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

Diff: Hardwares/ArduCAM.cpp

Revision:
54:f1f5648dfacf
Parent:
50:c387c88141fb
Child:
56:7d3395ae022d
--- a/Hardwares/ArduCAM.cpp	Thu Apr 06 19:42:40 2017 +0000
+++ b/Hardwares/ArduCAM.cpp	Thu Apr 06 20:36:51 2017 +0000
@@ -26,7 +26,6 @@
 static uint8_t temp_mid_pos = RESOLUTION_WIDTH / 2;
 static uint8_t black_calibrate = 70;
 static volatile uint8_t centerLine[CAM_ROI_UPPER_LIMIT];
-//volatile const uint8_t* outCenterLine = centerLine;
 static Thread * m_imgProcessThread = NULL;
 
 void image_processing();
@@ -92,13 +91,13 @@
 #if defined(ARDUCAM_OV2640)
     camReg->SCCBWrite(0xff, 0x01);
 #endif
-    uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
-    sprintf(buf, "Cam VerH %#x", camVer);
-    g_core.GetUSBServer().PushReliableMsg('D', buf);
+    //uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
+    //sprintf(buf, "Cam VerH %#x", camVer);
+    //g_core.GetUSBServer().PushReliableMsg('D', buf);
     
-    camVer = camReg->SCCBRead(CAM_VER_ADDR);
-    sprintf(buf, "Cam VerL %#x", camVer);
-    g_core.GetUSBServer().PushReliableMsg('D', buf);
+    //camVer = camReg->SCCBRead(CAM_VER_ADDR);
+    //sprintf(buf, "Cam VerL %#x", camVer);
+    //g_core.GetUSBServer().PushReliableMsg('D', buf);
 
 
     delete camReg;
@@ -111,17 +110,17 @@
     VerNum = ardu_cam_spi_read_8(0x40);
     
     
-    sprintf(buf, "Ardu Ver %#x", VerNum);
-    g_core.GetUSBServer().PushReliableMsg('D', buf);
+    //sprintf(buf, "Ardu Ver %#x", VerNum);
+    //g_core.GetUSBServer().PushReliableMsg('D', buf);
     
     ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
     uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
     if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
     {
-        g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
+        //g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
         return false;
     }
-    g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
+    //g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
     
     //ardu_cam_set_mode(MCU2LCD_MODE);
     ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
@@ -181,9 +180,9 @@
 void ardu_cam_print_debug()
 {
     uint32_t len = ardu_cam_get_fifo_length();
-    char buf[20];
-    sprintf(buf, "Cam L %#x", len);
-    g_core.GetUSBServer().PushReliableMsg('D', buf);
+    //char buf[20];
+    //sprintf(buf, "Cam L %#x", len);
+    //g_core.GetUSBServer().PushReliableMsg('D', buf);
     
     //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
     //    return;
@@ -238,7 +237,7 @@
             lineBuf[j + 1] = ardu_cam_get_pixel();
         }
         
-        g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
+        //g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
         wait(0.35);
         
 #endif