clemente di caprio
ADNS2051 Library Program Demonstration
Dependencies: ADNS2051lib FatFileSystem mbed MI0283QTlib
Revision 0:b560d4d15292, committed 2012-05-28
- Comitter:
- clemente
- Date:
- Mon May 28 20:50:49 2012 +0000
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADNS2051lib.lib Mon May 28 20:50:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/clemente/code/ADNS2051lib/#462017ee2a5b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystem.lib Mon May 28 20:50:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AdamGreen/code/FatFileSystem/#6ceefe1c53e4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MI0283QTlib.lib Mon May 28 20:50:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/clemente/code/MI0283QTlib/#7ad454fed160
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.cpp Mon May 28 20:50:49 2012 +0000
@@ -0,0 +1,457 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/* Introduction
+ * ------------
+ * SD and MMC cards support a number of interfaces, but common to them all
+ * is one based on SPI. This is the one I'm implmenting because it means
+ * it is much more portable even though not so performant, and we already
+ * have the mbed SPI Interface!
+ *
+ * The main reference I'm using is Chapter 7, "SPI Mode" of:
+ * http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
+ *
+ * SPI Startup
+ * -----------
+ * The SD card powers up in SD mode. The SPI interface mode is selected by
+ * asserting CS low and sending the reset command (CMD0). The card will
+ * respond with a (R1) response.
+ *
+ * CMD8 is optionally sent to determine the voltage range supported, and
+ * indirectly determine whether it is a version 1.x SD/non-SD card or
+ * version 2.x. I'll just ignore this for now.
+ *
+ * ACMD41 is repeatedly issued to initialise the card, until "in idle"
+ * (bit 0) of the R1 response goes to '0', indicating it is initialised.
+ *
+ * You should also indicate whether the host supports High Capicity cards,
+ * and check whether the card is high capacity - i'll also ignore this
+ *
+ * SPI Protocol
+ * ------------
+ * The SD SPI protocol is based on transactions made up of 8-bit words, with
+ * the host starting every bus transaction by asserting the CS signal low. The
+ * card always responds to commands, data blocks and errors.
+ *
+ * The protocol supports a CRC, but by default it is off (except for the
+ * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
+ * I'll leave the CRC off I think!
+ *
+ * Standard capacity cards have variable data block sizes, whereas High
+ * Capacity cards fix the size of data block to 512 bytes. I'll therefore
+ * just always use the Standard Capacity cards with a block size of 512 bytes.
+ * This is set with CMD16.
+ *
+ * You can read and write single blocks (CMD17, CMD25) or multiple blocks
+ * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
+ * the card gets a read command, it responds with a response token, and then
+ * a data token or an error.
+ *
+ * SPI Command Format
+ * ------------------
+ * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
+ *
+ * +---------------+------------+------------+-----------+----------+--------------+
+ * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
+ * +---------------+------------+------------+-----------+----------+--------------+
+ *
+ * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
+ *
+ * All Application Specific commands shall be preceded with APP_CMD (CMD55).
+ *
+ * SPI Response Format
+ * -------------------
+ * The main response format (R1) is a status byte (normally zero). Key flags:
+ * idle - 1 if the card is in an idle state/initialising
+ * cmd - 1 if an illegal command code was detected
+ *
+ * +-------------------------------------------------+
+ * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
+ * +-------------------------------------------------+
+ *
+ * R1b is the same, except it is followed by a busy signal (zeros) until
+ * the first non-zero byte when it is ready again.
+ *
+ * Data Response Token
+ * -------------------
+ * Every data block written to the card is acknowledged by a byte
+ * response token
+ *
+ * +----------------------+
+ * | xxx | 0 | status | 1 |
+ * +----------------------+
+ * 010 - OK!
+ * 101 - CRC Error
+ * 110 - Write Error
+ *
+ * Single Block Read and Write
+ * ---------------------------
+ *
+ * Block transfers have a byte header, followed by the data, followed
+ * by a 16-bit CRC. In our case, the data will always be 512 bytes.
+ *
+ * +------+---------+---------+- - - -+---------+-----------+----------+
+ * | 0xFE | data[0] | data[1] | | data[n] | crc[15:8] | crc[7:0] |
+ * +------+---------+---------+- - - -+---------+-----------+----------+
+ */
+
+#include "SDFileSystem.h"
+
+#define SD_COMMAND_TIMEOUT 5000
+
+SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
+ FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
+ _cs = 1;
+}
+
+#define R1_IDLE_STATE (1 << 0)
+#define R1_ERASE_RESET (1 << 1)
+#define R1_ILLEGAL_COMMAND (1 << 2)
+#define R1_COM_CRC_ERROR (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR (1 << 5)
+#define R1_PARAMETER_ERROR (1 << 6)
+
+// Types
+// - v1.x Standard Capacity
+// - v2.x Standard Capacity
+// - v2.x High Capacity
+// - Not recognised as an SD Card
+
+#define SDCARD_FAIL 0
+#define SDCARD_V1 1
+#define SDCARD_V2 2
+#define SDCARD_V2HC 3
+
+int SDFileSystem::initialise_card() {
+ // Set to 100kHz for initialisation, and clock card with cs = 1
+ _spi.frequency(100000);
+ _cs = 1;
+ for(int i=0; i<16; i++) {
+ _spi.write(0xFF);
+ }
+
+ // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
+ if(_cmd(0, 0) != R1_IDLE_STATE) {
+ fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
+ return SDCARD_FAIL;
+ }
+
+ // send CMD8 to determine whther it is ver 2.x
+ int r = _cmd8();
+ if(r == R1_IDLE_STATE) {
+ return initialise_card_v2();
+ } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+ return initialise_card_v1();
+ } else {
+ fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
+ return SDCARD_FAIL;
+ }
+}
+
+int SDFileSystem::initialise_card_v1() {
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ _cmd(55, 0);
+ if(_cmd(41, 0) == 0) {
+ return SDCARD_V1;
+ }
+ }
+
+ fprintf(stderr, "Timeout waiting for v1.x card\n");
+ return SDCARD_FAIL;
+}
+
+int SDFileSystem::initialise_card_v2() {
+
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ _cmd(55, 0);
+ if(_cmd(41, 0) == 0) {
+ _cmd58();
+ return SDCARD_V2;
+ }
+ }
+
+ fprintf(stderr, "Timeout waiting for v2.x card\n");
+ return SDCARD_FAIL;
+}
+
+int SDFileSystem::disk_initialize() {
+
+ int i = initialise_card();
+// printf("init card = %d\n", i);
+// printf("OK\n");
+
+ _sectors = _sd_sectors();
+
+ // Set block length to 512 (CMD16)
+ if(_cmd(16, 512) != 0) {
+ fprintf(stderr, "Set 512-byte block timed out\n");
+ return 1;
+ }
+
+ _spi.frequency(20000000); // Set to 20MHz for data transfer
+ return 0;
+}
+
+int SDFileSystem::disk_write(const char *buffer, int block_number) {
+ // set write address for single block (CMD24)
+ if(_cmd(24, block_number * 512) != 0) {
+ return 1;
+ }
+
+ // send the data block
+ _write(buffer, 512);
+ return 0;
+}
+
+int SDFileSystem::disk_read(char *buffer, int block_number) {
+ // set read address for single block (CMD17)
+ if(_cmd(17, block_number * 512) != 0) {
+ return 1;
+ }
+
+ // receive the data
+ _read(buffer, 512);
+ return 0;
+}
+
+int SDFileSystem::disk_status() { return 0; }
+int SDFileSystem::disk_sync() { return 0; }
+int SDFileSystem::disk_sectors() { return _sectors; }
+
+// PRIVATE FUNCTIONS
+
+int SDFileSystem::_cmd(int cmd, int arg) {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | cmd);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ _cs = 1;
+ _spi.write(0xFF);
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+int SDFileSystem::_cmdx(int cmd, int arg) {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | cmd);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+
+int SDFileSystem::_cmd58() {
+ _cs = 0;
+ int arg = 0;
+
+ // send a command
+ _spi.write(0x40 | 58);
+ _spi.write(arg >> 24);
+ _spi.write(arg >> 16);
+ _spi.write(arg >> 8);
+ _spi.write(arg >> 0);
+ _spi.write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
+ int response = _spi.write(0xFF);
+ if(!(response & 0x80)) {
+ int ocr = _spi.write(0xFF) << 24;
+ ocr |= _spi.write(0xFF) << 16;
+ ocr |= _spi.write(0xFF) << 8;
+ ocr |= _spi.write(0xFF) << 0;
+// printf("OCR = 0x%08X\n", ocr);
+ _cs = 1;
+ _spi.write(0xFF);
+ return response;
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+int SDFileSystem::_cmd8() {
+ _cs = 0;
+
+ // send a command
+ _spi.write(0x40 | 8); // CMD8
+ _spi.write(0x00); // reserved
+ _spi.write(0x00); // reserved
+ _spi.write(0x01); // 3.3v
+ _spi.write(0xAA); // check pattern
+ _spi.write(0x87); // crc
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
+ char response[5];
+ response[0] = _spi.write(0xFF);
+ if(!(response[0] & 0x80)) {
+ for(int j=1; j<5; j++) {
+ response[i] = _spi.write(0xFF);
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return response[0];
+ }
+ }
+ _cs = 1;
+ _spi.write(0xFF);
+ return -1; // timeout
+}
+
+int SDFileSystem::_read(char *buffer, int length) {
+ _cs = 0;
+
+ // read until start byte (0xFF)
+ while(_spi.write(0xFF) != 0xFE);
+
+ // read data
+ for(int i=0; i<length; i++) {
+ buffer[i] = _spi.write(0xFF);
+ }
+ _spi.write(0xFF); // checksum
+ _spi.write(0xFF);
+
+ _cs = 1;
+ _spi.write(0xFF);
+ return 0;
+}
+
+int SDFileSystem::_write(const char *buffer, int length) {
+ _cs = 0;
+
+ // indicate start of block
+ _spi.write(0xFE);
+
+ // write the data
+ for(int i=0; i<length; i++) {
+ _spi.write(buffer[i]);
+ }
+
+ // write the checksum
+ _spi.write(0xFF);
+ _spi.write(0xFF);
+
+ // check the repsonse token
+ if((_spi.write(0xFF) & 0x1F) != 0x05) {
+ _cs = 1;
+ _spi.write(0xFF);
+ return 1;
+ }
+
+ // wait for write to finish
+ while(_spi.write(0xFF) == 0);
+
+ _cs = 1;
+ _spi.write(0xFF);
+ return 0;
+}
+
+static int ext_bits(char *data, int msb, int lsb) {
+ int bits = 0;
+ int size = 1 + msb - lsb;
+ for(int i=0; i<size; i++) {
+ int position = lsb + i;
+ int byte = 15 - (position >> 3);
+ int bit = position & 0x7;
+ int value = (data[byte] >> bit) & 1;
+ bits |= value << i;
+ }
+ return bits;
+}
+
+int SDFileSystem::_sd_sectors() {
+
+ // CMD9, Response R2 (R1 byte + 16-byte block read)
+ if(_cmdx(9, 0) != 0) {
+ fprintf(stderr, "Didn't get a response from the disk\n");
+ return 0;
+ }
+
+ char csd[16];
+ if(_read(csd, 16) != 0) {
+ fprintf(stderr, "Couldn't read csd response from disk\n");
+ return 0;
+ }
+
+ // csd_structure : csd[127:126]
+ // c_size : csd[73:62]
+ // c_size_mult : csd[49:47]
+ // read_bl_len : csd[83:80] - the *maximum* read block length
+
+ int csd_structure = ext_bits(csd, 127, 126);
+ int c_size = ext_bits(csd, 73, 62);
+ int c_size_mult = ext_bits(csd, 49, 47);
+ int read_bl_len = ext_bits(csd, 83, 80);
+
+// printf("CSD_STRUCT = %d\n", csd_structure);
+
+ if(csd_structure != 0) {
+ fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
+ return 0;
+ }
+
+ // memory capacity = BLOCKNR * BLOCK_LEN
+ // where
+ // BLOCKNR = (C_SIZE+1) * MULT
+ // MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
+ // BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)
+
+ int block_len = 1 << read_bl_len;
+ int mult = 1 << (c_size_mult + 2);
+ int blocknr = (c_size + 1) * mult;
+ int capacity = blocknr * block_len;
+
+ int blocks = capacity / 512;
+
+ return blocks;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.h Mon May 28 20:50:49 2012 +0000
@@ -0,0 +1,81 @@
+/* mbed SDFileSystem Library, for providing file access to SD cards
+ * Copyright (c) 2008-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SDFILESYSTEM_H
+#define MBED_SDFILESYSTEM_H
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+
+/** Access the filesystem on an SD Card using SPI
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "SDFileSystem.h"
+ *
+ * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
+ *
+ * int main() {
+ * FILE *fp = fopen("/sd/myfile.txt", "w");
+ * fprintf(fp, "Hello World!\n");
+ * fclose(fp);
+ * }
+ */
+class SDFileSystem : public FATFileSystem {
+public:
+
+ /** Create the File System for accessing an SD Card using SPI
+ *
+ * @param mosi SPI mosi pin connected to SD Card
+ * @param miso SPI miso pin conencted to SD Card
+ * @param sclk SPI sclk pin connected to SD Card
+ * @param cs DigitalOut pin used as SD Card chip select
+ * @param name The name used to access the virtual filesystem
+ */
+ SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
+ virtual int disk_initialize();
+ virtual int disk_write(const char *buffer, int block_number);
+ virtual int disk_read(char *buffer, int block_number);
+ virtual int disk_status();
+ virtual int disk_sync();
+ virtual int disk_sectors();
+
+protected:
+
+ int _cmd(int cmd, int arg);
+ int _cmdx(int cmd, int arg);
+ int _cmd8();
+ int _cmd58();
+ int initialise_card();
+ int initialise_card_v1();
+ int initialise_card_v2();
+
+ int _read(char *buffer, int length);
+ int _write(const char *buffer, int length);
+ int _sd_sectors();
+ int _sectors;
+
+ SPI _spi;
+ DigitalOut _cs;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 28 20:50:49 2012 +0000
@@ -0,0 +1,1124 @@
+#include "mbed.h"
+#include "ADNS2051.h"
+#include "MI0283QTlib.h"
+
+
+/** Demo software for ADNS2051 optical sensor.
+ *
+ */
+
+// masks type
+#define PREWITT 1
+#define KIRSCH 2
+#define SOBEL 3
+// gamma value
+#define GAMMA_25 1 // gamma value=2.5
+#define GAMMA_22 2 // gamma value=2.2
+#define GAMMA_18 3 // gamma value=1.8
+
+/** Color and Edges enhancement
+ * I took these two functions from the book: "Digital Media Processing DSP Algorithms Using C Hazarathaiah Malepati".
+ *
+ * From the book:
+ * Histogram equalization technique of color enhancement in the RGB domain.
+ * As we know, if the color component is represented with 8-bit precision, then the values 0 to 255 are used to represent a
+ * particular color component.We say that the image colors are well represented when the color components occupy
+ * the total range of 0 to 255. If the color components of an image do not occupy the full range (i.e., 0 to 255), then
+ * we have the scope to enhance the colors of that image.With the histogram equalization technique, first we find
+ * the minimum (Xmin) and maximum (Xmax) values of a particular color component, and then we translate that
+ * color component to have minimum value at zero by subtracting the Xmin from its values, and finally, multiply the
+ * color component by 255/(Xmax− Xmin) to obtain the maximum color component 255. This process is illustrated
+ * in Figure 10.1. The same process is applied for all three color components of an image. This process enhances
+ * image colors (green becomes greener, yellow becomes more yellow, etc.),
+ */
+void color_enhancement( unsigned char *pixelmap);
+
+/**
+ * From the book:
+ * With edge enhancement, we increase the contrast of the image along the edges. The edge enhancement is done by
+ * strengthening the high-frequency components of an image. One way of enhancing edges is by adding weighted
+ * high-frequency components of an image to itself.
+ */
+void edges_enhancement( unsigned char *pixelmap);
+
+/** From the book: Image processing in C Dwayne Phillips
+ * The quick edge function performs edge detection using the single 3 x 3
+ * quick mask. It performs convolution over the image array using the quick mask.
+ * It thresholds the output image if requested, and xes the edges of the output
+ * image.
+ * Geometric operations change the spatial relationships between objects in an
+ * image. They do this by moving objects around and changing the size and
+ * shape of objects. Geometric operations help rearrange an image so we can
+ * see what we want to see a little better.
+ * The three basic geometric operations are displacement, stretching, and
+ * rotation. A fourth operation is the cross product.
+ * Displacement moves or displaces an image in the vertical and horizontal
+ * directions. Stretching enlarges or reduces an image in the vertical and horizontal
+ * directions. Rotation turns or rotates an image by any angle.
+ */
+void quick_edge(unsigned char *pixelmap, unsigned char *outmap, unsigned int threshold);
+void setup_masks(unsigned int detect_type, int *mask_0, int *mask_1, int *mask_2, int *mask_3, int *mask_4, int *mask_5, int *mask_6, int *mask_7);
+void perform_convolution(unsigned char *image, unsigned char *out_image, unsigned char detect_type, unsigned char threshold);
+void geometry(unsigned char *the_image, unsigned char *out_image,
+ float x_angle,
+ float x_stretch, float y_stretch,
+ int x_displace, int y_displace,
+ float x_cross, float y_cross,
+ int bilinear,
+ int rows,
+ int cols);
+unsigned char bilinear_interpolate(unsigned char *the_image, double x, double y, int rows, int cols);
+/* I found these books very useful and instructive. Recommend them wholeheartedly. */
+
+
+/** Draw enlarged image to the x and y coordinates.
+ * The image will be enlarged by 4.
+ *
+ * @param *pxlmap the array image
+ * @param x the x position
+ * @param y the y position
+ */
+void magnify( unsigned char *pxlmap, unsigned int x, unsigned int y);
+void gammacorrection( unsigned char *pixelmap, unsigned char gammaval);
+
+//
+DigitalOut myled(LED2);
+DigitalOut DBG_LED(LED1);
+DigitalOut TS_CS(p15);
+//
+Serial pc(USBTX, USBRX);
+//
+ADNS2051 optical( p19, p20);
+//
+GLCD lcd( p11, p12, p13, p14, p17, p26);
+
+unsigned char pxlmap[256];
+//unsigned char edgemap[256];
+unsigned char tmpmap[256];
+
+int new_hi=63, new_low=10;
+int threshold_val=50;
+float edges_val=0.5;
+
+#define COLOR_LVL 32
+
+/*
+ #define COLOR_LVL 256
+
+ gamma LUT generated using this formula:
+
+ new_pixel=(( org_pixel/COLOR_LVL)^(1/gamma))*COLOR_LVL
+
+ // set gamma value...
+ gammaval=2.5;
+ float f2=1/gammaval;
+ // start LUT generation...
+ for ( i=0; i<COLOR_LVL; i++) {
+ float f1=(float)i/COLOR_LVL;
+ gammaLUT[i] = pow( f1,f2)*COLOR_LVL;
+ }
+
+*/
+
+/* LUT for gamma value: 2.5 */
+unsigned char gmm25_LUT[32]={
+ 0, 7, 10, 12, 13, 15, 16, 17, 18, 19, 20, 20, 21, 22, 22, 23, 24,
+ 24, 25, 25, 26, 27, 27, 28, 28, 28, 29, 29, 30, 30, 31, 31,
+};
+
+/* LUT for gamma value: 2.2 */
+unsigned char gmm22_LUT[32]={
+ 0, 6, 9, 10, 12, 13, 14, 16, 17, 17, 18, 19, 20, 21, 21, 22, 23,
+ 24, 24, 25, 25, 26, 26, 27, 28, 28, 29, 29, 30, 30, 31, 31,
+};
+
+/* LUT for gamma value: 1.8 */
+unsigned char gmm18_LUT[32]={
+ 0, 4, 6, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 21,
+ 22, 23, 23, 24, 25, 25, 26, 27, 27, 28, 29, 29, 30, 30, 31,
+};
+
+void gammacorrection( unsigned char *pixelmap, unsigned char gammaval)
+{
+ unsigned char *pGammaLUT;
+ unsigned char x0, y0;
+ int M=16, N=16;
+ int j, i, p, q;
+
+ switch (gammaval) {
+ case GAMMA_25:
+ pGammaLUT=(unsigned char*)gmm25_LUT;
+ break;
+ case GAMMA_22:
+ pGammaLUT=(unsigned char*)gmm22_LUT;
+ break;
+ case GAMMA_18:
+ pGammaLUT=(unsigned char*)gmm18_LUT;
+ break;
+ }
+
+ for(j = 0;j < M;j++){
+ p = j*N;q = (j + 1)*N;
+ for(i = p;i < q; i++){
+ y0 = pixelmap[i];
+ x0 = pGammaLUT[y0];
+ pixelmap[i] = x0;
+ }
+ }
+}
+
+#define FILL 255
+
+/*******************************************
+*
+* geometry(..
+*
+* This routine performs geometric
+* transformations on the pixels in an
+* image array. It performs basic
+* displacement, stretching, and rotation.
+*
+* The basic equations are:
+*
+* new x = x.cos(a) + y.sin(a) + x_displace
+* + x.x_stretch +x.y.x_cross
+*
+* new y = y.cos(a) - x.sin(a) + y_displace
+* + y.y_stretch +x.y.y_cross
+*
+*******************************************/
+void geometry(unsigned char *the_image, unsigned char *out_image,
+ float x_angle,
+ float x_stretch, float y_stretch,
+ int x_displace, int y_displace,
+ float x_cross, float y_cross,
+ int bilinear,
+ int rows,
+ int cols)
+{
+ double cosa, sina, radian_angle, tmpx, tmpy;
+ float fi, fj, x_div, y_div, x_num, y_num;
+ int i, j, new_i, new_j;
+
+
+ /******************************
+ *
+ * Load the terms array with
+ * the correct parameters.
+ *
+ *******************************/
+
+ /* the following magic number is from
+ 180 degrees divided by pi */
+ radian_angle = x_angle/57.29577951;
+ cosa = cos(radian_angle);
+ sina = sin(radian_angle);
+
+ /************************************
+ *
+ * NOTE: You divide by the
+ * stretching factors. Therefore, if
+ * they are zero, you divide by 1.
+ * You do this with the x_div y_div
+ * variables. You also need a
+ * numerator term to create a zero
+ * product. You do this with the
+ * x_num and y_num variables.
+ *
+ *************************************/
+
+ if(x_stretch < 0.00001){
+ x_div = 1.0;
+ x_num = 0.0;
+ }
+ else{
+ x_div = x_stretch;
+ x_num = 1.0;
+ }
+
+ if(y_stretch < 0.00001){
+ y_div = 1.0;
+ y_num = 0.0;
+ }
+ else{
+ y_div = y_stretch;
+ y_num = 1.0;
+ }
+
+ /**************************
+ *
+ * Loop over image array
+ *
+ **************************/
+
+ for(i=0; i<rows; i++){
+ for(j=0; j<cols; j++){
+
+ fi = i;
+ fj = j;
+
+ tmpx = (double)(j)*cosa +
+ (double)(i)*sina +
+ (double)(x_displace) +
+ (double)(x_num*fj/x_div) +
+ (double)(x_cross*i*j);
+
+ tmpy = (double)(i)*cosa -
+ (double)(j)*sina +
+ (double)(y_displace) +
+ (double)(y_num*fi/y_div) +
+ (double)(y_cross*i*j);
+
+ if(x_stretch != 0.0)
+ tmpx = tmpx - (double)(fj*cosa + fi*sina);
+ if(y_stretch != 0.0)
+ tmpy = tmpy - (double)(fi*cosa - fj*sina);
+
+ new_j = tmpx;
+ new_i = tmpy;
+
+ if(bilinear == 0){
+ if(new_j < 0 ||
+ new_j >= cols ||
+ new_i < 0 ||
+ new_i >= rows)
+ out_image[j+(i*rows)] = FILL;
+ else
+ out_image[j+(i*rows)] =
+ the_image[new_j+(new_i*rows)];
+ } /* ends if bilinear */
+ else{
+ out_image[j+(i*rows)] =
+ bilinear_interpolate(the_image,
+ tmpx, tmpy,
+ rows, cols);
+ } /* ends bilinear if */
+
+ } /* ends loop over j */
+ } /* ends loop over i */
+
+} /* ends geometry */
+
+
+
+/*******************************************
+*
+* bilinear_interpolate(..
+*
+* This routine performs bi-linear
+* interpolation.
+*
+* If x or y is out of range, i.e. less
+* than zero or greater than rows or cols,
+* this routine returns a zero.
+*
+* If x and y are both in range, this
+* routine interpolates in the horizontal
+* and vertical directions and returns
+* the proper gray level.
+*
+*******************************************/
+unsigned char bilinear_interpolate(unsigned char *the_image, double x, double y, int rows, int cols)
+{
+ double fraction_x, fraction_y,
+ one_minus_x, one_minus_y,
+ tmp_double;
+ int ceil_x, ceil_y, floor_x, floor_y;
+ short p1, p2, p3, result = FILL;
+
+ /******************************
+ *
+ * If x or y is out of range,
+ * return a FILL.
+ *
+ *******************************/
+
+ if(x < 0.0 ||
+ x >= (double)(cols-1) ||
+ y < 0.0 ||
+ y >= (double)(rows-1))
+ return(result);
+
+ tmp_double = floor(x);
+ floor_x = tmp_double;
+ tmp_double = floor(y);
+ floor_y = tmp_double;
+ tmp_double = ceil(x);
+ ceil_x = tmp_double;
+ tmp_double = ceil(y);
+ ceil_y = tmp_double;
+
+ fraction_x = x - floor(x);
+ fraction_y = y - floor(y);
+
+ one_minus_x = 1.0 - fraction_x;
+ one_minus_y = 1.0 - fraction_y;
+
+ tmp_double = one_minus_x *
+ (double)(the_image[floor_x+(floor_y*rows)]) +
+ fraction_x *
+ (double)(the_image[ceil_x+(floor_y*rows)]);
+ p1 = tmp_double;
+
+ tmp_double = one_minus_x *
+ (double)(the_image[floor_x+(ceil_y*rows)]) +
+ fraction_x *
+ (double)(the_image[ceil_x+(ceil_y*rows)]);
+ p2 = tmp_double;
+
+ tmp_double = one_minus_y * (double)(p1) +
+ fraction_y * (double)(p2);
+ p3 = tmp_double;
+
+
+ return(p3);
+
+} /* ends bilinear_interpolate */
+
+
+
+/***************************
+*
+* Directions for the masks
+* 3 2 1
+* 4 x 0
+* 5 6 7
+*
+****************************/
+/* masks for kirsch operator */
+int kirsch_mask_0[9] = {
+ 5, 5, 5,
+ -3, 0, -3,
+ -3, -3, -3};
+
+int kirsch_mask_1[9] = {
+ -3, 5, 5,
+ -3, 0, 5,
+ -3, -3, -3};
+
+int kirsch_mask_2[9] = {
+ -3, -3, 5,
+ -3, 0, 5,
+ -3, -3, 5};
+
+int kirsch_mask_3[9] = {
+ -3, -3, -3,
+ -3, 0, 5,
+ -3, 5, 5};
+
+int kirsch_mask_4[9] = {
+ -3, -3, -3,
+ -3, 0, -3,
+ 5, 5, 5};
+
+int kirsch_mask_5[9] = {
+ -3, -3, -3,
+ 5, 0, -3,
+ 5, 5, -3};
+
+int kirsch_mask_6[9] = {
+ 5, -3, -3,
+ 5, 0, -3,
+ 5, -3, -3};
+
+int kirsch_mask_7[9] = {
+ 5, 5, -3,
+ 5, 0, -3,
+ -3, -3, -3};
+
+
+ /* masks for prewitt operator */
+
+int prewitt_mask_0[9] = {
+ 1, 1, 1,
+ 1, -2, 1
+ -1, -1, -1 };
+
+int prewitt_mask_1[9] = {
+ 1, 1, 1,
+ 1, -2, -1,
+ 1, -1, -1 };
+
+int prewitt_mask_2[9] = {
+ 1, 1, -1,
+ 1, -2, -1,
+ 1, 1, -1 };
+
+int prewitt_mask_3[9] = {
+ 1, -1, -1,
+ 1, -2, -1,
+ 1, 1, 1};
+
+int prewitt_mask_4[9] = {
+ -1, -1, -1,
+ 1, -2, 1,
+ 1, 1, 1};
+
+int prewitt_mask_5[9] = {
+ -1, -1, 1,
+ -1, -2, 1,
+ 1, 1, 1};
+
+int prewitt_mask_6[9] = {
+ -1, 1, 1,
+ -1, -2, 1,
+ -1, 1, 1};
+
+int prewitt_mask_7[9] = {
+ 1, 1, 1,
+ -1, -2, 1,
+ -1, -1, 1};
+
+
+ /* masks for sobel operator */
+
+int sobel_mask_0[9] = {
+ 1, 2, 1,
+ 0, 0, 0,
+ -1, -2, -1};
+
+int sobel_mask_1[9] = {
+ 2, 1, 0,
+ 1, 0, -1,
+ 0, -1, -2 };
+
+int sobel_mask_2[9] = {
+ 1, 0, -1,
+ 2, 0, -2,
+ 1, 0, -1};
+int sobel_mask_3[9] = {
+ 0, -1, -2,
+ 1, 0, -1,
+ 2, 1, 0 };
+int sobel_mask_4[9] = {
+ -1, -2, -1,
+ 0, 0, 0,
+ 1, 2, 1};
+
+int sobel_mask_5[9] = {
+ -2, -1, 0,
+ -1, 0, 1,
+ 0, 1, 2};
+
+int sobel_mask_6[9] = {
+ -1, 0, 1,
+ -2, 0, 2,
+ -1, 0, 1};
+
+int sobel_mask_7[9] = {
+ 0, 1, 2,
+ -1, 0, 1,
+ -2, -1, 0};
+
+
+/***********************************************
+*
+* setup_masks(...
+*
+* This function copies the mask values defined
+* at the top of this file into the mask
+* arrays mask_0 through mask_7.
+*
+***********************************************/
+void setup_masks(unsigned int detect_type, int *mask_0, int *mask_1, int *mask_2, int *mask_3, int *mask_4, int *mask_5, int *mask_6, int *mask_7)
+{
+ int i;
+
+ if(detect_type == KIRSCH){
+ for(i=0; i<9; i++){
+ mask_0[i] = kirsch_mask_0[i];
+ mask_1[i] = kirsch_mask_1[i];
+ mask_2[i] = kirsch_mask_2[i];
+ mask_3[i] = kirsch_mask_3[i];
+ mask_4[i] = kirsch_mask_4[i];
+ mask_5[i] = kirsch_mask_5[i];
+ mask_6[i] = kirsch_mask_6[i];
+ mask_7[i] = kirsch_mask_7[i];
+ }
+ } /* ends if detect_type == KIRSCH */
+
+
+ if(detect_type == PREWITT){
+ for(i=0; i<9; i++){
+ mask_0[i] = prewitt_mask_0[i];
+ mask_1[i] = prewitt_mask_1[i];
+ mask_2[i] = prewitt_mask_2[i];
+ mask_3[i] = prewitt_mask_3[i];
+ mask_4[i] = prewitt_mask_4[i];
+ mask_5[i] = prewitt_mask_5[i];
+ mask_6[i] = prewitt_mask_6[i];
+ mask_7[i] = prewitt_mask_7[i];
+ }
+ } /* ends if detect_type == PREWITT */
+
+
+ if(detect_type == SOBEL){
+ for(i=0; i<9; i++){
+ mask_0[i] = sobel_mask_0[i];
+ mask_1[i] = sobel_mask_1[i];
+ mask_2[i] = sobel_mask_2[i];
+ mask_3[i] = sobel_mask_3[i];
+ mask_4[i] = sobel_mask_4[i];
+ mask_5[i] = sobel_mask_5[i];
+ mask_6[i] = sobel_mask_6[i];
+ mask_7[i] = sobel_mask_7[i];
+ }
+ } /* ends if detect_type == SOBEL */
+
+} /* ends setup_masks */
+
+/**********************************************************
+*
+* perform_convolution(...
+*
+* This function performs convolution between the input
+* image and 8 3x3 masks. The result is placed in
+* the out_image.
+*
+********************************************************/
+void perform_convolution(unsigned char *image, unsigned char *out_image, unsigned char detect_type, unsigned char threshold)
+{
+
+ int b, i, j, sum, p, q, c, k;
+
+ int mask_0[9];
+ int mask_1[9];
+ int mask_2[9];
+ int mask_3[9];
+ int mask_4[9];
+ int mask_5[9];
+ int mask_6[9];
+ int mask_7[9];
+
+ int max,
+ min,
+ new_hi,
+ new_low;
+
+ int M=16, N=16;
+
+ setup_masks(detect_type, &mask_0[0], &mask_1[0],&mask_2[0], &mask_3[0], &mask_4[0], &mask_5[0],&mask_6[0], &mask_7[0]);
+
+ new_hi = 60;
+ new_low = 10;
+
+ min = 10;
+ max = 63;
+
+ /* clear output image array */
+ for(i=0; i<N*M; i++)
+ out_image[i] = 0;
+
+ for( j = 1;j < (M-1);j++){
+ p = j*N; q = (j+1)*N;
+ for( i = (p+1);i < (q-1);i++) {
+
+ /* Convolve for all 8 directions */
+
+ /* 0 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_0[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 1 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_1[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 2 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_2[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 3 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_3[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 4 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_4[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 5 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_5[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 6 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_6[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 7 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_7[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ } /* ends loop over j */
+ } /* ends loop over i */
+
+ /* if desired, threshold the output image */
+ if(threshold == 1){
+ for( j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for( i = p;i < q;i++) {
+ if(out_image[i] > 50){
+ out_image[i] = new_hi;
+ }
+ else{
+ out_image[i] = new_low;
+ }
+ }
+ }
+ } /* ends if threshold == 1 */
+
+} /* ends perform_convolution */
+
+
+/*******************************************
+ *
+ * quick_edge(...
+ *
+ * This function finds edges by using
+ * a single 3x3 mask.
+ *
+ *******************************************/
+void quick_edge(unsigned char *pixelmap, unsigned char *outmap, unsigned int threshold)
+{
+ int i, j, k, c, p, q, b;
+ int max, sum;
+
+ int M=16, N=16;
+
+ int quick_mask[9] = {
+ -1, 0, -1,
+ 0, 4, 0,
+ -1, 0, -1 };
+
+ max = 63;
+
+ /* Do convolution over image array */
+ for( j = 1;j < (M-1);j++){
+ p = j*N; q = (j+1)*N;
+ for( i = (p+1);i < (q-1);i++) {
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + pixelmap[k+b] * quick_mask[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ outmap[i] = sum;
+ } /* ends loop over i */
+ } /* ends loop over j */
+
+ /* if desired, threshold the output image */
+ if(threshold == 1){
+ for( j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for( i = p;i < q;i++) {
+ if(outmap[i] > threshold_val){
+ outmap[i] = new_hi;
+ }
+ else{
+ outmap[i] = new_low;
+ }
+ }
+ }
+ } /* ends if threshold == 1 */
+
+} /* ends quick_edge */
+
+
+
+void edges_enhancement( unsigned char *pixelmap)
+{
+ int i, j, N, M, p, q;
+ unsigned char BufX[256];
+ int y0, x0;
+
+ N=16;
+ M=16;
+
+ for(j = 0;j < 1;j++) { // copy top row
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ BufX[i] = pixelmap[i];
+ }
+ for(j = 0;j < M;j++) { // copy left column
+ p = j*N;
+ BufX[p] = pixelmap[p];
+ }
+ for(j = 1;j < M-1;j++) {
+ p = j*N+1; q = (j+1)*N-1;
+ for(i = p;i < q;i++) {
+ x0 = pixelmap[i]; y0 = pixelmap[i-1];
+ x0 = x0 << 2;
+ x0 = x0 - y0; y0 = pixelmap[i+1];
+ x0 = x0 - y0; y0 = pixelmap[i-N-1];
+ x0 = x0 - y0; y0 = pixelmap[i+N+1];
+ x0 = x0 - y0;
+ x0 = (int) pixelmap[i] + (int) x0*edges_val;
+ if (x0 < 0) x0 = 0;
+ if (x0 > 63) x0 = 63;
+ BufX[i] = (unsigned char) x0;
+ }
+ }
+ //
+ for(j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ pixelmap[i] = BufX[i];
+ }
+}
+
+void color_enhancement( unsigned char *pixelmap)
+{
+ int i, j, N, M, p, q;
+ unsigned char Hist[64];
+ int y0, x0;
+ float x;
+
+ N=16;
+ M=16;
+
+ for(i=0; i<64; i++)
+ Hist[i]=0;
+
+ // Starting the color enhancement
+ //
+ for(j = 0;j < M;j++){
+ p = j*N;
+ q = (j+1)*N;
+ for(i = p;i < q;i++)
+ Hist[ pixelmap[i]] += 1;
+ }
+
+ y0 = 0;
+ for(p = 0;p < 64;p++) {
+ y0+= Hist[p];
+ if (y0 > 32)
+ break;
+ }
+
+ y0=p;
+ x = 0;
+ for(j = 0;j < M;j++) {
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++) {
+ x0 = (int) pixelmap[i] - y0;
+ if (x0 < 0)
+ x0 = 0;
+ if (x0 > 63)
+ x0 = 63;
+ pixelmap[i] = x0;
+ }
+ }
+
+ for(j = 63;j > 0;j--)
+ if (Hist[j] > 0) break;
+
+ x = (float) 64.0/(64-y0 + 63-j);
+
+ for(j = 0;j < M;j++) {
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ pixelmap[i] = (unsigned char) ((float) pixelmap[i]*x + 0.5);
+ }
+
+}
+
+int main() {
+
+ char buf[256], c;
+ int i, ii;
+ int thrshld=0;
+ int masktype=1;
+ int gammaval=0; // gamma OFF
+
+ myled = 0;
+ TS_CS=1;
+ //
+ int subidx, idx;
+
+ lcd.lcd_init();
+ lcd.lcd_clear( LCD_WHITE);
+ lcd.backlightset( 1);
+ lcd.lcd_drawstr( "Images from optical mouse: Init", 0, 0, lcd.lcd_RGB( 0, 255, 0));
+
+ while( optical.init() );
+ optical.setframerate();
+
+ sprintf(buf, "Images from optical mouse: PixelDump [Chip rev: 0x%X]", optical.get_revisionID());
+ lcd.lcd_drawstr( buf, 0, 0, lcd.lcd_RGB( 0, 255, 0));
+ wait( 1.0);
+
+ //
+ while( 1) {
+
+ // you can use the serial terminal to change some parameters:
+ // [T/t] threshold ON/OFF
+ // [V/v] threshold value inc/dec
+ // [H/h] high value inc/dec
+ // [E/e] edge enhancement inc/dec
+ // [m] change mask type
+ // [g] change gamma value
+ //
+ if( pc.readable()) {
+ c = pc.getc();
+ if ( c=='t') {
+ thrshld=0;
+ printf("thrshld OFF\r\n");
+ }
+ if ( c=='T') {
+ thrshld=1;
+ printf("thrshld ON\r\n");
+ }
+ // threshold_val, new_hi, new_low
+ if ( c=='V') {
+ threshold_val++;
+ if ( threshold_val>63)
+ threshold_val=63;
+ printf("threshold_val=%d\r\n", threshold_val);
+ }
+ if ( c=='v') {
+ threshold_val--;
+ if ( threshold_val<0)
+ threshold_val=0;
+ printf("threshold_val=%d\r\n", threshold_val);
+ }
+ if ( c=='H') {
+ new_hi++;
+ if ( new_hi>63)
+ new_hi=63;
+ printf("new_hi=%d\r\n", new_hi);
+ }
+ if ( c=='h') {
+ new_hi--;
+ if ( new_hi<0)
+ new_hi=0;
+ printf("new_hi=%d\r\n", new_hi);
+ }
+ /* edges enhancement */
+ if ( c=='e') {
+ edges_val-=0.1;
+ if ( edges_val<0)
+ edges_val=0;
+ printf("edges_val=%1.2f\r\n", edges_val);
+ }
+ if ( c=='E') {
+ edges_val+=0.1;
+ if ( edges_val>1)
+ edges_val=1;
+ printf("edges_val=%1.2f\r\n", edges_val);
+ }
+ //
+ if ( c=='m') {
+ masktype+=1;
+ if ( masktype>3)
+ masktype=1;
+ printf("masktype=%d\r\n", masktype);
+ }
+ //
+ if ( c=='g') {
+ gammaval+=1;
+ if ( gammaval>3)
+ gammaval=0;
+ printf("gammaval=%d\r\n", gammaval);
+ }
+ }
+
+ unsigned char mv=optical.readmotion();
+ sprintf(buf, "SQUAL:%d, dX:%+d, dY:%+d, Motion:0x%X ", optical.surfacequality(), optical.deltaX, optical.deltaY, mv);
+ lcd.lcd_drawstr( buf, 0, 200, lcd.lcd_RGB( 0, 255, 0));
+
+ sprintf(buf, "AvrPxl:%d, MxPxl:%d ", optical.averagepixel(), optical.maxpixelval() );
+ lcd.lcd_drawstr( buf, 0, 220, lcd.lcd_RGB( 0, 255, 0));
+
+ optical.pixeldump( &tmpmap[0]);
+
+ if ( gammaval) {
+ gammacorrection( &tmpmap[0], gammaval);
+ }
+
+ // pixelmap has the correct order: pos 0 is the left,upper image position.
+ // Refer to the DS pag:35 about how to display the array
+ c=0;
+ subidx=0xFF;
+ for( i=0;i<16;i++) {
+ idx=subidx;
+ for ( ii=0; ii<16; ii++) {
+ pxlmap[c++]=tmpmap[idx];
+ idx-=16;
+ }
+ subidx--;
+ }
+
+ // Use the feature geometry only for implementing the bilinear better viewing.
+ geometry( &pxlmap[0], &tmpmap[0],
+ 0.0, // angle
+ 0.0, 0.0, // streatch x, y
+ 0.0, 0.0, // displace x, y
+ 0.0, 0.0, // cross x, y
+ 1, // bilinear ON/OFF
+ 16, 16); // rows, cols
+
+ // I copy the correct image in the array pxlmap to use it as a basis for successive processing.
+ for ( i=0; i<(16*16); i++)
+ pxlmap[i] = tmpmap[i];
+
+ // 1
+ magnify( &tmpmap[0], 20, 20);
+
+ //
+ for( i=0;i<256;i++) {
+ tmpmap[i]=pxlmap[i];
+ }
+
+ // 2
+ color_enhancement( &tmpmap[0]);
+ magnify( &tmpmap[0], 120, 20);
+
+ //
+ for( i=0;i<256;i++) {
+ tmpmap[i]=pxlmap[i];
+ }
+
+ // 3
+ edges_enhancement( &tmpmap[0]);
+ magnify( &tmpmap[0], 220, 20);
+
+ // 4
+ quick_edge( &pxlmap[0], &tmpmap[0], thrshld);
+ magnify( &tmpmap[0], 20, 100);
+
+ // 5
+ perform_convolution( &pxlmap[0], &tmpmap[0], masktype, thrshld);
+ magnify( &tmpmap[0], 120, 100);
+
+ // 6
+ // visualizzo l'immagine originale...
+ magnify( &pxlmap[0], 220, 100);
+
+ }
+
+ while(1) {
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(0.2);
+ }
+}
+
+/* use the geometry function to magnify the image. */
+void magnify( unsigned char *pxlmap, unsigned int x, unsigned int y)
+{
+ unsigned int r, c;
+ float xy_str=(float)64/16;
+ unsigned char tmpmap[256];
+
+ // inizio ciclo...
+ for ( r=0; r<16; r+=4) {
+ for ( c=0; c<16; c+=4) {
+ // eseguo lo zoom sull'immagine...
+ geometry( &pxlmap[0], &tmpmap[0],
+ 0.0, // angle
+ xy_str, xy_str, // streatch x, y
+ (float)c, (float)r, // displace x, y
+ 0.0, 0.0, // cross x, y
+ 1, // bilinear ON/OFF
+ 16, 16); // rows, cols
+ // la visualizzo...
+ int idx=0;
+ for( int i=0;i<16;i++) {
+ for ( int ii=0; ii<16; ii++) {
+ lcd.lcd_drawpixel( x+((c/4)*16)+ii, y+((r/4)*16)+i, lcd.lcd_RGB( tmpmap[idx],tmpmap[idx],tmpmap[idx]) );
+ idx++;
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon May 28 20:50:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e