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

Camera.cpp

Committer:
hazheng
Date:
2017-02-01
Revision:
3:c8867972ffc7

File content as of revision 3:c8867972ffc7:

#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];
}