kao yi / Mbed 2 deprecated Bov3

wu

Dependencies:   mbed-rtos mbed

Fork of CCC by kao yi

camera_api.cpp@4:05b21dbca0c7, 2014-06-05 (annotated)

Committer:
backman
Date:
Thu Jun 05 10:28:19 2014 +0000
Revision:
4:05b21dbca0c7
Parent:
3:c5f2281b3ed2
Child:
5:e32b091aa1fb
clean newline

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 1:82bc25a7b68b 1 #include "mbed.h"
backman 1:82bc25a7b68b 2 #include "camera_api.h"
backman 1:82bc25a7b68b 3
backman 1:82bc25a7b68b 4 #define clk 2 //ms
backman 1:82bc25a7b68b 5
backman 1:82bc25a7b68b 6
backman 2:c51647d3c14d 7 BX_camera::BX_camera(void){
backman 1:82bc25a7b68b 8
backman 2:c51647d3c14d 9 line_CamR = new FastAnalogIn(PTD5);
backman 2:c51647d3c14d 10 line_CamL= new FastAnalogIn(PTD6,0);
backman 2:c51647d3c14d 11 cam_clk=new DigitalOut(PTE1);
backman 2:c51647d3c14d 12 si=new DigitalOut(PTD7);
backman 4:05b21dbca0c7 13
backman 1:82bc25a7b68b 14 }
backman 1:82bc25a7b68b 15
backman 3:c5f2281b3ed2 16 int BX_camera::black_centerR(void){
backman 4:05b21dbca0c7 17
backman 3:c5f2281b3ed2 18 // find center
backman 3:c5f2281b3ed2 19 // case 1 // | //
backman 3:c5f2281b3ed2 20 // case 2 / | /
backman 3:c5f2281b3ed2 21
backman 3:c5f2281b3ed2 22 char find_type=0x00;
backman 3:c5f2281b3ed2 23
backman 3:c5f2281b3ed2 24 int b_end=0;
backman 3:c5f2281b3ed2 25 int b_start=0;
backman 3:c5f2281b3ed2 26
backman 3:c5f2281b3ed2 27 int b2_end=0;
backman 3:c5f2281b3ed2 28 int b2_start=0;
backman 3:c5f2281b3ed2 29
backman 3:c5f2281b3ed2 30
backman 3:c5f2281b3ed2 31 int center;
backman 3:c5f2281b3ed2 32 int j=64;
backman 3:c5f2281b3ed2 33 bool f1=false;
backman 3:c5f2281b3ed2 34 bool f2=false;
backman 3:c5f2281b3ed2 35 bool f3=false;
backman 3:c5f2281b3ed2 36 bool f4=false;
backman 3:c5f2281b3ed2 37
backman 3:c5f2281b3ed2 38
backman 3:c5f2281b3ed2 39 if(sign_line_imageR[64]==' ')
backman 3:c5f2281b3ed2 40 find_type=0x02;
backman 3:c5f2281b3ed2 41 else
backman 3:c5f2281b3ed2 42 find_type=0x01;
backman 3:c5f2281b3ed2 43
backman 3:c5f2281b3ed2 44
backman 3:c5f2281b3ed2 45 for(int i=64;i<128; i++,j--){
backman 3:c5f2281b3ed2 46
backman 3:c5f2281b3ed2 47
backman 3:c5f2281b3ed2 48 switch(find_type){
backman 3:c5f2281b3ed2 49
backman 3:c5f2281b3ed2 50
backman 3:c5f2281b3ed2 51 case 0x01:
backman 3:c5f2281b3ed2 52
backman 3:c5f2281b3ed2 53 if(f1==false&&sign_line_imageR[i]==' '){
backman 3:c5f2281b3ed2 54 if(f1==false){
backman 3:c5f2281b3ed2 55 b_start=i;
backman 3:c5f2281b3ed2 56 f1=true;
backman 3:c5f2281b3ed2 57 }
backman 3:c5f2281b3ed2 58
backman 3:c5f2281b3ed2 59 }
backman 3:c5f2281b3ed2 60 if(f1== true&& f2==false&&sign_line_imageR[i]=='O'){
backman 3:c5f2281b3ed2 61 if(f2==false){
backman 3:c5f2281b3ed2 62 b_end=i-1;
backman 3:c5f2281b3ed2 63 f2=true;
backman 3:c5f2281b3ed2 64 }
backman 3:c5f2281b3ed2 65
backman 3:c5f2281b3ed2 66 }
backman 3:c5f2281b3ed2 67
backman 3:c5f2281b3ed2 68 if(f3==false&&sign_line_imageR[j]==' '){
backman 3:c5f2281b3ed2 69 if(f3==false){
backman 3:c5f2281b3ed2 70 b2_end=j;
backman 3:c5f2281b3ed2 71 f3=true;
backman 3:c5f2281b3ed2 72 }
backman 3:c5f2281b3ed2 73
backman 3:c5f2281b3ed2 74 }
backman 3:c5f2281b3ed2 75 if(f3==true&&f4==false&&sign_line_imageR[j]=='O'){
backman 3:c5f2281b3ed2 76 if(f4==false){
backman 3:c5f2281b3ed2 77 b2_start=j-1;
backman 3:c5f2281b3ed2 78 f4=true;
backman 3:c5f2281b3ed2 79 }
backman 3:c5f2281b3ed2 80
backman 3:c5f2281b3ed2 81 }
backman 3:c5f2281b3ed2 82
backman 3:c5f2281b3ed2 83
backman 3:c5f2281b3ed2 84 break;
backman 3:c5f2281b3ed2 85
backman 3:c5f2281b3ed2 86
backman 3:c5f2281b3ed2 87 case 0x02:
backman 3:c5f2281b3ed2 88
backman 3:c5f2281b3ed2 89 if(sign_line_imageR[i]=='O'){
backman 3:c5f2281b3ed2 90
backman 3:c5f2281b3ed2 91 if(f1==false){
backman 3:c5f2281b3ed2 92 b_end=i;
backman 3:c5f2281b3ed2 93 f1=true;
backman 3:c5f2281b3ed2 94 }
backman 3:c5f2281b3ed2 95 }
backman 3:c5f2281b3ed2 96
backman 3:c5f2281b3ed2 97 if(sign_line_imageR[j]=='O'){
backman 3:c5f2281b3ed2 98
backman 3:c5f2281b3ed2 99 if(f2==false){
backman 3:c5f2281b3ed2 100 b_start=j;
backman 3:c5f2281b3ed2 101 f2=true;
backman 3:c5f2281b3ed2 102 }
backman 3:c5f2281b3ed2 103
backman 3:c5f2281b3ed2 104 }
backman 3:c5f2281b3ed2 105
backman 3:c5f2281b3ed2 106
backman 3:c5f2281b3ed2 107 break;
backman 4:05b21dbca0c7 108
backman 3:c5f2281b3ed2 109 }
backman 3:c5f2281b3ed2 110
backman 3:c5f2281b3ed2 111
backman 3:c5f2281b3ed2 112 }
backman 3:c5f2281b3ed2 113
backman 3:c5f2281b3ed2 114
backman 3:c5f2281b3ed2 115 switch(find_type){
backman 3:c5f2281b3ed2 116
backman 3:c5f2281b3ed2 117 case 0x01:
backman 3:c5f2281b3ed2 118
backman 3:c5f2281b3ed2 119 if((b_end-b_start)>(b2_end-b2_start) )
backman 3:c5f2281b3ed2 120 center=(b_end+b_start)/2;
backman 3:c5f2281b3ed2 121
backman 3:c5f2281b3ed2 122 else
backman 3:c5f2281b3ed2 123 center=(b2_end+b2_start)/2;
backman 3:c5f2281b3ed2 124 break;
backman 3:c5f2281b3ed2 125
backman 3:c5f2281b3ed2 126 case 0x02:
backman 3:c5f2281b3ed2 127 center=(b_end+b_start)/2;
backman 3:c5f2281b3ed2 128
backman 3:c5f2281b3ed2 129 break;
backman 3:c5f2281b3ed2 130 }
backman 3:c5f2281b3ed2 131
backman 3:c5f2281b3ed2 132
backman 3:c5f2281b3ed2 133 return center;
backman 3:c5f2281b3ed2 134
backman 3:c5f2281b3ed2 135 }
backman 3:c5f2281b3ed2 136
backman 3:c5f2281b3ed2 137
backman 3:c5f2281b3ed2 138
backman 3:c5f2281b3ed2 139
backman 3:c5f2281b3ed2 140 int BX_camera::black_centerL(void){
backman 3:c5f2281b3ed2 141
backman 3:c5f2281b3ed2 142 // find center
backman 3:c5f2281b3ed2 143 // case 1 // | //
backman 3:c5f2281b3ed2 144 //case 2 / | /
backman 3:c5f2281b3ed2 145
backman 3:c5f2281b3ed2 146
backman 3:c5f2281b3ed2 147 char find_type=0x00;
backman 3:c5f2281b3ed2 148
backman 3:c5f2281b3ed2 149 int b_end=0;
backman 3:c5f2281b3ed2 150 int b_start=0;
backman 3:c5f2281b3ed2 151 int b2_end=0;
backman 3:c5f2281b3ed2 152 int b2_start=0;
backman 3:c5f2281b3ed2 153
backman 3:c5f2281b3ed2 154
backman 3:c5f2281b3ed2 155 int center;
backman 3:c5f2281b3ed2 156 int j=64;
backman 3:c5f2281b3ed2 157 bool f1=false;
backman 3:c5f2281b3ed2 158 bool f2=false;
backman 3:c5f2281b3ed2 159 bool f3=false;
backman 3:c5f2281b3ed2 160 bool f4=false;
backman 4:05b21dbca0c7 161
backman 3:c5f2281b3ed2 162 if(sign_line_imageL[64]==' ')
backman 3:c5f2281b3ed2 163 find_type=0x02;
backman 3:c5f2281b3ed2 164 else
backman 3:c5f2281b3ed2 165 find_type=0x01;
backman 3:c5f2281b3ed2 166
backman 3:c5f2281b3ed2 167
backman 3:c5f2281b3ed2 168 for(int i=64;i<128; i++,j--){
backman 3:c5f2281b3ed2 169
backman 3:c5f2281b3ed2 170
backman 3:c5f2281b3ed2 171 switch(find_type){
backman 3:c5f2281b3ed2 172
backman 3:c5f2281b3ed2 173
backman 3:c5f2281b3ed2 174 case 0x01:
backman 3:c5f2281b3ed2 175
backman 3:c5f2281b3ed2 176 if(f1==false&&sign_line_imageL[i]==' '){
backman 3:c5f2281b3ed2 177 if(f1==false){
backman 3:c5f2281b3ed2 178 b_start=i;
backman 3:c5f2281b3ed2 179 f1=true;
backman 3:c5f2281b3ed2 180 }
backman 3:c5f2281b3ed2 181
backman 3:c5f2281b3ed2 182 }
backman 3:c5f2281b3ed2 183 if(f1== true&& f2==false&&sign_line_imageL[i]=='O'){
backman 3:c5f2281b3ed2 184 if(f2==false){
backman 3:c5f2281b3ed2 185 b_end=i-1;
backman 3:c5f2281b3ed2 186 f2=true;
backman 3:c5f2281b3ed2 187 }
backman 3:c5f2281b3ed2 188
backman 3:c5f2281b3ed2 189 }
backman 3:c5f2281b3ed2 190
backman 3:c5f2281b3ed2 191 if(f3==false&&sign_line_imageL[j]==' '){
backman 3:c5f2281b3ed2 192 if(f3==false){
backman 3:c5f2281b3ed2 193 b2_end=j;
backman 3:c5f2281b3ed2 194 f3=true;
backman 3:c5f2281b3ed2 195 }
backman 3:c5f2281b3ed2 196
backman 3:c5f2281b3ed2 197 }
backman 3:c5f2281b3ed2 198 if(f3==true&&f4==false&&sign_line_imageL[j]=='O'){
backman 3:c5f2281b3ed2 199 if(f4==false){
backman 3:c5f2281b3ed2 200 b2_start=j-1;
backman 3:c5f2281b3ed2 201 f4=true;
backman 3:c5f2281b3ed2 202 }
backman 3:c5f2281b3ed2 203
backman 3:c5f2281b3ed2 204 }
backman 4:05b21dbca0c7 205
backman 3:c5f2281b3ed2 206 break;
backman 3:c5f2281b3ed2 207
backman 3:c5f2281b3ed2 208
backman 3:c5f2281b3ed2 209 case 0x02:
backman 3:c5f2281b3ed2 210
backman 3:c5f2281b3ed2 211 if(sign_line_imageL[i]=='O'){
backman 3:c5f2281b3ed2 212
backman 3:c5f2281b3ed2 213 if(f1==false){
backman 3:c5f2281b3ed2 214 b_end=i;
backman 3:c5f2281b3ed2 215 f1=true;
backman 3:c5f2281b3ed2 216 }
backman 3:c5f2281b3ed2 217 }
backman 3:c5f2281b3ed2 218
backman 3:c5f2281b3ed2 219 if(sign_line_imageL[j]=='O'){
backman 3:c5f2281b3ed2 220
backman 3:c5f2281b3ed2 221 if(f2==false){
backman 3:c5f2281b3ed2 222 b_start=j;
backman 3:c5f2281b3ed2 223 f2=true;
backman 3:c5f2281b3ed2 224 }
backman 3:c5f2281b3ed2 225
backman 3:c5f2281b3ed2 226 }
backman 3:c5f2281b3ed2 227
backman 3:c5f2281b3ed2 228
backman 4:05b21dbca0c7 229 break;
backman 3:c5f2281b3ed2 230
backman 3:c5f2281b3ed2 231 }
backman 4:05b21dbca0c7 232
backman 3:c5f2281b3ed2 233 }
backman 3:c5f2281b3ed2 234
backman 3:c5f2281b3ed2 235
backman 3:c5f2281b3ed2 236 switch(find_type){
backman 3:c5f2281b3ed2 237
backman 3:c5f2281b3ed2 238 case 0x01:
backman 3:c5f2281b3ed2 239
backman 3:c5f2281b3ed2 240 if((b_end-b_start)>(b2_end-b2_start) )
backman 3:c5f2281b3ed2 241 center=(b_end+b_start)/2;
backman 3:c5f2281b3ed2 242
backman 3:c5f2281b3ed2 243 else
backman 3:c5f2281b3ed2 244 center=(b2_end+b2_start)/2;
backman 3:c5f2281b3ed2 245 break;
backman 3:c5f2281b3ed2 246
backman 3:c5f2281b3ed2 247 case 0x02:
backman 3:c5f2281b3ed2 248 center=(b_end+b_start)/2;
backman 3:c5f2281b3ed2 249
backman 3:c5f2281b3ed2 250 break;
backman 3:c5f2281b3ed2 251 }
backman 3:c5f2281b3ed2 252
backman 3:c5f2281b3ed2 253 return center;
backman 3:c5f2281b3ed2 254
backman 3:c5f2281b3ed2 255 }
backman 3:c5f2281b3ed2 256
backman 4:05b21dbca0c7 257
backman 1:82bc25a7b68b 258
backman 2:c51647d3c14d 259 void BX_camera::read(void){
backman 1:82bc25a7b68b 260
backman 2:c51647d3c14d 261 w_f_vL=0x0000;
backman 2:c51647d3c14d 262 b_f_vL=0xffff;
backman 2:c51647d3c14d 263
backman 2:c51647d3c14d 264 w_f_vR=0x0000;
backman 2:c51647d3c14d 265 b_f_vR=0xffff;
backman 1:82bc25a7b68b 266
backman 1:82bc25a7b68b 267
backman 1:82bc25a7b68b 268
backman 2:c51647d3c14d 269
backman 1:82bc25a7b68b 270 *si=1;
backman 2:c51647d3c14d 271 *cam_clk=1;
backman 1:82bc25a7b68b 272
backman 1:82bc25a7b68b 273 wait_us(30); // tune here
backman 1:82bc25a7b68b 274 *si=0;
backman 1:82bc25a7b68b 275 *cam_clk=0;
backman 1:82bc25a7b68b 276
backman 1:82bc25a7b68b 277
backman 1:82bc25a7b68b 278
backman 2:c51647d3c14d 279 line_CamR->enable();
backman 2:c51647d3c14d 280 line_CamL->enable();
backman 1:82bc25a7b68b 281
backman 1:82bc25a7b68b 282
backman 2:c51647d3c14d 283 //input 128 //both
backman 1:82bc25a7b68b 284
backman 1:82bc25a7b68b 285 for(int i=0;i<128;i++){
backman 2:c51647d3c14d 286 *cam_clk=1;
backman 2:c51647d3c14d 287 wait_us(5);
backman 1:82bc25a7b68b 288
backman 1:82bc25a7b68b 289
backman 2:c51647d3c14d 290 line_imageR[i]=line_CamR->read_u16();
backman 2:c51647d3c14d 291 line_imageL[i]=line_CamL->read_u16();
backman 1:82bc25a7b68b 292
backman 1:82bc25a7b68b 293 // big small
backman 2:c51647d3c14d 294 if(line_imageR[i] > w_f_vR)
backman 2:c51647d3c14d 295 w_f_vR=line_imageR[i];
backman 2:c51647d3c14d 296 else if(line_imageR[i] < b_f_vR )
backman 2:c51647d3c14d 297 b_f_vR = line_imageR[i];
backman 2:c51647d3c14d 298
backman 2:c51647d3c14d 299
backman 2:c51647d3c14d 300 if(line_imageL[i] > w_f_vL)
backman 2:c51647d3c14d 301 w_f_vL=line_imageL[i];
backman 2:c51647d3c14d 302 else if(line_imageL[i] < b_f_vL )
backman 2:c51647d3c14d 303 b_f_vL = line_imageL[i];
backman 1:82bc25a7b68b 304
backman 1:82bc25a7b68b 305
backman 1:82bc25a7b68b 306
backman 1:82bc25a7b68b 307
backman 1:82bc25a7b68b 308 *cam_clk=0;
backman 1:82bc25a7b68b 309 wait_us(5);
backman 1:82bc25a7b68b 310
backman 1:82bc25a7b68b 311
backman 1:82bc25a7b68b 312 }
backman 1:82bc25a7b68b 313
backman 1:82bc25a7b68b 314
backman 2:c51647d3c14d 315 line_CamR->enable();
backman 2:c51647d3c14d 316 line_CamL->enable();
backman 1:82bc25a7b68b 317
backman 1:82bc25a7b68b 318
backman 2:c51647d3c14d 319 //filter L R //may change
backman 1:82bc25a7b68b 320
backman 1:82bc25a7b68b 321 for(int i=0;i<128;i++){
backman 1:82bc25a7b68b 322
backman 1:82bc25a7b68b 323
backman 2:c51647d3c14d 324 if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
backman 2:c51647d3c14d 325 sign_line_imageR[i]=' ';
backman 2:c51647d3c14d 326 else
backman 2:c51647d3c14d 327 sign_line_imageR[i]='O';
backman 2:c51647d3c14d 328
backman 2:c51647d3c14d 329
backman 2:c51647d3c14d 330 if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
backman 2:c51647d3c14d 331 sign_line_imageL[i]=' ';
backman 1:82bc25a7b68b 332 else
backman 2:c51647d3c14d 333 sign_line_imageL[i]='O';
backman 2:c51647d3c14d 334
backman 1:82bc25a7b68b 335
backman 2:c51647d3c14d 336
backman 2:c51647d3c14d 337
backman 2:c51647d3c14d 338
backman 2:c51647d3c14d 339 if(i==0){
backman 2:c51647d3c14d 340 sign_line_imageR[i]='X';
backman 2:c51647d3c14d 341 sign_line_imageL[i]='X';
backman 2:c51647d3c14d 342 }
backman 2:c51647d3c14d 343
backman 1:82bc25a7b68b 344
backman 1:82bc25a7b68b 345 }
backman 1:82bc25a7b68b 346
backman 1:82bc25a7b68b 347
backman 1:82bc25a7b68b 348
backman 1:82bc25a7b68b 349 }