Diff: Hardwares/ArduCAM.cpp

Branch:

Drift

Revision:

79:bdbac82c979b

Parent:

73:1dcf56e9f1d4

Child:

80:c85cb93713b3

--- a/Hardwares/ArduCAM.cpp	Mon Apr 17 16:02:48 2017 +0000
+++ b/Hardwares/ArduCAM.cpp	Tue Apr 18 17:43:12 2017 +0000
@@ -33,6 +33,7 @@
 static uint8_t black_calibrate = 70;
 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT * 2];
 static volatile uint8_t is_encounter_terminate = 0;
+static volatile uint8_t is_border_find = BOTH_NOT_FOUND;
 //static Thread * m_imgProcessThread = NULL;
 //static Ticker m_tickerImgProc;
 
@@ -373,6 +374,7 @@
         while (!(ardu_cam_spi_read_8(ARDUCHIP_TRIG) & CAP_DONE_MASK));
         
         temp_mid_pos = RESOLUTION_WIDTH / 2;
+        is_border_find = BOTH_NOT_FOUND;
 #ifdef CAM_BLK_CAL_ACTIVE
         static float calTemp = 0.0f;
         calTemp = 0.0f;
@@ -437,6 +439,50 @@
 
             centerLine[CAM_ROI_UPPER_LIMIT - i - 1] = temp_mid_pos;
             centerLine[(2 * CAM_ROI_UPPER_LIMIT) - i - 1] = isBorderFound;
+            switch(is_border_find)
+            {
+            case BOTH_NOT_FOUND:
+                switch(isBorderFound)
+                {
+                case LEFT_FOUND:
+                    is_border_find = LEFT_FOUND;
+                    break;
+                case RIGHT_FOUND:
+                    is_border_find = RIGHT_FOUND;
+                    break;
+                case BOTH_FOUND:
+                    is_border_find = BOTH_FOUND;
+                    break;
+                default:
+                    break;
+                }
+                break;
+            case LEFT_FOUND:
+                switch(isBorderFound)
+                {
+                case RIGHT_FOUND:
+                case BOTH_FOUND:
+                    is_border_find = BOTH_FOUND;
+                    break;
+                default:
+                    break;
+                }
+                break;
+            case RIGHT_FOUND:
+                switch(isBorderFound)
+                {
+                case LEFT_FOUND:
+                case BOTH_FOUND:
+                    is_border_find = BOTH_FOUND;
+                    break;
+                default:
+                    break;
+                }
+                break;
+            case BOTH_FOUND:
+            default:
+                break;
+            }
         }
         
         
@@ -472,6 +518,11 @@
 {
     return is_encounter_terminate;
 }
+
+uint8_t ardu_cam_get_is_border_found()
+{
+    return is_border_find;
+}
 /*
 void tick_image_proc()
 {