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
Diff: Hardwares/ArduCAM.cpp
- Revision:
- 43:0d1886f4848a
- Parent:
- 42:c4e1606087ff
- Child:
- 44:15de535c4005
--- a/Hardwares/ArduCAM.cpp Fri Mar 24 15:44:08 2017 +0000 +++ b/Hardwares/ArduCAM.cpp Mon Mar 27 22:09:22 2017 +0000 @@ -107,6 +107,7 @@ g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su"); //ardu_cam_set_mode(MCU2LCD_MODE); + ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00); ardu_cam_start_capture(); wait(0.1); @@ -126,7 +127,7 @@ void ardu_cam_start_capture() { ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK); - ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00); + //wait(0.1); ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK); } @@ -180,20 +181,8 @@ //ardu_cam_spi_set_burst(); //ardu_cam_get_pixel(); //Get the first dummy pixel - //ardu_utft_set_xy(0, 0, 319, 239); - for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i) - { - ardu_utft_set_xy(0, i + 20, 300, i + 20); - for (int j = 0; j < RESOLUTION_WIDTH; ++j) - { - uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ); - uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ); - - ardu_utft_write_DATA(VH, VL); - } - } -/* + for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i) { #if defined(MANUAL_REDUCE_RESULOTION_BY2) @@ -237,5 +226,25 @@ #endif } -*/ + +} + +void ardu_cam_display_img_utft() +{ + ardu_cam_start_capture(); + wait(0.2); + while(ardu_cam_get_fifo_length() < (RESOLUTION_WIDTH * RESOLUTION_HEIGHT * 2)) + { + } + for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i) + { + ardu_utft_set_xy(0, i + 20, 300, i + 20); + for (int j = 0; j < RESOLUTION_WIDTH; ++j) + { + uint8_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ); + uint8_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ); + + ardu_utft_write_DATA(VH, VL); + } + } } \ No newline at end of file