Jordan Brack
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
Diff: Camera.cpp
- Revision:
- 3:c8867972ffc7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Camera.cpp Wed Feb 01 00:35:48 2017 +0000
@@ -0,0 +1,71 @@
+#include "Camera.h"
+
+DigitalOut testLED(LED_BLUE, 1);
+
+void Camera::OnPixelClock()
+{
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[0].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[1].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[2].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[3].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[4].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[5].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[6].read();
+ m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[7].read();
+
+}
+
+void Camera::OnHorizontalClock()
+{
+ m_currentRow++;
+ m_currentCol = 0;
+}
+
+void Camera::OnFrameClock()
+{
+ m_currentIndex = m_currentIndex == 0 ? 1 : 0;
+ m_currentRow = 0;
+ m_currentCol = 0;
+ m_hasPic = true;
+
+ testLED = testLED.read() == 1 ? 0 : 1;
+}
+
+Camera::Camera() :
+ m_pClock(InterruptIn(PTD7)),
+ m_href(InterruptIn(PTD6)),
+ m_vsnyc(InterruptIn(PTA17)),
+ m_currentIndex(0),
+ m_currentRow(0),
+ m_currentCol(0),
+ m_hasPic(false)
+{
+ m_dIn.push_back(DigitalIn(PTE5));
+ m_dIn.push_back(DigitalIn(PTE4));
+ m_dIn.push_back(DigitalIn(PTE3));
+ m_dIn.push_back(DigitalIn(PTE2));
+ m_dIn.push_back(DigitalIn(PTB11));
+ m_dIn.push_back(DigitalIn(PTB10));
+ m_dIn.push_back(DigitalIn(PTB9));
+ m_dIn.push_back(DigitalIn(PTB8));
+
+ //m_pClock.fall(callback(this, &Camera::OnPixelClock));
+ m_href.rise(callback(this, &Camera::OnHorizontalClock));
+ m_vsnyc.rise(callback(this, &Camera::OnFrameClock));
+
+}
+
+Camera::~Camera()
+{
+
+}
+
+bool Camera::HasPicture() const
+{
+ return m_hasPic;
+}
+
+const unsigned char * Camera::GetPicture() const
+{
+ return m_pics[m_currentIndex == 0 ? 1 : 0];
+}
\ No newline at end of file