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@56:7d3395ae022d, 2017-04-06 (annotated)

Committer:
hazheng
Date:
Thu Apr 06 22:19:59 2017 +0000
Revision:
56:7d3395ae022d
Parent:
54:f1f5648dfacf
Child:
57:0d8a155d511d
Added debug log function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 28:271fc8445e89 1 #include "ArduCAM.h"
hazheng 28:271fc8445e89 2
hazheng 56:7d3395ae022d 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 50:c387c88141fb 14 #define CAM_BLK_CAL_LEFT ((RESOLUTION_WIDTH / 2) - 2)
hazheng 50:c387c88141fb 15 #define CAM_BLK_CAL_RIGHT ((RESOLUTION_WIDTH / 2) + 2)
hazheng 44:15de535c4005 16
hazheng 46:a5eb9bd3bb55 17 //#define CAM_DISP_DEBUG
hazheng 48:f76b5e252444 18 //#define CAM_DISP_DEBUG_CENTER
hazheng 50:c387c88141fb 19 //#define CAM_DISP_IMG
hazheng 46:a5eb9bd3bb55 20
hazheng 46:a5eb9bd3bb55 21 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 22 extern "C" {
hazheng 46:a5eb9bd3bb55 23 #endif
hazheng 44:15de535c4005 24
hazheng 46:a5eb9bd3bb55 25 static DigitalOut cam_cs(PIN_ACC_CS, 1);
hazheng 29:f87d8790f57d 26
hazheng 46:a5eb9bd3bb55 27 static uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 28 static uint8_t black_calibrate = 70;
hazheng 46:a5eb9bd3bb55 29 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT];
hazheng 46:a5eb9bd3bb55 30 static Thread * m_imgProcessThread = NULL;
hazheng 44:15de535c4005 31
hazheng 44:15de535c4005 32 void image_processing();
hazheng 44:15de535c4005 33 void cal_black_calibrate();
hazheng 34:f79db3bc2f86 34
hazheng 34:f79db3bc2f86 35 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 36 {
hazheng 34:f79db3bc2f86 37 // take the SS pin low to select the chip:
hazheng 56:7d3395ae022d 38 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 39 g_sw_spi_lock.lock();
hazheng 56:7d3395ae022d 40 #endif
hazheng 34:f79db3bc2f86 41 cam_cs = 0;
hazheng 34:f79db3bc2f86 42 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 43 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 44 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 45 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 46 cam_cs = 1;
hazheng 56:7d3395ae022d 47 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 48 g_sw_spi_lock.unlock();
hazheng 56:7d3395ae022d 49 #endif
hazheng 34:f79db3bc2f86 50 }
hazheng 34:f79db3bc2f86 51
hazheng 34:f79db3bc2f86 52 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 53 {
hazheng 34:f79db3bc2f86 54 // take the SS pin low to select the chip:
hazheng 56:7d3395ae022d 55 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 56 g_sw_spi_lock.lock();
hazheng 56:7d3395ae022d 57 #endif
hazheng 29:f87d8790f57d 58 cam_cs = 0;
hazheng 34:f79db3bc2f86 59 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 60 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 61 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 62 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 63 cam_cs = 1;
hazheng 56:7d3395ae022d 64 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 65 g_sw_spi_lock.unlock();
hazheng 56:7d3395ae022d 66 #endif
hazheng 34:f79db3bc2f86 67 return value;
hazheng 34:f79db3bc2f86 68 }
hazheng 34:f79db3bc2f86 69 /*
hazheng 34:f79db3bc2f86 70 inline void ardu_cam_spi_set_burst()
hazheng 34:f79db3bc2f86 71 {
hazheng 34:f79db3bc2f86 72 cam_cs = 0;
hazheng 34:f79db3bc2f86 73
hazheng 34:f79db3bc2f86 74 g_spi_port.write(BURST_FIFO_READ & 0x7F);
hazheng 29:f87d8790f57d 75
hazheng 34:f79db3bc2f86 76 cam_cs = 1;
hazheng 34:f79db3bc2f86 77 }
hazheng 34:f79db3bc2f86 78
hazheng 34:f79db3bc2f86 79 inline uint16_t ardu_cam_spi_burst_read_16()
hazheng 34:f79db3bc2f86 80 {
hazheng 34:f79db3bc2f86 81 cam_cs = 0;
hazheng 29:f87d8790f57d 82
hazheng 34:f79db3bc2f86 83 uint16_t value = static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 84 value = (value << 8) & 0xFF00;
hazheng 34:f79db3bc2f86 85 value = value | static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 86
hazheng 34:f79db3bc2f86 87 cam_cs = 1;
hazheng 34:f79db3bc2f86 88 return value;
hazheng 29:f87d8790f57d 89 }
hazheng 29:f87d8790f57d 90 */
hazheng 29:f87d8790f57d 91
hazheng 29:f87d8790f57d 92
hazheng 28:271fc8445e89 93 bool ardu_cam_init()
hazheng 28:271fc8445e89 94 {
hazheng 56:7d3395ae022d 95 //char buf[20];
hazheng 32:5badeff825dc 96
hazheng 36:7e747e19f660 97 CamRegBuf * camReg = new CamRegBuf(g_core, CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 98
hazheng 36:7e747e19f660 99 camReg->WriteRegSet(ResetProg);
hazheng 46:a5eb9bd3bb55 100 wait_ms(10);
hazheng 37:7074a6118d03 101 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 102 wait_ms(10);
hazheng 32:5badeff825dc 103
hazheng 36:7e747e19f660 104 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 105 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 106 #endif
Bobymicjohn 54:f1f5648dfacf 107 //uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
Bobymicjohn 54:f1f5648dfacf 108 //sprintf(buf, "Cam VerH %#x", camVer);
Bobymicjohn 54:f1f5648dfacf 109 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 110
Bobymicjohn 54:f1f5648dfacf 111 //camVer = camReg->SCCBRead(CAM_VER_ADDR);
Bobymicjohn 54:f1f5648dfacf 112 //sprintf(buf, "Cam VerL %#x", camVer);
Bobymicjohn 54:f1f5648dfacf 113 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 36:7e747e19f660 114
hazheng 36:7e747e19f660 115
hazheng 32:5badeff825dc 116 delete camReg;
hazheng 32:5badeff825dc 117 camReg = NULL;
hazheng 32:5badeff825dc 118
hazheng 32:5badeff825dc 119
hazheng 32:5badeff825dc 120
hazheng 32:5badeff825dc 121
hazheng 34:f79db3bc2f86 122 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 123 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 124
hazheng 32:5badeff825dc 125
Bobymicjohn 54:f1f5648dfacf 126 //sprintf(buf, "Ardu Ver %#x", VerNum);
Bobymicjohn 54:f1f5648dfacf 127 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 128
hazheng 34:f79db3bc2f86 129 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 130 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 131 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 132 {
Bobymicjohn 54:f1f5648dfacf 133 //g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
hazheng 29:f87d8790f57d 134 return false;
hazheng 29:f87d8790f57d 135 }
Bobymicjohn 54:f1f5648dfacf 136 //g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
hazheng 29:f87d8790f57d 137
hazheng 35:ac4fcca21560 138 //ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 43:0d1886f4848a 139 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 44:15de535c4005 140 //ardu_cam_start_capture();
hazheng 29:f87d8790f57d 141
hazheng 28:271fc8445e89 142
hazheng 32:5badeff825dc 143 //unsigned char tempV = ardu_cam_read_reg(ARDUCHIP_MODE);
hazheng 32:5badeff825dc 144 //sprintf(buf, "Ardu Stat %#x", tempV);
hazheng 32:5badeff825dc 145 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 146
hazheng 32:5badeff825dc 147 //tempV = ardu_cam_read_reg(ARDUCHIP_CAP_CTRL);
hazheng 32:5badeff825dc 148 //sprintf(buf, "Ardu FS1 %#x", tempV);
hazheng 32:5badeff825dc 149 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 44:15de535c4005 150 cal_black_calibrate();
hazheng 46:a5eb9bd3bb55 151 m_imgProcessThread = new Thread;
hazheng 46:a5eb9bd3bb55 152 m_imgProcessThread->start(callback(image_processing));
hazheng 29:f87d8790f57d 153
hazheng 29:f87d8790f57d 154 return true;
hazheng 29:f87d8790f57d 155 }
hazheng 29:f87d8790f57d 156
hazheng 29:f87d8790f57d 157 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 158 {
hazheng 34:f79db3bc2f86 159 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 48:f76b5e252444 160
hazheng 34:f79db3bc2f86 161 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 162 }
hazheng 29:f87d8790f57d 163
hazheng 32:5badeff825dc 164 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 165 {
hazheng 32:5badeff825dc 166 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 167 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 168 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 169 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 170 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 171 return length;
hazheng 32:5badeff825dc 172 }
hazheng 32:5badeff825dc 173
hazheng 32:5badeff825dc 174 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 175 {
hazheng 34:f79db3bc2f86 176 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 177 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 178 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 179
hazheng 32:5badeff825dc 180 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 181 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 182 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 183
hazheng 33:e3fcc4d6bb9b 184 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 185 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 186
hazheng 33:e3fcc4d6bb9b 187 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 188 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 189
hazheng 32:5badeff825dc 190 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 191 }
hazheng 32:5badeff825dc 192
hazheng 32:5badeff825dc 193 void ardu_cam_print_debug()
hazheng 32:5badeff825dc 194 {
hazheng 32:5badeff825dc 195 uint32_t len = ardu_cam_get_fifo_length();
Bobymicjohn 54:f1f5648dfacf 196 //char buf[20];
Bobymicjohn 54:f1f5648dfacf 197 //sprintf(buf, "Cam L %#x", len);
Bobymicjohn 54:f1f5648dfacf 198 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 199
hazheng 33:e3fcc4d6bb9b 200 //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
hazheng 33:e3fcc4d6bb9b 201 // return;
hazheng 33:e3fcc4d6bb9b 202
hazheng 33:e3fcc4d6bb9b 203 //Begin output the picture
hazheng 32:5badeff825dc 204 std::string lineBuf;
hazheng 37:7074a6118d03 205 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 206 lineBuf.resize((RESOLUTION_WIDTH / 2) + 1);
hazheng 37:7074a6118d03 207 #else
hazheng 33:e3fcc4d6bb9b 208 lineBuf.resize(RESOLUTION_WIDTH + 1);
hazheng 37:7074a6118d03 209 #endif
hazheng 32:5badeff825dc 210
hazheng 34:f79db3bc2f86 211 //ardu_cam_spi_set_burst();
hazheng 41:7b21c5e3599e 212
hazheng 42:c4e1606087ff 213 //ardu_cam_get_pixel(); //Get the first dummy pixel
hazheng 41:7b21c5e3599e 214
hazheng 43:0d1886f4848a 215
hazheng 33:e3fcc4d6bb9b 216 for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i)
hazheng 32:5badeff825dc 217 {
hazheng 37:7074a6118d03 218 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 219 lineBuf[0] = i / 2;
hazheng 37:7074a6118d03 220
hazheng 37:7074a6118d03 221 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 37:7074a6118d03 222 {
hazheng 37:7074a6118d03 223 if(i % 2 == 0 || j % 2 == 0)
hazheng 37:7074a6118d03 224 {
hazheng 37:7074a6118d03 225 ardu_cam_get_pixel();
hazheng 37:7074a6118d03 226 }
hazheng 37:7074a6118d03 227 else
hazheng 37:7074a6118d03 228 {
hazheng 37:7074a6118d03 229 lineBuf[(j / 2) + 1] = ardu_cam_get_pixel();
hazheng 37:7074a6118d03 230 }
hazheng 37:7074a6118d03 231 }
hazheng 37:7074a6118d03 232
hazheng 37:7074a6118d03 233 if(i % 2 == 0)
hazheng 37:7074a6118d03 234 {
hazheng 37:7074a6118d03 235
hazheng 37:7074a6118d03 236 }
hazheng 37:7074a6118d03 237 else
hazheng 37:7074a6118d03 238 {
hazheng 37:7074a6118d03 239 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 37:7074a6118d03 240 wait(0.35);
hazheng 37:7074a6118d03 241 }
hazheng 37:7074a6118d03 242
hazheng 37:7074a6118d03 243 #else
hazheng 37:7074a6118d03 244
hazheng 32:5badeff825dc 245 lineBuf[0] = i;
hazheng 32:5badeff825dc 246
hazheng 33:e3fcc4d6bb9b 247 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 32:5badeff825dc 248 {
hazheng 33:e3fcc4d6bb9b 249 //uint8_t p = ardu_cam_get_pixel();
hazheng 33:e3fcc4d6bb9b 250 lineBuf[j + 1] = ardu_cam_get_pixel();
hazheng 32:5badeff825dc 251 }
hazheng 32:5badeff825dc 252
Bobymicjohn 54:f1f5648dfacf 253 //g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 35:ac4fcca21560 254 wait(0.35);
hazheng 37:7074a6118d03 255
hazheng 37:7074a6118d03 256 #endif
hazheng 37:7074a6118d03 257
hazheng 32:5badeff825dc 258 }
hazheng 43:0d1886f4848a 259
hazheng 43:0d1886f4848a 260 }
hazheng 43:0d1886f4848a 261
hazheng 44:15de535c4005 262 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 263 {
hazheng 44:15de535c4005 264 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 265 }
hazheng 44:15de535c4005 266
hazheng 44:15de535c4005 267 void cal_black_calibrate()
hazheng 44:15de535c4005 268 {
hazheng 44:15de535c4005 269 ardu_cam_start_capture();
hazheng 44:15de535c4005 270
hazheng 44:15de535c4005 271 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 272
hazheng 44:15de535c4005 273 float temp = 0.0f;
hazheng 44:15de535c4005 274 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 275 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 276 {
hazheng 44:15de535c4005 277 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 278 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 279
hazheng 44:15de535c4005 280 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 281 {
hazheng 44:15de535c4005 282 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 283 }
hazheng 44:15de535c4005 284 }
hazheng 44:15de535c4005 285 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 286 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 287 }
hazheng 44:15de535c4005 288
hazheng 44:15de535c4005 289 inline void get_img_row_info(const uint8_t display, const uint8_t rowI, uint8_t * left, uint8_t * right)
hazheng 44:15de535c4005 290 {
hazheng 44:15de535c4005 291 *left = 0;
hazheng 44:15de535c4005 292 *right = RESOLUTION_WIDTH;
hazheng 44:15de535c4005 293 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 294 /*
hazheng 44:15de535c4005 295 #ifdef IMAGE_DISPLAY_TO_SCREEN
hazheng 44:15de535c4005 296 if(display)
hazheng 44:15de535c4005 297 {
hazheng 44:15de535c4005 298 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - rowI);
hazheng 44:15de535c4005 299 }
hazheng 44:15de535c4005 300 #endif
hazheng 44:15de535c4005 301 */
hazheng 44:15de535c4005 302 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 303 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 304
hazheng 44:15de535c4005 305 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 306 {
hazheng 44:15de535c4005 307 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 308 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 309
hazheng 44:15de535c4005 310 pGreen = static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 311 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 312 {
hazheng 44:15de535c4005 313 if(j < temp_mid_pos)
hazheng 44:15de535c4005 314 {
hazheng 44:15de535c4005 315 *left = j;
hazheng 46:a5eb9bd3bb55 316 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 317 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 318 #endif
hazheng 44:15de535c4005 319 }
hazheng 44:15de535c4005 320 else if(!isRightFound)
hazheng 44:15de535c4005 321 {
hazheng 44:15de535c4005 322 *right = j;
hazheng 44:15de535c4005 323 isRightFound = 1;
hazheng 46:a5eb9bd3bb55 324 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 325 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 326 #endif
hazheng 44:15de535c4005 327 }
hazheng 44:15de535c4005 328 }
hazheng 46:a5eb9bd3bb55 329 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 330 else
hazheng 46:a5eb9bd3bb55 331 {
hazheng 46:a5eb9bd3bb55 332 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 333 }
hazheng 50:c387c88141fb 334
hazheng 46:a5eb9bd3bb55 335 #elif defined(CAM_DISP_IMG)
hazheng 46:a5eb9bd3bb55 336 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 337 #endif
hazheng 44:15de535c4005 338 }
hazheng 44:15de535c4005 339 }
hazheng 44:15de535c4005 340
hazheng 44:15de535c4005 341 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 342 {
hazheng 44:15de535c4005 343 return centerLine;
hazheng 44:15de535c4005 344 }
hazheng 44:15de535c4005 345
hazheng 44:15de535c4005 346 void image_processing()
hazheng 44:15de535c4005 347 {
hazheng 44:15de535c4005 348 while(true)
hazheng 44:15de535c4005 349 {
hazheng 44:15de535c4005 350 ardu_cam_start_capture();
hazheng 44:15de535c4005 351
hazheng 44:15de535c4005 352 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 353
hazheng 44:15de535c4005 354 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 355 //cal_black_calibrate();
hazheng 44:15de535c4005 356 uint8_t leftPos = 0;
hazheng 44:15de535c4005 357 uint8_t rightPos = 0;
hazheng 44:15de535c4005 358 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 359 {
hazheng 46:a5eb9bd3bb55 360 #if defined(CAM_DISP_IMG) or defined(CAM_DISP_DEBUG)
hazheng 46:a5eb9bd3bb55 361 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 362 #endif
hazheng 44:15de535c4005 363 get_img_row_info(0, i, &leftPos, &rightPos);
hazheng 44:15de535c4005 364 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 46:a5eb9bd3bb55 365
hazheng 46:a5eb9bd3bb55 366 #ifdef CAM_DISP_DEBUG_CENTER
hazheng 44:15de535c4005 367 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 368 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 369 #endif
hazheng 46:a5eb9bd3bb55 370
hazheng 44:15de535c4005 371 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 44:15de535c4005 372 }
hazheng 56:7d3395ae022d 373
hazheng 44:15de535c4005 374 }
hazheng 44:15de535c4005 375 }
hazheng 46:a5eb9bd3bb55 376
hazheng 46:a5eb9bd3bb55 377
hazheng 43:0d1886f4848a 378 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 379 {
hazheng 43:0d1886f4848a 380 ardu_cam_start_capture();
hazheng 44:15de535c4005 381
hazheng 44:15de535c4005 382 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 383
hazheng 44:15de535c4005 384 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 385
hazheng 44:15de535c4005 386 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 387 {
hazheng 46:a5eb9bd3bb55 388 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 389 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 46:a5eb9bd3bb55 390 {
hazheng 46:a5eb9bd3bb55 391 uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 392 uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 393
hazheng 46:a5eb9bd3bb55 394 ardu_utft_write_DATA(VH, VL);
hazheng 46:a5eb9bd3bb55 395 }
hazheng 44:15de535c4005 396
hazheng 43:0d1886f4848a 397 }
hazheng 44:15de535c4005 398 }
hazheng 46:a5eb9bd3bb55 399
hazheng 46:a5eb9bd3bb55 400 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 401 }
hazheng 46:a5eb9bd3bb55 402 #endif
hazheng 46:a5eb9bd3bb55 403
hazheng 46:a5eb9bd3bb55 404
hazheng 46:a5eb9bd3bb55 405