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@46:a5eb9bd3bb55, 2017-03-30 (annotated)

Committer:
hazheng
Date:
Thu Mar 30 22:34:20 2017 +0000
Revision:
46:a5eb9bd3bb55
Parent:
44:15de535c4005
Child:
48:f76b5e252444
Changed more code into pure C style. Finished driving complete circle! Both screen and camera works fine!

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_BLK_CAL_LEFT 75
hazheng 44:15de535c4005 14 #define CAM_BLK_CAL_RIGHT 85
hazheng 44:15de535c4005 15
hazheng 46:a5eb9bd3bb55 16 //#define CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 17 #define CAM_DISP_DEBUG_CENTER
hazheng 46:a5eb9bd3bb55 18 //#define CAM_DISP_IMG
hazheng 46:a5eb9bd3bb55 19
hazheng 46:a5eb9bd3bb55 20 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 21 extern "C" {
hazheng 46:a5eb9bd3bb55 22 #endif
hazheng 44:15de535c4005 23
hazheng 28:271fc8445e89 24 extern SPI g_spi_port;
hazheng 28:271fc8445e89 25
hazheng 46:a5eb9bd3bb55 26 static DigitalOut cam_cs(PIN_ACC_CS, 1);
hazheng 29:f87d8790f57d 27
hazheng 46:a5eb9bd3bb55 28 static uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 29 static uint8_t black_calibrate = 70;
hazheng 46:a5eb9bd3bb55 30 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT];
hazheng 44:15de535c4005 31 //volatile const uint8_t* outCenterLine = centerLine;
hazheng 46:a5eb9bd3bb55 32 static Thread * m_imgProcessThread = NULL;
hazheng 44:15de535c4005 33
hazheng 44:15de535c4005 34 void image_processing();
hazheng 44:15de535c4005 35 void cal_black_calibrate();
hazheng 34:f79db3bc2f86 36
hazheng 34:f79db3bc2f86 37 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 38 {
hazheng 34:f79db3bc2f86 39 // take the SS pin low to select the chip:
hazheng 34:f79db3bc2f86 40 cam_cs = 0;
hazheng 34:f79db3bc2f86 41 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 42 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 43 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 44 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 45 cam_cs = 1;
hazheng 34:f79db3bc2f86 46 }
hazheng 34:f79db3bc2f86 47
hazheng 34:f79db3bc2f86 48 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 49 {
hazheng 34:f79db3bc2f86 50 // take the SS pin low to select the chip:
hazheng 29:f87d8790f57d 51 cam_cs = 0;
hazheng 34:f79db3bc2f86 52 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 53 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 54 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 55 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 56 cam_cs = 1;
hazheng 34:f79db3bc2f86 57 return value;
hazheng 34:f79db3bc2f86 58 }
hazheng 34:f79db3bc2f86 59 /*
hazheng 34:f79db3bc2f86 60 inline void ardu_cam_spi_set_burst()
hazheng 34:f79db3bc2f86 61 {
hazheng 34:f79db3bc2f86 62 cam_cs = 0;
hazheng 34:f79db3bc2f86 63
hazheng 34:f79db3bc2f86 64 g_spi_port.write(BURST_FIFO_READ & 0x7F);
hazheng 29:f87d8790f57d 65
hazheng 34:f79db3bc2f86 66 cam_cs = 1;
hazheng 34:f79db3bc2f86 67 }
hazheng 34:f79db3bc2f86 68
hazheng 34:f79db3bc2f86 69 inline uint16_t ardu_cam_spi_burst_read_16()
hazheng 34:f79db3bc2f86 70 {
hazheng 34:f79db3bc2f86 71 cam_cs = 0;
hazheng 29:f87d8790f57d 72
hazheng 34:f79db3bc2f86 73 uint16_t value = static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 74 value = (value << 8) & 0xFF00;
hazheng 34:f79db3bc2f86 75 value = value | static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 76
hazheng 34:f79db3bc2f86 77 cam_cs = 1;
hazheng 34:f79db3bc2f86 78 return value;
hazheng 29:f87d8790f57d 79 }
hazheng 29:f87d8790f57d 80 */
hazheng 29:f87d8790f57d 81
hazheng 29:f87d8790f57d 82
hazheng 28:271fc8445e89 83 bool ardu_cam_init()
hazheng 28:271fc8445e89 84 {
hazheng 32:5badeff825dc 85 char buf[20];
hazheng 32:5badeff825dc 86
hazheng 36:7e747e19f660 87 CamRegBuf * camReg = new CamRegBuf(g_core, CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 88
hazheng 36:7e747e19f660 89 camReg->WriteRegSet(ResetProg);
hazheng 46:a5eb9bd3bb55 90 wait_ms(10);
hazheng 37:7074a6118d03 91 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 92 wait_ms(10);
hazheng 32:5badeff825dc 93
hazheng 36:7e747e19f660 94 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 95 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 96 #endif
hazheng 36:7e747e19f660 97 uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
hazheng 32:5badeff825dc 98 sprintf(buf, "Cam VerH %#x", camVer);
hazheng 32:5badeff825dc 99 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 100
hazheng 36:7e747e19f660 101 camVer = camReg->SCCBRead(CAM_VER_ADDR);
hazheng 32:5badeff825dc 102 sprintf(buf, "Cam VerL %#x", camVer);
hazheng 32:5badeff825dc 103 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 36:7e747e19f660 104
hazheng 36:7e747e19f660 105
hazheng 32:5badeff825dc 106 delete camReg;
hazheng 32:5badeff825dc 107 camReg = NULL;
hazheng 32:5badeff825dc 108
hazheng 32:5badeff825dc 109
hazheng 32:5badeff825dc 110
hazheng 32:5badeff825dc 111
hazheng 34:f79db3bc2f86 112 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 113 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 114
hazheng 32:5badeff825dc 115
hazheng 29:f87d8790f57d 116 sprintf(buf, "Ardu Ver %#x", VerNum);
hazheng 29:f87d8790f57d 117 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 118
hazheng 34:f79db3bc2f86 119 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 120 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 121 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 122 {
hazheng 29:f87d8790f57d 123 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
hazheng 29:f87d8790f57d 124 return false;
hazheng 29:f87d8790f57d 125 }
hazheng 29:f87d8790f57d 126 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
hazheng 29:f87d8790f57d 127
hazheng 35:ac4fcca21560 128 //ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 43:0d1886f4848a 129 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 44:15de535c4005 130 //ardu_cam_start_capture();
hazheng 29:f87d8790f57d 131
hazheng 44:15de535c4005 132 //wait(0.1);
hazheng 28:271fc8445e89 133
hazheng 28:271fc8445e89 134
hazheng 32:5badeff825dc 135 //unsigned char tempV = ardu_cam_read_reg(ARDUCHIP_MODE);
hazheng 32:5badeff825dc 136 //sprintf(buf, "Ardu Stat %#x", tempV);
hazheng 32:5badeff825dc 137 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 138
hazheng 32:5badeff825dc 139 //tempV = ardu_cam_read_reg(ARDUCHIP_CAP_CTRL);
hazheng 32:5badeff825dc 140 //sprintf(buf, "Ardu FS1 %#x", tempV);
hazheng 32:5badeff825dc 141 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 44:15de535c4005 142 cal_black_calibrate();
hazheng 46:a5eb9bd3bb55 143 m_imgProcessThread = new Thread;
hazheng 46:a5eb9bd3bb55 144 m_imgProcessThread->start(callback(image_processing));
hazheng 29:f87d8790f57d 145
hazheng 29:f87d8790f57d 146 return true;
hazheng 29:f87d8790f57d 147 }
hazheng 29:f87d8790f57d 148
hazheng 29:f87d8790f57d 149 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 150 {
hazheng 34:f79db3bc2f86 151 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 43:0d1886f4848a 152 //wait(0.1);
hazheng 34:f79db3bc2f86 153 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 154 }
hazheng 29:f87d8790f57d 155
hazheng 32:5badeff825dc 156 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 157 {
hazheng 32:5badeff825dc 158 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 159 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 160 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 161 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 162 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 163 return length;
hazheng 32:5badeff825dc 164 }
hazheng 32:5badeff825dc 165
hazheng 32:5badeff825dc 166 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 167 {
hazheng 34:f79db3bc2f86 168 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 169 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 170 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 171
hazheng 32:5badeff825dc 172 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 173 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 174 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 175
hazheng 33:e3fcc4d6bb9b 176 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 177 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 178
hazheng 33:e3fcc4d6bb9b 179 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 180 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 181
hazheng 32:5badeff825dc 182 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 183 }
hazheng 32:5badeff825dc 184
hazheng 32:5badeff825dc 185 void ardu_cam_print_debug()
hazheng 32:5badeff825dc 186 {
hazheng 32:5badeff825dc 187 uint32_t len = ardu_cam_get_fifo_length();
hazheng 32:5badeff825dc 188 char buf[20];
hazheng 32:5badeff825dc 189 sprintf(buf, "Cam L %#x", len);
hazheng 32:5badeff825dc 190 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 191
hazheng 33:e3fcc4d6bb9b 192 //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
hazheng 33:e3fcc4d6bb9b 193 // return;
hazheng 33:e3fcc4d6bb9b 194
hazheng 33:e3fcc4d6bb9b 195 //Begin output the picture
hazheng 32:5badeff825dc 196 std::string lineBuf;
hazheng 37:7074a6118d03 197 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 198 lineBuf.resize((RESOLUTION_WIDTH / 2) + 1);
hazheng 37:7074a6118d03 199 #else
hazheng 33:e3fcc4d6bb9b 200 lineBuf.resize(RESOLUTION_WIDTH + 1);
hazheng 37:7074a6118d03 201 #endif
hazheng 32:5badeff825dc 202
hazheng 34:f79db3bc2f86 203 //ardu_cam_spi_set_burst();
hazheng 41:7b21c5e3599e 204
hazheng 42:c4e1606087ff 205 //ardu_cam_get_pixel(); //Get the first dummy pixel
hazheng 41:7b21c5e3599e 206
hazheng 43:0d1886f4848a 207
hazheng 33:e3fcc4d6bb9b 208 for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i)
hazheng 32:5badeff825dc 209 {
hazheng 37:7074a6118d03 210 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 211 lineBuf[0] = i / 2;
hazheng 37:7074a6118d03 212
hazheng 37:7074a6118d03 213 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 37:7074a6118d03 214 {
hazheng 37:7074a6118d03 215 if(i % 2 == 0 || j % 2 == 0)
hazheng 37:7074a6118d03 216 {
hazheng 37:7074a6118d03 217 ardu_cam_get_pixel();
hazheng 37:7074a6118d03 218 }
hazheng 37:7074a6118d03 219 else
hazheng 37:7074a6118d03 220 {
hazheng 37:7074a6118d03 221 lineBuf[(j / 2) + 1] = ardu_cam_get_pixel();
hazheng 37:7074a6118d03 222 }
hazheng 37:7074a6118d03 223 }
hazheng 37:7074a6118d03 224
hazheng 37:7074a6118d03 225 if(i % 2 == 0)
hazheng 37:7074a6118d03 226 {
hazheng 37:7074a6118d03 227
hazheng 37:7074a6118d03 228 }
hazheng 37:7074a6118d03 229 else
hazheng 37:7074a6118d03 230 {
hazheng 37:7074a6118d03 231 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 37:7074a6118d03 232 wait(0.35);
hazheng 37:7074a6118d03 233 }
hazheng 37:7074a6118d03 234
hazheng 37:7074a6118d03 235 #else
hazheng 37:7074a6118d03 236
hazheng 32:5badeff825dc 237 lineBuf[0] = i;
hazheng 32:5badeff825dc 238
hazheng 33:e3fcc4d6bb9b 239 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 32:5badeff825dc 240 {
hazheng 33:e3fcc4d6bb9b 241 //uint8_t p = ardu_cam_get_pixel();
hazheng 33:e3fcc4d6bb9b 242 lineBuf[j + 1] = ardu_cam_get_pixel();
hazheng 32:5badeff825dc 243 }
hazheng 32:5badeff825dc 244
hazheng 32:5badeff825dc 245 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 35:ac4fcca21560 246 wait(0.35);
hazheng 37:7074a6118d03 247
hazheng 37:7074a6118d03 248 #endif
hazheng 37:7074a6118d03 249
hazheng 32:5badeff825dc 250 }
hazheng 43:0d1886f4848a 251
hazheng 43:0d1886f4848a 252 }
hazheng 43:0d1886f4848a 253
hazheng 44:15de535c4005 254 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 255 {
hazheng 44:15de535c4005 256 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 257 }
hazheng 44:15de535c4005 258
hazheng 44:15de535c4005 259 void cal_black_calibrate()
hazheng 44:15de535c4005 260 {
hazheng 44:15de535c4005 261 ardu_cam_start_capture();
hazheng 44:15de535c4005 262
hazheng 44:15de535c4005 263 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 264
hazheng 44:15de535c4005 265 float temp = 0.0f;
hazheng 44:15de535c4005 266 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 267 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 268 {
hazheng 44:15de535c4005 269 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 270 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 271
hazheng 44:15de535c4005 272 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 273 {
hazheng 44:15de535c4005 274 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 275 }
hazheng 44:15de535c4005 276 }
hazheng 44:15de535c4005 277 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 278 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 279 }
hazheng 44:15de535c4005 280
hazheng 44:15de535c4005 281 inline void get_img_row_info(const uint8_t display, const uint8_t rowI, uint8_t * left, uint8_t * right)
hazheng 44:15de535c4005 282 {
hazheng 44:15de535c4005 283 *left = 0;
hazheng 44:15de535c4005 284 *right = RESOLUTION_WIDTH;
hazheng 44:15de535c4005 285 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 286 /*
hazheng 44:15de535c4005 287 #ifdef IMAGE_DISPLAY_TO_SCREEN
hazheng 44:15de535c4005 288 if(display)
hazheng 44:15de535c4005 289 {
hazheng 44:15de535c4005 290 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - rowI);
hazheng 44:15de535c4005 291 }
hazheng 44:15de535c4005 292 #endif
hazheng 44:15de535c4005 293 */
hazheng 44:15de535c4005 294 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 295 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 296
hazheng 44:15de535c4005 297 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 298 {
hazheng 44:15de535c4005 299 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 300 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 301
hazheng 44:15de535c4005 302 pGreen = static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 303 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 304 {
hazheng 44:15de535c4005 305 if(j < temp_mid_pos)
hazheng 44:15de535c4005 306 {
hazheng 44:15de535c4005 307 *left = j;
hazheng 46:a5eb9bd3bb55 308 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 309 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 310 #endif
hazheng 44:15de535c4005 311 }
hazheng 44:15de535c4005 312 else if(!isRightFound)
hazheng 44:15de535c4005 313 {
hazheng 44:15de535c4005 314 *right = j;
hazheng 44:15de535c4005 315 isRightFound = 1;
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 }
hazheng 46:a5eb9bd3bb55 321 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 322 else
hazheng 46:a5eb9bd3bb55 323 {
hazheng 46:a5eb9bd3bb55 324 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 325 }
hazheng 46:a5eb9bd3bb55 326 #elif defined(CAM_DISP_IMG)
hazheng 46:a5eb9bd3bb55 327 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 328 #endif
hazheng 44:15de535c4005 329 }
hazheng 44:15de535c4005 330 }
hazheng 44:15de535c4005 331
hazheng 44:15de535c4005 332 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 333 {
hazheng 44:15de535c4005 334 return centerLine;
hazheng 44:15de535c4005 335 }
hazheng 44:15de535c4005 336
hazheng 44:15de535c4005 337 void image_processing()
hazheng 44:15de535c4005 338 {
hazheng 44:15de535c4005 339 while(true)
hazheng 44:15de535c4005 340 {
hazheng 44:15de535c4005 341 ardu_cam_start_capture();
hazheng 44:15de535c4005 342
hazheng 44:15de535c4005 343 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 344
hazheng 44:15de535c4005 345 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 346 //cal_black_calibrate();
hazheng 44:15de535c4005 347 uint8_t leftPos = 0;
hazheng 44:15de535c4005 348 uint8_t rightPos = 0;
hazheng 44:15de535c4005 349 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 350 {
hazheng 46:a5eb9bd3bb55 351 #if defined(CAM_DISP_IMG) or defined(CAM_DISP_DEBUG)
hazheng 46:a5eb9bd3bb55 352 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 353 #endif
hazheng 44:15de535c4005 354 get_img_row_info(0, i, &leftPos, &rightPos);
hazheng 44:15de535c4005 355 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 46:a5eb9bd3bb55 356
hazheng 46:a5eb9bd3bb55 357 #ifdef CAM_DISP_DEBUG_CENTER
hazheng 44:15de535c4005 358 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 359 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 360 #endif
hazheng 46:a5eb9bd3bb55 361
hazheng 44:15de535c4005 362 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 44:15de535c4005 363 }
hazheng 44:15de535c4005 364 }
hazheng 44:15de535c4005 365 }
hazheng 46:a5eb9bd3bb55 366
hazheng 46:a5eb9bd3bb55 367
hazheng 43:0d1886f4848a 368 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 369 {
hazheng 43:0d1886f4848a 370 ardu_cam_start_capture();
hazheng 44:15de535c4005 371
hazheng 44:15de535c4005 372 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 373
hazheng 44:15de535c4005 374 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 375
hazheng 44:15de535c4005 376 uint8_t leftPos = 0;
hazheng 44:15de535c4005 377 uint8_t rightPos = 0;
hazheng 44:15de535c4005 378 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 379 {
hazheng 46:a5eb9bd3bb55 380 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 381 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 46:a5eb9bd3bb55 382 {
hazheng 46:a5eb9bd3bb55 383 uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 384 uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 385
hazheng 46:a5eb9bd3bb55 386 ardu_utft_write_DATA(VH, VL);
hazheng 46:a5eb9bd3bb55 387 }
hazheng 44:15de535c4005 388
hazheng 43:0d1886f4848a 389 }
hazheng 44:15de535c4005 390 }
hazheng 46:a5eb9bd3bb55 391
hazheng 46:a5eb9bd3bb55 392 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 393 }
hazheng 46:a5eb9bd3bb55 394 #endif
hazheng 46:a5eb9bd3bb55 395
hazheng 46:a5eb9bd3bb55 396
hazheng 46:a5eb9bd3bb55 397