Pipe Inpection Robot
v2
Diff: main.cpp
- Revision:
- 0:520e7ccaa52d
- Child:
- 1:792b922ca3b9
diff -r 000000000000 -r 520e7ccaa52d main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jul 30 09:05:12 2019 +0000
@@ -0,0 +1,222 @@
+//#include <mbed.h>
+
+/*
+ * Author: Edoardo De Marchi
+ * Date: 07/04/13
+ * Notes: OV7670 + FIFO AL422B camera test
+*/
+
+#include "main.h"
+#include <FastPWM.h>
+
+RawSerial pc(USBTX,USBRX);
+FastPWM FP(D6,-1);
+
+#define VGA 307200 //640*480
+#define QVGA 76800 //320*240
+#define QQVGA 19200 //160*120
+
+static char format = ' ';
+static int resolution = 0;
+
+
+//void rxCallback(MODSERIAL_IRQ_INFO *q)
+//{
+// new_send = true;
+//}
+
+int main()
+{
+// camera.Reset();
+ FP.period_us(0.1);
+ FP.write(0.5);
+ pc.baud(115200);
+
+ wait(1);
+
+ pc.printf("SystemCoreClock: %dMHz\r\n", SystemCoreClock/1000000); // print the clock frequency
+
+
+
+// while(1)
+// {
+// if(new_send)
+// {
+// int i = 0;
+//
+// while(pc.readable())
+// {
+// word[i] = pc.getc();
+// i++;
+// }
+// parse_cmd();
+// }
+// wait_ms(50);
+// }
+
+
+ format = 'y';
+ resolution = QVGA;
+ if(camera.Init('b', QVGA) != 1) {
+ pc.printf("Init Fail\r\n");
+ }
+ pc.printf("Initializing done\r\n");
+ memset(word, 0, sizeof(word));
+ wait(1);
+ camera.vsync.enable_irq();
+
+
+ while(1){
+ }
+
+}
+
+
+//
+//void parse_cmd()
+//{
+// new_send = false;
+//
+// if(strcmp("snap", word) == 0)
+// {
+// CameraSnap();
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_bw_VGA", word) == 0) // Set up for 640*480 pixels RAW
+// {
+// format = 'b';
+// resolution = VGA;
+// if(camera.Init('b', VGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_yuv_QVGA", word) == 0) // Set up for 320*240 pixels YUV422
+// { format = 'y';
+// resolution = QVGA;
+// if(camera.Init('b', QVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+//
+// }else
+// if(strcmp("init_rgb_QVGA", word) == 0) // Set up for 320*240 pixels RGB565
+// {
+// format = 'r';
+// resolution = QVGA;
+// if(camera.Init('r', QVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_bw_QVGA", word) == 0) // Set up for 320*240 pixels YUV (Only Y)
+// {
+// format = 'b';
+// resolution = QVGA;
+// if(camera.Init('b', QVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_yuv_QQVGA", word) == 0) // Set up for 160*120 pixels YUV422
+// {
+// format = 'y';
+// resolution = QQVGA;
+// if(camera.Init('b', QQVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_rgb_QQVGA", word) == 0) // Set up for 160*120 pixels RGB565
+// {
+// format = 'r';
+// resolution = QQVGA;
+// if(camera.Init('r', QQVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("init_bw_QQVGA", word) == 0) // Set up for 160*120 pixels YUV (Only Y)
+// {
+// format = 'b';
+// resolution = QQVGA;
+// if(camera.Init('b', QQVGA) != 1)
+// {
+// pc.printf("Init Fail\r\n");
+// }
+// pc.printf("Initializing done\r\n");
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("time", word) == 0)
+// {
+// pc.printf("Tot time acq + send (mbed): %dms\r\n", t2-t1);
+// memset(word, 0, sizeof(word));
+// }else
+// if(strcmp("reg_status", word) == 0)
+// {
+// int i = 0;
+// pc.printf("AD : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F");
+// for (i=0;i<OV7670_REGMAX;i++)
+// {
+// int data;
+// data = camera.ReadReg(i); // READ REG
+// if ((i & 0x0F) == 0)
+// {
+// pc.printf("\r\n%02X : ",i);
+// }
+// pc.printf("%02X ",data);
+// }
+// pc.printf("\r\n");
+// }
+//
+// memset(word, 0, sizeof(word));
+//
+//}
+
+//
+//void CameraSnap()
+//{
+//
+//
+// // Kick things off by capturing an image
+// camera.CaptureNext();
+// while(camera.CaptureDone() == false);
+// // Start reading in the image data from the camera hardware buffer
+// camera.ReadStart();
+// t1 = t.read_ms();
+//
+// for(int x = 0; x<resolution; x++)
+// {
+// // Read in the first half of the image
+// if(format == 'b' && resolution != VGA)
+// {
+// camera.ReadOnebyte();
+// }else
+// if(format == 'y' || format == 'r')
+// {
+// pc.putc(camera.ReadOnebyte());
+// }
+// // Read in the Second half of the image
+// pc.putc(camera.ReadOnebyte()); // Y only
+// }
+//
+// camera.ReadStop();
+// t2 = t.read_ms();
+//
+// camera.CaptureNext();
+// while(camera.CaptureDone() == false);
+//
+// pc.printf("Snap_done\r\n");
+//}
\ No newline at end of file