_timer < led_data[led_set][1] ) led_rgb( led_data[led_set][0] );
    else if( led_timer < ( led_data[led_set][1] + led_data[led_set][2] ) ) led_rgb( LED_OFF );
    else led_timer = 0;
}

//******************************************************************//
// functions ( on Motor drive board )
//*******************************************************************/
//led_out Function
//------------------------------------------------------------------//
void led_out(int led)
{
    led = ~led;
    LED_3 = led & 0x1;
    LED_2 = ( led >> 1 ) & 0x1;
}
 
//pushsw_get Function
//------------------------------------------------------------------//
unsigned int pushsw_get( void )
{
    return (~push_sw) & 0x1;            /* Read ports with switches */
}

//******************************************************************//
// Image process functions
//*******************************************************************/
//Image Data YCbCr -> Y(320*240pix) -> Y(160*120)
//frame 0 : Top field
//frame 1 : Bottom field
//------------------------------------------------------------------//
void Image_Extraction( unsigned char *buff_addr, unsigned char *Data_Y, int frame )
{
    static int  Xp, Yp, inc, Data_Y_buff;
    static int  counter = 0;

    // Distributed processing
    switch( counter++ ) {
    case 0:
        for( Yp = frame, inc = 0; Yp < 120; Yp+=2 ){
            for( Xp = 0; Xp < 640; Xp+=4, inc++ ){
                Data_Y_buff   = (int)buff_addr[(Xp+0)+(640*Yp)];
                Data_Y_buff  += (int)buff_addr[(Xp+2)+(640*Yp)];
                Data_Y[inc]   = Data_Y_buff >> 1;
            }
        }
        break;
    case 1:
        for(     /* None */     ; Yp < 240; Yp+=2 ){
            for( Xp = 0; Xp < 640; Xp+=4, inc++ ){
                Data_Y_buff   = (int)buff_addr[(Xp+0)+(640*Yp)];
                Data_Y_buff  += (int)buff_addr[(Xp+2)+(640*Yp)];
                Data_Y[inc]   = Data_Y_buff >> 1;
            }
        }
        counter = 0;
        break;
    default:
        break;
    }    
}
 
//Image_Reduction Function ( Averaging processing )
//------------------------------------------------------------------//
void Image_Reduction( unsigned char *Data_Y, int Data_W , unsigned char *Comp_Y, int Comp_M )
{
    int         Data_H, Pixel_T, Pixel_D;
    int         x, y;
    static int  Xp, Yp, inc;
    static int  counter = 0;
 
    Data_H  = (Data_W / (double)4) * 3;
    Pixel_D = Comp_M * Comp_M;

    switch( counter++ ) {
    case 0:
        for( Yp = 0, inc = 0; Yp < ( Data_H / 2); Yp+=Comp_M ){
            for( Xp = 0; Xp < Data_W; Xp+=Comp_M, inc++ ){
                Pixel_T = 0;            
                for( y = 0; y < Comp_M; y++ ){
                    for( x = 0; x < Comp_M; x++ ){
                        Pixel_T += Data_Y[( Xp + x ) + (( Yp + y ) * Data_W )];
                    }
                }
                Comp_Y[inc] = Pixel_T / Pixel_D;
            }
        }
        break;
    case 1:
        for(   /* None */   ; Yp < Data_H       ; Yp+=Comp_M ){
            for( Xp = 0; Xp < Data_W; Xp+=Comp_M, inc++ ){
                Pixel_T = 0;            
                for( y = 0; y < Comp_M; y++ ){
                    for( x = 0; x < Comp_M; x++ ){
                        Pixel_T += Data_Y[( Xp + x ) + (( Yp + y ) * Data_W )];
                    }
                }
                Comp_Y[inc] = Pixel_T / Pixel_D;
            }
        }
        counter = 0;
        break;
    default:
        break;
    }
}
 
// Binarization_process Function
//------------------------------------------------------------------//
void Binarization_process( unsigned char *Comp_Y, unsigned char *Binary, long items, int threshold )
{
    int     i;
 
    for( i = 0; i < items; i++ ) {
        if( Comp_Y[i] >= threshold )   Binary[i] = 1;
        else                           Binary[i] = 0;
    }
}

//******************************************************************//
// Mark detect functions
//*******************************************************************/
// Extract_Image
//------------------------------------------------------------------//
void Image_part_Extraction( unsigned char *Binary, int Width, int Xpix, int Ypix, unsigned char *Data_B, int x_size, int y_size )
{
    int     x, y;
    for( y = 0; y < y_size; y++ ) {
        for( x = 0; x < x_size; x++ ) {
            Data_B[ x + ( y * x_size ) ] = Binary[ (Xpix + x) + ( (Ypix + y) * Width ) ];
       }
    }
}

// Standard deviation
//------------------------------------------------------------------//
double Standard_Deviation( unsigned char *data, double *Devi, int items )
{
    int         i;
    double      iRet_A, iRet_C, iRet_D;

    /* A 合計値　平均化 */
    iRet_A = 0;
    for( i = 0; i < items; i++ ) {
        iRet_A += data[i];
    }
    iRet_A /= items;

    /* B 偏差値 */
    for( i = 0; i < items; i++ ) {
        Devi[i] = data[i] - iRet_A;
    }

    /* C 分散 */
    iRet_C = 0;
    for( i = 0; i < items; i++ ) {
        iRet_C += ( Devi[i] * Devi[i] );
    }
    iRet_C /= items;

    /* D 標準偏差 */
    iRet_D = sqrt( iRet_C );

    return iRet_D;
}

// Covariance
//------------------------------------------------------------------//
double Covariance( double *Devi_A, double *Devi_B, int items )
{
    int     i;
    double  iRet, iRet_buff;

    iRet = 0;
    for( i = 0; i < items; i++ ) {
        iRet_buff = Devi_A[i] * Devi_B[i];
        iRet     += iRet_buff;
    }
    iRet /= items;

    return iRet;
}

// Judgement_ImageMatching
//------------------------------------------------------------------//
int Judgement_ImageMatching( double covari, double SDevi_A, double SDevi_B )
{
    int     iRet;

    iRet  = ( covari * 100 ) / ( SDevi_A * SDevi_B );

    return iRet;
}

// MarkDetect_process_T
//------------------------------------------------------------------//
void MarkDetect_process_T( void )
{
    int  x, y;

    retJudgeIM_Max[0] = 0;
    for( y = 0; y <= 12; y++ ) {
        for( x = 0; x <= 15; x++ ) {
            Image_part_Extraction( ImageBinary, 20, x, y, NowImageBinary, 5, 3 );
            retDevi    = Standard_Deviation( NowImageBinary, NowDevi, 15 );
            retCovari  = Covariance( TempDevi_Triangle, NowDevi, 15 );
            retJudgeIM = 0;
            retJudgeIM = Judgement_ImageMatching( retCovari, retDevi_Triangle, retDevi );
            if( 100 >= retJudgeIM && retJudgeIM > retJudgeIM_Max[0] ) {
                Xt = x;
                Yt = y;
                retJudgeIM_Max[0] = retJudgeIM;
            }
        }
    }
}

// MarkCheck Triangle detection
// Return values: 0: no triangle mark, 1: Triangle mark
//------------------------------------------------------------------//
int MarkCheck_Triangle( int percentage )
{
    int ret;

    ret = 0;
    if( retJudgeIM_Max[0] >= percentage ) {
        ret = 1;
    }

    return ret;
}

//******************************************************************//
// Debug functions
//*******************************************************************/
//Image Data Output( for the Excel )
//------------------------------------------------------------------//
void ImageData_Serial_Out( unsigned char *Data_Y, int Width )
{
    int     Xp, Yp, inc, Height;
 
    Height = (Width / (double)4) * 3;
    for( Yp = 0, inc = 0; Yp < Height; Yp++ ) {
        for( Xp = 0; Xp < Width; Xp++, inc++ ) {
            pc.printf( "%d,", Data_Y[ inc ] );
        }
        pc.printf("\n\r");
    }
}
 
//Image Data Output2( for TeraTerm )
//------------------------------------------------------------------//
void ImageData_Serial_Out2( unsigned char *Data_Y, int Width )
{
    int     Xp, Yp, Height;
 
    Height = (Width / (double)4) * 3;
    for( Yp = 0; Yp < Height; Yp++ ) {
        for( Xp = 0; Xp < Width; Xp++ ) {
            pc.printf( "%d ", Data_Y[Xp + (Yp * Width)] );
        }
        pc.printf( "\n\r" );
    }

    //Add display
    pc.printf( "\n\r" );
    pc.printf( "T = %3d%% %01d X=%2d Y=%2d\n\r", retJudgeIM_Max[0], MarkCheck_Triangle( 90 ),  Xt, Yt );
    pc.printf( "\n\r" );
    Height += 3;

    pc.printf( "\033[%dA" , Height );
}

//------------------------------------------------------------------//
// End of file
//------------------------------------------------------------------//