Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

main.cpp@7:152fba230106, 2019-09-05 (annotated)

Committer:
kangmingyo
Date:
Thu Sep 05 13:04:01 2019 +0000
Revision:
7:152fba230106
Parent:
6:fe8b32cb9357
Child:
8:221b2fc093e4
0905;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mio 0:f3f80a0695ff 1 //
mio 0:f3f80a0695ff 2 // OV7670 + FIFO AL422B camera board test
mio 0:f3f80a0695ff 3 //
mio 0:f3f80a0695ff 4 #include "mbed.h"
mio 0:f3f80a0695ff 5 #include "ov7670.h"
Jeonghoon 3:2a3664dc6634 6 #include <ros.h>
Jeonghoon 3:2a3664dc6634 7 #include <ros/time.h>
Jeonghoon 3:2a3664dc6634 8 #include <std_msgs/UInt8MultiArray.h>
kangmingyo 2:e98408458d2b 9
Jeonghoon 3:2a3664dc6634 10 std_msgs::UInt8MultiArray img;
Jeonghoon 3:2a3664dc6634 11 ros::NodeHandle nh;
Jeonghoon 3:2a3664dc6634 12 ros::Publisher img_pub("image_data", &img);
kangmingyo 2:e98408458d2b 13
mio 0:f3f80a0695ff 14
kangmingyo 7:152fba230106 15
mio 0:f3f80a0695ff 16 OV7670 camera(
kangmingyo 2:e98408458d2b 17 D14,D15, // SDA,SCL(I2C / SCCB)
kangmingyo 4:7b63cf3d205f 18 D9,D8,D11, // VSYNC,HREF,WEN(FIFO)
mio 0:f3f80a0695ff 19 //p18,p17,p16,p15,p11,p12,p14,p13, // D7-D0
kangmingyo 7:152fba230106 20 PortB,0x00FF,
kangmingyo 7:152fba230106 21 D13,D12,D6,D2) ; // RRST,OE,RCLK,WRST
mio 0:f3f80a0695ff 22
Jeonghoon 3:2a3664dc6634 23 //Serial pc(USBTX,USBRX,115200) ;
kangmingyo 7:152fba230106 24
mio 0:f3f80a0695ff 25
kangmingyo 2:e98408458d2b 26 //#undef QQVGA
kangmingyo 2:e98408458d2b 27 #define QQVGA
mio 1:509676f3be32 28
mio 0:f3f80a0695ff 29 #ifdef QQVGA
kangmingyo 7:152fba230106 30 # define SIZEX (160)
kangmingyo 7:152fba230106 31 # define SIZEY (120)
kangmingyo 7:152fba230106 32 # define NUMBYTE (2)
mio 0:f3f80a0695ff 33 #else
mio 0:f3f80a0695ff 34 # define SIZEX (320)
mio 0:f3f80a0695ff 35 # define SIZEY (240)
mio 0:f3f80a0695ff 36 #endif
mio 0:f3f80a0695ff 37
Jeonghoon 3:2a3664dc6634 38
Jeonghoon 3:2a3664dc6634 39 uint8_t fdata[SIZEX*SIZEY];
kangmingyo 7:152fba230106 40 uint8_t fdata_ros[480];
kangmingyo 7:152fba230106 41
kangmingyo 7:152fba230106 42 uint8_t dummy;
Jeonghoon 3:2a3664dc6634 43
Jeonghoon 3:2a3664dc6634 44 size_t size = SIZEX*SIZEY;
kangmingyo 2:e98408458d2b 45
kangmingyo 7:152fba230106 46 int main()
kangmingyo 7:152fba230106 47 {
kangmingyo 7:152fba230106 48 wait_ms(1);
Jeonghoon 3:2a3664dc6634 49 // pc.baud(115200) ;
mio 0:f3f80a0695ff 50 camera.Reset() ;
Jeonghoon 3:2a3664dc6634 51 nh.advertise(img_pub);
mio 0:f3f80a0695ff 52
mio 0:f3f80a0695ff 53 #ifdef QQVGA
kangmingyo 2:e98408458d2b 54 // camera.InitQQVGA565(true,false) ;
kangmingyo 6:fe8b32cb9357 55 camera.InitQQVGAYUV(false,false);
kangmingyo 2:e98408458d2b 56
kangmingyo 7:152fba230106 57 #else
kangmingyo 2:e98408458d2b 58 //camera.InitQVGA565(true,false) ;
mio 0:f3f80a0695ff 59 #endif
kangmingyo 7:152fba230106 60
kangmingyo 7:152fba230106 61
mio 0:f3f80a0695ff 62 // CAPTURE and SEND LOOP
kangmingyo 7:152fba230106 63
kangmingyo 7:152fba230106 64
kangmingyo 7:152fba230106 65 while(1) {
kangmingyo 7:152fba230106 66
kangmingyo 7:152fba230106 67
mio 0:f3f80a0695ff 68 camera.CaptureNext() ;
mio 0:f3f80a0695ff 69 while(camera.CaptureDone() == false) ;
Jeonghoon 3:2a3664dc6634 70
mio 0:f3f80a0695ff 71 camera.ReadStart() ;
kangmingyo 7:152fba230106 72
Jeonghoon 3:2a3664dc6634 73 for (int y = 0; y < SIZEX*SIZEY ; y++) {
Jeonghoon 3:2a3664dc6634 74 camera.ReadOneByte();
Jeonghoon 3:2a3664dc6634 75 fdata[y]=camera.ReadOneByte();
mio 0:f3f80a0695ff 76 }
Jeonghoon 3:2a3664dc6634 77
kangmingyo 7:152fba230106 78 camera.ReadStop() ;
kangmingyo 7:152fba230106 79
kangmingyo 7:152fba230106 80 for(int x=0; x<40; x++) {
kangmingyo 7:152fba230106 81 for(int y=0; y<480; y++) {
kangmingyo 7:152fba230106 82 fdata_ros[y]=fdata[(480*(x))+y];
kangmingyo 7:152fba230106 83 }
Jeonghoon 3:2a3664dc6634 84
kangmingyo 7:152fba230106 85 img.data_length = 480;
kangmingyo 7:152fba230106 86 img.data = &fdata_ros[0];
kangmingyo 7:152fba230106 87 img_pub.publish(&img);
kangmingyo 7:152fba230106 88 nh.spinOnce();
kangmingyo 7:152fba230106 89 wait_ms(600); //max...
kangmingyo 7:152fba230106 90 }
Jeonghoon 3:2a3664dc6634 91
kangmingyo 7:152fba230106 92
kangmingyo 7:152fba230106 93
Jeonghoon 3:2a3664dc6634 94 }
mio 0:f3f80a0695ff 95 }