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@98:fc92bb37ee17, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 16:18:45 2017 +0000
Revision:
98:fc92bb37ee17
Parent:
96:ec89c4d1383d
Child:
99:c6665262fd3d
Added intersection detection (not working yet)

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 98:fc92bb37ee17 12 #include <math.h>
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 98:fc92bb37ee17 36 //static volatile uint8_t is_border_find = BOTH_NOT_FOUND;
hazheng 98:fc92bb37ee17 37 static volatile uint8_t is_intersection_detected = 0;
hazheng 44:15de535c4005 38
hazheng 44:15de535c4005 39 void cal_black_calibrate();
hazheng 34:f79db3bc2f86 40
hazheng 34:f79db3bc2f86 41 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 42 {
hazheng 34:f79db3bc2f86 43 // take the SS pin low to select the chip:
hazheng 56:7d3395ae022d 44 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 45 g_sw_spi_lock.lock();
hazheng 56:7d3395ae022d 46 #endif
hazheng 34:f79db3bc2f86 47 cam_cs = 0;
hazheng 34:f79db3bc2f86 48 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 49 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 50 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 51 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 52 cam_cs = 1;
hazheng 56:7d3395ae022d 53 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 54 g_sw_spi_lock.unlock();
hazheng 56:7d3395ae022d 55 #endif
hazheng 34:f79db3bc2f86 56 }
hazheng 34:f79db3bc2f86 57
hazheng 34:f79db3bc2f86 58 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 59 {
hazheng 34:f79db3bc2f86 60 // take the SS pin low to select the chip:
hazheng 56:7d3395ae022d 61 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 62 g_sw_spi_lock.lock();
hazheng 56:7d3395ae022d 63 #endif
hazheng 29:f87d8790f57d 64 cam_cs = 0;
hazheng 34:f79db3bc2f86 65 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 66 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 67 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 68 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 69 cam_cs = 1;
hazheng 56:7d3395ae022d 70 #ifdef SW_DEBUG
hazheng 56:7d3395ae022d 71 g_sw_spi_lock.unlock();
hazheng 56:7d3395ae022d 72 #endif
hazheng 34:f79db3bc2f86 73 return value;
hazheng 34:f79db3bc2f86 74 }
hazheng 29:f87d8790f57d 75
hazheng 28:271fc8445e89 76 bool ardu_cam_init()
hazheng 28:271fc8445e89 77 {
hazheng 87:15fcf7891bf9 78 CamRegBuf * camReg = new CamRegBuf(CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 79
hazheng 36:7e747e19f660 80 camReg->WriteRegSet(ResetProg);
hazheng 46:a5eb9bd3bb55 81 wait_ms(10);
hazheng 37:7074a6118d03 82 camReg->WriteRegSet(QVGA);
hazheng 44:15de535c4005 83 wait_ms(10);
hazheng 32:5badeff825dc 84
hazheng 36:7e747e19f660 85 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 86 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 87 #endif
hazheng 32:5badeff825dc 88
hazheng 32:5badeff825dc 89 delete camReg;
hazheng 32:5badeff825dc 90 camReg = NULL;
hazheng 32:5badeff825dc 91
hazheng 34:f79db3bc2f86 92 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 93 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 94
hazheng 34:f79db3bc2f86 95 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 96 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 97 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 98 {
hazheng 29:f87d8790f57d 99 return false;
hazheng 29:f87d8790f57d 100 }
hazheng 28:271fc8445e89 101
hazheng 96:ec89c4d1383d 102 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 29:f87d8790f57d 103
hazheng 44:15de535c4005 104 cal_black_calibrate();
hazheng 29:f87d8790f57d 105
hazheng 29:f87d8790f57d 106 return true;
hazheng 29:f87d8790f57d 107 }
hazheng 29:f87d8790f57d 108
hazheng 29:f87d8790f57d 109 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 110 {
hazheng 34:f79db3bc2f86 111 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 48:f76b5e252444 112
hazheng 34:f79db3bc2f86 113 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 114 }
hazheng 29:f87d8790f57d 115
hazheng 32:5badeff825dc 116 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 117 {
hazheng 32:5badeff825dc 118 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 119 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 120 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 121 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 122 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 123 return length;
hazheng 32:5badeff825dc 124 }
hazheng 32:5badeff825dc 125
hazheng 32:5badeff825dc 126 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 127 {
hazheng 34:f79db3bc2f86 128 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 129 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 130 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 131
hazheng 32:5badeff825dc 132 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 133 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 134 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 135
hazheng 33:e3fcc4d6bb9b 136 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 137 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 138
hazheng 33:e3fcc4d6bb9b 139 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 140 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 141
hazheng 32:5badeff825dc 142 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 143 }
hazheng 41:7b21c5e3599e 144
hazheng 44:15de535c4005 145 uint8_t ardu_cam_is_capture_finished()
hazheng 44:15de535c4005 146 {
hazheng 44:15de535c4005 147 return (ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK);
hazheng 44:15de535c4005 148 }
hazheng 44:15de535c4005 149
hazheng 44:15de535c4005 150 void cal_black_calibrate()
hazheng 44:15de535c4005 151 {
hazheng 44:15de535c4005 152 ardu_cam_start_capture();
hazheng 44:15de535c4005 153
hazheng 44:15de535c4005 154 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 155
hazheng 44:15de535c4005 156 float temp = 0.0f;
hazheng 44:15de535c4005 157 static uint16_t pixel = 0x00;
hazheng 44:15de535c4005 158 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 159 {
hazheng 44:15de535c4005 160 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 161 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 162
hazheng 44:15de535c4005 163 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 44:15de535c4005 164 {
hazheng 44:15de535c4005 165 temp += static_cast<uint8_t>((pixel >> 3) & 0x00FF);
hazheng 44:15de535c4005 166 }
hazheng 44:15de535c4005 167 }
hazheng 44:15de535c4005 168 temp = temp / (CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 44:15de535c4005 169 black_calibrate = temp * 0.7f;
hazheng 44:15de535c4005 170 }
hazheng 44:15de535c4005 171
hazheng 65:295c222fdf88 172 inline void get_img_row_info(const uint8_t display, const uint8_t rowI, uint8_t * left, uint8_t * right, uint8_t* isBorderFound)
hazheng 44:15de535c4005 173 {
hazheng 44:15de535c4005 174 *left = 0;
hazheng 44:15de535c4005 175 *right = RESOLUTION_WIDTH;
hazheng 65:295c222fdf88 176 *isBorderFound = BOTH_NOT_FOUND;
hazheng 44:15de535c4005 177 uint8_t isRightFound = 0;
hazheng 44:15de535c4005 178 static uint16_t pixel = 0x0000;
hazheng 44:15de535c4005 179 static uint8_t pGreen = 0x00;
hazheng 44:15de535c4005 180
hazheng 44:15de535c4005 181 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 44:15de535c4005 182 {
hazheng 44:15de535c4005 183 pixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 44:15de535c4005 184 pixel = pixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 185
hazheng 57:0d8a155d511d 186 pGreen = static_cast<uint8_t>((pixel & 0x07E0) >> 3);
hazheng 44:15de535c4005 187 if((pGreen < black_calibrate))
hazheng 44:15de535c4005 188 {
hazheng 44:15de535c4005 189 if(j < temp_mid_pos)
hazheng 44:15de535c4005 190 {
hazheng 65:295c222fdf88 191 *isBorderFound = LEFT_FOUND;
hazheng 44:15de535c4005 192 *left = j;
hazheng 46:a5eb9bd3bb55 193 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 194 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 195 #endif
hazheng 44:15de535c4005 196 }
hazheng 44:15de535c4005 197 else if(!isRightFound)
hazheng 44:15de535c4005 198 {
hazheng 44:15de535c4005 199 *right = j;
hazheng 44:15de535c4005 200 isRightFound = 1;
hazheng 46:a5eb9bd3bb55 201 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 202 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 46:a5eb9bd3bb55 203 #endif
hazheng 44:15de535c4005 204 }
hazheng 73:1dcf56e9f1d4 205 #ifdef CAM_DISP_DEBUG
hazheng 73:1dcf56e9f1d4 206 else
hazheng 73:1dcf56e9f1d4 207 {
hazheng 73:1dcf56e9f1d4 208 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 73:1dcf56e9f1d4 209 }
hazheng 73:1dcf56e9f1d4 210 #endif
hazheng 44:15de535c4005 211 }
hazheng 46:a5eb9bd3bb55 212 #ifdef CAM_DISP_DEBUG
hazheng 46:a5eb9bd3bb55 213 else
hazheng 46:a5eb9bd3bb55 214 {
hazheng 46:a5eb9bd3bb55 215 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 216 }
hazheng 50:c387c88141fb 217
hazheng 46:a5eb9bd3bb55 218 #elif defined(CAM_DISP_IMG)
hazheng 46:a5eb9bd3bb55 219 ardu_utft_write_DATA(static_cast<uint8_t>(pixel >> 8), static_cast<uint8_t>(pixel));
hazheng 46:a5eb9bd3bb55 220 #endif
hazheng 44:15de535c4005 221 }
hazheng 65:295c222fdf88 222
hazheng 65:295c222fdf88 223 if(*isBorderFound == LEFT_FOUND && isRightFound)
hazheng 65:295c222fdf88 224 {
hazheng 65:295c222fdf88 225 *isBorderFound = BOTH_FOUND;
hazheng 65:295c222fdf88 226 }
hazheng 65:295c222fdf88 227 else if(isRightFound)
hazheng 65:295c222fdf88 228 {
hazheng 65:295c222fdf88 229 *isBorderFound = RIGHT_FOUND;
hazheng 65:295c222fdf88 230 }
hazheng 65:295c222fdf88 231
hazheng 44:15de535c4005 232 }
hazheng 44:15de535c4005 233
hazheng 44:15de535c4005 234 volatile const uint8_t* ardu_cam_get_center_array()
hazheng 44:15de535c4005 235 {
hazheng 44:15de535c4005 236 return centerLine;
hazheng 44:15de535c4005 237 }
hazheng 44:15de535c4005 238
hazheng 44:15de535c4005 239 void image_processing()
hazheng 44:15de535c4005 240 {
hazheng 63:d9a81b3d69f5 241
hazheng 57:0d8a155d511d 242 //while(true)
hazheng 44:15de535c4005 243 {
hazheng 44:15de535c4005 244 ardu_cam_start_capture();
hazheng 44:15de535c4005 245
hazheng 44:15de535c4005 246 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 247
hazheng 44:15de535c4005 248 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 98:fc92bb37ee17 249 //is_border_find = BOTH_NOT_FOUND;
hazheng 57:0d8a155d511d 250 #ifdef CAM_BLK_CAL_ACTIVE
hazheng 57:0d8a155d511d 251 static float calTemp = 0.0f;
hazheng 57:0d8a155d511d 252 calTemp = 0.0f;
hazheng 57:0d8a155d511d 253 static uint16_t greenPixel = 0x00;
hazheng 64:43ab429a37e0 254 uint8_t isValid = 1;
hazheng 57:0d8a155d511d 255 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 57:0d8a155d511d 256 {
hazheng 57:0d8a155d511d 257 if(CAM_BLK_CAL_LEFT < j && j <= CAM_BLK_CAL_RIGHT)
hazheng 57:0d8a155d511d 258 {
hazheng 57:0d8a155d511d 259 greenPixel = static_cast<uint16_t>(ardu_cam_spi_read_8(SINGLE_FIFO_READ)) << 8;
hazheng 57:0d8a155d511d 260 greenPixel = greenPixel | ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 261 greenPixel = (greenPixel & 0x07E0) >> 3;
hazheng 64:43ab429a37e0 262 if(static_cast<uint8_t>(greenPixel) < black_calibrate)
hazheng 64:43ab429a37e0 263 {
hazheng 64:43ab429a37e0 264 isValid = 0;
hazheng 64:43ab429a37e0 265 }
hazheng 57:0d8a155d511d 266 calTemp += static_cast<uint8_t>(greenPixel);
hazheng 57:0d8a155d511d 267 }
hazheng 57:0d8a155d511d 268 else
hazheng 57:0d8a155d511d 269 {
hazheng 57:0d8a155d511d 270 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 271 ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 57:0d8a155d511d 272 }
hazheng 57:0d8a155d511d 273 }
hazheng 64:43ab429a37e0 274
hazheng 64:43ab429a37e0 275 if(isValid)
hazheng 64:43ab429a37e0 276 {
hazheng 64:43ab429a37e0 277 calTemp = calTemp / static_cast<float>(CAM_BLK_CAL_RIGHT - CAM_BLK_CAL_LEFT);
hazheng 64:43ab429a37e0 278 black_calibrate = static_cast<uint8_t>(calTemp * 0.7f);
hazheng 64:43ab429a37e0 279 }
hazheng 57:0d8a155d511d 280 #endif
hazheng 44:15de535c4005 281 //cal_black_calibrate();
hazheng 44:15de535c4005 282 uint8_t leftPos = 0;
hazheng 44:15de535c4005 283 uint8_t rightPos = 0;
hazheng 65:295c222fdf88 284 uint8_t isBorderFound = BOTH_NOT_FOUND;
hazheng 98:fc92bb37ee17 285
hazheng 98:fc92bb37ee17 286 is_intersection_detected = 0;
hazheng 98:fc92bb37ee17 287 uint8_t leftNearCenter1 = 0;
hazheng 98:fc92bb37ee17 288 uint8_t leftNearCenter2 = 0;
hazheng 98:fc92bb37ee17 289 uint8_t rightNearCenter1 = 0;
hazheng 98:fc92bb37ee17 290 uint8_t rightNearCenter2 = 0;
hazheng 98:fc92bb37ee17 291
hazheng 82:992ba6f31e24 292 is_encounter_terminate = 0;
hazheng 44:15de535c4005 293 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 44:15de535c4005 294 {
hazheng 46:a5eb9bd3bb55 295 #if defined(CAM_DISP_IMG) or defined(CAM_DISP_DEBUG)
hazheng 46:a5eb9bd3bb55 296 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 297 #endif
hazheng 65:295c222fdf88 298 get_img_row_info(0, i, &leftPos, &rightPos, &isBorderFound);
hazheng 44:15de535c4005 299 temp_mid_pos = (leftPos + rightPos) / 2;
hazheng 64:43ab429a37e0 300 uint8_t dis_btw_left_right = rightPos - leftPos - 1;
hazheng 64:43ab429a37e0 301 if(dis_btw_left_right < TERMINATE_WIDTH)
hazheng 64:43ab429a37e0 302 {
hazheng 64:43ab429a37e0 303 is_encounter_terminate = 1;
hazheng 64:43ab429a37e0 304 }
hazheng 46:a5eb9bd3bb55 305
hazheng 46:a5eb9bd3bb55 306 #ifdef CAM_DISP_DEBUG_CENTER
hazheng 44:15de535c4005 307 ardu_utft_set_camimg_rowcol(CAM_ROI_UPPER_LIMIT - i, temp_mid_pos);
hazheng 44:15de535c4005 308 ardu_utft_write_DATA(0xF8, 0x00);
hazheng 44:15de535c4005 309 #endif
hazheng 46:a5eb9bd3bb55 310
hazheng 44:15de535c4005 311 centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
hazheng 65:295c222fdf88 312 centerLine[(2 * CAM_ROI_UPPER_LIMIT) - i - 1] = isBorderFound;
hazheng 98:fc92bb37ee17 313
hazheng 98:fc92bb37ee17 314 if(leftPos > leftNearCenter1)
hazheng 98:fc92bb37ee17 315 {
hazheng 98:fc92bb37ee17 316 leftNearCenter2 = leftNearCenter1;
hazheng 98:fc92bb37ee17 317 leftNearCenter1 = CAM_ROI_UPPER_LIMIT - i - 1;
hazheng 98:fc92bb37ee17 318 }
hazheng 98:fc92bb37ee17 319 if(rightPos < rightNearCenter1)
hazheng 79:bdbac82c979b 320 {
hazheng 98:fc92bb37ee17 321 rightNearCenter2 = rightNearCenter1;
hazheng 98:fc92bb37ee17 322 rightNearCenter1 = CAM_ROI_UPPER_LIMIT - i - 1;
hazheng 79:bdbac82c979b 323 }
hazheng 44:15de535c4005 324 }
hazheng 98:fc92bb37ee17 325
hazheng 98:fc92bb37ee17 326 if( ((1 < rightNearCenter1 && rightNearCenter1 < (CAM_ROI_UPPER_LIMIT - 2)) && (abs(rightNearCenter1 - rightNearCenter2) == 1)) ||
hazheng 98:fc92bb37ee17 327 ((1 < leftNearCenter1 && leftNearCenter1 < (CAM_ROI_UPPER_LIMIT - 2)) && (abs(leftNearCenter1 - leftNearCenter1) == 1)) )
hazheng 98:fc92bb37ee17 328 {
hazheng 98:fc92bb37ee17 329 is_intersection_detected = 1;
hazheng 98:fc92bb37ee17 330 }
hazheng 44:15de535c4005 331 }
hazheng 44:15de535c4005 332 }
hazheng 46:a5eb9bd3bb55 333
hazheng 46:a5eb9bd3bb55 334
hazheng 43:0d1886f4848a 335 void ardu_cam_display_img_utft()
hazheng 43:0d1886f4848a 336 {
hazheng 43:0d1886f4848a 337 ardu_cam_start_capture();
hazheng 44:15de535c4005 338
hazheng 44:15de535c4005 339 while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
hazheng 44:15de535c4005 340
hazheng 44:15de535c4005 341 temp_mid_pos = RESOLUTION_WIDTH / 2;
hazheng 46:a5eb9bd3bb55 342
hazheng 44:15de535c4005 343 for (uint8_t i = 0; i < CAM_ROI_UPPER_LIMIT; ++i)
hazheng 43:0d1886f4848a 344 {
hazheng 46:a5eb9bd3bb55 345 ardu_utft_set_camimg_row(CAM_ROI_UPPER_LIMIT - i);
hazheng 46:a5eb9bd3bb55 346 for (uint8_t j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 46:a5eb9bd3bb55 347 {
hazheng 46:a5eb9bd3bb55 348 uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 349 uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 46:a5eb9bd3bb55 350
hazheng 46:a5eb9bd3bb55 351 ardu_utft_write_DATA(VH, VL);
hazheng 46:a5eb9bd3bb55 352 }
hazheng 44:15de535c4005 353
hazheng 43:0d1886f4848a 354 }
hazheng 44:15de535c4005 355 }
hazheng 64:43ab429a37e0 356
hazheng 64:43ab429a37e0 357 uint8_t ardu_cam_get_is_encounter_terminate()
hazheng 64:43ab429a37e0 358 {
hazheng 64:43ab429a37e0 359 return is_encounter_terminate;
hazheng 64:43ab429a37e0 360 }
hazheng 98:fc92bb37ee17 361 /*
hazheng 79:bdbac82c979b 362 uint8_t ardu_cam_get_is_border_found()
hazheng 79:bdbac82c979b 363 {
hazheng 79:bdbac82c979b 364 return is_border_find;
hazheng 79:bdbac82c979b 365 }
hazheng 98:fc92bb37ee17 366 */
hazheng 96:ec89c4d1383d 367
hazheng 98:fc92bb37ee17 368 uint8_t ardu_cam_get_is_intersection_detected()
hazheng 98:fc92bb37ee17 369 {
hazheng 98:fc92bb37ee17 370 return is_intersection_detected;
hazheng 98:fc92bb37ee17 371 }
hazheng 46:a5eb9bd3bb55 372 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 373 }
hazheng 46:a5eb9bd3bb55 374 #endif
hazheng 46:a5eb9bd3bb55 375
hazheng 46:a5eb9bd3bb55 376
hazheng 46:a5eb9bd3bb55 377