Micon Car Rally
This program is Trace and Mark detection Program by Image Processing(NTSC 60fps).
Dependencies: GR-PEACH_video mbed
Diff: main.cpp
- Revision:
- 0:158dbfb66e62
- Child:
- 1:4a94c87a7d04
diff -r 000000000000 -r 158dbfb66e62 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 22 09:27:51 2016 +0000
@@ -0,0 +1,1154 @@
+//------------------------------------------------------------------//
+//Supported MCU: RZ/A1H
+//File Contents: Trace Program by Image Processing
+// (GR-PEACH version on the Micon Car)
+//Version number: Ver.1.00
+//Date: 2016.09.22
+//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
+//------------------------------------------------------------------//
+//Motor PWM cycle
+#define MOTOR_PWM_CYCLE 33332 /* Motor PWM period */
+ /* 1ms P0φ/1 = 0.03us */
+//Motor speed
+#define MAX_SPEED 40 /* motor() set: 0 to 100 */
+
+//Servo PWM cycle
+#define SERVO_PWM_CYCLE 33332 /* SERVO PWM period */
+ /* 16ms P0φ/16 = 0.48us */
+#define SERVO_CENTER 3124 /* 1.5ms / 0.48us - 1 = 3124*/
+#define HANDLE_STEP 18 /* 1 degree value */
+
+//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 */
+
+DigitalOut Left_motor_signal(P4_6); /* Used by motor fanction */
+DigitalOut Right_motor_signal(P4_7); /* Used by motor fanction */
+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 init_MTU2_PWM_Motor( void ); /* Initialize PWM functions */
+void init_MTU2_PWM_Servo( void ); /* Initialize PWM 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 );
+void motor( int accele_l, int accele_r );
+void handle( int angle );
+int diff( int pwm );
+
+//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(Digital sensor process)
+//------------------------------------------------------------------//
+int CenterLine_Corrective( unsigned char *Binary );
+void digital_sensor_process( unsigned char *Binary ); /* Function for only interrupt */
+unsigned char digital_sensor( void );
+
+//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 */
+volatile int pattern; /* Pattern numbers */
+volatile int handle_buff;
+
+const int revolution_difference[] = {
+ 100, 98, 97, 95, 93,
+ 92, 90, 88, 87, 85,
+ 84, 82, 81, 79, 78,
+ 76, 75, 73, 72, 71,
+ 69, 68, 66, 65, 64,
+ 62, 61, 59, 58, 57,
+ 55, 54, 52, 51, 50,
+ 48, 47, 45, 44, 42,
+ 41, 39, 38, 36, 35,
+ 33 };
+
+//******************************************************************//
+// 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 */
+ init_MTU2_PWM_Motor();
+ init_MTU2_PWM_Servo();
+ interrput.attach(&intTimer, 0.001);
+ pc.baud(230400);
+
+ /* Initialize Micon Car state */
+ led_out( 0x0 );
+ handle( 0 );
+ motor( 0, 0 );
+
+ /* wait to stabilize NTSC signal (about 170ms) */
+ wait(0.2);
+
+ /* Initialize Digital sensor */
+ CenterLine_Corrective( ImageBinary );
+
+ /* Initialize Mark detection */
+ retDevi_Triangle = Standard_Deviation( TempBinary_Triangle, TempDevi_Triangle, 15 );
+
+ if( user_button_get() ) {
+ wait(0.1);
+ led_m_set( DEBUG );
+ while( user_button_get() );
+ wait(0.5);
+ pc.printf( "Please push the SW ( on the Motor drive board )\n\r" );
+ pc.printf( "\n\r" );
+ while( !user_button_get() );
+ while( 1 ){
+ ImageData_Serial_Out2( ImageBinary, 20 );
+ }
+ }
+
+ led_m_set( RUN );
+
+ while( 1 ) {
+
+ switch( pattern ) {
+ /*****************************************************************
+ About patern
+ 0:wait for switch input
+ 1:check if start bar is open
+ 11:normal trace
+ 12:Left side
+ 13:right side
+ *****************************************************************/
+ case 0:
+ /* wait for switch input */
+ if( pushsw_get() ) {
+ led_out( 0x0 );
+ led_m_set( RUN );
+ pattern = 11;
+ cnt1 = 0;
+ break;
+ }
+ if( cnt1 < 100 ) {
+ led_out( 0x1 );
+ } else if( cnt1 < 200 ) {
+ led_out( 0x2 );
+ } else {
+ cnt1 = 0;
+ }
+ break;
+
+ case 11:
+ /* normal trace */
+ if( MarkCheck_Triangle( 90 ) ) {
+ led_m_set( MARK_T );
+ pattern = 91;
+ break;
+ }
+ switch( (digital_sensor()&0x0f) ) {
+ case 0x00:
+ handle( 0 );
+ motor( 100, 100 );
+ break;
+ case 0x02:
+ handle( 3 );
+ motor( 100, diff(100) );
+ break;
+ case 0x03:
+ handle( 12 );
+ motor( 100, diff(100) );
+ break;
+ case 0x01:
+ handle( 20 );
+ motor( 100, diff(100) );
+ pattern = 12;
+ break;
+ case 0x04:
+ handle( -3 );
+ motor( diff(100), 100 );
+ break;
+ case 0x0c:
+ handle( -12 );
+ motor( diff(100), 100 );
+ break;
+ case 0x08:
+ handle( -20 );
+ motor( diff(100), 100 );
+ pattern = 13;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case 12:
+ /* Left side */
+ if( (digital_sensor()&0x02) == 0x02 ) {
+ pattern = 11;
+ break;
+ }
+ switch( (digital_sensor()&0x0f) ) {
+ case 0x01:
+ handle( 20 );
+ motor( 100, diff(100) );
+ break;
+ case 0x00:
+ case 0x08:
+ case 0x0c:
+ handle( 22 );
+ motor( 100, diff(100) );
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case 13:
+ /* right side */
+ if( (digital_sensor()&0x04) == 0x04 ) {
+ pattern = 11;
+ }
+ switch( (digital_sensor()&0x0f) ) {
+ case 0x08:
+ handle( -20 );
+ motor( diff(100), 100 );
+ break;
+ case 0x00:
+ case 0x01:
+ case 0x03:
+ handle( -22 );
+ motor( diff(100), 100 );
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case 91:
+ /* Stop */
+ handle( 0 );
+ motor( 0, 0 );
+ break;
+
+ default:
+ break;
+ }
+ }
+}
+
+//******************************************************************//
+// Initialize functions
+//*******************************************************************/
+//Initialize MTU2 PWM functions
+//------------------------------------------------------------------//
+//MTU2_3, MTU2_4
+//Reset-Synchronized PWM mode
+//TIOC4A(P4_4) :Left-motor
+//TIOC4B(P4_5) :Right-motor
+//------------------------------------------------------------------//
+void init_MTU2_PWM_Motor( void )
+{
+ /* Port setting for S/W I/O Contorol */
+ /* alternative mode */
+
+ /* MTU2_4 (P4_4)(P4_5) */
+ GPIOPBDC4 = 0x0000; /* Bidirection mode disabled*/
+ GPIOPFCAE4 &= 0xffcf; /* The alternative function of a pin */
+ GPIOPFCE4 |= 0x0030; /* The alternative function of a pin */
+ GPIOPFC4 &= 0xffcf; /* The alternative function of a pin */
+ /* 2nd altemative function/output */
+ GPIOP4 &= 0xffcf; /* */
+ GPIOPM4 &= 0xffcf; /* p4_4,P4_5:output */
+ GPIOPMC4 |= 0x0030; /* P4_4,P4_5:double */
+
+ /* Mosule stop 33(MTU2) canceling */
+ CPGSTBCR3 &= 0xf7;
+
+ /* MTU2_3 and MTU2_4 (Motor PWM) */
+ MTU2TCR_3 = 0x20; /* TCNT Clear(TGRA), P0φ/1 */
+ MTU2TOCR1 = 0x04; /* */
+ MTU2TOCR2 = 0x40; /* N L>H P H>L */
+ MTU2TMDR_3 = 0x38; /* Buff:ON Reset-Synchronized PWM mode */
+ MTU2TMDR_4 = 0x30; /* Buff:ON */
+ MTU2TOER = 0xc6; /* TIOC3B,4A,4B enabled output */
+ MTU2TCNT_3 = MTU2TCNT_4 = 0; /* TCNT3,TCNT4 Set 0 */
+ MTU2TGRA_3 = MTU2TGRC_3 = MOTOR_PWM_CYCLE;
+ /* PWM-Cycle(1ms) */
+ MTU2TGRA_4 = MTU2TGRC_4 = 0; /* Left-motor(P4_4) */
+ MTU2TGRB_4 = MTU2TGRD_4 = 0; /* Right-motor(P4_5) */
+ MTU2TSTR |= 0x40; /* TCNT_4 Start */
+}
+
+//Initialize MTU2 PWM functions
+//------------------------------------------------------------------//
+//MTU2_0
+//PWM mode 1
+//TIOC0A(P4_0) :Servo-motor
+//------------------------------------------------------------------//
+void init_MTU2_PWM_Servo( void )
+{
+ /* Port setting for S/W I/O Contorol */
+ /* alternative mode */
+
+ /* MTU2_0 (P4_0) */
+ GPIOPBDC4 = 0x0000; /* Bidirection mode disabled*/
+ GPIOPFCAE4 &= 0xfffe; /* The alternative function of a pin */
+ GPIOPFCE4 &= 0xfffe; /* The alternative function of a pin */
+ GPIOPFC4 |= 0x0001; /* The alternative function of a pin */
+ /* 2nd alternative function/output */
+ GPIOP4 &= 0xfffe; /* */
+ GPIOPM4 &= 0xfffe; /* p4_0:output */
+ GPIOPMC4 |= 0x0001; /* P4_0:double */
+
+ /* Mosule stop 33(MTU2) canceling */
+ CPGSTBCR3 &= 0xf7;
+
+ /* MTU2_0 (Motor PWM) */
+ MTU2TCR_0 = 0x22; /* TCNT Clear(TGRA), P0φ/16 */
+ MTU2TIORH_0 = 0x52; /* TGRA L>H, TGRB H>L */
+ MTU2TMDR_0 = 0x32; /* TGRC and TGRD = Buff-mode*/
+ /* PWM-mode1 */
+ MTU2TCNT_0 = 0; /* TCNT0 Set 0 */
+ MTU2TGRA_0 = MTU2TGRC_0 = SERVO_PWM_CYCLE;
+ /* PWM-Cycle(16ms) */
+ MTU2TGRB_0 = MTU2TGRD_0 = 0; /* Servo-motor(P4_0) */
+ MTU2TSTR |= 0x01; /* TCNT_0 Start */
+}
+
+//******************************************************************//
+// @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 */
+ digital_sensor_process( ImageBinary );
+ 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 */
+ digital_sensor_process( ImageBinary );
+ 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 */
+}
+
+//motor speed control(PWM)
+//Arguments: motor:-100 to 100
+//Here, 0 is stop, 100 is forward, -100 is reverse
+//------------------------------------------------------------------//
+void motor( int accele_l, int accele_r )
+{
+ accele_l = ( accele_l * MAX_SPEED ) / 100;
+ accele_r = ( accele_r * MAX_SPEED ) / 100;
+
+ /* Left Motor Control */
+ if( accele_l >= 0 ) {
+ /* forward */
+ Left_motor_signal = 0;
+ MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_l / 100;
+ } else {
+ /* reverse */
+ Left_motor_signal = 1;
+ MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_l ) / 100;
+ }
+
+ /* Right Motor Control */
+ if( accele_r >= 0 ) {
+ /* forward */
+ Right_motor_signal = 0;
+ MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_r / 100;
+ } else {
+ /* reverse */
+ Right_motor_signal = 1;
+ MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_r ) / 100;
+ }
+}
+
+//handle Function
+//------------------------------------------------------------------//
+void handle( int angle )
+{
+ handle_buff = angle;
+ /* When the servo move from left to right in reverse, replace "-" with "+" */
+ MTU2TGRD_0 = SERVO_CENTER - angle * HANDLE_STEP;
+}
+
+//diff Function
+//------------------------------------------------------------------//
+int diff( int pwm )
+{
+ int i, ret;
+
+ i = handle_buff;
+ if( i < 0 ) i = -i;
+ if( i > 45 ) i = 45;
+ ret = revolution_difference[i] * pwm / 100;
+
+ return ret;
+}
+
+//******************************************************************//
+// 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;
+ }
+}
+
+//******************************************************************//
+// digital sensor functions
+//*******************************************************************/
+//CenterLine_Corrective Function ( image size 20*15pix )
+//------------------------------------------------------------------//
+int CenterLine_Corrective( unsigned char *Binary )
+{
+ #define L 0
+ #define R 1
+
+ int iRet, offset_X, offset_Y;
+ int Xpix, X;
+ int Ypix;
+ int Pixel_diff[2];
+ int Error_cnt;
+ int value;
+
+ /* Center of image */
+ offset_X = 6;
+ offset_Y = 12;
+
+ /* corrective of center line */
+ for( Ypix = 0, Error_cnt = 0; Ypix < (offset_Y - 4); Ypix++ ) {
+ for( value = 0; value < 2; value++ ) {
+ for( Xpix = offset_X; Xpix < (offset_X + 8); Xpix++ ) {
+ /* Lift side */
+ Pixel_diff[L] = 0;
+ if( Binary[ ( ( offset_Y - Ypix ) * 20 ) + Xpix ] >= 1 ) {
+ for( X = Xpix; X > (Xpix - 4); X-- ) {
+ if( Binary[ ( ( offset_Y - Ypix ) * 20 ) + X ] >= 1 ) {
+ Pixel_diff[L]++;
+ } else {
+ break;
+ }
+ }
+ } else {
+ Pixel_diff[L] = -1;
+ }
+ /* Right side */
+ Pixel_diff[R] = 0;
+ if( Binary[ ( ( offset_Y - Ypix ) * 20 ) + (Xpix + 1) ] >= 1 ) {
+ for( X = (Xpix + 1); X < ((Xpix + 1) + 4); X++ ) {
+ if( Binary[ ( ( offset_Y - Ypix ) * 20 ) + X ] >= 1 ) {
+ Pixel_diff[R]++;
+ } else {
+ break;
+ }
+ }
+ } else {
+ Pixel_diff[R] = 1;
+ }
+ /* check */
+ iRet = Pixel_diff[L] - Pixel_diff[R];
+ if( value >= iRet && iRet >= -value ) {
+ break;
+ }
+ }
+ if( value >= iRet && iRet >= -value ) {
+ /* X coordinate */
+ Sensor_X[Ypix][2] = Xpix;
+ Sensor_X[Ypix][3] = Xpix + 1;
+ break;
+ } else {
+ Sensor_X[Ypix][2] = Sensor_X[Ypix][3] = -1;
+ Error_cnt++;
+ }
+ }
+ /* Left side sensor */
+ Sensor_X[Ypix][1] = Sensor_X[Ypix][2] - ( Pixel_diff[L] );
+ Sensor_X[Ypix][0] = Sensor_X[Ypix][1] - ( Pixel_diff[L] + 1 );//( Sensor_X[Ypix][2] - Sensor_X[Ypix][1] );
+ /* Right side sensor */
+ Sensor_X[Ypix][4] = Sensor_X[Ypix][3] + ( Pixel_diff[R] );
+ Sensor_X[Ypix][5] = Sensor_X[Ypix][4] + ( Pixel_diff[R] + 1 );//( Sensor_X[Ypix][4] - Sensor_X[Ypix][3] );
+ }
+ return Error_cnt;
+}
+
+//digital_sensor_process Function
+//------------------------------------------------------------------//
+void digital_sensor_process( unsigned char *Binary )
+{
+ int Ypix;
+ int offset_Y;
+ unsigned char sensor, data;
+
+ offset_Y = 12;
+ sensor = 0;
+
+ data = Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][2] ] & 0x01;
+ data |= Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][3] ] & 0x01;
+ sensor |= (data << 4) & 0x10;
+ data = Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][0] ] & 0x01;
+ sensor |= (data << 3) & 0x08;
+ data = Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][1] ] & 0x01;
+ sensor |= (data << 2) & 0x04;
+ data = Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][4] ] & 0x01;
+ sensor |= (data << 1) & 0x02;
+ data = Binary[ ( (offset_Y - Ypix) * 20 ) + Sensor_X[Ypix][5] ] & 0x01;
+ sensor |= (data << 0) & 0x01;
+ sensor &= 0x1f;
+ sensor_value = sensor;
+}
+
+//digital_sensor Function
+//------------------------------------------------------------------//
+unsigned char digital_sensor( void )
+{
+ return sensor_value;
+}
+
+//******************************************************************//
+// 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( "sensor_inp = 0x%02x\n\r", digital_sensor() );
+ pc.printf( "T = %3d%% %01d X=%2d Y=%2d\n\r", retJudgeIM_Max[0], MarkCheck_Triangle( 90 ), Xt, Yt );
+ pc.printf( "\n\r" );
+ Height += 4;
+
+ pc.printf( "\033[%dA" , Height );
+}
+
+//------------------------------------------------------------------//
+// End of file
+//------------------------------------------------------------------//
\ No newline at end of file