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@50:c387c88141fb, 2017-04-06 (annotated)

Committer:
hazheng
Date:
Thu Apr 06 18:22:02 2017 +0000
Revision:
50:c387c88141fb
Parent:
48:f76b5e252444
Child:
54:f1f5648dfacf
Use smaller image size.

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 50:c387c88141fb 13 #define CAM_BLK_CAL_LEFT ((RESOLUTION_WIDTH / 2) - 2)
hazheng 50:c387c88141fb 14 #define CAM_BLK_CAL_RIGHT ((RESOLUTION_WIDTH / 2) + 2)
hazheng 44:15de535c4005 15
hazheng 46:a5eb9bd3bb55 16 //#define CAM_DISP_DEBUG
hazheng 48:f76b5e252444 17 //#define CAM_DISP_DEBUG_CENTER
hazheng 50:c387c88141fb 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 46:a5eb9bd3bb55 24 static DigitalOut cam_cs(PIN_ACC_CS, 1);
hazheng 29:f87d8790f57d 25
hazheng 46:a5eb9bd3bb55 26 static uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 27 static uint8_t black_calibrate = 70;
hazheng 46:a5eb9bd3bb55 28 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT];
hazheng 44:15de535c4005 29 //volatile const uint8_t* outCenterLine = centerLine;
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 34:f79db3bc2f86 38 cam_cs = 0;
hazheng 34:f79db3bc2f86 39 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 40 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 41 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 42 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 43 cam_cs = 1;
hazheng 34:f79db3bc2f86 44 }
hazheng 34:f79db3bc2f86 45
hazheng 34:f79db3bc2f86 46 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 47 {
hazheng 34:f79db3bc2f86 48 // take the SS pin low to select the chip:
hazheng 29:f87d8790f57d 49 cam_cs = 0;
hazheng 34:f79db3bc2f86 50 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 51 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 52 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 53 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 54 cam_cs = 1;
hazheng 34:f79db3bc2f86 55 return value;
hazheng 34:f79db3bc2f86 56 }
hazheng 34:f79db3bc2f86 57 /*
hazheng 34:f79db3bc2f86 58 inline void ardu_cam_spi_set_burst()
hazheng 34:f79db3bc2f86 59 {
hazheng 34:f79db3bc2f86 60 cam_cs = 0;
hazheng 34:f79db3bc2f86 61
hazheng 34:f79db3bc2f86 62 g_spi_port.write(BURST_FIFO_READ & 0x7F);
hazheng 29:f87d8790f57d 63
hazheng 34:f79db3bc2f86 64 cam_cs = 1;
hazheng 34:f79db3bc2f86 65 }
hazheng 34:f79db3bc2f86 66
hazheng 34:f79db3bc2f86 67 inline uint16_t ardu_cam_spi_burst_read_16()
hazheng 34:f79db3bc2f86 68 {
hazheng 34:f79db3bc2f86 69 cam_cs = 0;
hazheng 29:f87d8790f57d 70
hazheng 34:f79db3bc2f86 71 uint16_t value = static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 72 value = (value << 8) & 0xFF00;
hazheng 34:f79db3bc2f86 73 value = value | static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 74
hazheng 34:f79db3bc2f86 75 cam_cs = 1;
hazheng 34:f79db3bc2f86 76 return value;
hazheng 29:f87d8790f57d 77 }
hazheng 29:f87d8790f57d 78 */
hazheng 29:f87d8790f57d 79
hazheng 29:f87d8790f57d 80
hazheng 28:271fc8445e89 81 bool ardu_cam_init()
hazheng 28:271fc8445e89 82 {
hazheng 32:5badeff825dc 83 char buf[20];
hazheng 32:5badeff825dc 84
hazheng 36:7e747e19f660 85 CamRegBuf * camReg = new CamRegBuf(g_core, CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 86
hazheng 36:7e747e19f660 87 camReg->WriteRegSet(ResetProg);
hazheng 46:a5eb9bd3bb55 88 wait_ms(10);
hazheng 37:7074a6118d03 89 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 90 wait_ms(10);
hazheng 32:5badeff825dc 91
hazheng 36:7e747e19f660 92 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 93 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 94 #endif
hazheng 36:7e747e19f660 95 uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
hazheng 32:5badeff825dc 96 sprintf(buf, "Cam VerH %#x", camVer);
hazheng 32:5badeff825dc 97 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 98
hazheng 36:7e747e19f660 99 camVer = camReg->SCCBRead(CAM_VER_ADDR);
hazheng 32:5badeff825dc 100 sprintf(buf, "Cam VerL %#x", camVer);
hazheng 32:5badeff825dc 101 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 36:7e747e19f660 102
hazheng 36:7e747e19f660 103
hazheng 32:5badeff825dc 104 delete camReg;
hazheng 32:5badeff825dc 105 camReg = NULL;
hazheng 32:5badeff825dc 106
hazheng 32:5badeff825dc 107
hazheng 32:5badeff825dc 108
hazheng 32:5badeff825dc 109
hazheng 34:f79db3bc2f86 110 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 111 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 112
hazheng 32:5badeff825dc 113
hazheng 29:f87d8790f57d 114 sprintf(buf, "Ardu Ver %#x", VerNum);
hazheng 29:f87d8790f57d 115 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 116
hazheng 34:f79db3bc2f86 117 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 118 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 119 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 120 {
hazheng 29:f87d8790f57d 121 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
hazheng 29:f87d8790f57d 122 return false;
hazheng 29:f87d8790f57d 123 }
hazheng 29:f87d8790f57d 124 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
hazheng 29:f87d8790f57d 125
hazheng 35:ac4fcca21560 126 //ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 43:0d1886f4848a 127 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 44:15de535c4005 128 //ardu_cam_start_capture();
hazheng 29:f87d8790f57d 129
hazheng 28:271fc8445e89 130
hazheng 32:5badeff825dc 131 //unsigned char tempV = ardu_cam_read_reg(ARDUCHIP_MODE);
hazheng 32:5badeff825dc 132 //sprintf(buf, "Ardu Stat %#x", tempV);
hazheng 32:5badeff825dc 133 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 134
hazheng 32:5badeff825dc 135 //tempV = ardu_cam_read_reg(ARDUCHIP_CAP_CTRL);
hazheng 32:5badeff825dc 136 //sprintf(buf, "Ardu FS1 %#x", tempV);
hazheng 32:5badeff825dc 137 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 44:15de535c4005 138 cal_black_calibrate();
hazheng 46:a5eb9bd3bb55 139 m_imgProcessThread = new Thread;
hazheng 46:a5eb9bd3bb55 140 m_imgProcessThread->start(callback(image_processing));
hazheng 29:f87d8790f57d 141
hazheng 29:f87d8790f57d 142 return true;
hazheng 29:f87d8790f57d 143 }
hazheng 29:f87d8790f57d 144
hazheng 29:f87d8790f57d 145 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 146 {
hazheng 34:f79db3bc2f86 147 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 48:f76b5e252444 148
hazheng 34:f79db3bc2f86 149 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 150 }
hazheng 29:f87d8790f57d 151
hazheng 32:5badeff825dc 152 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 153 {
hazheng 32:5badeff825dc 154 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 155 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 156 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 157 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 158 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 159 return length;
hazheng 32:5badeff825dc 160 }
hazheng 32:5badeff825dc 161
hazheng 32:5badeff825dc 162 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 163 {
hazheng 34:f79db3bc2f86 164 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 165 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 166 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 167
hazheng 32:5badeff825dc 168 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 169 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 170 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 171
hazheng 33:e3fcc4d6bb9b 172 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 173 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 174
hazheng 33:e3fcc4d6bb9b 175 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 176 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 177
hazheng 32:5badeff825dc 178 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 179 }
hazheng 32:5badeff825dc 180
hazheng 32:5badeff825dc 181 void ardu_cam_print_debug()
hazheng 32:5badeff825dc 182 {
hazheng 32:5badeff825dc 183 uint32_t len = ardu_cam_get_fifo_length();
hazheng 32:5badeff825dc 184 char buf[20];
hazheng 32:5badeff825dc 185 sprintf(buf, "Cam L %#x", len);
hazheng 32:5badeff825dc 186 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 187
hazheng 33:e3fcc4d6bb9b 188 //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
hazheng 33:e3fcc4d6bb9b 189 // return;
hazheng 33:e3fcc4d6bb9b 190
hazheng 33:e3fcc4d6bb9b 191 //Begin output the picture
hazheng 32:5badeff825dc 192 std::string lineBuf;
hazheng 37:7074a6118d03 193 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 194 lineBuf.resize((RESOLUTION_WIDTH / 2) + 1);
hazheng 37:7074a6118d03 195 #else
hazheng 33:e3fcc4d6bb9b 196 lineBuf.resize(RESOLUTION_WIDTH + 1);
hazheng 37:7074a6118d03 197 #endif
hazheng 32:5badeff825dc 198
hazheng 34:f79db3bc2f86 199 //ardu_cam_spi_set_burst();
hazheng 41:7b21c5e3599e 200
hazheng 42:c4e1606087ff 201 //ardu_cam_get_pixel(); //Get the first dummy pixel
hazheng 41:7b21c5e3599e 202
hazheng 43:0d1886f4848a 203
hazheng 33:e3fcc4d6bb9b 204 for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i)
hazheng 32:5badeff825dc 205 {
hazheng 37:7074a6118d03 206 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 207 lineBuf[0] = i / 2;
hazheng 37:7074a6118d03 208
hazheng 37:7074a6118d03 209 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 37:7074a6118d03 210 {
hazheng 37:7074a6118d03 211 if(i % 2 == 0 || j % 2 == 0)
hazheng 37:7074a6118d03 212 {
hazheng 37:7074a6118d03 213 ardu_cam_get_pixel();
hazheng 37:7074a6118d03 214 }
hazheng 37:7074a6118d03 215 else
hazheng 37:7074a6118d03 216 {
hazheng 37:7074a6118d03 217 lineBuf[(j / 2) + 1] = ardu_cam_get_pixel();
hazheng 37:7074a6118d03 218 }
hazheng 37:7074a6118d03 219 }
hazheng 37:7074a6118d03 220
hazheng 37:7074a6118d03 221 if(i % 2 == 0)
hazheng 37:7074a6118d03 222 {
hazheng 37:7074a6118d03 223
hazheng 37:7074a6118d03 224 }
hazheng 37:7074a6118d03 225 else
hazheng 37:7074a6118d03 226 {
hazheng 37:7074a6118d03 227 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 37:7074a6118d03 228 wait(0.35);
hazheng 37:7074a6118d03 229 }
hazheng 37:7074a6118d03 230
hazheng 37:7074a6118d03 231 #else
hazheng 37:7074a6118d03 232
hazheng 32:5badeff825dc 233 lineBuf[0] = i;
hazheng 32:5badeff825dc 234
hazheng 33:e3fcc4d6bb9b 235 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 32:5badeff825dc 236 {
hazheng 33:e3fcc4d6bb9b 237 //uint8_t p = ardu_cam_get_pixel();
hazheng 33:e3fcc4d6bb9b 238 lineBuf[j + 1] = ardu_cam_get_pixel();
hazheng 32:5badeff825dc 239 }
hazheng 32:5badeff825dc 240
hazheng 32:5badeff825dc 241 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 35:ac4fcca21560 242 wait(0.35);
hazheng 37:7074a6118d03 243
hazheng 37:7074a6118d03 244 #endif
hazheng 37:7074a6118d03 245
hazheng 32:5badeff825dc 246 }
hazheng 43:0d1886f4848a 247
hazheng 43:0d1886f4848a 248 }
hazheng 43:0d1886f4848a 249
hazheng 44:15de535c4005 250 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 251 {
hazheng 44:15de535c4005 252 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 253 }
hazheng 44:15de535c4005 254
hazheng 44:15de535c4005 255 void cal_black_calibrate()
hazheng 44:15de535c4005 256 {
hazheng 44:15de535c4005 257 ardu_cam_start_capture();
hazheng 44:15de535c4005 258
hazheng 44:15de535c4005 259 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 260
hazheng 44:15de535c4005 261 float temp = 0.0f;
hazheng 44:15de535c4005 262 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 263 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 264 {
hazheng 44:15de535c4005 265 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 266 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 267
hazheng 44:15de535c4005 268 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 269 {
hazheng 44:15de535c4005 270 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 271 }
hazheng 44:15de535c4005 272 }
hazheng 44:15de535c4005 273 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 274 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 275 }
hazheng 44:15de535c4005 276
hazheng 44:15de535c4005 277 inline void get_img_row_info(const uint8_t display, const uint8_t rowI, uint8_t * left, uint8_t * right)
hazheng 44:15de535c4005 278 {
hazheng 44:15de535c4005 279 *left = 0;
hazheng 44:15de535c4005 280 *right = RESOLUTION_WIDTH;
hazheng 44:15de535c4005 281 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 282 /*
hazheng 44:15de535c4005 283 #ifdef IMAGE_DISPLAY_TO_SCREEN
hazheng 44:15de535c4005 284 if(display)
hazheng 44:15de535c4005 285 {
hazheng 44:15de535c4005 286 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - rowI);
hazheng 44:15de535c4005 287 }
hazheng 44:15de535c4005 288 #endif
hazheng 44:15de535c4005 289 */
hazheng 44:15de535c4005 290 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 291 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 292
hazheng 44:15de535c4005 293 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 294 {
hazheng 44:15de535c4005 295 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 296 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 297
hazheng 44:15de535c4005 298 pGreen = static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 299 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 300 {
hazheng 44:15de535c4005 301 if(j < temp_mid_pos)
hazheng 44:15de535c4005 302 {
hazheng 44:15de535c4005 303 *left = j;
hazheng 46:a5eb9bd3bb55 304 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 305 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 306 #endif
hazheng 44:15de535c4005 307 }
hazheng 44:15de535c4005 308 else if(!isRightFound)
hazheng 44:15de535c4005 309 {
hazheng 44:15de535c4005 310 *right = j;
hazheng 44:15de535c4005 311 isRightFound = 1;
hazheng 46:a5eb9bd3bb55 312 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 313 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 314 #endif
hazheng 44:15de535c4005 315 }
hazheng 44:15de535c4005 316 }
hazheng 46:a5eb9bd3bb55 317 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 318 else
hazheng 46:a5eb9bd3bb55 319 {
hazheng 46:a5eb9bd3bb55 320 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 321 }
hazheng 50:c387c88141fb 322
hazheng 46:a5eb9bd3bb55 323 #elif defined(CAM_DISP_IMG)
hazheng 46:a5eb9bd3bb55 324 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 325 #endif
hazheng 44:15de535c4005 326 }
hazheng 44:15de535c4005 327 }
hazheng 44:15de535c4005 328
hazheng 44:15de535c4005 329 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 330 {
hazheng 44:15de535c4005 331 return centerLine;
hazheng 44:15de535c4005 332 }
hazheng 44:15de535c4005 333
hazheng 44:15de535c4005 334 void image_processing()
hazheng 44:15de535c4005 335 {
hazheng 44:15de535c4005 336 while(true)
hazheng 44:15de535c4005 337 {
hazheng 44:15de535c4005 338 ardu_cam_start_capture();
hazheng 44:15de535c4005 339
hazheng 44:15de535c4005 340 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 341
hazheng 44:15de535c4005 342 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 44:15de535c4005 343 //cal_black_calibrate();
hazheng 44:15de535c4005 344 uint8_t leftPos = 0;
hazheng 44:15de535c4005 345 uint8_t rightPos = 0;
hazheng 44:15de535c4005 346 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 347 {
hazheng 46:a5eb9bd3bb55 348 #if defined(CAM_DISP_IMG) or defined(CAM_DISP_DEBUG)
hazheng 46:a5eb9bd3bb55 349 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 350 #endif
hazheng 44:15de535c4005 351 get_img_row_info(0, i, &leftPos, &rightPos);
hazheng 44:15de535c4005 352 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 46:a5eb9bd3bb55 353
hazheng 46:a5eb9bd3bb55 354 #ifdef CAM_DISP_DEBUG_CENTER
hazheng 44:15de535c4005 355 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 356 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 357 #endif
hazheng 46:a5eb9bd3bb55 358
hazheng 44:15de535c4005 359 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 44:15de535c4005 360 }
hazheng 44:15de535c4005 361 }
hazheng 44:15de535c4005 362 }
hazheng 46:a5eb9bd3bb55 363
hazheng 46:a5eb9bd3bb55 364
hazheng 43:0d1886f4848a 365 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 366 {
hazheng 43:0d1886f4848a 367 ardu_cam_start_capture();
hazheng 44:15de535c4005 368
hazheng 44:15de535c4005 369 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 370
hazheng 44:15de535c4005 371 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 372
hazheng 44:15de535c4005 373 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 374 {
hazheng 46:a5eb9bd3bb55 375 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 376 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 46:a5eb9bd3bb55 377 {
hazheng 46:a5eb9bd3bb55 378 uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 379 uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 380
hazheng 46:a5eb9bd3bb55 381 ardu_utft_write_DATA(VH, VL);
hazheng 46:a5eb9bd3bb55 382 }
hazheng 44:15de535c4005 383
hazheng 43:0d1886f4848a 384 }
hazheng 44:15de535c4005 385 }
hazheng 46:a5eb9bd3bb55 386
hazheng 46:a5eb9bd3bb55 387 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 388 }
hazheng 46:a5eb9bd3bb55 389 #endif
hazheng 46:a5eb9bd3bb55 390
hazheng 46:a5eb9bd3bb55 391
hazheng 46:a5eb9bd3bb55 392