kit18_gr-peach - This program supports the Image processing micon …

Micon Car Rally » Code » kit18_gr-peach

Micon Car Rally / Mbed 2 deprecated kit18_gr-peach

This program supports the Image processing micon car production kit (M-S348).

main.cpp@0:00b6f7454ada, 2018-10-30 (annotated)

Committer:: TetsuyaKonno
Date:: Tue Oct 30 09:06:30 2018 +0000
Revision:: 0:00b6f7454ada

New program file

Who changed what in which revision?

User	Revision	Line number	New contents of line
TetsuyaKonno	0:00b6f7454ada	1	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	2	//Supported MCU: RZ/A1H
TetsuyaKonno	0:00b6f7454ada	3	//File Contents: kit18 GR-peach ( Trace program )
TetsuyaKonno	0:00b6f7454ada	4	//Version number: Ver.1.00
TetsuyaKonno	0:00b6f7454ada	5	//Date: 2018.10.30
TetsuyaKonno	0:00b6f7454ada	6	//Copyright: Renesas Electronics Corporation
TetsuyaKonno	0:00b6f7454ada	7	// Hitachi Document Solutions Co., Ltd.
TetsuyaKonno	0:00b6f7454ada	8	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	9
TetsuyaKonno	0:00b6f7454ada	10	//This program supports the following kit:
TetsuyaKonno	0:00b6f7454ada	11	//* M-S348 Image processing micon car production kit
TetsuyaKonno	0:00b6f7454ada	12
TetsuyaKonno	0:00b6f7454ada	13	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	14	//Include
TetsuyaKonno	0:00b6f7454ada	15	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	16	#include "mbed.h"
TetsuyaKonno	0:00b6f7454ada	17	#include "iodefine.h"
TetsuyaKonno	0:00b6f7454ada	18	#include "DisplayBace.h"
TetsuyaKonno	0:00b6f7454ada	19	#include "image_process.h"
TetsuyaKonno	0:00b6f7454ada	20
TetsuyaKonno	0:00b6f7454ada	21	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	22	//Define
TetsuyaKonno	0:00b6f7454ada	23	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	24	//Motor PWM cycle
TetsuyaKonno	0:00b6f7454ada	25	#define MOTOR_PWM_CYCLE 33332 /* Motor PWM period */
TetsuyaKonno	0:00b6f7454ada	26	/* 1ms P0φ/1 = 0.03us */
TetsuyaKonno	0:00b6f7454ada	27	//Servo PWM cycle
TetsuyaKonno	0:00b6f7454ada	28	#define SERVO_PWM_CYCLE 33332 /* SERVO PWM period */
TetsuyaKonno	0:00b6f7454ada	29	/* 16ms P0φ/16 = 0.48us */
TetsuyaKonno	0:00b6f7454ada	30	#define SERVO_CENTER 3124 /* 1.5ms / 0.48us - 1 = 3124*/
TetsuyaKonno	0:00b6f7454ada	31	#define HANDLE_STEP 18 /* 1 degree value */
TetsuyaKonno	0:00b6f7454ada	32
TetsuyaKonno	0:00b6f7454ada	33	#define THRESHOLD 128 /* Binarization function only */
TetsuyaKonno	0:00b6f7454ada	34
TetsuyaKonno	0:00b6f7454ada	35	//LED Color on GR-PEACH
TetsuyaKonno	0:00b6f7454ada	36	#define LED_OFF 0x00
TetsuyaKonno	0:00b6f7454ada	37	#define LED_RED 0x01
TetsuyaKonno	0:00b6f7454ada	38	#define LED_GREEN 0x02
TetsuyaKonno	0:00b6f7454ada	39	#define LED_YELLOW 0x03
TetsuyaKonno	0:00b6f7454ada	40	#define LED_BLUE 0x04
TetsuyaKonno	0:00b6f7454ada	41	#define LED_PURPLE 0x05
TetsuyaKonno	0:00b6f7454ada	42	#define LED_SKYBLUE 0x06
TetsuyaKonno	0:00b6f7454ada	43	#define LED_WHITE 0x07
TetsuyaKonno	0:00b6f7454ada	44
TetsuyaKonno	0:00b6f7454ada	45	//led_m_set function only
TetsuyaKonno	0:00b6f7454ada	46	#define RUN 0x00
TetsuyaKonno	0:00b6f7454ada	47	#define STOP 0x01
TetsuyaKonno	0:00b6f7454ada	48	#define ERROR 0x02
TetsuyaKonno	0:00b6f7454ada	49	#define DEBUG 0x03
TetsuyaKonno	0:00b6f7454ada	50	#define CRANK 0x04
TetsuyaKonno	0:00b6f7454ada	51	#define LCHANGE 0x05
TetsuyaKonno	0:00b6f7454ada	52
TetsuyaKonno	0:00b6f7454ada	53	//ImageData_Serial_out3 function only
TetsuyaKonno	0:00b6f7454ada	54	#define COLOR 0x01
TetsuyaKonno	0:00b6f7454ada	55	#define GREY_SCALE 0x02
TetsuyaKonno	0:00b6f7454ada	56	#define BINARY 0x03
TetsuyaKonno	0:00b6f7454ada	57
TetsuyaKonno	0:00b6f7454ada	58	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	59	//Define(NTSC-Video)
TetsuyaKonno	0:00b6f7454ada	60	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	61	#define VIDEO_INPUT_CH (DisplayBase::VIDEO_INPUT_CHANNEL_0)
TetsuyaKonno	0:00b6f7454ada	62	#define VIDEO_INT_TYPE (DisplayBase::INT_TYPE_S0_VFIELD)
TetsuyaKonno	0:00b6f7454ada	63	#define DATA_SIZE_PER_PIC (2u)
TetsuyaKonno	0:00b6f7454ada	64
TetsuyaKonno	0:00b6f7454ada	65	/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
TetsuyaKonno	0:00b6f7454ada	66	in accordance with the frame buffer burst transfer mode. */
TetsuyaKonno	0:00b6f7454ada	67	#define PIXEL_HW (160u) /* QVGA */
TetsuyaKonno	0:00b6f7454ada	68	#define PIXEL_VW (120u) /* QVGA */
TetsuyaKonno	0:00b6f7454ada	69	#define VIDEO_BUFFER_STRIDE (((PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
TetsuyaKonno	0:00b6f7454ada	70	#define VIDEO_BUFFER_HEIGHT (PIXEL_VW)
TetsuyaKonno	0:00b6f7454ada	71
TetsuyaKonno	0:00b6f7454ada	72	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	73	//Constructor
TetsuyaKonno	0:00b6f7454ada	74	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	75	/* Create DisplayBase object */
TetsuyaKonno	0:00b6f7454ada	76	DisplayBase Display;
TetsuyaKonno	0:00b6f7454ada	77
TetsuyaKonno	0:00b6f7454ada	78	Ticker interrput;
TetsuyaKonno	0:00b6f7454ada	79	Serial pc(USBTX, USBRX);
TetsuyaKonno	0:00b6f7454ada	80
TetsuyaKonno	0:00b6f7454ada	81	DigitalOut LED_R(P6_13); /* LED1 on the GR-PEACH board */
TetsuyaKonno	0:00b6f7454ada	82	DigitalOut LED_G(P6_14); /* LED2 on the GR-PEACH board */
TetsuyaKonno	0:00b6f7454ada	83	DigitalOut LED_B(P6_15); /* LED3 on the GR-PEACH board */
TetsuyaKonno	0:00b6f7454ada	84	DigitalOut USER_LED(P6_12); /* USER_LED on the GR-PEACH board */
TetsuyaKonno	0:00b6f7454ada	85	DigitalIn user_botton(P6_0); /* SW1 on the GR-PEACH board */
TetsuyaKonno	0:00b6f7454ada	86
TetsuyaKonno	0:00b6f7454ada	87	BusIn dipsw( P7_15, P8_1, P2_9, P2_10 ); /* SW1 on Shield board */
TetsuyaKonno	0:00b6f7454ada	88
TetsuyaKonno	0:00b6f7454ada	89	DigitalOut Left_motor_signal(P4_6); /* Used by motor function */
TetsuyaKonno	0:00b6f7454ada	90	DigitalOut Right_motor_signal(P4_7); /* Used by motor function */
TetsuyaKonno	0:00b6f7454ada	91	DigitalIn push_sw(P2_13); /* SW1 on the Motor Drive board */
TetsuyaKonno	0:00b6f7454ada	92	DigitalOut LED_3(P2_14); /* LED3 on the Motor Drive board */
TetsuyaKonno	0:00b6f7454ada	93	DigitalOut LED_2(P2_15); /* LED2 on the Motor Drive board */
TetsuyaKonno	0:00b6f7454ada	94
TetsuyaKonno	0:00b6f7454ada	95	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	96	//Prototype(NTSC-video)
TetsuyaKonno	0:00b6f7454ada	97	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	98	void init_Camera( void );
TetsuyaKonno	0:00b6f7454ada	99	void ChangeFrameBuffer( void );
TetsuyaKonno	0:00b6f7454ada	100	static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type);
TetsuyaKonno	0:00b6f7454ada	101	static void WaitVfield(const int32_t wait_count);
TetsuyaKonno	0:00b6f7454ada	102	static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type);
TetsuyaKonno	0:00b6f7454ada	103	static void WaitVsync(const int32_t wait_count);
TetsuyaKonno	0:00b6f7454ada	104
TetsuyaKonno	0:00b6f7454ada	105	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	106	//Prototype
TetsuyaKonno	0:00b6f7454ada	107	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	108	//Peripheral functions
TetsuyaKonno	0:00b6f7454ada	109	void init_MTU2_PWM_Motor( void ); /* Initialize PWM functions */
TetsuyaKonno	0:00b6f7454ada	110	void init_MTU2_PWM_Servo( void ); /* Initialize PWM functions */
TetsuyaKonno	0:00b6f7454ada	111
TetsuyaKonno	0:00b6f7454ada	112	//Interrupt function
TetsuyaKonno	0:00b6f7454ada	113	void intTimer( void ); /* 1ms period */
TetsuyaKonno	0:00b6f7454ada	114
TetsuyaKonno	0:00b6f7454ada	115	//GR-peach board
TetsuyaKonno	0:00b6f7454ada	116	void led_rgb(int led);
TetsuyaKonno	0:00b6f7454ada	117	void led_m_user( int led );
TetsuyaKonno	0:00b6f7454ada	118	unsigned char user_button_get( void );
TetsuyaKonno	0:00b6f7454ada	119	void led_m_set( int set );
TetsuyaKonno	0:00b6f7454ada	120	void led_m_process( void ); /* Only function for interrupt */
TetsuyaKonno	0:00b6f7454ada	121
TetsuyaKonno	0:00b6f7454ada	122	//Motor drive board
TetsuyaKonno	0:00b6f7454ada	123	void led_out(int led);
TetsuyaKonno	0:00b6f7454ada	124	unsigned char pushsw_get( void );
TetsuyaKonno	0:00b6f7454ada	125	void motor( int accele_l, int accele_r );
TetsuyaKonno	0:00b6f7454ada	126	void motor2( int accele_l, int accele_r );
TetsuyaKonno	0:00b6f7454ada	127	void handle( int angle );
TetsuyaKonno	0:00b6f7454ada	128	int diff( int pwm );
TetsuyaKonno	0:00b6f7454ada	129
TetsuyaKonno	0:00b6f7454ada	130	//Shield board
TetsuyaKonno	0:00b6f7454ada	131	unsigned char dipsw_get( void );
TetsuyaKonno	0:00b6f7454ada	132
TetsuyaKonno	0:00b6f7454ada	133	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	134	//Prototype( Digital sensor process )
TetsuyaKonno	0:00b6f7454ada	135	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	136	int init_sensor( unsigned char BuffAddrIn, int HW, int VW, int Cx, int SENPx, int Y );
TetsuyaKonno	0:00b6f7454ada	137	unsigned char sensor_process( unsigned char BuffAddrIn, int HW, int VW, int SENPx, int Y ); /* Only function for interrupt */
TetsuyaKonno	0:00b6f7454ada	138	unsigned char sensor_inp( void );
TetsuyaKonno	0:00b6f7454ada	139	unsigned char center_inp( void );
TetsuyaKonno	0:00b6f7454ada	140
TetsuyaKonno	0:00b6f7454ada	141	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	142	//Prototype( Mark detect functions )
TetsuyaKonno	0:00b6f7454ada	143	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	144	int RightCrankCheck( int percentage );
TetsuyaKonno	0:00b6f7454ada	145	int RightLaneChangeCheck( int percentage );
TetsuyaKonno	0:00b6f7454ada	146
TetsuyaKonno	0:00b6f7454ada	147	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	148	//Prototype( Debug functions )
TetsuyaKonno	0:00b6f7454ada	149	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	150	void ImageData_Serial_Out1( unsigned char *ImageData, int HW, int VW );
TetsuyaKonno	0:00b6f7454ada	151	void ImageData_Serial_Out2( unsigned char *ImageData, int HW, int VW );
TetsuyaKonno	0:00b6f7454ada	152	void ImageData_Serial_Out3( unsigned char *ImageData, int HW, int VW, int color_pattern );
TetsuyaKonno	0:00b6f7454ada	153
TetsuyaKonno	0:00b6f7454ada	154	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	155	//Global variable (NTSC-video)
TetsuyaKonno	0:00b6f7454ada	156	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	157	static uint8_t FrameBuffer_Video_A[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16))); //16 bytes aligned!;
TetsuyaKonno	0:00b6f7454ada	158	static uint8_t FrameBuffer_Video_B[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16))); //16 bytes aligned!;
TetsuyaKonno	0:00b6f7454ada	159	uint8_t * write_buff_addr = FrameBuffer_Video_A;
TetsuyaKonno	0:00b6f7454ada	160	uint8_t * save_buff_addr = FrameBuffer_Video_B;
TetsuyaKonno	0:00b6f7454ada	161	static volatile int32_t vsync_count;
TetsuyaKonno	0:00b6f7454ada	162	static volatile int32_t vfield_count;
TetsuyaKonno	0:00b6f7454ada	163	static volatile int32_t vfield_count2 = 1;
TetsuyaKonno	0:00b6f7454ada	164	static volatile int32_t vfield_count2_buff;
TetsuyaKonno	0:00b6f7454ada	165
TetsuyaKonno	0:00b6f7454ada	166	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	167	//Global variable for Image process
TetsuyaKonno	0:00b6f7454ada	168	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	169	unsigned char ImageData_A[ ( ( PIXEL_HW * 2) * PIXEL_VW ) ];
TetsuyaKonno	0:00b6f7454ada	170	unsigned char ImageData_B[ ( PIXEL_HW * PIXEL_VW ) ];
TetsuyaKonno	0:00b6f7454ada	171	unsigned char ImageComp_B[ ( PIXEL_HW * PIXEL_VW ) ];
TetsuyaKonno	0:00b6f7454ada	172	unsigned char ImageBinary[ ( PIXEL_HW * PIXEL_VW ) ];
TetsuyaKonno	0:00b6f7454ada	173
TetsuyaKonno	0:00b6f7454ada	174	double Rate = 0.125; /* Reduction ratio */
TetsuyaKonno	0:00b6f7454ada	175
TetsuyaKonno	0:00b6f7454ada	176	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	177	//Global variable for Digital sensor function
TetsuyaKonno	0:00b6f7454ada	178	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	179	int SenError;
TetsuyaKonno	0:00b6f7454ada	180	int Sen1Px[5];
TetsuyaKonno	0:00b6f7454ada	181	unsigned char SenVal1;
TetsuyaKonno	0:00b6f7454ada	182
TetsuyaKonno	0:00b6f7454ada	183	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	184	//Global variable for Mark detection function
TetsuyaKonno	0:00b6f7454ada	185	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	186	ImagePartPattern RightCrank = {0,0,0,0,{0}, //percent, Point X, Point Y, Standard_Deviation, Deviation
TetsuyaKonno	0:00b6f7454ada	187	{0,0,0,0,0,0,0, //Binary image
TetsuyaKonno	0:00b6f7454ada	188	0,0,1,1,1,1,1, //Binary image
TetsuyaKonno	0:00b6f7454ada	189	0,0,1,1,1,0,0, //Binary image
TetsuyaKonno	0:00b6f7454ada	190	0,0,1,1,1,0,0},//Binary image
TetsuyaKonno	0:00b6f7454ada	191	7, 4}; //Binary Width pixel, Binary Height pixel
TetsuyaKonno	0:00b6f7454ada	192
TetsuyaKonno	0:00b6f7454ada	193	ImagePartPattern RightLaneChange = {0,0,0,0,{0},//percent, Point X, Point Y, Standard_Deviation, Deviation
TetsuyaKonno	0:00b6f7454ada	194	{0,0,0,1,1,0,0,0,0,0,0,0,0,0, //Binary image
TetsuyaKonno	0:00b6f7454ada	195	0,0,0,1,1,0,0,0,0,0,0,0,0,0, //Binary image
TetsuyaKonno	0:00b6f7454ada	196	0,0,0,1,1,0,0,0,0,0,0,0,0,0},//Binary image
TetsuyaKonno	0:00b6f7454ada	197	14, 3}; //Binary Width pixel, Binary Height pixel
TetsuyaKonno	0:00b6f7454ada	198
TetsuyaKonno	0:00b6f7454ada	199	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	200	//Global variable for Trace program
TetsuyaKonno	0:00b6f7454ada	201	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	202	volatile unsigned long cnt0; /* Used by timer function */
TetsuyaKonno	0:00b6f7454ada	203	volatile unsigned long cnt1; /* Used within main */
TetsuyaKonno	0:00b6f7454ada	204	volatile int pattern; /* Pattern numbers */
TetsuyaKonno	0:00b6f7454ada	205
TetsuyaKonno	0:00b6f7454ada	206	volatile int led_pattern; /* led_m_process function only */
TetsuyaKonno	0:00b6f7454ada	207	volatile int initFlag; /* Initialize flag */
TetsuyaKonno	0:00b6f7454ada	208	volatile int threshold_buff; /* Binarization function only */
TetsuyaKonno	0:00b6f7454ada	209	volatile int handle_buff; /* diff function only */
TetsuyaKonno	0:00b6f7454ada	210
TetsuyaKonno	0:00b6f7454ada	211	const int revolution_difference[] = { /* diff function only */
TetsuyaKonno	0:00b6f7454ada	212	100, 98, 97, 95, 93,
TetsuyaKonno	0:00b6f7454ada	213	92, 90, 88, 87, 85,
TetsuyaKonno	0:00b6f7454ada	214	84, 82, 81, 79, 78,
TetsuyaKonno	0:00b6f7454ada	215	76, 75, 73, 72, 71,
TetsuyaKonno	0:00b6f7454ada	216	69, 68, 66, 65, 64,
TetsuyaKonno	0:00b6f7454ada	217	62, 61, 59, 58, 57,
TetsuyaKonno	0:00b6f7454ada	218	55, 54, 52, 51, 50,
TetsuyaKonno	0:00b6f7454ada	219	48, 47, 45, 44, 42,
TetsuyaKonno	0:00b6f7454ada	220	41, 39, 38, 36, 35,
TetsuyaKonno	0:00b6f7454ada	221	33 };
TetsuyaKonno	0:00b6f7454ada	222
TetsuyaKonno	0:00b6f7454ada	223	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	224	// Main function
TetsuyaKonno	0:00b6f7454ada	225	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	226	int main( void )
TetsuyaKonno	0:00b6f7454ada	227	{
TetsuyaKonno	0:00b6f7454ada	228	volatile int Number; /* Serial Debug Mode only */
TetsuyaKonno	0:00b6f7454ada	229
TetsuyaKonno	0:00b6f7454ada	230	initFlag = 1; /* Initialization start */
TetsuyaKonno	0:00b6f7454ada	231
TetsuyaKonno	0:00b6f7454ada	232	/* Camera start */
TetsuyaKonno	0:00b6f7454ada	233	init_Camera();
TetsuyaKonno	0:00b6f7454ada	234	/* wait to stabilize NTSC signal (about 170ms) */
TetsuyaKonno	0:00b6f7454ada	235	wait(0.2);
TetsuyaKonno	0:00b6f7454ada	236
TetsuyaKonno	0:00b6f7454ada	237	/* Initialize MCU functions */
TetsuyaKonno	0:00b6f7454ada	238	init_MTU2_PWM_Motor();
TetsuyaKonno	0:00b6f7454ada	239	init_MTU2_PWM_Servo();
TetsuyaKonno	0:00b6f7454ada	240	interrput.attach(&intTimer, 0.001);
TetsuyaKonno	0:00b6f7454ada	241	pc.baud(230400);
TetsuyaKonno	0:00b6f7454ada	242
TetsuyaKonno	0:00b6f7454ada	243	/* Initialize Micon Car state */
TetsuyaKonno	0:00b6f7454ada	244	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	245	motor( 0, 0 );
TetsuyaKonno	0:00b6f7454ada	246	led_out( 0x0 );
TetsuyaKonno	0:00b6f7454ada	247	led_m_set( STOP );
TetsuyaKonno	0:00b6f7454ada	248
TetsuyaKonno	0:00b6f7454ada	249	threshold_buff = THRESHOLD;
TetsuyaKonno	0:00b6f7454ada	250
TetsuyaKonno	0:00b6f7454ada	251	wait(0.5);
TetsuyaKonno	0:00b6f7454ada	252
TetsuyaKonno	0:00b6f7454ada	253	/* Initialize Digital sensor */
TetsuyaKonno	0:00b6f7454ada	254	SenError = init_sensor( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate), (PIXEL_HW * Rate) / 2, Sen1Px, 12 );
TetsuyaKonno	0:00b6f7454ada	255	if( SenError !=0 ) {
TetsuyaKonno	0:00b6f7454ada	256	led_m_set( ERROR );
TetsuyaKonno	0:00b6f7454ada	257	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	258	while( cnt1 < 3000 ){
TetsuyaKonno	0:00b6f7454ada	259	if( cnt1 % 200 < 100 ) {
TetsuyaKonno	0:00b6f7454ada	260	led_out( 0x3 );
TetsuyaKonno	0:00b6f7454ada	261	} else {
TetsuyaKonno	0:00b6f7454ada	262	led_out( 0x0 );
TetsuyaKonno	0:00b6f7454ada	263	}
TetsuyaKonno	0:00b6f7454ada	264	}
TetsuyaKonno	0:00b6f7454ada	265	}
TetsuyaKonno	0:00b6f7454ada	266
TetsuyaKonno	0:00b6f7454ada	267	/* Initialize Pattern Matching */
TetsuyaKonno	0:00b6f7454ada	268	RightCrank.sdevi = Standard_Deviation( RightCrank.binary, RightCrank.devi, RightCrank.w, RightCrank.h );
TetsuyaKonno	0:00b6f7454ada	269	RightLaneChange.sdevi = Standard_Deviation( RightLaneChange.binary, RightLaneChange.devi, RightLaneChange.w, RightLaneChange.h );
TetsuyaKonno	0:00b6f7454ada	270
TetsuyaKonno	0:00b6f7454ada	271	initFlag = 0; /* Initialization end */
TetsuyaKonno	0:00b6f7454ada	272
TetsuyaKonno	0:00b6f7454ada	273	/* Debug Program */
TetsuyaKonno	0:00b6f7454ada	274	if( user_button_get() ) {
TetsuyaKonno	0:00b6f7454ada	275	led_m_set( DEBUG );
TetsuyaKonno	0:00b6f7454ada	276	wait(0.1);//ON Time
TetsuyaKonno	0:00b6f7454ada	277	while( user_button_get() );
TetsuyaKonno	0:00b6f7454ada	278	wait(0.5);//OFF Time
TetsuyaKonno	0:00b6f7454ada	279	while( 1 ){
TetsuyaKonno	0:00b6f7454ada	280	pc.printf( "Serial Debug Mode Ver1.0 (2018.10.30)\n\r" );
TetsuyaKonno	0:00b6f7454ada	281	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	282	pc.printf( "0:TeraTram Real-time display 20* 15pixel (Binary)\n\r" );
TetsuyaKonno	0:00b6f7454ada	283	pc.printf( "1:Excel(csv) 160*120pixel\n\r" );
TetsuyaKonno	0:00b6f7454ada	284	pc.printf( "2:Excel(csv) 20* 15pixel\n\r" );
TetsuyaKonno	0:00b6f7454ada	285	pc.printf( "3:Excel(csv) 160*120pixel -> csv_jpg_convert.bat (color)\n\r" );
TetsuyaKonno	0:00b6f7454ada	286	pc.printf( "4:Excel(csv) 160*120pixel -> csv_jpg_convert.bat (grey scale)\n\r" );
TetsuyaKonno	0:00b6f7454ada	287	pc.printf( "5:Excel(csv) 20* 15pixel -> csv_jpg_convert.bat (binary)\n\r" );
TetsuyaKonno	0:00b6f7454ada	288	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	289	pc.printf( "Please Number\n\r" );
TetsuyaKonno	0:00b6f7454ada	290	pc.printf( "No = " );
TetsuyaKonno	0:00b6f7454ada	291	pc.scanf( "%d", &Number );
TetsuyaKonno	0:00b6f7454ada	292	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	293	pc.printf( "Please push the SW ( on the Motor drive board )\n\r" );
TetsuyaKonno	0:00b6f7454ada	294	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	295	while( !pushsw_get() );
TetsuyaKonno	0:00b6f7454ada	296
TetsuyaKonno	0:00b6f7454ada	297	switch( Number ) {
TetsuyaKonno	0:00b6f7454ada	298	case 0:
TetsuyaKonno	0:00b6f7454ada	299	/* for TeraTerm(Real-time display) */
TetsuyaKonno	0:00b6f7454ada	300	while( 1 ) {
TetsuyaKonno	0:00b6f7454ada	301	ImageData_Serial_Out2( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate) );
TetsuyaKonno	0:00b6f7454ada	302	}
TetsuyaKonno	0:00b6f7454ada	303	break;
TetsuyaKonno	0:00b6f7454ada	304	case 1:
TetsuyaKonno	0:00b6f7454ada	305	/* for the Excel(csv) 160120pixel /
TetsuyaKonno	0:00b6f7454ada	306	ImageData_Serial_Out1( ImageData_B, PIXEL_HW, PIXEL_VW );
TetsuyaKonno	0:00b6f7454ada	307	break;
TetsuyaKonno	0:00b6f7454ada	308	case 2:
TetsuyaKonno	0:00b6f7454ada	309	/* for the Excel(csv) 20* 15pixel */
TetsuyaKonno	0:00b6f7454ada	310	ImageData_Serial_Out1( ImageComp_B, (PIXEL_HW * Rate), (PIXEL_VW * Rate) );
TetsuyaKonno	0:00b6f7454ada	311	break;
TetsuyaKonno	0:00b6f7454ada	312	case 3:
TetsuyaKonno	0:00b6f7454ada	313	/* for the Excel(csv) -> csv_jpg_convert.bat */
TetsuyaKonno	0:00b6f7454ada	314	ChangeFrameBuffer();
TetsuyaKonno	0:00b6f7454ada	315	ImageData_Serial_Out3( save_buff_addr, PIXEL_HW, PIXEL_VW, COLOR );
TetsuyaKonno	0:00b6f7454ada	316	break;
TetsuyaKonno	0:00b6f7454ada	317	case 4:
TetsuyaKonno	0:00b6f7454ada	318	/* for the Excel(csv) -> csv_jpg_convert.bat */
TetsuyaKonno	0:00b6f7454ada	319	ImageData_Serial_Out3( ImageData_B, PIXEL_HW, PIXEL_VW, GREY_SCALE );
TetsuyaKonno	0:00b6f7454ada	320	break;
TetsuyaKonno	0:00b6f7454ada	321	case 5:
TetsuyaKonno	0:00b6f7454ada	322	/* for the Excel(csv) -> csv_jpg_convert.bat */
TetsuyaKonno	0:00b6f7454ada	323	ImageData_Serial_Out3( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate), BINARY );
TetsuyaKonno	0:00b6f7454ada	324	break;
TetsuyaKonno	0:00b6f7454ada	325	default:
TetsuyaKonno	0:00b6f7454ada	326	break;
TetsuyaKonno	0:00b6f7454ada	327	}
TetsuyaKonno	0:00b6f7454ada	328	led_m_set( STOP );
TetsuyaKonno	0:00b6f7454ada	329	while(1);
TetsuyaKonno	0:00b6f7454ada	330	}
TetsuyaKonno	0:00b6f7454ada	331	}
TetsuyaKonno	0:00b6f7454ada	332
TetsuyaKonno	0:00b6f7454ada	333	/* Trace program */
TetsuyaKonno	0:00b6f7454ada	334	led_m_set( RUN );
TetsuyaKonno	0:00b6f7454ada	335
TetsuyaKonno	0:00b6f7454ada	336	while( 1 ) {
TetsuyaKonno	0:00b6f7454ada	337
TetsuyaKonno	0:00b6f7454ada	338	switch( pattern ) {
TetsuyaKonno	0:00b6f7454ada	339	/*****************************************************************
TetsuyaKonno	0:00b6f7454ada	340	About patern
TetsuyaKonno	0:00b6f7454ada	341	0:wait for switch input
TetsuyaKonno	0:00b6f7454ada	342	1:check if start bar is open
TetsuyaKonno	0:00b6f7454ada	343	11:normal trace
TetsuyaKonno	0:00b6f7454ada	344	12:Left side
TetsuyaKonno	0:00b6f7454ada	345	13:right side
TetsuyaKonno	0:00b6f7454ada	346	*****************************************************************/
TetsuyaKonno	0:00b6f7454ada	347	case 0:
TetsuyaKonno	0:00b6f7454ada	348	/* wait for switch input */
TetsuyaKonno	0:00b6f7454ada	349	if( pushsw_get() ) {
TetsuyaKonno	0:00b6f7454ada	350	led_out( 0x0 );
TetsuyaKonno	0:00b6f7454ada	351	led_m_set( RUN );
TetsuyaKonno	0:00b6f7454ada	352	pattern = 11;
TetsuyaKonno	0:00b6f7454ada	353	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	354	break;
TetsuyaKonno	0:00b6f7454ada	355	}
TetsuyaKonno	0:00b6f7454ada	356	if( cnt1 < 100 ) {
TetsuyaKonno	0:00b6f7454ada	357	led_out( 0x1 );
TetsuyaKonno	0:00b6f7454ada	358	} else if( cnt1 < 200 ) {
TetsuyaKonno	0:00b6f7454ada	359	led_out( 0x2 );
TetsuyaKonno	0:00b6f7454ada	360	} else {
TetsuyaKonno	0:00b6f7454ada	361	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	362	}
TetsuyaKonno	0:00b6f7454ada	363	break;
TetsuyaKonno	0:00b6f7454ada	364
TetsuyaKonno	0:00b6f7454ada	365	case 11:
TetsuyaKonno	0:00b6f7454ada	366	/* normal trace */
TetsuyaKonno	0:00b6f7454ada	367	if( RightCrankCheck( 85 ) ) { /* Right Crank Check */
TetsuyaKonno	0:00b6f7454ada	368	pattern = 31;
TetsuyaKonno	0:00b6f7454ada	369	break;
TetsuyaKonno	0:00b6f7454ada	370	}
TetsuyaKonno	0:00b6f7454ada	371	if( RightLaneChangeCheck( 85 ) ) { /* Right Lane Change Check */
TetsuyaKonno	0:00b6f7454ada	372	pattern = 51;
TetsuyaKonno	0:00b6f7454ada	373	break;
TetsuyaKonno	0:00b6f7454ada	374	}
TetsuyaKonno	0:00b6f7454ada	375	switch( (sensor_inp()&0x0f) ) {
TetsuyaKonno	0:00b6f7454ada	376	case 0x00:
TetsuyaKonno	0:00b6f7454ada	377	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	378	motor( 100, 100 );
TetsuyaKonno	0:00b6f7454ada	379	break;
TetsuyaKonno	0:00b6f7454ada	380	case 0x02:
TetsuyaKonno	0:00b6f7454ada	381	handle( 3 );
TetsuyaKonno	0:00b6f7454ada	382	motor( 100, diff(100) );
TetsuyaKonno	0:00b6f7454ada	383	break;
TetsuyaKonno	0:00b6f7454ada	384	case 0x03:
TetsuyaKonno	0:00b6f7454ada	385	handle( 12 );
TetsuyaKonno	0:00b6f7454ada	386	motor( 100, diff(100) );
TetsuyaKonno	0:00b6f7454ada	387	break;
TetsuyaKonno	0:00b6f7454ada	388	case 0x01:
TetsuyaKonno	0:00b6f7454ada	389	handle( 20 );
TetsuyaKonno	0:00b6f7454ada	390	motor( 100, diff(100) );
TetsuyaKonno	0:00b6f7454ada	391	pattern = 12;
TetsuyaKonno	0:00b6f7454ada	392	break;
TetsuyaKonno	0:00b6f7454ada	393	case 0x04:
TetsuyaKonno	0:00b6f7454ada	394	handle( -3 );
TetsuyaKonno	0:00b6f7454ada	395	motor( diff(100), 100 );
TetsuyaKonno	0:00b6f7454ada	396	break;
TetsuyaKonno	0:00b6f7454ada	397	case 0x0c:
TetsuyaKonno	0:00b6f7454ada	398	handle( -12 );
TetsuyaKonno	0:00b6f7454ada	399	motor( diff(100), 100 );
TetsuyaKonno	0:00b6f7454ada	400	break;
TetsuyaKonno	0:00b6f7454ada	401	case 0x08:
TetsuyaKonno	0:00b6f7454ada	402	handle( -20 );
TetsuyaKonno	0:00b6f7454ada	403	motor( diff(100), 100 );
TetsuyaKonno	0:00b6f7454ada	404	pattern = 13;
TetsuyaKonno	0:00b6f7454ada	405	break;
TetsuyaKonno	0:00b6f7454ada	406	default:
TetsuyaKonno	0:00b6f7454ada	407	break;
TetsuyaKonno	0:00b6f7454ada	408	}
TetsuyaKonno	0:00b6f7454ada	409	break;
TetsuyaKonno	0:00b6f7454ada	410
TetsuyaKonno	0:00b6f7454ada	411	case 12:
TetsuyaKonno	0:00b6f7454ada	412	/* Left side */
TetsuyaKonno	0:00b6f7454ada	413	if( (sensor_inp()&0x02) == 0x02 ) {
TetsuyaKonno	0:00b6f7454ada	414	pattern = 11;
TetsuyaKonno	0:00b6f7454ada	415	break;
TetsuyaKonno	0:00b6f7454ada	416	}
TetsuyaKonno	0:00b6f7454ada	417	switch( (sensor_inp()&0x0f) ) {
TetsuyaKonno	0:00b6f7454ada	418	case 0x01:
TetsuyaKonno	0:00b6f7454ada	419	handle( 20 );
TetsuyaKonno	0:00b6f7454ada	420	motor( 100, diff(100) );
TetsuyaKonno	0:00b6f7454ada	421	break;
TetsuyaKonno	0:00b6f7454ada	422	case 0x00:
TetsuyaKonno	0:00b6f7454ada	423	case 0x08:
TetsuyaKonno	0:00b6f7454ada	424	case 0x0c:
TetsuyaKonno	0:00b6f7454ada	425	handle( 22 );
TetsuyaKonno	0:00b6f7454ada	426	motor( 100, diff(100) );
TetsuyaKonno	0:00b6f7454ada	427	break;
TetsuyaKonno	0:00b6f7454ada	428	default:
TetsuyaKonno	0:00b6f7454ada	429	break;
TetsuyaKonno	0:00b6f7454ada	430	}
TetsuyaKonno	0:00b6f7454ada	431	break;
TetsuyaKonno	0:00b6f7454ada	432
TetsuyaKonno	0:00b6f7454ada	433	case 13:
TetsuyaKonno	0:00b6f7454ada	434	/* right side */
TetsuyaKonno	0:00b6f7454ada	435	if( (sensor_inp()&0x04) == 0x04 ) {
TetsuyaKonno	0:00b6f7454ada	436	pattern = 11;
TetsuyaKonno	0:00b6f7454ada	437	}
TetsuyaKonno	0:00b6f7454ada	438	switch( (sensor_inp()&0x0f) ) {
TetsuyaKonno	0:00b6f7454ada	439	case 0x08:
TetsuyaKonno	0:00b6f7454ada	440	handle( -20 );
TetsuyaKonno	0:00b6f7454ada	441	motor( diff(100), 100 );
TetsuyaKonno	0:00b6f7454ada	442	break;
TetsuyaKonno	0:00b6f7454ada	443	case 0x00:
TetsuyaKonno	0:00b6f7454ada	444	case 0x01:
TetsuyaKonno	0:00b6f7454ada	445	case 0x03:
TetsuyaKonno	0:00b6f7454ada	446	handle( -22 );
TetsuyaKonno	0:00b6f7454ada	447	motor( diff(100), 100 );
TetsuyaKonno	0:00b6f7454ada	448	break;
TetsuyaKonno	0:00b6f7454ada	449	default:
TetsuyaKonno	0:00b6f7454ada	450	break;
TetsuyaKonno	0:00b6f7454ada	451	}
TetsuyaKonno	0:00b6f7454ada	452	break;
TetsuyaKonno	0:00b6f7454ada	453
TetsuyaKonno	0:00b6f7454ada	454	case 31:
TetsuyaKonno	0:00b6f7454ada	455	/* Right crank processing at 1st process */
TetsuyaKonno	0:00b6f7454ada	456	led_m_set( CRANK );
TetsuyaKonno	0:00b6f7454ada	457	led_out( 0x1 );
TetsuyaKonno	0:00b6f7454ada	458	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	459	motor2( 0 ,0 );
TetsuyaKonno	0:00b6f7454ada	460	pattern = 32;
TetsuyaKonno	0:00b6f7454ada	461	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	462	break;
TetsuyaKonno	0:00b6f7454ada	463
TetsuyaKonno	0:00b6f7454ada	464	case 32:
TetsuyaKonno	0:00b6f7454ada	465	/* Right crank processing at 2nd process */
TetsuyaKonno	0:00b6f7454ada	466	if( cnt1 > 300 ) {
TetsuyaKonno	0:00b6f7454ada	467	pattern = 33;
TetsuyaKonno	0:00b6f7454ada	468	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	469	}
TetsuyaKonno	0:00b6f7454ada	470	break;
TetsuyaKonno	0:00b6f7454ada	471
TetsuyaKonno	0:00b6f7454ada	472	case 33:
TetsuyaKonno	0:00b6f7454ada	473	/* Right crank processing at 3rd process */
TetsuyaKonno	0:00b6f7454ada	474	if( ( center_inp() == 0 ) && ( (sensor_inp()&0x0f) == 0x00 ) ) {
TetsuyaKonno	0:00b6f7454ada	475	handle( 41 );
TetsuyaKonno	0:00b6f7454ada	476	motor2( 50 ,10 );
TetsuyaKonno	0:00b6f7454ada	477	pattern = 34;
TetsuyaKonno	0:00b6f7454ada	478	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	479	break;
TetsuyaKonno	0:00b6f7454ada	480	}
TetsuyaKonno	0:00b6f7454ada	481	switch( (sensor_inp()&0x0f) ) {
TetsuyaKonno	0:00b6f7454ada	482	case 0x00:
TetsuyaKonno	0:00b6f7454ada	483	/* Center -> straight */
TetsuyaKonno	0:00b6f7454ada	484	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	485	motor2( 30 ,30 );
TetsuyaKonno	0:00b6f7454ada	486	break;
TetsuyaKonno	0:00b6f7454ada	487	case 0x02:
TetsuyaKonno	0:00b6f7454ada	488	/* Left of center -> turn to right */
TetsuyaKonno	0:00b6f7454ada	489	handle( 5 );
TetsuyaKonno	0:00b6f7454ada	490	motor2( 30 ,diff(30) );
TetsuyaKonno	0:00b6f7454ada	491	break;
TetsuyaKonno	0:00b6f7454ada	492	case 0x04:
TetsuyaKonno	0:00b6f7454ada	493	/* Right of center -> turn to left */
TetsuyaKonno	0:00b6f7454ada	494	handle( -5 );
TetsuyaKonno	0:00b6f7454ada	495	motor2( diff(30) ,30 );
TetsuyaKonno	0:00b6f7454ada	496	break;
TetsuyaKonno	0:00b6f7454ada	497	default:
TetsuyaKonno	0:00b6f7454ada	498	break;
TetsuyaKonno	0:00b6f7454ada	499	}
TetsuyaKonno	0:00b6f7454ada	500	break;
TetsuyaKonno	0:00b6f7454ada	501
TetsuyaKonno	0:00b6f7454ada	502	case 34:
TetsuyaKonno	0:00b6f7454ada	503	/* Right crank clearing processing - wait until stable */
TetsuyaKonno	0:00b6f7454ada	504	if( cnt1 > 800 ) {
TetsuyaKonno	0:00b6f7454ada	505	pattern = 35;
TetsuyaKonno	0:00b6f7454ada	506	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	507	}
TetsuyaKonno	0:00b6f7454ada	508	break;
TetsuyaKonno	0:00b6f7454ada	509
TetsuyaKonno	0:00b6f7454ada	510	case 35:
TetsuyaKonno	0:00b6f7454ada	511	/* Right crank clearing processing - check end of turn */
TetsuyaKonno	0:00b6f7454ada	512	if( (sensor_inp()&0x02) == 0x02 ) {
TetsuyaKonno	0:00b6f7454ada	513	led_out( 0x0 );
TetsuyaKonno	0:00b6f7454ada	514	led_m_set( RUN );
TetsuyaKonno	0:00b6f7454ada	515	pattern = 11;
TetsuyaKonno	0:00b6f7454ada	516	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	517	}
TetsuyaKonno	0:00b6f7454ada	518	break;
TetsuyaKonno	0:00b6f7454ada	519
TetsuyaKonno	0:00b6f7454ada	520	case 51:
TetsuyaKonno	0:00b6f7454ada	521	/* Right lane change processing at 1st process */
TetsuyaKonno	0:00b6f7454ada	522	led_m_set( LCHANGE );
TetsuyaKonno	0:00b6f7454ada	523	led_out( 0x01 );
TetsuyaKonno	0:00b6f7454ada	524	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	525	motor2( 0 ,0 );
TetsuyaKonno	0:00b6f7454ada	526	pattern = 52;
TetsuyaKonno	0:00b6f7454ada	527	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	528	break;
TetsuyaKonno	0:00b6f7454ada	529
TetsuyaKonno	0:00b6f7454ada	530	case 52:
TetsuyaKonno	0:00b6f7454ada	531	/* Right lane change processing at 2nd process */
TetsuyaKonno	0:00b6f7454ada	532	if( cnt1 > 300 ) {
TetsuyaKonno	0:00b6f7454ada	533	pattern = 53;
TetsuyaKonno	0:00b6f7454ada	534	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	535	break;
TetsuyaKonno	0:00b6f7454ada	536	}
TetsuyaKonno	0:00b6f7454ada	537	break;
TetsuyaKonno	0:00b6f7454ada	538
TetsuyaKonno	0:00b6f7454ada	539	case 53:
TetsuyaKonno	0:00b6f7454ada	540	/* Right lane change processing at 3rd process */
TetsuyaKonno	0:00b6f7454ada	541	if( ( center_inp() == 0 ) && ( (sensor_inp()&0x0f) == 0x00 ) ) {
TetsuyaKonno	0:00b6f7454ada	542	handle( 20 );
TetsuyaKonno	0:00b6f7454ada	543	motor2( 30 ,diff(30) );
TetsuyaKonno	0:00b6f7454ada	544	pattern = 54;
TetsuyaKonno	0:00b6f7454ada	545	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	546	break;
TetsuyaKonno	0:00b6f7454ada	547	}
TetsuyaKonno	0:00b6f7454ada	548	switch( (sensor_inp()&0x0f) ) {
TetsuyaKonno	0:00b6f7454ada	549	case 0x00:
TetsuyaKonno	0:00b6f7454ada	550	/* Center -> straight */
TetsuyaKonno	0:00b6f7454ada	551	handle( 0 );
TetsuyaKonno	0:00b6f7454ada	552	motor2( 30 ,30 );
TetsuyaKonno	0:00b6f7454ada	553	break;
TetsuyaKonno	0:00b6f7454ada	554	case 0x02:
TetsuyaKonno	0:00b6f7454ada	555	/* Left of center -> turn to right */
TetsuyaKonno	0:00b6f7454ada	556	handle( 5 );
TetsuyaKonno	0:00b6f7454ada	557	motor2( 30 ,diff(30) );
TetsuyaKonno	0:00b6f7454ada	558	break;
TetsuyaKonno	0:00b6f7454ada	559	case 0x04:
TetsuyaKonno	0:00b6f7454ada	560	/* Right of center -> turn to left */
TetsuyaKonno	0:00b6f7454ada	561	handle( -5 );
TetsuyaKonno	0:00b6f7454ada	562	motor2( diff(30) ,30 );
TetsuyaKonno	0:00b6f7454ada	563	break;
TetsuyaKonno	0:00b6f7454ada	564	default:
TetsuyaKonno	0:00b6f7454ada	565	break;
TetsuyaKonno	0:00b6f7454ada	566	}
TetsuyaKonno	0:00b6f7454ada	567	break;
TetsuyaKonno	0:00b6f7454ada	568
TetsuyaKonno	0:00b6f7454ada	569	case 54:
TetsuyaKonno	0:00b6f7454ada	570	/* Right lane change clearing processing - wait until stable */
TetsuyaKonno	0:00b6f7454ada	571	if( cnt1 > 800 ){
TetsuyaKonno	0:00b6f7454ada	572	pattern = 55;
TetsuyaKonno	0:00b6f7454ada	573	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	574	}
TetsuyaKonno	0:00b6f7454ada	575	break;
TetsuyaKonno	0:00b6f7454ada	576
TetsuyaKonno	0:00b6f7454ada	577	case 55:
TetsuyaKonno	0:00b6f7454ada	578	/* Right lane change end check */
TetsuyaKonno	0:00b6f7454ada	579	if( (sensor_inp()&0x04) == 0x04 ) {
TetsuyaKonno	0:00b6f7454ada	580	led_m_set( RUN );
TetsuyaKonno	0:00b6f7454ada	581	led_out( 0x0 );
TetsuyaKonno	0:00b6f7454ada	582	pattern = 11;
TetsuyaKonno	0:00b6f7454ada	583	cnt1 = 0;
TetsuyaKonno	0:00b6f7454ada	584	}
TetsuyaKonno	0:00b6f7454ada	585	break;
TetsuyaKonno	0:00b6f7454ada	586
TetsuyaKonno	0:00b6f7454ada	587	default:
TetsuyaKonno	0:00b6f7454ada	588	break;
TetsuyaKonno	0:00b6f7454ada	589	}
TetsuyaKonno	0:00b6f7454ada	590	}
TetsuyaKonno	0:00b6f7454ada	591	}
TetsuyaKonno	0:00b6f7454ada	592
TetsuyaKonno	0:00b6f7454ada	593	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	594	// Initialize functions
TetsuyaKonno	0:00b6f7454ada	595	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	596	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	597	//Initialize MTU2 PWM functions
TetsuyaKonno	0:00b6f7454ada	598	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	599	//MTU2_3, MTU2_4
TetsuyaKonno	0:00b6f7454ada	600	//Reset-Synchronized PWM mode
TetsuyaKonno	0:00b6f7454ada	601	//TIOC4A(P4_4) :Left-motor
TetsuyaKonno	0:00b6f7454ada	602	//TIOC4B(P4_5) :Right-motor
TetsuyaKonno	0:00b6f7454ada	603	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	604	void init_MTU2_PWM_Motor( void )
TetsuyaKonno	0:00b6f7454ada	605	{
TetsuyaKonno	0:00b6f7454ada	606	/* Port setting for S/W I/O Control */
TetsuyaKonno	0:00b6f7454ada	607	/* alternative mode */
TetsuyaKonno	0:00b6f7454ada	608
TetsuyaKonno	0:00b6f7454ada	609	/* MTU2_4 (P4_4)(P4_5) */
TetsuyaKonno	0:00b6f7454ada	610	GPIOPBDC4 = 0x0000; /* Bidirection mode disabled*/
TetsuyaKonno	0:00b6f7454ada	611	GPIOPFCAE4 &= 0xffcf; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	612	GPIOPFCE4 \|= 0x0030; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	613	GPIOPFC4 &= 0xffcf; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	614	/* 2nd altemative function/output */
TetsuyaKonno	0:00b6f7454ada	615	GPIOP4 &= 0xffcf; /* */
TetsuyaKonno	0:00b6f7454ada	616	GPIOPM4 &= 0xffcf; /* p4_4,P4_5:output */
TetsuyaKonno	0:00b6f7454ada	617	GPIOPMC4 \|= 0x0030; /* P4_4,P4_5:double */
TetsuyaKonno	0:00b6f7454ada	618
TetsuyaKonno	0:00b6f7454ada	619	/* Module stop 33(MTU2) canceling */
TetsuyaKonno	0:00b6f7454ada	620	CPGSTBCR3 &= 0xf7;
TetsuyaKonno	0:00b6f7454ada	621
TetsuyaKonno	0:00b6f7454ada	622	/* MTU2_3 and MTU2_4 (Motor PWM) */
TetsuyaKonno	0:00b6f7454ada	623	MTU2TCR_3 = 0x20; /* TCNT Clear(TGRA), P0φ/1 */
TetsuyaKonno	0:00b6f7454ada	624	MTU2TOCR1 = 0x04; /* */
TetsuyaKonno	0:00b6f7454ada	625	MTU2TOCR2 = 0x40; /* N L>H P H>L */
TetsuyaKonno	0:00b6f7454ada	626	MTU2TMDR_3 = 0x38; /* Buff:ON Reset-Synchronized PWM mode */
TetsuyaKonno	0:00b6f7454ada	627	MTU2TMDR_4 = 0x30; /* Buff:ON */
TetsuyaKonno	0:00b6f7454ada	628	MTU2TOER = 0xc6; /* TIOC3B,4A,4B enabled output */
TetsuyaKonno	0:00b6f7454ada	629	MTU2TCNT_3 = MTU2TCNT_4 = 0; /* TCNT3,TCNT4 Set 0 */
TetsuyaKonno	0:00b6f7454ada	630	MTU2TGRA_3 = MTU2TGRC_3 = MOTOR_PWM_CYCLE;
TetsuyaKonno	0:00b6f7454ada	631	/* PWM-Cycle(1ms) */
TetsuyaKonno	0:00b6f7454ada	632	MTU2TGRA_4 = MTU2TGRC_4 = 0; /* Left-motor(P4_4) */
TetsuyaKonno	0:00b6f7454ada	633	MTU2TGRB_4 = MTU2TGRD_4 = 0; /* Right-motor(P4_5) */
TetsuyaKonno	0:00b6f7454ada	634	MTU2TSTR \|= 0x40; /* TCNT_4 Start */
TetsuyaKonno	0:00b6f7454ada	635	}
TetsuyaKonno	0:00b6f7454ada	636
TetsuyaKonno	0:00b6f7454ada	637	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	638	//Initialize MTU2 PWM functions
TetsuyaKonno	0:00b6f7454ada	639	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	640	//MTU2_0
TetsuyaKonno	0:00b6f7454ada	641	//PWM mode 1
TetsuyaKonno	0:00b6f7454ada	642	//TIOC0A(P4_0) :Servo-motor
TetsuyaKonno	0:00b6f7454ada	643	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	644	void init_MTU2_PWM_Servo( void )
TetsuyaKonno	0:00b6f7454ada	645	{
TetsuyaKonno	0:00b6f7454ada	646	/* Port setting for S/W I/O Control */
TetsuyaKonno	0:00b6f7454ada	647	/* alternative mode */
TetsuyaKonno	0:00b6f7454ada	648
TetsuyaKonno	0:00b6f7454ada	649	/* MTU2_0 (P4_0) */
TetsuyaKonno	0:00b6f7454ada	650	GPIOPBDC4 = 0x0000; /* Bidirection mode disabled*/
TetsuyaKonno	0:00b6f7454ada	651	GPIOPFCAE4 &= 0xfffe; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	652	GPIOPFCE4 &= 0xfffe; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	653	GPIOPFC4 \|= 0x0001; /* The alternative function of a pin */
TetsuyaKonno	0:00b6f7454ada	654	/* 2nd alternative function/output */
TetsuyaKonno	0:00b6f7454ada	655	GPIOP4 &= 0xfffe; /* */
TetsuyaKonno	0:00b6f7454ada	656	GPIOPM4 &= 0xfffe; /* p4_0:output */
TetsuyaKonno	0:00b6f7454ada	657	GPIOPMC4 \|= 0x0001; /* P4_0:double */
TetsuyaKonno	0:00b6f7454ada	658
TetsuyaKonno	0:00b6f7454ada	659	/* Module stop 33(MTU2) canceling */
TetsuyaKonno	0:00b6f7454ada	660	CPGSTBCR3 &= 0xf7;
TetsuyaKonno	0:00b6f7454ada	661
TetsuyaKonno	0:00b6f7454ada	662	/* MTU2_0 (Motor PWM) */
TetsuyaKonno	0:00b6f7454ada	663	MTU2TCR_0 = 0x22; /* TCNT Clear(TGRA), P0φ/16 */
TetsuyaKonno	0:00b6f7454ada	664	MTU2TIORH_0 = 0x52; /* TGRA L>H, TGRB H>L */
TetsuyaKonno	0:00b6f7454ada	665	MTU2TMDR_0 = 0x32; /* TGRC and TGRD = Buff-mode*/
TetsuyaKonno	0:00b6f7454ada	666	/* PWM-mode1 */
TetsuyaKonno	0:00b6f7454ada	667	MTU2TCNT_0 = 0; /* TCNT0 Set 0 */
TetsuyaKonno	0:00b6f7454ada	668	MTU2TGRA_0 = MTU2TGRC_0 = SERVO_PWM_CYCLE;
TetsuyaKonno	0:00b6f7454ada	669	/* PWM-Cycle(16ms) */
TetsuyaKonno	0:00b6f7454ada	670	MTU2TGRB_0 = MTU2TGRD_0 = 0; /* Servo-motor(P4_0) */
TetsuyaKonno	0:00b6f7454ada	671	MTU2TSTR \|= 0x01; /* TCNT_0 Start */
TetsuyaKonno	0:00b6f7454ada	672	}
TetsuyaKonno	0:00b6f7454ada	673
TetsuyaKonno	0:00b6f7454ada	674	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	675	//Initialize Camera function
TetsuyaKonno	0:00b6f7454ada	676	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	677	void init_Camera( void )
TetsuyaKonno	0:00b6f7454ada	678	{
TetsuyaKonno	0:00b6f7454ada	679	/* NTSC-Video */
TetsuyaKonno	0:00b6f7454ada	680	DisplayBase::graphics_error_t error;
TetsuyaKonno	0:00b6f7454ada	681
TetsuyaKonno	0:00b6f7454ada	682	/* Graphics initialization process */
TetsuyaKonno	0:00b6f7454ada	683	error = Display.Graphics_init(NULL);
TetsuyaKonno	0:00b6f7454ada	684	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	685	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	686	while (1);
TetsuyaKonno	0:00b6f7454ada	687	}
TetsuyaKonno	0:00b6f7454ada	688
TetsuyaKonno	0:00b6f7454ada	689	error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_VDEC, NULL);
TetsuyaKonno	0:00b6f7454ada	690	if( error != DisplayBase::GRAPHICS_OK ) {
TetsuyaKonno	0:00b6f7454ada	691	while(1);
TetsuyaKonno	0:00b6f7454ada	692	}
TetsuyaKonno	0:00b6f7454ada	693
TetsuyaKonno	0:00b6f7454ada	694	/* Interrupt callback function setting (Vsync signal input to scaler 0) */
TetsuyaKonno	0:00b6f7454ada	695	error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VI_VSYNC, 0, IntCallbackFunc_Vsync);
TetsuyaKonno	0:00b6f7454ada	696	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	697	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	698	while (1);
TetsuyaKonno	0:00b6f7454ada	699	}
TetsuyaKonno	0:00b6f7454ada	700
TetsuyaKonno	0:00b6f7454ada	701	/* Video capture setting (progressive form fixed) */
TetsuyaKonno	0:00b6f7454ada	702	error = Display.Video_Write_Setting(
TetsuyaKonno	0:00b6f7454ada	703	VIDEO_INPUT_CH,
TetsuyaKonno	0:00b6f7454ada	704	DisplayBase::COL_SYS_NTSC_358,
TetsuyaKonno	0:00b6f7454ada	705	write_buff_addr,
TetsuyaKonno	0:00b6f7454ada	706	VIDEO_BUFFER_STRIDE,
TetsuyaKonno	0:00b6f7454ada	707	DisplayBase::VIDEO_FORMAT_YCBCR422,
TetsuyaKonno	0:00b6f7454ada	708	DisplayBase::WR_RD_WRSWA_32_16BIT,
TetsuyaKonno	0:00b6f7454ada	709	PIXEL_VW,
TetsuyaKonno	0:00b6f7454ada	710	PIXEL_HW
TetsuyaKonno	0:00b6f7454ada	711	);
TetsuyaKonno	0:00b6f7454ada	712	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	713	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	714	while (1);
TetsuyaKonno	0:00b6f7454ada	715	}
TetsuyaKonno	0:00b6f7454ada	716
TetsuyaKonno	0:00b6f7454ada	717	/* Interrupt callback function setting (Field end signal for recording function in scaler 0) */
TetsuyaKonno	0:00b6f7454ada	718	error = Display.Graphics_Irq_Handler_Set(VIDEO_INT_TYPE, 0, IntCallbackFunc_Vfield);
TetsuyaKonno	0:00b6f7454ada	719	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	720	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	721	while (1);
TetsuyaKonno	0:00b6f7454ada	722	}
TetsuyaKonno	0:00b6f7454ada	723
TetsuyaKonno	0:00b6f7454ada	724	/* Video write process start */
TetsuyaKonno	0:00b6f7454ada	725	error = Display.Video_Start (VIDEO_INPUT_CH);
TetsuyaKonno	0:00b6f7454ada	726	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	727	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	728	while (1);
TetsuyaKonno	0:00b6f7454ada	729	}
TetsuyaKonno	0:00b6f7454ada	730
TetsuyaKonno	0:00b6f7454ada	731	/* Video write process stop */
TetsuyaKonno	0:00b6f7454ada	732	error = Display.Video_Stop (VIDEO_INPUT_CH);
TetsuyaKonno	0:00b6f7454ada	733	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	734	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	735	while (1);
TetsuyaKonno	0:00b6f7454ada	736	}
TetsuyaKonno	0:00b6f7454ada	737
TetsuyaKonno	0:00b6f7454ada	738	/* Video write process start */
TetsuyaKonno	0:00b6f7454ada	739	error = Display.Video_Start (VIDEO_INPUT_CH);
TetsuyaKonno	0:00b6f7454ada	740	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	741	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	742	while (1);
TetsuyaKonno	0:00b6f7454ada	743	}
TetsuyaKonno	0:00b6f7454ada	744
TetsuyaKonno	0:00b6f7454ada	745	/* Wait vsync to update resister */
TetsuyaKonno	0:00b6f7454ada	746	WaitVsync(1);
TetsuyaKonno	0:00b6f7454ada	747
TetsuyaKonno	0:00b6f7454ada	748	/* Wait 2 Vfield(Top or bottom field) */
TetsuyaKonno	0:00b6f7454ada	749	WaitVfield(2);
TetsuyaKonno	0:00b6f7454ada	750	}
TetsuyaKonno	0:00b6f7454ada	751
TetsuyaKonno	0:00b6f7454ada	752	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	753	//ChangeFrameBuffer function
TetsuyaKonno	0:00b6f7454ada	754	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	755	void ChangeFrameBuffer( void )
TetsuyaKonno	0:00b6f7454ada	756	{
TetsuyaKonno	0:00b6f7454ada	757	/* NTSC-Video */
TetsuyaKonno	0:00b6f7454ada	758	DisplayBase::graphics_error_t error;
TetsuyaKonno	0:00b6f7454ada	759
TetsuyaKonno	0:00b6f7454ada	760	/* Change write buffer */
TetsuyaKonno	0:00b6f7454ada	761	if (write_buff_addr == FrameBuffer_Video_A) {
TetsuyaKonno	0:00b6f7454ada	762	write_buff_addr = FrameBuffer_Video_B;
TetsuyaKonno	0:00b6f7454ada	763	save_buff_addr = FrameBuffer_Video_A;
TetsuyaKonno	0:00b6f7454ada	764	} else {
TetsuyaKonno	0:00b6f7454ada	765	write_buff_addr = FrameBuffer_Video_A;
TetsuyaKonno	0:00b6f7454ada	766	save_buff_addr = FrameBuffer_Video_B;
TetsuyaKonno	0:00b6f7454ada	767	}
TetsuyaKonno	0:00b6f7454ada	768	error = Display.Video_Write_Change(
TetsuyaKonno	0:00b6f7454ada	769	VIDEO_INPUT_CH,
TetsuyaKonno	0:00b6f7454ada	770	write_buff_addr,
TetsuyaKonno	0:00b6f7454ada	771	VIDEO_BUFFER_STRIDE);
TetsuyaKonno	0:00b6f7454ada	772	if (error != DisplayBase::GRAPHICS_OK) {
TetsuyaKonno	0:00b6f7454ada	773	pc.printf("Line %d, error %d\n", __LINE__, error);
TetsuyaKonno	0:00b6f7454ada	774	while (1);
TetsuyaKonno	0:00b6f7454ada	775	}
TetsuyaKonno	0:00b6f7454ada	776	}
TetsuyaKonno	0:00b6f7454ada	777
TetsuyaKonno	0:00b6f7454ada	778	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	779	// @brief Interrupt callback function
TetsuyaKonno	0:00b6f7454ada	780	// @param[in] int_type : VDC5 interrupt type
TetsuyaKonno	0:00b6f7454ada	781	// @retval None
TetsuyaKonno	0:00b6f7454ada	782	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	783	static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type)
TetsuyaKonno	0:00b6f7454ada	784	{
TetsuyaKonno	0:00b6f7454ada	785	if (vfield_count > 0) {
TetsuyaKonno	0:00b6f7454ada	786	vfield_count--;
TetsuyaKonno	0:00b6f7454ada	787	}
TetsuyaKonno	0:00b6f7454ada	788	/* top or bottom (Change) */
TetsuyaKonno	0:00b6f7454ada	789	if( vfield_count2 == 0 ) vfield_count2 = 1;
TetsuyaKonno	0:00b6f7454ada	790	else vfield_count2 = 0;
TetsuyaKonno	0:00b6f7454ada	791	led_m_user( vfield_count2 );
TetsuyaKonno	0:00b6f7454ada	792	}
TetsuyaKonno	0:00b6f7454ada	793
TetsuyaKonno	0:00b6f7454ada	794	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	795	// @brief Wait for the specified number of times Vsync occurs
TetsuyaKonno	0:00b6f7454ada	796	// @param[in] wait_count : Wait count
TetsuyaKonno	0:00b6f7454ada	797	// @retval None
TetsuyaKonno	0:00b6f7454ada	798	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	799	static void WaitVfield(const int32_t wait_count)
TetsuyaKonno	0:00b6f7454ada	800	{
TetsuyaKonno	0:00b6f7454ada	801	vfield_count = wait_count;
TetsuyaKonno	0:00b6f7454ada	802	while (vfield_count > 0) {
TetsuyaKonno	0:00b6f7454ada	803	/* Do nothing */
TetsuyaKonno	0:00b6f7454ada	804	}
TetsuyaKonno	0:00b6f7454ada	805	}
TetsuyaKonno	0:00b6f7454ada	806
TetsuyaKonno	0:00b6f7454ada	807	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	808	// @brief Interrupt callback function for Vsync interruption
TetsuyaKonno	0:00b6f7454ada	809	// @param[in] int_type : VDC5 interrupt type
TetsuyaKonno	0:00b6f7454ada	810	// @retval None
TetsuyaKonno	0:00b6f7454ada	811	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	812	static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type)
TetsuyaKonno	0:00b6f7454ada	813	{
TetsuyaKonno	0:00b6f7454ada	814	if (vsync_count > 0) {
TetsuyaKonno	0:00b6f7454ada	815	vsync_count--;
TetsuyaKonno	0:00b6f7454ada	816	}
TetsuyaKonno	0:00b6f7454ada	817	}
TetsuyaKonno	0:00b6f7454ada	818
TetsuyaKonno	0:00b6f7454ada	819	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	820	// @brief Wait for the specified number of times Vsync occurs
TetsuyaKonno	0:00b6f7454ada	821	// @param[in] wait_count : Wait count
TetsuyaKonno	0:00b6f7454ada	822	// @retval None
TetsuyaKonno	0:00b6f7454ada	823	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	824	static void WaitVsync(const int32_t wait_count)
TetsuyaKonno	0:00b6f7454ada	825	{
TetsuyaKonno	0:00b6f7454ada	826	vsync_count = wait_count;
TetsuyaKonno	0:00b6f7454ada	827	while (vsync_count > 0) {
TetsuyaKonno	0:00b6f7454ada	828	/* Do nothing */
TetsuyaKonno	0:00b6f7454ada	829	}
TetsuyaKonno	0:00b6f7454ada	830	}
TetsuyaKonno	0:00b6f7454ada	831
TetsuyaKonno	0:00b6f7454ada	832	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	833	// Interrupt function( intTimer )
TetsuyaKonno	0:00b6f7454ada	834	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	835	void intTimer( void )
TetsuyaKonno	0:00b6f7454ada	836	{
TetsuyaKonno	0:00b6f7454ada	837	static int counter = 0; /* Only variable for image process */
TetsuyaKonno	0:00b6f7454ada	838
TetsuyaKonno	0:00b6f7454ada	839	cnt0++;
TetsuyaKonno	0:00b6f7454ada	840	cnt1++;
TetsuyaKonno	0:00b6f7454ada	841
TetsuyaKonno	0:00b6f7454ada	842	/* field check */
TetsuyaKonno	0:00b6f7454ada	843	if( vfield_count2 != vfield_count2_buff ) {
TetsuyaKonno	0:00b6f7454ada	844	vfield_count2_buff = vfield_count2;
TetsuyaKonno	0:00b6f7454ada	845	counter = 0;
TetsuyaKonno	0:00b6f7454ada	846	}
TetsuyaKonno	0:00b6f7454ada	847
TetsuyaKonno	0:00b6f7454ada	848	/* Top field / bottom field */
TetsuyaKonno	0:00b6f7454ada	849	switch( counter++ ) {
TetsuyaKonno	0:00b6f7454ada	850	case 0:
TetsuyaKonno	0:00b6f7454ada	851	ImageCopy( write_buff_addr, PIXEL_HW, PIXEL_VW, ImageData_A, vfield_count2 );
TetsuyaKonno	0:00b6f7454ada	852	break;
TetsuyaKonno	0:00b6f7454ada	853	case 1:
TetsuyaKonno	0:00b6f7454ada	854	ImageCopy( write_buff_addr, PIXEL_HW, PIXEL_VW, ImageData_A, vfield_count2 );
TetsuyaKonno	0:00b6f7454ada	855	break;
TetsuyaKonno	0:00b6f7454ada	856	case 2:
TetsuyaKonno	0:00b6f7454ada	857	Extraction_Brightness( ImageData_A, PIXEL_HW, PIXEL_VW, ImageData_B, vfield_count2 );
TetsuyaKonno	0:00b6f7454ada	858	break;
TetsuyaKonno	0:00b6f7454ada	859	case 3:
TetsuyaKonno	0:00b6f7454ada	860	Extraction_Brightness( ImageData_A, PIXEL_HW, PIXEL_VW, ImageData_B, vfield_count2 );
TetsuyaKonno	0:00b6f7454ada	861	break;
TetsuyaKonno	0:00b6f7454ada	862	case 4:
TetsuyaKonno	0:00b6f7454ada	863	ImageReduction( ImageData_B, PIXEL_HW, PIXEL_VW, ImageComp_B, Rate );
TetsuyaKonno	0:00b6f7454ada	864	break;
TetsuyaKonno	0:00b6f7454ada	865	case 5:
TetsuyaKonno	0:00b6f7454ada	866	ImageReduction( ImageData_B, PIXEL_HW, PIXEL_VW, ImageComp_B, Rate );
TetsuyaKonno	0:00b6f7454ada	867	break;
TetsuyaKonno	0:00b6f7454ada	868	case 6:
TetsuyaKonno	0:00b6f7454ada	869	Binarization( ImageComp_B, (PIXEL_HW * Rate), (PIXEL_VW * Rate), ImageBinary, threshold_buff );
TetsuyaKonno	0:00b6f7454ada	870	if( !initFlag ) SenVal1 = sensor_process( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate), Sen1Px, 12 );
TetsuyaKonno	0:00b6f7454ada	871	break;
TetsuyaKonno	0:00b6f7454ada	872	case 7:
TetsuyaKonno	0:00b6f7454ada	873	if( !initFlag ) PatternMatching_process( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate), &RightCrank, 2, 10, 2, 8 );
TetsuyaKonno	0:00b6f7454ada	874	break;
TetsuyaKonno	0:00b6f7454ada	875	case 8:
TetsuyaKonno	0:00b6f7454ada	876	if( !initFlag ) PatternMatching_process( ImageBinary, (PIXEL_HW * Rate), (PIXEL_VW * Rate), &RightLaneChange, 4, 6, 1, 3 );
TetsuyaKonno	0:00b6f7454ada	877	break;
TetsuyaKonno	0:00b6f7454ada	878	default:
TetsuyaKonno	0:00b6f7454ada	879	break;
TetsuyaKonno	0:00b6f7454ada	880	}
TetsuyaKonno	0:00b6f7454ada	881
TetsuyaKonno	0:00b6f7454ada	882	/* LED(rgb) on the GR-peach board */
TetsuyaKonno	0:00b6f7454ada	883	led_m_process();
TetsuyaKonno	0:00b6f7454ada	884	}
TetsuyaKonno	0:00b6f7454ada	885
TetsuyaKonno	0:00b6f7454ada	886	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	887	// functions ( on GR-PEACH board )
TetsuyaKonno	0:00b6f7454ada	888	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	889	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	890	//led_rgb Function
TetsuyaKonno	0:00b6f7454ada	891	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	892	void led_rgb(int led)
TetsuyaKonno	0:00b6f7454ada	893	{
TetsuyaKonno	0:00b6f7454ada	894	LED_R = led & 0x1;
TetsuyaKonno	0:00b6f7454ada	895	LED_G = (led >> 1 ) & 0x1;
TetsuyaKonno	0:00b6f7454ada	896	LED_B = (led >> 2 ) & 0x1;
TetsuyaKonno	0:00b6f7454ada	897	}
TetsuyaKonno	0:00b6f7454ada	898
TetsuyaKonno	0:00b6f7454ada	899	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	900	//user_button_get Function
TetsuyaKonno	0:00b6f7454ada	901	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	902	unsigned char user_button_get( void )
TetsuyaKonno	0:00b6f7454ada	903	{
TetsuyaKonno	0:00b6f7454ada	904	return (~user_botton) & 0x1; /* Read ports with switches */
TetsuyaKonno	0:00b6f7454ada	905	}
TetsuyaKonno	0:00b6f7454ada	906
TetsuyaKonno	0:00b6f7454ada	907	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	908	//led_m_user Function
TetsuyaKonno	0:00b6f7454ada	909	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	910	void led_m_user( int led )
TetsuyaKonno	0:00b6f7454ada	911	{
TetsuyaKonno	0:00b6f7454ada	912	USER_LED = led & 0x01;
TetsuyaKonno	0:00b6f7454ada	913	}
TetsuyaKonno	0:00b6f7454ada	914
TetsuyaKonno	0:00b6f7454ada	915	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	916	//led_m_set Function
TetsuyaKonno	0:00b6f7454ada	917	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	918	void led_m_set( int set )
TetsuyaKonno	0:00b6f7454ada	919	{
TetsuyaKonno	0:00b6f7454ada	920	led_pattern = set;
TetsuyaKonno	0:00b6f7454ada	921	}
TetsuyaKonno	0:00b6f7454ada	922
TetsuyaKonno	0:00b6f7454ada	923	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	924	//led_m_process Function for only interrupt
TetsuyaKonno	0:00b6f7454ada	925	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	926	void led_m_process( void )
TetsuyaKonno	0:00b6f7454ada	927	{
TetsuyaKonno	0:00b6f7454ada	928	int led_color;
TetsuyaKonno	0:00b6f7454ada	929	int onTime;
TetsuyaKonno	0:00b6f7454ada	930	int offTime;
TetsuyaKonno	0:00b6f7454ada	931	static unsigned long cnt_led_m;
TetsuyaKonno	0:00b6f7454ada	932
TetsuyaKonno	0:00b6f7454ada	933	switch( led_pattern ) {
TetsuyaKonno	0:00b6f7454ada	934	case RUN:
TetsuyaKonno	0:00b6f7454ada	935	led_color = LED_GREEN;
TetsuyaKonno	0:00b6f7454ada	936	onTime = 500;
TetsuyaKonno	0:00b6f7454ada	937	offTime = 500;
TetsuyaKonno	0:00b6f7454ada	938	break;
TetsuyaKonno	0:00b6f7454ada	939	case STOP:
TetsuyaKonno	0:00b6f7454ada	940	led_color = LED_RED;
TetsuyaKonno	0:00b6f7454ada	941	onTime = 500;
TetsuyaKonno	0:00b6f7454ada	942	offTime = 0;
TetsuyaKonno	0:00b6f7454ada	943	break;
TetsuyaKonno	0:00b6f7454ada	944	case ERROR:
TetsuyaKonno	0:00b6f7454ada	945	led_color = LED_RED;
TetsuyaKonno	0:00b6f7454ada	946	onTime = 100;
TetsuyaKonno	0:00b6f7454ada	947	offTime = 100;
TetsuyaKonno	0:00b6f7454ada	948	break;
TetsuyaKonno	0:00b6f7454ada	949	case DEBUG:
TetsuyaKonno	0:00b6f7454ada	950	led_color = LED_BLUE;
TetsuyaKonno	0:00b6f7454ada	951	onTime = 50;
TetsuyaKonno	0:00b6f7454ada	952	offTime = 50;
TetsuyaKonno	0:00b6f7454ada	953	break;
TetsuyaKonno	0:00b6f7454ada	954	case CRANK:
TetsuyaKonno	0:00b6f7454ada	955	led_color = LED_YELLOW;
TetsuyaKonno	0:00b6f7454ada	956	onTime = 500;
TetsuyaKonno	0:00b6f7454ada	957	offTime = 500;
TetsuyaKonno	0:00b6f7454ada	958	break;
TetsuyaKonno	0:00b6f7454ada	959	case LCHANGE:
TetsuyaKonno	0:00b6f7454ada	960	led_color = LED_BLUE;
TetsuyaKonno	0:00b6f7454ada	961	onTime = 500;
TetsuyaKonno	0:00b6f7454ada	962	offTime = 500;
TetsuyaKonno	0:00b6f7454ada	963	break;
TetsuyaKonno	0:00b6f7454ada	964	default:
TetsuyaKonno	0:00b6f7454ada	965	led_color = LED_OFF;
TetsuyaKonno	0:00b6f7454ada	966	onTime = 500;
TetsuyaKonno	0:00b6f7454ada	967	offTime = 500;
TetsuyaKonno	0:00b6f7454ada	968	break;
TetsuyaKonno	0:00b6f7454ada	969	}
TetsuyaKonno	0:00b6f7454ada	970
TetsuyaKonno	0:00b6f7454ada	971	cnt_led_m++;
TetsuyaKonno	0:00b6f7454ada	972
TetsuyaKonno	0:00b6f7454ada	973	/* Display */
TetsuyaKonno	0:00b6f7454ada	974	if( cnt_led_m < onTime ) led_rgb( led_color );
TetsuyaKonno	0:00b6f7454ada	975	else if( cnt_led_m < ( onTime + offTime ) ) led_rgb( LED_OFF );
TetsuyaKonno	0:00b6f7454ada	976	else cnt_led_m = 0;
TetsuyaKonno	0:00b6f7454ada	977	}
TetsuyaKonno	0:00b6f7454ada	978
TetsuyaKonno	0:00b6f7454ada	979	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	980	// functions ( on Motor drive board )
TetsuyaKonno	0:00b6f7454ada	981	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	982	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	983	//led_out Function
TetsuyaKonno	0:00b6f7454ada	984	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	985	void led_out(int led)
TetsuyaKonno	0:00b6f7454ada	986	{
TetsuyaKonno	0:00b6f7454ada	987	led = ~led;
TetsuyaKonno	0:00b6f7454ada	988	LED_3 = led & 0x1;
TetsuyaKonno	0:00b6f7454ada	989	LED_2 = ( led >> 1 ) & 0x1;
TetsuyaKonno	0:00b6f7454ada	990	}
TetsuyaKonno	0:00b6f7454ada	991
TetsuyaKonno	0:00b6f7454ada	992	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	993	//pushsw_get Function
TetsuyaKonno	0:00b6f7454ada	994	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	995	unsigned char pushsw_get( void )
TetsuyaKonno	0:00b6f7454ada	996	{
TetsuyaKonno	0:00b6f7454ada	997	return (~push_sw) & 0x1; /* Read ports with switches */
TetsuyaKonno	0:00b6f7454ada	998	}
TetsuyaKonno	0:00b6f7454ada	999
TetsuyaKonno	0:00b6f7454ada	1000	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1001	//motor speed control(PWM)
TetsuyaKonno	0:00b6f7454ada	1002	//Arguments: motor:-100 to 100
TetsuyaKonno	0:00b6f7454ada	1003	//Here, 0 is stop, 100 is forward, -100 is reverse
TetsuyaKonno	0:00b6f7454ada	1004	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1005	void motor( int accele_l, int accele_r )
TetsuyaKonno	0:00b6f7454ada	1006	{
TetsuyaKonno	0:00b6f7454ada	1007	int sw_data;
TetsuyaKonno	0:00b6f7454ada	1008
TetsuyaKonno	0:00b6f7454ada	1009	sw_data = dipsw_get() + 5;
TetsuyaKonno	0:00b6f7454ada	1010	accele_l = ( accele_l * sw_data ) / 20;
TetsuyaKonno	0:00b6f7454ada	1011	accele_r = ( accele_r * sw_data ) / 20;
TetsuyaKonno	0:00b6f7454ada	1012
TetsuyaKonno	0:00b6f7454ada	1013	/* Left Motor Control */
TetsuyaKonno	0:00b6f7454ada	1014	if( accele_l >= 0 ) {
TetsuyaKonno	0:00b6f7454ada	1015	/* forward */
TetsuyaKonno	0:00b6f7454ada	1016	Left_motor_signal = 0;
TetsuyaKonno	0:00b6f7454ada	1017	MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_l / 100;
TetsuyaKonno	0:00b6f7454ada	1018	} else {
TetsuyaKonno	0:00b6f7454ada	1019	/* reverse */
TetsuyaKonno	0:00b6f7454ada	1020	Left_motor_signal = 1;
TetsuyaKonno	0:00b6f7454ada	1021	MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_l ) / 100;
TetsuyaKonno	0:00b6f7454ada	1022	}
TetsuyaKonno	0:00b6f7454ada	1023
TetsuyaKonno	0:00b6f7454ada	1024	/* Right Motor Control */
TetsuyaKonno	0:00b6f7454ada	1025	if( accele_r >= 0 ) {
TetsuyaKonno	0:00b6f7454ada	1026	/* forward */
TetsuyaKonno	0:00b6f7454ada	1027	Right_motor_signal = 0;
TetsuyaKonno	0:00b6f7454ada	1028	MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_r / 100;
TetsuyaKonno	0:00b6f7454ada	1029	} else {
TetsuyaKonno	0:00b6f7454ada	1030	/* reverse */
TetsuyaKonno	0:00b6f7454ada	1031	Right_motor_signal = 1;
TetsuyaKonno	0:00b6f7454ada	1032	MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_r ) / 100;
TetsuyaKonno	0:00b6f7454ada	1033	}
TetsuyaKonno	0:00b6f7454ada	1034	}
TetsuyaKonno	0:00b6f7454ada	1035
TetsuyaKonno	0:00b6f7454ada	1036	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1037	//motor speed control(PWM)
TetsuyaKonno	0:00b6f7454ada	1038	//Arguments: motor:-100 to 100
TetsuyaKonno	0:00b6f7454ada	1039	//Here, 0 is stop, 100 is forward, -100 is reverse
TetsuyaKonno	0:00b6f7454ada	1040	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1041	void motor2( int accele_l, int accele_r )
TetsuyaKonno	0:00b6f7454ada	1042	{
TetsuyaKonno	0:00b6f7454ada	1043	/* Left Motor Control */
TetsuyaKonno	0:00b6f7454ada	1044	if( accele_l >= 0 ) {
TetsuyaKonno	0:00b6f7454ada	1045	/* forward */
TetsuyaKonno	0:00b6f7454ada	1046	Left_motor_signal = 0;
TetsuyaKonno	0:00b6f7454ada	1047	MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_l / 100;
TetsuyaKonno	0:00b6f7454ada	1048	} else {
TetsuyaKonno	0:00b6f7454ada	1049	/* reverse */
TetsuyaKonno	0:00b6f7454ada	1050	Left_motor_signal = 1;
TetsuyaKonno	0:00b6f7454ada	1051	MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_l ) / 100;
TetsuyaKonno	0:00b6f7454ada	1052	}
TetsuyaKonno	0:00b6f7454ada	1053
TetsuyaKonno	0:00b6f7454ada	1054	/* Right Motor Control */
TetsuyaKonno	0:00b6f7454ada	1055	if( accele_r >= 0 ) {
TetsuyaKonno	0:00b6f7454ada	1056	/* forward */
TetsuyaKonno	0:00b6f7454ada	1057	Right_motor_signal = 0;
TetsuyaKonno	0:00b6f7454ada	1058	MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_r / 100;
TetsuyaKonno	0:00b6f7454ada	1059	} else {
TetsuyaKonno	0:00b6f7454ada	1060	/* reverse */
TetsuyaKonno	0:00b6f7454ada	1061	Right_motor_signal = 1;
TetsuyaKonno	0:00b6f7454ada	1062	MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_r ) / 100;
TetsuyaKonno	0:00b6f7454ada	1063	}
TetsuyaKonno	0:00b6f7454ada	1064	}
TetsuyaKonno	0:00b6f7454ada	1065
TetsuyaKonno	0:00b6f7454ada	1066	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1067	//handle Function
TetsuyaKonno	0:00b6f7454ada	1068	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1069	void handle( int angle )
TetsuyaKonno	0:00b6f7454ada	1070	{
TetsuyaKonno	0:00b6f7454ada	1071	handle_buff = angle;
TetsuyaKonno	0:00b6f7454ada	1072	/* When the servo move from left to right in reverse, replace "-" with "+" */
TetsuyaKonno	0:00b6f7454ada	1073	MTU2TGRD_0 = SERVO_CENTER - angle * HANDLE_STEP;
TetsuyaKonno	0:00b6f7454ada	1074	}
TetsuyaKonno	0:00b6f7454ada	1075
TetsuyaKonno	0:00b6f7454ada	1076	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1077	//diff Function
TetsuyaKonno	0:00b6f7454ada	1078	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1079	int diff( int pwm )
TetsuyaKonno	0:00b6f7454ada	1080	{
TetsuyaKonno	0:00b6f7454ada	1081	int i, ret;
TetsuyaKonno	0:00b6f7454ada	1082
TetsuyaKonno	0:00b6f7454ada	1083	i = handle_buff;
TetsuyaKonno	0:00b6f7454ada	1084	if( i < 0 ) i = -i;
TetsuyaKonno	0:00b6f7454ada	1085	if( i > 45 ) i = 45;
TetsuyaKonno	0:00b6f7454ada	1086	ret = revolution_difference[i] * pwm / 100;
TetsuyaKonno	0:00b6f7454ada	1087
TetsuyaKonno	0:00b6f7454ada	1088	return ret;
TetsuyaKonno	0:00b6f7454ada	1089	}
TetsuyaKonno	0:00b6f7454ada	1090
TetsuyaKonno	0:00b6f7454ada	1091	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	1092	// functions ( on Shield board )
TetsuyaKonno	0:00b6f7454ada	1093	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	1094	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1095	//Dipsw get Function
TetsuyaKonno	0:00b6f7454ada	1096	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1097	unsigned char dipsw_get( void )
TetsuyaKonno	0:00b6f7454ada	1098	{
TetsuyaKonno	0:00b6f7454ada	1099	return( dipsw.read() & 0x0f );
TetsuyaKonno	0:00b6f7454ada	1100	}
TetsuyaKonno	0:00b6f7454ada	1101
TetsuyaKonno	0:00b6f7454ada	1102	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	1103	// digital sensor functions
TetsuyaKonno	0:00b6f7454ada	1104	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	1105	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1106	// init sensor Function
TetsuyaKonno	0:00b6f7454ada	1107	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1108	int init_sensor( unsigned char BuffAddrIn, int HW, int VW, int Cx, int SENPx, int Y )
TetsuyaKonno	0:00b6f7454ada	1109	{
TetsuyaKonno	0:00b6f7454ada	1110	int X;
TetsuyaKonno	0:00b6f7454ada	1111	int L1x, R1x;
TetsuyaKonno	0:00b6f7454ada	1112	int i, error_cnt;
TetsuyaKonno	0:00b6f7454ada	1113
TetsuyaKonno	0:00b6f7454ada	1114	//Left side
TetsuyaKonno	0:00b6f7454ada	1115	for( X = Cx; X > 1; X-- ){
TetsuyaKonno	0:00b6f7454ada	1116	if( BuffAddrIn[ ( Y * HW ) + ( X - 0 ) ] == 0 && BuffAddrIn[ ( Y * HW ) + ( X - 1 ) ] == 0 ) {
TetsuyaKonno	0:00b6f7454ada	1117	L1x = X;
TetsuyaKonno	0:00b6f7454ada	1118	break;
TetsuyaKonno	0:00b6f7454ada	1119	}
TetsuyaKonno	0:00b6f7454ada	1120	}
TetsuyaKonno	0:00b6f7454ada	1121	//Right side
TetsuyaKonno	0:00b6f7454ada	1122	for( X = Cx; X < ( HW - 1 ); X++ ){
TetsuyaKonno	0:00b6f7454ada	1123	if( BuffAddrIn[ ( Y * HW ) + ( X + 0 ) ] == 0 && BuffAddrIn[ ( Y * HW ) + ( X + 1 ) ] == 0 ) {
TetsuyaKonno	0:00b6f7454ada	1124	R1x = X;
TetsuyaKonno	0:00b6f7454ada	1125	break;
TetsuyaKonno	0:00b6f7454ada	1126	}
TetsuyaKonno	0:00b6f7454ada	1127	}
TetsuyaKonno	0:00b6f7454ada	1128
TetsuyaKonno	0:00b6f7454ada	1129	SENPx[ 4 ] = L1x + ( ( R1x - L1x ) / 2 ); // Center
TetsuyaKonno	0:00b6f7454ada	1130	SENPx[ 2 ] = L1x; // L1
TetsuyaKonno	0:00b6f7454ada	1131	SENPx[ 1 ] = R1x; // R1
TetsuyaKonno	0:00b6f7454ada	1132	SENPx[ 3 ] = SENPx[ 2 ] - ( SENPx[ 4 ] - SENPx[ 2 ] ); //L2
TetsuyaKonno	0:00b6f7454ada	1133	SENPx[ 0 ] = SENPx[ 1 ] + ( SENPx[ 1 ] - SENPx[ 4 ] ); //R2
TetsuyaKonno	0:00b6f7454ada	1134
TetsuyaKonno	0:00b6f7454ada	1135	/* error check */
TetsuyaKonno	0:00b6f7454ada	1136	error_cnt = 0;
TetsuyaKonno	0:00b6f7454ada	1137	for( i = 0; i < 4; i++ ){
TetsuyaKonno	0:00b6f7454ada	1138	if( SENPx[4] == SENPx[i] ) error_cnt += 1;
TetsuyaKonno	0:00b6f7454ada	1139	}
TetsuyaKonno	0:00b6f7454ada	1140
TetsuyaKonno	0:00b6f7454ada	1141	//#define DEBUG_MODE
TetsuyaKonno	0:00b6f7454ada	1142	#ifdef DEBUG_MODE
TetsuyaKonno	0:00b6f7454ada	1143	pc.printf( "L2=%2d, L1=%2d, Cx=%2d, R1=%2d, R2=%2d\n\r", SENPx[ 3 ], SENPx[ 2 ], SENPx[ 4 ], SENPx[ 1 ], SENPx[ 0 ] );
TetsuyaKonno	0:00b6f7454ada	1144	if( error_cnt != 0 ) pc.printf( "init_sensor function Error %1d\n\r", error_cnt );
TetsuyaKonno	0:00b6f7454ada	1145	else pc.printf( "init_sensor function complete\n\r" );
TetsuyaKonno	0:00b6f7454ada	1146	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1147	#endif
TetsuyaKonno	0:00b6f7454ada	1148
TetsuyaKonno	0:00b6f7454ada	1149	return error_cnt;
TetsuyaKonno	0:00b6f7454ada	1150	}
TetsuyaKonno	0:00b6f7454ada	1151
TetsuyaKonno	0:00b6f7454ada	1152	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1153	//sensor_process Function(Interrupt function)
TetsuyaKonno	0:00b6f7454ada	1154	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1155	unsigned char sensor_process( unsigned char BuffAddrIn, int HW, int VW, int SENPx, int Y )
TetsuyaKonno	0:00b6f7454ada	1156	{
TetsuyaKonno	0:00b6f7454ada	1157	int sensor;
TetsuyaKonno	0:00b6f7454ada	1158	int data;
TetsuyaKonno	0:00b6f7454ada	1159
TetsuyaKonno	0:00b6f7454ada	1160	sensor = 0x00;
TetsuyaKonno	0:00b6f7454ada	1161	if( VW < Y ) {
TetsuyaKonno	0:00b6f7454ada	1162	pc.printf( "sensor process function error\n\r" );
TetsuyaKonno	0:00b6f7454ada	1163	return sensor;
TetsuyaKonno	0:00b6f7454ada	1164	}
TetsuyaKonno	0:00b6f7454ada	1165
TetsuyaKonno	0:00b6f7454ada	1166	data = BuffAddrIn[ ( Y * HW ) + SENPx[ 4 ] ] & 0x01;
TetsuyaKonno	0:00b6f7454ada	1167	sensor \|= ( data << 4 ) & 0x10;
TetsuyaKonno	0:00b6f7454ada	1168	data = BuffAddrIn[ ( Y * HW ) + SENPx[ 3 ] ] & 0x01;
TetsuyaKonno	0:00b6f7454ada	1169	sensor \|= ( data << 3 ) & 0x08;
TetsuyaKonno	0:00b6f7454ada	1170	data = BuffAddrIn[ ( Y * HW ) + SENPx[ 2 ] ] & 0x01;
TetsuyaKonno	0:00b6f7454ada	1171	sensor \|= ( data << 2 ) & 0x04;
TetsuyaKonno	0:00b6f7454ada	1172	data = BuffAddrIn[ ( Y * HW ) + SENPx[ 1 ] ] & 0x01;
TetsuyaKonno	0:00b6f7454ada	1173	sensor \|= ( data << 1 ) & 0x02;
TetsuyaKonno	0:00b6f7454ada	1174	sensor \|= BuffAddrIn[ ( Y * HW ) + SENPx[ 0 ] ] & 0x01;
TetsuyaKonno	0:00b6f7454ada	1175
TetsuyaKonno	0:00b6f7454ada	1176	sensor &= 0x1f;
TetsuyaKonno	0:00b6f7454ada	1177
TetsuyaKonno	0:00b6f7454ada	1178	return sensor;
TetsuyaKonno	0:00b6f7454ada	1179	}
TetsuyaKonno	0:00b6f7454ada	1180
TetsuyaKonno	0:00b6f7454ada	1181	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1182	//sensor Function
TetsuyaKonno	0:00b6f7454ada	1183	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1184	unsigned char sensor_inp( void )
TetsuyaKonno	0:00b6f7454ada	1185	{
TetsuyaKonno	0:00b6f7454ada	1186	return SenVal1 & 0x0f;
TetsuyaKonno	0:00b6f7454ada	1187	}
TetsuyaKonno	0:00b6f7454ada	1188
TetsuyaKonno	0:00b6f7454ada	1189	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1190	//sensor Function
TetsuyaKonno	0:00b6f7454ada	1191	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1192	unsigned char center_inp( void )
TetsuyaKonno	0:00b6f7454ada	1193	{
TetsuyaKonno	0:00b6f7454ada	1194	return ( SenVal1 >> 4 ) & 0x01;
TetsuyaKonno	0:00b6f7454ada	1195	}
TetsuyaKonno	0:00b6f7454ada	1196
TetsuyaKonno	0:00b6f7454ada	1197	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1198	// RightCrank Check
TetsuyaKonno	0:00b6f7454ada	1199	// Return values: 0: no triangle mark, 1: Triangle mark
TetsuyaKonno	0:00b6f7454ada	1200	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1201	int RightCrankCheck( int percentage )
TetsuyaKonno	0:00b6f7454ada	1202	{
TetsuyaKonno	0:00b6f7454ada	1203	int ret;
TetsuyaKonno	0:00b6f7454ada	1204
TetsuyaKonno	0:00b6f7454ada	1205	ret = 0;
TetsuyaKonno	0:00b6f7454ada	1206	if( RightCrank.p >= percentage ) {
TetsuyaKonno	0:00b6f7454ada	1207	ret = 1;
TetsuyaKonno	0:00b6f7454ada	1208	}
TetsuyaKonno	0:00b6f7454ada	1209
TetsuyaKonno	0:00b6f7454ada	1210	return ret;
TetsuyaKonno	0:00b6f7454ada	1211	}
TetsuyaKonno	0:00b6f7454ada	1212
TetsuyaKonno	0:00b6f7454ada	1213	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1214	// RightLaneChange Check
TetsuyaKonno	0:00b6f7454ada	1215	// Return values: 0: no triangle mark, 1: Triangle mark
TetsuyaKonno	0:00b6f7454ada	1216	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1217	int RightLaneChangeCheck( int percentage )
TetsuyaKonno	0:00b6f7454ada	1218	{
TetsuyaKonno	0:00b6f7454ada	1219	int ret;
TetsuyaKonno	0:00b6f7454ada	1220
TetsuyaKonno	0:00b6f7454ada	1221	ret = 0;
TetsuyaKonno	0:00b6f7454ada	1222	if( RightLaneChange.p >= percentage ) {
TetsuyaKonno	0:00b6f7454ada	1223	ret = 1;
TetsuyaKonno	0:00b6f7454ada	1224	}
TetsuyaKonno	0:00b6f7454ada	1225
TetsuyaKonno	0:00b6f7454ada	1226	return ret;
TetsuyaKonno	0:00b6f7454ada	1227	}
TetsuyaKonno	0:00b6f7454ada	1228
TetsuyaKonno	0:00b6f7454ada	1229	//******************************************************************//
TetsuyaKonno	0:00b6f7454ada	1230	// Debug functions
TetsuyaKonno	0:00b6f7454ada	1231	//*******************************************************************/
TetsuyaKonno	0:00b6f7454ada	1232	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1233	//Image Data Output( for the Excel )
TetsuyaKonno	0:00b6f7454ada	1234	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1235	void ImageData_Serial_Out1( unsigned char *ImageData, int HW, int VW )
TetsuyaKonno	0:00b6f7454ada	1236	{
TetsuyaKonno	0:00b6f7454ada	1237	int Xp, Yp, inc;
TetsuyaKonno	0:00b6f7454ada	1238
TetsuyaKonno	0:00b6f7454ada	1239	for( Yp = 0, inc = 0; Yp < VW; Yp++ ) {
TetsuyaKonno	0:00b6f7454ada	1240	for( Xp = 0; Xp < HW; Xp++, inc++ ) {
TetsuyaKonno	0:00b6f7454ada	1241	pc.printf( "%d,", ImageData[ inc ] );
TetsuyaKonno	0:00b6f7454ada	1242	}
TetsuyaKonno	0:00b6f7454ada	1243	pc.printf("\n\r");
TetsuyaKonno	0:00b6f7454ada	1244	}
TetsuyaKonno	0:00b6f7454ada	1245	}
TetsuyaKonno	0:00b6f7454ada	1246
TetsuyaKonno	0:00b6f7454ada	1247	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1248	//Image Data Output2( for TeraTerm )
TetsuyaKonno	0:00b6f7454ada	1249	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1250	void ImageData_Serial_Out2( unsigned char *ImageData, int HW, int VW )
TetsuyaKonno	0:00b6f7454ada	1251	{
TetsuyaKonno	0:00b6f7454ada	1252	int Xp, Yp;
TetsuyaKonno	0:00b6f7454ada	1253	int i;
TetsuyaKonno	0:00b6f7454ada	1254
TetsuyaKonno	0:00b6f7454ada	1255	for( Yp = 0; Yp < VW; Yp++ ) {
TetsuyaKonno	0:00b6f7454ada	1256	for( Xp = 0; Xp < HW; Xp++ ) {
TetsuyaKonno	0:00b6f7454ada	1257	pc.printf( "%d ", ImageData[Xp + (Yp * HW)] );
TetsuyaKonno	0:00b6f7454ada	1258	}
TetsuyaKonno	0:00b6f7454ada	1259	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1260	}
TetsuyaKonno	0:00b6f7454ada	1261
TetsuyaKonno	0:00b6f7454ada	1262	//Add display
TetsuyaKonno	0:00b6f7454ada	1263	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1264	pc.printf( "sensor_inp = 0x%02x\n\r", sensor_inp() );
TetsuyaKonno	0:00b6f7454ada	1265	pc.printf( "center_inp = 0x%02x\n\r", center_inp() );
TetsuyaKonno	0:00b6f7454ada	1266	pc.printf( "RightCrank = %01d, = %3d%%, X = %2d, Y = %2d\n\r", RightCrankCheck(80), RightCrank.p, RightCrank.x, RightCrank.y );
TetsuyaKonno	0:00b6f7454ada	1267	pc.printf( "RightLaneChange = %01d, = %3d%%, X = %2d, Y = %2d\n\r", RightLaneChangeCheck(80), RightLaneChange.p, RightLaneChange.x, RightLaneChange.y );
TetsuyaKonno	0:00b6f7454ada	1268	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1269	VW += 6;
TetsuyaKonno	0:00b6f7454ada	1270
TetsuyaKonno	0:00b6f7454ada	1271	pc.printf( "Threshold Check ( please user button on GR-peach board )\n\r" );
TetsuyaKonno	0:00b6f7454ada	1272	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1273	VW += 2;
TetsuyaKonno	0:00b6f7454ada	1274
TetsuyaKonno	0:00b6f7454ada	1275	if( user_button_get() ){
TetsuyaKonno	0:00b6f7454ada	1276	pc.printf( "Please Threshold\n\r" );
TetsuyaKonno	0:00b6f7454ada	1277	pc.printf( " = " );
TetsuyaKonno	0:00b6f7454ada	1278	pc.scanf( "%d", &i );
TetsuyaKonno	0:00b6f7454ada	1279	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1280	threshold_buff = i;
TetsuyaKonno	0:00b6f7454ada	1281	VW += 2;
TetsuyaKonno	0:00b6f7454ada	1282	}
TetsuyaKonno	0:00b6f7454ada	1283
TetsuyaKonno	0:00b6f7454ada	1284	pc.printf( "\033[%dA" , VW );
TetsuyaKonno	0:00b6f7454ada	1285	}
TetsuyaKonno	0:00b6f7454ada	1286
TetsuyaKonno	0:00b6f7454ada	1287	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1288	//Image Data Output3( for TeraTerm )
TetsuyaKonno	0:00b6f7454ada	1289	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1290	void ImageData_Serial_Out3( unsigned char *ImageData, int HW, int VW, int color_pattern )
TetsuyaKonno	0:00b6f7454ada	1291	{
TetsuyaKonno	0:00b6f7454ada	1292	int X, Y;
TetsuyaKonno	0:00b6f7454ada	1293	int Px, Py;
TetsuyaKonno	0:00b6f7454ada	1294	int HW_T;//HW Twice
TetsuyaKonno	0:00b6f7454ada	1295	int value;
TetsuyaKonno	0:00b6f7454ada	1296
TetsuyaKonno	0:00b6f7454ada	1297	HW_T = HW + HW;
TetsuyaKonno	0:00b6f7454ada	1298
TetsuyaKonno	0:00b6f7454ada	1299	/* Camera module test process 2 */
TetsuyaKonno	0:00b6f7454ada	1300	pc.printf( "//,X-Size,Y-Size" );
TetsuyaKonno	0:00b6f7454ada	1301	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1302	pc.printf( "#SIZE,%3d,%3d", HW, VW );
TetsuyaKonno	0:00b6f7454ada	1303	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1304	pc.printf( "//,X-Point,Y-Point" );
TetsuyaKonno	0:00b6f7454ada	1305	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1306
TetsuyaKonno	0:00b6f7454ada	1307	switch( color_pattern ) {
TetsuyaKonno	0:00b6f7454ada	1308	case COLOR:
TetsuyaKonno	0:00b6f7454ada	1309	//YCBCR_422 Color
TetsuyaKonno	0:00b6f7454ada	1310	for( Py = 0, Y = 0; Py < VW; Py+=1, Y++ ){
TetsuyaKonno	0:00b6f7454ada	1311	for( Px = 0, X = 0; Px < HW_T; Px+=4, X+=2 ){
TetsuyaKonno	0:00b6f7454ada	1312	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1313	/Xp/pc.printf( "%d,", X);
TetsuyaKonno	0:00b6f7454ada	1314	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1315	/Y0/pc.printf( "%d,", ImageData[ ( Px + 0 ) + ( HW_T * Py ) ] );//6
TetsuyaKonno	0:00b6f7454ada	1316	/Cb/pc.printf( "%d,", ImageData[ ( Px + 1 ) + ( HW_T * Py ) ] );//5
TetsuyaKonno	0:00b6f7454ada	1317	/Cr/pc.printf( "%d,", ImageData[ ( Px + 3 ) + ( HW_T * Py ) ] );//7
TetsuyaKonno	0:00b6f7454ada	1318	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1319
TetsuyaKonno	0:00b6f7454ada	1320	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1321	/Xp/pc.printf( "%d,", X+1);
TetsuyaKonno	0:00b6f7454ada	1322	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1323	/Y1/pc.printf( "%d,", ImageData[ ( Px + 2 ) + ( HW_T * Py ) ] );//4
TetsuyaKonno	0:00b6f7454ada	1324	/Cb/pc.printf( "%d,", ImageData[ ( Px + 1 ) + ( HW_T * Py ) ] );//5
TetsuyaKonno	0:00b6f7454ada	1325	/Cr/pc.printf( "%d,", ImageData[ ( Px + 3 ) + ( HW_T * Py ) ] );//7
TetsuyaKonno	0:00b6f7454ada	1326	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1327	}
TetsuyaKonno	0:00b6f7454ada	1328	}
TetsuyaKonno	0:00b6f7454ada	1329	break;
TetsuyaKonno	0:00b6f7454ada	1330	case GREY_SCALE:
TetsuyaKonno	0:00b6f7454ada	1331	//YCBCR_422 GreyScale
TetsuyaKonno	0:00b6f7454ada	1332	for( Y = 0; Y < VW; Y++ ){
TetsuyaKonno	0:00b6f7454ada	1333	for( X = 0; X < HW; X+=2 ){
TetsuyaKonno	0:00b6f7454ada	1334	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1335	/Xp/pc.printf( "%d,", X);
TetsuyaKonno	0:00b6f7454ada	1336	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1337	/Y0/pc.printf( "%d,", ImageData[ ( Y * HW ) + ( X + 0 ) ] );//6
TetsuyaKonno	0:00b6f7454ada	1338	/Cb/pc.printf( "%d,", 128);//5
TetsuyaKonno	0:00b6f7454ada	1339	/Cr/pc.printf( "%d,", 128);//7
TetsuyaKonno	0:00b6f7454ada	1340	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1341
TetsuyaKonno	0:00b6f7454ada	1342	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1343	/Xp/pc.printf( "%d,", X+1);
TetsuyaKonno	0:00b6f7454ada	1344	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1345	/Y1/pc.printf( "%d,", ImageData[ ( Y * HW ) + ( X + 1 ) ] );//4
TetsuyaKonno	0:00b6f7454ada	1346	/Cb/pc.printf( "%d,", 128);//5
TetsuyaKonno	0:00b6f7454ada	1347	/Cr/pc.printf( "%d,", 128);//7
TetsuyaKonno	0:00b6f7454ada	1348	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1349	}
TetsuyaKonno	0:00b6f7454ada	1350	}
TetsuyaKonno	0:00b6f7454ada	1351	break;
TetsuyaKonno	0:00b6f7454ada	1352	case BINARY:
TetsuyaKonno	0:00b6f7454ada	1353	//YCBCR_422 Binary
TetsuyaKonno	0:00b6f7454ada	1354	for( Y = 0; Y < VW; Y++ ){
TetsuyaKonno	0:00b6f7454ada	1355	for( X = 0; X < HW; X+=2 ){
TetsuyaKonno	0:00b6f7454ada	1356	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1357	/Xp/pc.printf( "%d,", X);
TetsuyaKonno	0:00b6f7454ada	1358	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1359	value = ImageData[ ( Y * HW ) + ( X + 0 ) ];
TetsuyaKonno	0:00b6f7454ada	1360	if( value ) value = 255;
TetsuyaKonno	0:00b6f7454ada	1361	else value = 0;
TetsuyaKonno	0:00b6f7454ada	1362	/Y0/pc.printf( "%d,", value );//6
TetsuyaKonno	0:00b6f7454ada	1363	/Cb/pc.printf( "%d,", 128);//5
TetsuyaKonno	0:00b6f7454ada	1364	/Cr/pc.printf( "%d,", 128);//7
TetsuyaKonno	0:00b6f7454ada	1365	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1366
TetsuyaKonno	0:00b6f7454ada	1367	pc.printf( "#YCbCr," );
TetsuyaKonno	0:00b6f7454ada	1368	/Xp/pc.printf( "%d,", X+1);
TetsuyaKonno	0:00b6f7454ada	1369	/Yp/pc.printf( "%d,", Y);
TetsuyaKonno	0:00b6f7454ada	1370	value = ImageData[ ( Y * HW ) + ( X + 1 ) ];
TetsuyaKonno	0:00b6f7454ada	1371	if( value ) value = 255;
TetsuyaKonno	0:00b6f7454ada	1372	else value = 0;
TetsuyaKonno	0:00b6f7454ada	1373	/Y1/pc.printf( "%d,", value );//4
TetsuyaKonno	0:00b6f7454ada	1374	/Cb/pc.printf( "%d,", 128);//5
TetsuyaKonno	0:00b6f7454ada	1375	/Cr/pc.printf( "%d,", 128);//7
TetsuyaKonno	0:00b6f7454ada	1376	pc.printf( "\n\r" );
TetsuyaKonno	0:00b6f7454ada	1377	}
TetsuyaKonno	0:00b6f7454ada	1378	}
TetsuyaKonno	0:00b6f7454ada	1379	break;
TetsuyaKonno	0:00b6f7454ada	1380	default:
TetsuyaKonno	0:00b6f7454ada	1381	break;
TetsuyaKonno	0:00b6f7454ada	1382	}
TetsuyaKonno	0:00b6f7454ada	1383	pc.printf( "End\n\r" );
TetsuyaKonno	0:00b6f7454ada	1384	}
TetsuyaKonno	0:00b6f7454ada	1385
TetsuyaKonno	0:00b6f7454ada	1386	//------------------------------------------------------------------//
TetsuyaKonno	0:00b6f7454ada	1387	// End of file
TetsuyaKonno	0:00b6f7454ada	1388	//------------------------------------------------------------------//

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	30 Oct 2018
Imports:	155
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	32

main.cpp@0:00b6f7454ada, 2018-10-30 (annotated)

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