Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/ArduCAM.cpp@97:0ed9ede9a995, 2017-04-19 (annotated)

Committer:
Bobymicjohn
Date:
Wed Apr 19 21:17:40 2017 +0000
Revision:
97:0ed9ede9a995
Parent:
96:ec89c4d1383d
Child:
99:c6665262fd3d
Added Testing State.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 28:271fc8445e89 1 #include "ArduCAM.h"
hazheng 28:271fc8445e89 2
hazheng 57:0d8a155d511d 3 //#define SW_DEBUG
hazheng 29:f87d8790f57d 4 #include "GlobalVariable.h"
hazheng 56:7d3395ae022d 5 #include "SWCommon.h"
hazheng 56:7d3395ae022d 6
hazheng 29:f87d8790f57d 7
hazheng 32:5badeff825dc 8 #include "CamRegBuf.h"
hazheng 32:5badeff825dc 9
hazheng 41:7b21c5e3599e 10 #include "ArduUTFT.h"
hazheng 41:7b21c5e3599e 11
hazheng 32:5badeff825dc 12 #include <string>
hazheng 32:5badeff825dc 13
hazheng 57:0d8a155d511d 14 #define CAM_BLK_CAL_ACTIVE
hazheng 44:15de535c4005 15
hazheng 46:a5eb9bd3bb55 16 //#define CAM_DISP_DEBUG
hazheng 81:32bd7a25a699 17 //#define CAM_DISP_DEBUG_CENTER
hazheng 81:32bd7a25a699 18 //#define CAM_DISP_IMG
hazheng 46:a5eb9bd3bb55 19
hazheng 57:0d8a155d511d 20 #define IMG_PROC_SIGNAL 0xBB
hazheng 57:0d8a155d511d 21
hazheng 46:a5eb9bd3bb55 22 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 23 extern "C" {
hazheng 46:a5eb9bd3bb55 24 #endif
hazheng 44:15de535c4005 25
hazheng 57:0d8a155d511d 26 const static uint8_t CAM_BLK_CAL_LEFT = ((RESOLUTION_WIDTH / 2) - 1);
hazheng 57:0d8a155d511d 27 const static uint8_t CAM_BLK_CAL_RIGHT = ((RESOLUTION_WIDTH / 2) + 1);
hazheng 70:311d32a596db 28 const static uint8_t TERMINATE_WIDTH = static_cast<uint8_t>(RESOLUTION_WIDTH * 0.28f);
hazheng 57:0d8a155d511d 29
hazheng 46:a5eb9bd3bb55 30 static DigitalOut cam_cs(PIN_ACC_CS, 1);
hazheng 29:f87d8790f57d 31
hazheng 46:a5eb9bd3bb55 32 static uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 33 static uint8_t black_calibrate = 70;
hazheng 65:295c222fdf88 34 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT * 2];
hazheng 64:43ab429a37e0 35 static volatile uint8_t is_encounter_terminate = 0;
hazheng 79:bdbac82c979b 36 static volatile uint8_t is_border_find = BOTH_NOT_FOUND;
hazheng 44:15de535c4005 37
hazheng 44:15de535c4005 38 void cal_black_calibrate();
hazheng 34:f79db3bc2f86 39
hazheng 34:f79db3bc2f86 40 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 41 {
hazheng 34:f79db3bc2f86 42 // take the SS pin low to select the chip:
hazheng 34:f79db3bc2f86 43 cam_cs = 0;
hazheng 34:f79db3bc2f86 44 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 45 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 46 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 47 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 48 cam_cs = 1;
hazheng 34:f79db3bc2f86 49 }
hazheng 34:f79db3bc2f86 50
hazheng 34:f79db3bc2f86 51 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 52 {
hazheng 34:f79db3bc2f86 53 // take the SS pin low to select the chip:
hazheng 29:f87d8790f57d 54 cam_cs = 0;
hazheng 34:f79db3bc2f86 55 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 56 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 57 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 58 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 59 cam_cs = 1;
Bobymicjohn 97:0ed9ede9a995 60
hazheng 34:f79db3bc2f86 61 return value;
hazheng 34:f79db3bc2f86 62 }
hazheng 29:f87d8790f57d 63
hazheng 28:271fc8445e89 64 bool ardu_cam_init()
hazheng 28:271fc8445e89 65 {
hazheng 87:15fcf7891bf9 66 CamRegBuf * camReg = new CamRegBuf(CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 67
hazheng 36:7e747e19f660 68 camReg->WriteRegSet(ResetProg);
hazheng 46:a5eb9bd3bb55 69 wait_ms(10);
hazheng 37:7074a6118d03 70 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 71 wait_ms(10);
hazheng 32:5badeff825dc 72
hazheng 36:7e747e19f660 73 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 74 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 75 #endif
hazheng 32:5badeff825dc 76
hazheng 32:5badeff825dc 77 delete camReg;
hazheng 32:5badeff825dc 78 camReg = NULL;
hazheng 32:5badeff825dc 79
Bobymicjohn 97:0ed9ede9a995 80 uint8_t VerNum = ardu_cam_spi_read_8(ARDUCHIP_VER);
Bobymicjohn 97:0ed9ede9a995 81 VerNum = ardu_cam_spi_read_8(ARDUCHIP_VER);
hazheng 29:f87d8790f57d 82
hazheng 34:f79db3bc2f86 83 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 84 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 85 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 86 {
hazheng 29:f87d8790f57d 87 return false;
hazheng 29:f87d8790f57d 88 }
hazheng 28:271fc8445e89 89
hazheng 96:ec89c4d1383d 90 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 29:f87d8790f57d 91
hazheng 44:15de535c4005 92 cal_black_calibrate();
hazheng 29:f87d8790f57d 93
hazheng 29:f87d8790f57d 94 return true;
hazheng 29:f87d8790f57d 95 }
hazheng 29:f87d8790f57d 96
hazheng 29:f87d8790f57d 97 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 98 {
hazheng 34:f79db3bc2f86 99 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 48:f76b5e252444 100
hazheng 34:f79db3bc2f86 101 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 102 }
hazheng 29:f87d8790f57d 103
hazheng 32:5badeff825dc 104 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 105 {
hazheng 32:5badeff825dc 106 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 107 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 108 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 109 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 110 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 111 return length;
hazheng 32:5badeff825dc 112 }
hazheng 32:5badeff825dc 113
hazheng 32:5badeff825dc 114 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 115 {
hazheng 34:f79db3bc2f86 116 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 117 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 118 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 119
hazheng 32:5badeff825dc 120 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 121 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 122 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 123
hazheng 33:e3fcc4d6bb9b 124 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 125 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 126
hazheng 33:e3fcc4d6bb9b 127 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 128 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 129
hazheng 32:5badeff825dc 130 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 131 }
hazheng 41:7b21c5e3599e 132
hazheng 44:15de535c4005 133 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 134 {
hazheng 44:15de535c4005 135 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 136 }
hazheng 44:15de535c4005 137
hazheng 44:15de535c4005 138 void cal_black_calibrate()
hazheng 44:15de535c4005 139 {
hazheng 44:15de535c4005 140 ardu_cam_start_capture();
hazheng 44:15de535c4005 141
hazheng 44:15de535c4005 142 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 143
hazheng 44:15de535c4005 144 float temp = 0.0f;
hazheng 44:15de535c4005 145 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 146 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 147 {
hazheng 44:15de535c4005 148 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 149 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 150
hazheng 44:15de535c4005 151 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 152 {
hazheng 44:15de535c4005 153 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 154 }
hazheng 44:15de535c4005 155 }
hazheng 44:15de535c4005 156 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 157 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 158 }
hazheng 44:15de535c4005 159
Bobymicjohn 97:0ed9ede9a995 160 inline void get_img_row_info(const uint8_t rowI, uint8_t * left, uint8_t * right, uint8_t* isBorderFound)
hazheng 44:15de535c4005 161 {
hazheng 44:15de535c4005 162 *left = 0;
hazheng 44:15de535c4005 163 *right = RESOLUTION_WIDTH;
hazheng 65:295c222fdf88 164 *isBorderFound = BOTH_NOT_FOUND;
hazheng 44:15de535c4005 165 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 166 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 167 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 168
hazheng 44:15de535c4005 169 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 170 {
hazheng 44:15de535c4005 171 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 172 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 173
hazheng 57:0d8a155d511d 174 pGreen = static_cast<uint8_t>((pixel & 0x07E0) >> 3);
hazheng 44:15de535c4005 175 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 176 {
hazheng 44:15de535c4005 177 if(j < temp_mid_pos)
hazheng 44:15de535c4005 178 {
hazheng 65:295c222fdf88 179 *isBorderFound = LEFT_FOUND;
hazheng 44:15de535c4005 180 *left = j;
hazheng 46:a5eb9bd3bb55 181 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 182 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 183 #endif
hazheng 44:15de535c4005 184 }
hazheng 44:15de535c4005 185 else if(!isRightFound)
hazheng 44:15de535c4005 186 {
hazheng 44:15de535c4005 187 *right = j;
hazheng 44:15de535c4005 188 isRightFound = 1;
hazheng 46:a5eb9bd3bb55 189 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 190 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 191 #endif
hazheng 44:15de535c4005 192 }
hazheng 73:1dcf56e9f1d4 193 #ifdef CAM_DISP_DEBUG
hazheng 73:1dcf56e9f1d4 194 else
hazheng 73:1dcf56e9f1d4 195 {
hazheng 73:1dcf56e9f1d4 196 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 73:1dcf56e9f1d4 197 }
hazheng 73:1dcf56e9f1d4 198 #endif
hazheng 44:15de535c4005 199 }
hazheng 46:a5eb9bd3bb55 200 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 201 else
hazheng 46:a5eb9bd3bb55 202 {
hazheng 46:a5eb9bd3bb55 203 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 204 }
hazheng 50:c387c88141fb 205
hazheng 46:a5eb9bd3bb55 206 #elif defined(CAM_DISP_IMG)
hazheng 46:a5eb9bd3bb55 207 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 208 #endif
hazheng 44:15de535c4005 209 }
hazheng 65:295c222fdf88 210
hazheng 65:295c222fdf88 211 if(*isBorderFound == LEFT_FOUND && isRightFound)
hazheng 65:295c222fdf88 212 {
hazheng 65:295c222fdf88 213 *isBorderFound = BOTH_FOUND;
hazheng 65:295c222fdf88 214 }
hazheng 65:295c222fdf88 215 else if(isRightFound)
hazheng 65:295c222fdf88 216 {
hazheng 65:295c222fdf88 217 *isBorderFound = RIGHT_FOUND;
hazheng 65:295c222fdf88 218 }
hazheng 65:295c222fdf88 219
hazheng 44:15de535c4005 220 }
hazheng 44:15de535c4005 221
hazheng 44:15de535c4005 222 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 223 {
hazheng 44:15de535c4005 224 return centerLine;
hazheng 44:15de535c4005 225 }
hazheng 44:15de535c4005 226
hazheng 44:15de535c4005 227 void image_processing()
hazheng 44:15de535c4005 228 {
hazheng 63:d9a81b3d69f5 229
hazheng 57:0d8a155d511d 230 //while(true)
hazheng 44:15de535c4005 231 {
hazheng 44:15de535c4005 232 ardu_cam_start_capture();
hazheng 44:15de535c4005 233
hazheng 44:15de535c4005 234 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 235
hazheng 44:15de535c4005 236 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 79:bdbac82c979b 237 is_border_find = BOTH_NOT_FOUND;
hazheng 57:0d8a155d511d 238 #ifdef CAM_BLK_CAL_ACTIVE
hazheng 57:0d8a155d511d 239 static float calTemp = 0.0f;
hazheng 57:0d8a155d511d 240 calTemp = 0.0f;
hazheng 57:0d8a155d511d 241 static uint16_t greenPixel = 0x00;
hazheng 64:43ab429a37e0 242 uint8_t isValid = 1;
hazheng 57:0d8a155d511d 243 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 57:0d8a155d511d 244 {
hazheng 57:0d8a155d511d 245 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 57:0d8a155d511d 246 {
hazheng 57:0d8a155d511d 247 greenPixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 57:0d8a155d511d 248 greenPixel = greenPixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 249 greenPixel = (greenPixel & 0x07E0) >> 3;
hazheng 64:43ab429a37e0 250 if(static_cast<uint8_t>(greenPixel) < black_calibrate)
hazheng 64:43ab429a37e0 251 {
hazheng 64:43ab429a37e0 252 isValid = 0;
hazheng 64:43ab429a37e0 253 }
hazheng 57:0d8a155d511d 254 calTemp += static_cast<uint8_t>(greenPixel);
hazheng 57:0d8a155d511d 255 }
hazheng 57:0d8a155d511d 256 else
hazheng 57:0d8a155d511d 257 {
hazheng 57:0d8a155d511d 258 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 259 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 260 }
hazheng 57:0d8a155d511d 261 }
hazheng 64:43ab429a37e0 262
hazheng 64:43ab429a37e0 263 if(isValid)
hazheng 64:43ab429a37e0 264 {
hazheng 64:43ab429a37e0 265 calTemp = calTemp / static_cast<float>(CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 64:43ab429a37e0 266 black_calibrate = static_cast<uint8_t>(calTemp * 0.7f);
hazheng 64:43ab429a37e0 267 }
hazheng 57:0d8a155d511d 268 #endif
hazheng 44:15de535c4005 269 //cal_black_calibrate();
hazheng 44:15de535c4005 270 uint8_t leftPos = 0;
hazheng 44:15de535c4005 271 uint8_t rightPos = 0;
hazheng 65:295c222fdf88 272 uint8_t isBorderFound = BOTH_NOT_FOUND;
hazheng 82:992ba6f31e24 273 is_encounter_terminate = 0;
hazheng 44:15de535c4005 274 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 275 {
hazheng 46:a5eb9bd3bb55 276 #if defined(CAM_DISP_IMG) or defined(CAM_DISP_DEBUG)
hazheng 46:a5eb9bd3bb55 277 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 278 #endif
Bobymicjohn 97:0ed9ede9a995 279 get_img_row_info(i, &leftPos, &rightPos, &isBorderFound);
hazheng 44:15de535c4005 280 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 64:43ab429a37e0 281 uint8_t dis_btw_left_right = rightPos - leftPos - 1;
hazheng 64:43ab429a37e0 282 if(dis_btw_left_right < TERMINATE_WIDTH)
hazheng 64:43ab429a37e0 283 {
hazheng 64:43ab429a37e0 284 is_encounter_terminate = 1;
hazheng 64:43ab429a37e0 285 }
hazheng 46:a5eb9bd3bb55 286
hazheng 46:a5eb9bd3bb55 287 #ifdef CAM_DISP_DEBUG_CENTER
hazheng 44:15de535c4005 288 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 289 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 290 #endif
hazheng 46:a5eb9bd3bb55 291
hazheng 44:15de535c4005 292 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 65:295c222fdf88 293 centerLine[(2 * CAM_ROI_UPPER_LIMIT) - i - 1] = isBorderFound;
hazheng 79:bdbac82c979b 294 switch(is_border_find)
hazheng 79:bdbac82c979b 295 {
hazheng 79:bdbac82c979b 296 case BOTH_NOT_FOUND:
hazheng 79:bdbac82c979b 297 switch(isBorderFound)
hazheng 79:bdbac82c979b 298 {
hazheng 79:bdbac82c979b 299 case LEFT_FOUND:
hazheng 79:bdbac82c979b 300 is_border_find = LEFT_FOUND;
hazheng 79:bdbac82c979b 301 break;
hazheng 79:bdbac82c979b 302 case RIGHT_FOUND:
hazheng 79:bdbac82c979b 303 is_border_find = RIGHT_FOUND;
hazheng 79:bdbac82c979b 304 break;
hazheng 79:bdbac82c979b 305 case BOTH_FOUND:
hazheng 79:bdbac82c979b 306 is_border_find = BOTH_FOUND;
hazheng 79:bdbac82c979b 307 break;
hazheng 79:bdbac82c979b 308 default:
hazheng 79:bdbac82c979b 309 break;
hazheng 79:bdbac82c979b 310 }
hazheng 79:bdbac82c979b 311 break;
hazheng 79:bdbac82c979b 312 case LEFT_FOUND:
hazheng 79:bdbac82c979b 313 switch(isBorderFound)
hazheng 79:bdbac82c979b 314 {
hazheng 79:bdbac82c979b 315 case RIGHT_FOUND:
hazheng 79:bdbac82c979b 316 case BOTH_FOUND:
hazheng 79:bdbac82c979b 317 is_border_find = BOTH_FOUND;
hazheng 79:bdbac82c979b 318 break;
hazheng 79:bdbac82c979b 319 default:
hazheng 79:bdbac82c979b 320 break;
hazheng 79:bdbac82c979b 321 }
hazheng 79:bdbac82c979b 322 break;
hazheng 79:bdbac82c979b 323 case RIGHT_FOUND:
hazheng 79:bdbac82c979b 324 switch(isBorderFound)
hazheng 79:bdbac82c979b 325 {
hazheng 79:bdbac82c979b 326 case LEFT_FOUND:
hazheng 79:bdbac82c979b 327 case BOTH_FOUND:
hazheng 79:bdbac82c979b 328 is_border_find = BOTH_FOUND;
hazheng 79:bdbac82c979b 329 break;
hazheng 79:bdbac82c979b 330 default:
hazheng 79:bdbac82c979b 331 break;
hazheng 79:bdbac82c979b 332 }
hazheng 79:bdbac82c979b 333 break;
hazheng 79:bdbac82c979b 334 case BOTH_FOUND:
hazheng 79:bdbac82c979b 335 default:
hazheng 79:bdbac82c979b 336 break;
hazheng 79:bdbac82c979b 337 }
hazheng 44:15de535c4005 338 }
hazheng 44:15de535c4005 339 }
hazheng 44:15de535c4005 340 }
hazheng 46:a5eb9bd3bb55 341
hazheng 46:a5eb9bd3bb55 342
Bobymicjohn 97:0ed9ede9a995 343 inline void get_img_row_disp(const uint8_t rowI, uint8_t * left, uint8_t * right)
Bobymicjohn 97:0ed9ede9a995 344 {
Bobymicjohn 97:0ed9ede9a995 345 *left = 0;
Bobymicjohn 97:0ed9ede9a995 346 *right = RESOLUTION_WIDTH;
Bobymicjohn 97:0ed9ede9a995 347 uint8_t isRightFound = 0;
Bobymicjohn 97:0ed9ede9a995 348 static uint16_t pixel = 0x0000;
Bobymicjohn 97:0ed9ede9a995 349 static uint8_t pGreen = 0x00;
Bobymicjohn 97:0ed9ede9a995 350
Bobymicjohn 97:0ed9ede9a995 351 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
Bobymicjohn 97:0ed9ede9a995 352 {
Bobymicjohn 97:0ed9ede9a995 353 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
Bobymicjohn 97:0ed9ede9a995 354 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
Bobymicjohn 97:0ed9ede9a995 355
Bobymicjohn 97:0ed9ede9a995 356 pGreen = static_cast<uint8_t>((pixel & 0x07E0) >> 3);
Bobymicjohn 97:0ed9ede9a995 357 if((pGreen < black_calibrate))
Bobymicjohn 97:0ed9ede9a995 358 {
Bobymicjohn 97:0ed9ede9a995 359 if(j < temp_mid_pos)
Bobymicjohn 97:0ed9ede9a995 360 {
Bobymicjohn 97:0ed9ede9a995 361 *left = j;
Bobymicjohn 97:0ed9ede9a995 362 ardu_utft_write_DATA(0xF8, 0x00);
Bobymicjohn 97:0ed9ede9a995 363 }
Bobymicjohn 97:0ed9ede9a995 364 else if(!isRightFound)
Bobymicjohn 97:0ed9ede9a995 365 {
Bobymicjohn 97:0ed9ede9a995 366 *right = j;
Bobymicjohn 97:0ed9ede9a995 367 isRightFound = 1;
Bobymicjohn 97:0ed9ede9a995 368 ardu_utft_write_DATA(0xF8, 0x00);
Bobymicjohn 97:0ed9ede9a995 369 }
Bobymicjohn 97:0ed9ede9a995 370 else
Bobymicjohn 97:0ed9ede9a995 371 {
Bobymicjohn 97:0ed9ede9a995 372 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
Bobymicjohn 97:0ed9ede9a995 373 }
Bobymicjohn 97:0ed9ede9a995 374 }
Bobymicjohn 97:0ed9ede9a995 375 else
Bobymicjohn 97:0ed9ede9a995 376 {
Bobymicjohn 97:0ed9ede9a995 377 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
Bobymicjohn 97:0ed9ede9a995 378 }
Bobymicjohn 97:0ed9ede9a995 379 }
Bobymicjohn 97:0ed9ede9a995 380
Bobymicjohn 97:0ed9ede9a995 381 }
Bobymicjohn 97:0ed9ede9a995 382
hazheng 43:0d1886f4848a 383 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 384 {
hazheng 43:0d1886f4848a 385 ardu_cam_start_capture();
hazheng 44:15de535c4005 386
hazheng 44:15de535c4005 387 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 388
hazheng 44:15de535c4005 389 temp_mid_pos = RESOLUTION_WIDTH / 2;
Bobymicjohn 97:0ed9ede9a995 390 #ifdef CAM_BLK_CAL_ACTIVE
Bobymicjohn 97:0ed9ede9a995 391 static float calTemp = 0.0f;
Bobymicjohn 97:0ed9ede9a995 392 calTemp = 0.0f;
Bobymicjohn 97:0ed9ede9a995 393 static uint16_t greenPixel = 0x00;
Bobymicjohn 97:0ed9ede9a995 394 uint8_t isValid = 1;
Bobymicjohn 97:0ed9ede9a995 395 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
Bobymicjohn 97:0ed9ede9a995 396 {
Bobymicjohn 97:0ed9ede9a995 397 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
Bobymicjohn 97:0ed9ede9a995 398 {
Bobymicjohn 97:0ed9ede9a995 399 greenPixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
Bobymicjohn 97:0ed9ede9a995 400 greenPixel = greenPixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
Bobymicjohn 97:0ed9ede9a995 401 greenPixel = (greenPixel & 0x07E0) >> 3;
Bobymicjohn 97:0ed9ede9a995 402 if(static_cast<uint8_t>(greenPixel) < black_calibrate)
Bobymicjohn 97:0ed9ede9a995 403 {
Bobymicjohn 97:0ed9ede9a995 404 isValid = 0;
Bobymicjohn 97:0ed9ede9a995 405 }
Bobymicjohn 97:0ed9ede9a995 406 calTemp += static_cast<uint8_t>(greenPixel);
Bobymicjohn 97:0ed9ede9a995 407 }
Bobymicjohn 97:0ed9ede9a995 408 else
Bobymicjohn 97:0ed9ede9a995 409 {
Bobymicjohn 97:0ed9ede9a995 410 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
Bobymicjohn 97:0ed9ede9a995 411 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
Bobymicjohn 97:0ed9ede9a995 412 }
Bobymicjohn 97:0ed9ede9a995 413 }
hazheng 46:a5eb9bd3bb55 414
Bobymicjohn 97:0ed9ede9a995 415 if(isValid)
Bobymicjohn 97:0ed9ede9a995 416 {
Bobymicjohn 97:0ed9ede9a995 417 calTemp = calTemp / static_cast<float>(CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
Bobymicjohn 97:0ed9ede9a995 418 black_calibrate = static_cast<uint8_t>(calTemp * 0.7f);
Bobymicjohn 97:0ed9ede9a995 419 }
Bobymicjohn 97:0ed9ede9a995 420 #endif
Bobymicjohn 97:0ed9ede9a995 421 //cal_black_calibrate();
Bobymicjohn 97:0ed9ede9a995 422 uint8_t leftPos = 0;
Bobymicjohn 97:0ed9ede9a995 423 uint8_t rightPos = 0;
Bobymicjohn 97:0ed9ede9a995 424 is_encounter_terminate = 0;
hazheng 44:15de535c4005 425 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 426 {
hazheng 46:a5eb9bd3bb55 427 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 44:15de535c4005 428
Bobymicjohn 97:0ed9ede9a995 429 get_img_row_disp(i, &leftPos, &rightPos);
Bobymicjohn 97:0ed9ede9a995 430 temp_mid_pos = (leftPos + rightPos) / 2;
Bobymicjohn 97:0ed9ede9a995 431
Bobymicjohn 97:0ed9ede9a995 432 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
Bobymicjohn 97:0ed9ede9a995 433 ardu_utft_write_DATA(0xF8, 0x00);
Bobymicjohn 97:0ed9ede9a995 434
hazheng 43:0d1886f4848a 435 }
hazheng 44:15de535c4005 436 }
hazheng 64:43ab429a37e0 437
hazheng 64:43ab429a37e0 438 uint8_t ardu_cam_get_is_encounter_terminate()
hazheng 64:43ab429a37e0 439 {
hazheng 64:43ab429a37e0 440 return is_encounter_terminate;
hazheng 64:43ab429a37e0 441 }
hazheng 79:bdbac82c979b 442
hazheng 79:bdbac82c979b 443 uint8_t ardu_cam_get_is_border_found()
hazheng 79:bdbac82c979b 444 {
hazheng 79:bdbac82c979b 445 return is_border_find;
hazheng 79:bdbac82c979b 446 }
hazheng 96:ec89c4d1383d 447
Bobymicjohn 97:0ed9ede9a995 448 uint8_t ardu_cam_get_ver_num()
Bobymicjohn 97:0ed9ede9a995 449 {
Bobymicjohn 97:0ed9ede9a995 450 return ardu_cam_spi_read_8(ARDUCHIP_VER);
Bobymicjohn 97:0ed9ede9a995 451 }
Bobymicjohn 97:0ed9ede9a995 452
hazheng 46:a5eb9bd3bb55 453 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 454 }
hazheng 46:a5eb9bd3bb55 455 #endif
hazheng 46:a5eb9bd3bb55 456
hazheng 46:a5eb9bd3bb55 457
hazheng 46:a5eb9bd3bb55 458