Diff: camera_api.cpp

Revision:

2:c51647d3c14d

Parent:

1:82bc25a7b68b

Child:

3:c5f2281b3ed2

--- a/camera_api.cpp	Tue Jun 03 15:53:55 2014 +0000
+++ b/camera_api.cpp	Wed Jun 04 12:56:52 2014 +0000
@@ -4,33 +4,32 @@
 #define clk 2  //ms
 
  
- BX_camera::BX_camera(char cam){
-     
+ BX_camera::BX_camera(void){
      
-     cam_clk= new DigitalOut(PTE1) ;
-
-     si = new DigitalOut(PTD7);
-    
-     line_Cam = new FastAnalogIn(PTD5); 
+           line_CamR = new FastAnalogIn(PTD5);
+           line_CamL=   new FastAnalogIn(PTD6,0);  
+            cam_clk=new DigitalOut(PTE1);
+            si=new DigitalOut(PTD7);
      
-     
-     
-     
+   
      
      
      }
  
  
-void BX_camera::read(void){
- 
+ void BX_camera::read(void){
  
-        w_f_v=0x0000;
-        b_f_v=0xffff;
+          w_f_vL=0x0000;
+          b_f_vL=0xffff;
+   
+          w_f_vR=0x0000;
+          b_f_vR=0xffff;
  
  
         
+           
            *si=1;
-            *cam_clk=1;
+           *cam_clk=1;
            
            wait_us(30);   // tune here
            *si=0;
@@ -38,24 +37,31 @@
             
             
  
-          line_Cam->enable();
+          line_CamR->enable();
+          line_CamL->enable();
           
           
-       //input 128   
+       //input 128 //both  
           
           for(int i=0;i<128;i++){     
-             *cam_clk=1;   
-             wait_us(5);
+              *cam_clk=1;   
+              wait_us(5);
              
              
-             line_image[i]=line_Cam->read_u16();
-         
+             line_imageR[i]=line_CamR->read_u16();
+             line_imageL[i]=line_CamL->read_u16();
          
          //  big small    
-             if(line_image[i] > w_f_v) 
-                w_f_v=line_image[i];
-             else if(line_image[i] < b_f_v )
-                b_f_v = line_image[i];
+             if(line_imageR[i] > w_f_vR) 
+                w_f_vR=line_imageR[i];
+             else if(line_imageR[i] < b_f_vR )
+                b_f_vR = line_imageR[i];
+                
+                
+              if(line_imageL[i] > w_f_vL) 
+                w_f_vL=line_imageL[i];
+             else if(line_imageL[i] < b_f_vL )
+                b_f_vL = line_imageL[i];   
                 
              
              
@@ -67,22 +73,35 @@
            }
            
            
-           line_Cam->disable();
+          line_CamR->enable();
+          line_CamL->enable();
            
            
-           
-           //filter
+           //filter L R   //may change
            
           for(int i=0;i<128;i++){   
            
            
-               if( (line_image[i]-b_f_v) < (w_f_v - line_image[i] )    ) 
-                   sign_line_image[i]=' ';
+               if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] )    ) 
+                   sign_line_imageR[i]=' ';
+               else
+                   sign_line_imageR[i]='O';    
+           
+             
+               if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] )    ) 
+                   sign_line_imageL[i]=' ';
                else
-                   sign_line_image[i]='O';    
+                   sign_line_imageL[i]='O';    
+           
            
-              if(i==0)
-                 sign_line_image[i]='X';
+                 
+                 
+                 
+                 if(i==0){
+                   sign_line_imageR[i]='X';
+                   sign_line_imageL[i]='X'; 
+                 }     
+                 
            
           }