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@44:15de535c4005, 2017-03-29 (annotated)

Committer:
hazheng
Date:
Wed Mar 29 21:19:27 2017 +0000
Revision:
44:15de535c4005
Parent:
43:0d1886f4848a
Child:
46:a5eb9bd3bb55
Made the car move!...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 28:271fc8445e89 1 #include "ArduCAM.h"
hazheng 28:271fc8445e89 2
hazheng 33:e3fcc4d6bb9b 3
hazheng 29:f87d8790f57d 4 #include "GlobalVariable.h"
hazheng 29:f87d8790f57d 5 #include "SWUSBServer.h"
hazheng 29:f87d8790f57d 6
hazheng 32:5badeff825dc 7 #include "CamRegBuf.h"
hazheng 32:5badeff825dc 8
hazheng 41:7b21c5e3599e 9 #include "ArduUTFT.h"
hazheng 41:7b21c5e3599e 10
hazheng 32:5badeff825dc 11 #include <string>
hazheng 32:5badeff825dc 12
hazheng 44:15de535c4005 13 #define CAM_ROI_UPPER_LIMIT 15
hazheng 44:15de535c4005 14 #define CAM_BLK_CAL_LEFT 75
hazheng 44:15de535c4005 15 #define CAM_BLK_CAL_RIGHT 85
hazheng 44:15de535c4005 16
hazheng 44:15de535c4005 17
hazheng 28:271fc8445e89 18 extern SPI g_spi_port;
hazheng 28:271fc8445e89 19
hazheng 41:7b21c5e3599e 20 DigitalOut cam_cs(PIN_ACC_CS, 1);
hazheng 29:f87d8790f57d 21
hazheng 44:15de535c4005 22 uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 23 uint8_t black_calibrate = 70;
hazheng 44:15de535c4005 24 volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT];
hazheng 44:15de535c4005 25 //volatile const uint8_t* outCenterLine = centerLine;
hazheng 44:15de535c4005 26 Thread * m_imgProcessThread = NULL;
hazheng 44:15de535c4005 27
hazheng 44:15de535c4005 28 void image_processing();
hazheng 44:15de535c4005 29 void cal_black_calibrate();
hazheng 34:f79db3bc2f86 30
hazheng 34:f79db3bc2f86 31 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 32 {
hazheng 34:f79db3bc2f86 33 // take the SS pin low to select the chip:
hazheng 34:f79db3bc2f86 34 cam_cs = 0;
hazheng 34:f79db3bc2f86 35 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 36 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 37 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 38 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 39 cam_cs = 1;
hazheng 34:f79db3bc2f86 40 }
hazheng 34:f79db3bc2f86 41
hazheng 34:f79db3bc2f86 42 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 43 {
hazheng 34:f79db3bc2f86 44 // take the SS pin low to select the chip:
hazheng 29:f87d8790f57d 45 cam_cs = 0;
hazheng 34:f79db3bc2f86 46 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 47 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 48 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 49 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 50 cam_cs = 1;
hazheng 34:f79db3bc2f86 51 return value;
hazheng 34:f79db3bc2f86 52 }
hazheng 34:f79db3bc2f86 53 /*
hazheng 34:f79db3bc2f86 54 inline void ardu_cam_spi_set_burst()
hazheng 34:f79db3bc2f86 55 {
hazheng 34:f79db3bc2f86 56 cam_cs = 0;
hazheng 34:f79db3bc2f86 57
hazheng 34:f79db3bc2f86 58 g_spi_port.write(BURST_FIFO_READ & 0x7F);
hazheng 29:f87d8790f57d 59
hazheng 34:f79db3bc2f86 60 cam_cs = 1;
hazheng 34:f79db3bc2f86 61 }
hazheng 34:f79db3bc2f86 62
hazheng 34:f79db3bc2f86 63 inline uint16_t ardu_cam_spi_burst_read_16()
hazheng 34:f79db3bc2f86 64 {
hazheng 34:f79db3bc2f86 65 cam_cs = 0;
hazheng 29:f87d8790f57d 66
hazheng 34:f79db3bc2f86 67 uint16_t value = static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 68 value = (value << 8) & 0xFF00;
hazheng 34:f79db3bc2f86 69 value = value | static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 70
hazheng 34:f79db3bc2f86 71 cam_cs = 1;
hazheng 34:f79db3bc2f86 72 return value;
hazheng 29:f87d8790f57d 73 }
hazheng 29:f87d8790f57d 74 */
hazheng 29:f87d8790f57d 75
hazheng 29:f87d8790f57d 76
hazheng 28:271fc8445e89 77 bool ardu_cam_init()
hazheng 28:271fc8445e89 78 {
hazheng 32:5badeff825dc 79 char buf[20];
hazheng 32:5badeff825dc 80
hazheng 36:7e747e19f660 81 CamRegBuf * camReg = new CamRegBuf(g_core, CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 82
hazheng 36:7e747e19f660 83 camReg->WriteRegSet(ResetProg);
hazheng 32:5badeff825dc 84 wait_ms(5);
hazheng 37:7074a6118d03 85 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 86 wait_ms(10);
hazheng 32:5badeff825dc 87
hazheng 36:7e747e19f660 88 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 89 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 90 #endif
hazheng 36:7e747e19f660 91 uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
hazheng 32:5badeff825dc 92 sprintf(buf, "Cam VerH %#x", camVer);
hazheng 32:5badeff825dc 93 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 94
hazheng 36:7e747e19f660 95 camVer = camReg->SCCBRead(CAM_VER_ADDR);
hazheng 32:5badeff825dc 96 sprintf(buf, "Cam VerL %#x", camVer);
hazheng 32:5badeff825dc 97 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 36:7e747e19f660 98
hazheng 36:7e747e19f660 99
hazheng 32:5badeff825dc 100 delete camReg;
hazheng 32:5badeff825dc 101 camReg = NULL;
hazheng 32:5badeff825dc 102
hazheng 32:5badeff825dc 103
hazheng 32:5badeff825dc 104
hazheng 32:5badeff825dc 105
hazheng 34:f79db3bc2f86 106 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 107 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 108
hazheng 32:5badeff825dc 109
hazheng 29:f87d8790f57d 110 sprintf(buf, "Ardu Ver %#x", VerNum);
hazheng 29:f87d8790f57d 111 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 112
hazheng 34:f79db3bc2f86 113 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 114 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 115 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 116 {
hazheng 29:f87d8790f57d 117 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
hazheng 29:f87d8790f57d 118 return false;
hazheng 29:f87d8790f57d 119 }
hazheng 29:f87d8790f57d 120 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
hazheng 29:f87d8790f57d 121
hazheng 35:ac4fcca21560 122 //ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 43:0d1886f4848a 123 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 44:15de535c4005 124 //ardu_cam_start_capture();
hazheng 29:f87d8790f57d 125
hazheng 44:15de535c4005 126 //wait(0.1);
hazheng 28:271fc8445e89 127
hazheng 28:271fc8445e89 128
hazheng 32:5badeff825dc 129 //unsigned char tempV = ardu_cam_read_reg(ARDUCHIP_MODE);
hazheng 32:5badeff825dc 130 //sprintf(buf, "Ardu Stat %#x", tempV);
hazheng 32:5badeff825dc 131 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 132
hazheng 32:5badeff825dc 133 //tempV = ardu_cam_read_reg(ARDUCHIP_CAP_CTRL);
hazheng 32:5badeff825dc 134 //sprintf(buf, "Ardu FS1 %#x", tempV);
hazheng 32:5badeff825dc 135 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 44:15de535c4005 136 cal_black_calibrate();
hazheng 44:15de535c4005 137 m_imgProcessThread = new Thread(callback(image_processing));
hazheng 29:f87d8790f57d 138
hazheng 29:f87d8790f57d 139 return true;
hazheng 29:f87d8790f57d 140 }
hazheng 29:f87d8790f57d 141
hazheng 29:f87d8790f57d 142 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 143 {
hazheng 34:f79db3bc2f86 144 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 43:0d1886f4848a 145 //wait(0.1);
hazheng 34:f79db3bc2f86 146 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 147 }
hazheng 29:f87d8790f57d 148
hazheng 32:5badeff825dc 149 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 150 {
hazheng 32:5badeff825dc 151 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 152 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 153 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 154 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 155 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 156 return length;
hazheng 32:5badeff825dc 157 }
hazheng 32:5badeff825dc 158
hazheng 32:5badeff825dc 159 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 160 {
hazheng 34:f79db3bc2f86 161 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 162 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 163 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 164
hazheng 32:5badeff825dc 165 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 166 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 167 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 168
hazheng 33:e3fcc4d6bb9b 169 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 170 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 171
hazheng 33:e3fcc4d6bb9b 172 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 173 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 174
hazheng 32:5badeff825dc 175 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 176 }
hazheng 32:5badeff825dc 177
hazheng 32:5badeff825dc 178 void ardu_cam_print_debug()
hazheng 32:5badeff825dc 179 {
hazheng 32:5badeff825dc 180 uint32_t len = ardu_cam_get_fifo_length();
hazheng 32:5badeff825dc 181 char buf[20];
hazheng 32:5badeff825dc 182 sprintf(buf, "Cam L %#x", len);
hazheng 32:5badeff825dc 183 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 184
hazheng 33:e3fcc4d6bb9b 185 //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
hazheng 33:e3fcc4d6bb9b 186 // return;
hazheng 33:e3fcc4d6bb9b 187
hazheng 33:e3fcc4d6bb9b 188 //Begin output the picture
hazheng 32:5badeff825dc 189 std::string lineBuf;
hazheng 37:7074a6118d03 190 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 191 lineBuf.resize((RESOLUTION_WIDTH / 2) + 1);
hazheng 37:7074a6118d03 192 #else
hazheng 33:e3fcc4d6bb9b 193 lineBuf.resize(RESOLUTION_WIDTH + 1);
hazheng 37:7074a6118d03 194 #endif
hazheng 32:5badeff825dc 195
hazheng 34:f79db3bc2f86 196 //ardu_cam_spi_set_burst();
hazheng 41:7b21c5e3599e 197
hazheng 42:c4e1606087ff 198 //ardu_cam_get_pixel(); //Get the first dummy pixel
hazheng 41:7b21c5e3599e 199
hazheng 43:0d1886f4848a 200
hazheng 33:e3fcc4d6bb9b 201 for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i)
hazheng 32:5badeff825dc 202 {
hazheng 37:7074a6118d03 203 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 204 lineBuf[0] = i / 2;
hazheng 37:7074a6118d03 205
hazheng 37:7074a6118d03 206 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 37:7074a6118d03 207 {
hazheng 37:7074a6118d03 208 if(i % 2 == 0 || j % 2 == 0)
hazheng 37:7074a6118d03 209 {
hazheng 37:7074a6118d03 210 ardu_cam_get_pixel();
hazheng 37:7074a6118d03 211 }
hazheng 37:7074a6118d03 212 else
hazheng 37:7074a6118d03 213 {
hazheng 37:7074a6118d03 214 lineBuf[(j / 2) + 1] = ardu_cam_get_pixel();
hazheng 37:7074a6118d03 215 }
hazheng 37:7074a6118d03 216 }
hazheng 37:7074a6118d03 217
hazheng 37:7074a6118d03 218 if(i % 2 == 0)
hazheng 37:7074a6118d03 219 {
hazheng 37:7074a6118d03 220
hazheng 37:7074a6118d03 221 }
hazheng 37:7074a6118d03 222 else
hazheng 37:7074a6118d03 223 {
hazheng 37:7074a6118d03 224 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 37:7074a6118d03 225 wait(0.35);
hazheng 37:7074a6118d03 226 }
hazheng 37:7074a6118d03 227
hazheng 37:7074a6118d03 228 #else
hazheng 37:7074a6118d03 229
hazheng 32:5badeff825dc 230 lineBuf[0] = i;
hazheng 32:5badeff825dc 231
hazheng 33:e3fcc4d6bb9b 232 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 32:5badeff825dc 233 {
hazheng 33:e3fcc4d6bb9b 234 //uint8_t p = ardu_cam_get_pixel();
hazheng 33:e3fcc4d6bb9b 235 lineBuf[j + 1] = ardu_cam_get_pixel();
hazheng 32:5badeff825dc 236 }
hazheng 32:5badeff825dc 237
hazheng 32:5badeff825dc 238 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 35:ac4fcca21560 239 wait(0.35);
hazheng 37:7074a6118d03 240
hazheng 37:7074a6118d03 241 #endif
hazheng 37:7074a6118d03 242
hazheng 32:5badeff825dc 243 }
hazheng 43:0d1886f4848a 244
hazheng 43:0d1886f4848a 245 }
hazheng 43:0d1886f4848a 246
hazheng 44:15de535c4005 247 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 248 {
hazheng 44:15de535c4005 249 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 250 }
hazheng 44:15de535c4005 251
hazheng 44:15de535c4005 252 void cal_black_calibrate()
hazheng 44:15de535c4005 253 {
hazheng 44:15de535c4005 254 ardu_cam_start_capture();
hazheng 44:15de535c4005 255
hazheng 44:15de535c4005 256 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 257
hazheng 44:15de535c4005 258 float temp = 0.0f;
hazheng 44:15de535c4005 259 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 260 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 261 {
hazheng 44:15de535c4005 262 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 263 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 44:15de535c4005 264
hazheng 44:15de535c4005 265 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 266 {
hazheng 44:15de535c4005 267 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 268 }
hazheng 44:15de535c4005 269 }
hazheng 44:15de535c4005 270 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 271 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 272 }
hazheng 44:15de535c4005 273
hazheng 44:15de535c4005 274 inline void get_img_row_info(const uint8_t display, const uint8_t rowI, uint8_t * left, uint8_t * right)
hazheng 44:15de535c4005 275 {
hazheng 44:15de535c4005 276 *left = 0;
hazheng 44:15de535c4005 277 *right = RESOLUTION_WIDTH;
hazheng 44:15de535c4005 278 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 279 /*
hazheng 44:15de535c4005 280 #ifdef IMAGE_DISPLAY_TO_SCREEN
hazheng 44:15de535c4005 281 if(display)
hazheng 44:15de535c4005 282 {
hazheng 44:15de535c4005 283 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - rowI);
hazheng 44:15de535c4005 284 }
hazheng 44:15de535c4005 285 #endif
hazheng 44:15de535c4005 286 */
hazheng 44:15de535c4005 287 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 288 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 289
hazheng 44:15de535c4005 290 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 291 {
hazheng 44:15de535c4005 292 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 293 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 44:15de535c4005 294
hazheng 44:15de535c4005 295 pGreen = static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 296 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 297 {
hazheng 44:15de535c4005 298 if(j < temp_mid_pos)
hazheng 44:15de535c4005 299 {
hazheng 44:15de535c4005 300 *left = j;
hazheng 44:15de535c4005 301 }
hazheng 44:15de535c4005 302 else if(!isRightFound)
hazheng 44:15de535c4005 303 {
hazheng 44:15de535c4005 304 *right = j;
hazheng 44:15de535c4005 305 isRightFound = 1;
hazheng 44:15de535c4005 306 }
hazheng 44:15de535c4005 307 }
hazheng 44:15de535c4005 308 }
hazheng 44:15de535c4005 309 }
hazheng 44:15de535c4005 310
hazheng 44:15de535c4005 311 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 312 {
hazheng 44:15de535c4005 313 return centerLine;
hazheng 44:15de535c4005 314 }
hazheng 44:15de535c4005 315
hazheng 44:15de535c4005 316 void image_processing()
hazheng 44:15de535c4005 317 {
hazheng 44:15de535c4005 318 while(true)
hazheng 44:15de535c4005 319 {
hazheng 44:15de535c4005 320 ardu_cam_start_capture();
hazheng 44:15de535c4005 321
hazheng 44:15de535c4005 322 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 323
hazheng 44:15de535c4005 324 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 325 //cal_black_calibrate();
hazheng 44:15de535c4005 326 uint8_t leftPos = 0;
hazheng 44:15de535c4005 327 uint8_t rightPos = 0;
hazheng 44:15de535c4005 328 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 329 {
hazheng 44:15de535c4005 330 get_img_row_info(0, i, &leftPos, &rightPos);
hazheng 44:15de535c4005 331 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 44:15de535c4005 332 /*
hazheng 44:15de535c4005 333 #ifdef DEBUG_DISPLAY_TO_SCREEN
hazheng 44:15de535c4005 334 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 335 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 336 #endif
hazheng 44:15de535c4005 337 */
hazheng 44:15de535c4005 338 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 44:15de535c4005 339 }
hazheng 44:15de535c4005 340 }
hazheng 44:15de535c4005 341 }
hazheng 44:15de535c4005 342 /*
hazheng 43:0d1886f4848a 343 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 344 {
hazheng 43:0d1886f4848a 345 ardu_cam_start_capture();
hazheng 44:15de535c4005 346
hazheng 44:15de535c4005 347 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 348
hazheng 44:15de535c4005 349 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 350 cal_black_calibrate();
hazheng 44:15de535c4005 351 uint8_t leftPos = 0;
hazheng 44:15de535c4005 352 uint8_t rightPos = 0;
hazheng 44:15de535c4005 353 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 354 {
hazheng 44:15de535c4005 355
hazheng 43:0d1886f4848a 356 }
hazheng 44:15de535c4005 357 }
hazheng 44:15de535c4005 358 */