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7_7Boboobooo
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camera_api.cpp@12:a3cee7619b77, 2014-07-10 (annotated)
- Committer:
- even
- Date:
- Thu Jul 10 10:22:14 2014 +0000
- Revision:
- 12:a3cee7619b77
- Parent:
- 11:9b4788de75fe
lots of weird things
Who changed what in which revision?
User | Revision | Line number | New 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 | 2:c51647d3c14d | 6 | BX_camera::BX_camera(void){ |
backman | 1:82bc25a7b68b | 7 | |
backman | 2:c51647d3c14d | 8 | line_CamR = new FastAnalogIn(PTD5); |
backman | 2:c51647d3c14d | 9 | line_CamL= new FastAnalogIn(PTD6,0); |
backman | 2:c51647d3c14d | 10 | cam_clk=new DigitalOut(PTE1); |
backman | 2:c51647d3c14d | 11 | si=new DigitalOut(PTD7); |
backman | 4:05b21dbca0c7 | 12 | |
backman | 1:82bc25a7b68b | 13 | } |
backman | 1:82bc25a7b68b | 14 | |
backman | 3:c5f2281b3ed2 | 15 | int BX_camera::black_centerR(void){ |
backman | 4:05b21dbca0c7 | 16 | |
even | 11:9b4788de75fe | 17 | int black_R = 10; |
even | 11:9b4788de75fe | 18 | for(int i = 118; i >=10; i--){ |
physicsgood | 6:b046d6ff3745 | 19 | if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){ |
physicsgood | 6:b046d6ff3745 | 20 | return i; |
physicsgood | 6:b046d6ff3745 | 21 | } |
physicsgood | 6:b046d6ff3745 | 22 | } |
even | 7:f04bde0ca846 | 23 | return black_R; |
backman | 3:c5f2281b3ed2 | 24 | |
backman | 3:c5f2281b3ed2 | 25 | |
physicsgood | 6:b046d6ff3745 | 26 | |
backman | 3:c5f2281b3ed2 | 27 | |
physicsgood | 6:b046d6ff3745 | 28 | } |
backman | 3:c5f2281b3ed2 | 29 | |
backman | 3:c5f2281b3ed2 | 30 | int BX_camera::black_centerL(void){ |
backman | 3:c5f2281b3ed2 | 31 | |
even | 11:9b4788de75fe | 32 | int black_L = 118; |
even | 11:9b4788de75fe | 33 | for(int i = 10; i <118 ; i++){ |
physicsgood | 6:b046d6ff3745 | 34 | if(sign_line_imageL[i] == 'O' && sign_line_imageL[i+1] == ' ' && sign_line_imageL[i+2] == ' '){ |
physicsgood | 6:b046d6ff3745 | 35 | return i; |
physicsgood | 6:b046d6ff3745 | 36 | } |
physicsgood | 6:b046d6ff3745 | 37 | } |
even | 7:f04bde0ca846 | 38 | return black_L; |
backman | 3:c5f2281b3ed2 | 39 | |
backman | 3:c5f2281b3ed2 | 40 | |
physicsgood | 6:b046d6ff3745 | 41 | |
physicsgood | 6:b046d6ff3745 | 42 | |
physicsgood | 6:b046d6ff3745 | 43 | |
physicsgood | 6:b046d6ff3745 | 44 | |
backman | 3:c5f2281b3ed2 | 45 | |
backman | 3:c5f2281b3ed2 | 46 | } |
backman | 3:c5f2281b3ed2 | 47 | |
backman | 4:05b21dbca0c7 | 48 | |
backman | 1:82bc25a7b68b | 49 | |
backman | 2:c51647d3c14d | 50 | void BX_camera::read(void){ |
backman | 1:82bc25a7b68b | 51 | |
backman | 2:c51647d3c14d | 52 | w_f_vL=0x0000; |
backman | 2:c51647d3c14d | 53 | b_f_vL=0xffff; |
backman | 2:c51647d3c14d | 54 | |
backman | 2:c51647d3c14d | 55 | w_f_vR=0x0000; |
backman | 2:c51647d3c14d | 56 | b_f_vR=0xffff; |
backman | 1:82bc25a7b68b | 57 | |
backman | 1:82bc25a7b68b | 58 | |
backman | 1:82bc25a7b68b | 59 | |
backman | 2:c51647d3c14d | 60 | |
backman | 1:82bc25a7b68b | 61 | *si=1; |
backman | 2:c51647d3c14d | 62 | *cam_clk=1; |
backman | 1:82bc25a7b68b | 63 | |
backman | 1:82bc25a7b68b | 64 | wait_us(30); // tune here |
backman | 1:82bc25a7b68b | 65 | *si=0; |
backman | 1:82bc25a7b68b | 66 | *cam_clk=0; |
backman | 1:82bc25a7b68b | 67 | |
backman | 1:82bc25a7b68b | 68 | |
backman | 1:82bc25a7b68b | 69 | |
backman | 2:c51647d3c14d | 70 | line_CamR->enable(); |
backman | 2:c51647d3c14d | 71 | line_CamL->enable(); |
backman | 1:82bc25a7b68b | 72 | |
backman | 1:82bc25a7b68b | 73 | |
backman | 2:c51647d3c14d | 74 | //input 128 //both |
backman | 1:82bc25a7b68b | 75 | |
even | 9:a891053657f3 | 76 | for(int i=127;i>=0;i--){ |
backman | 2:c51647d3c14d | 77 | *cam_clk=1; |
backman | 2:c51647d3c14d | 78 | wait_us(5); |
backman | 1:82bc25a7b68b | 79 | |
backman | 1:82bc25a7b68b | 80 | |
backman | 2:c51647d3c14d | 81 | line_imageR[i]=line_CamR->read_u16(); |
backman | 2:c51647d3c14d | 82 | line_imageL[i]=line_CamL->read_u16(); |
backman | 1:82bc25a7b68b | 83 | |
backman | 1:82bc25a7b68b | 84 | // big small |
backman | 2:c51647d3c14d | 85 | if(line_imageR[i] > w_f_vR) |
backman | 2:c51647d3c14d | 86 | w_f_vR=line_imageR[i]; |
backman | 2:c51647d3c14d | 87 | else if(line_imageR[i] < b_f_vR ) |
backman | 2:c51647d3c14d | 88 | b_f_vR = line_imageR[i]; |
backman | 2:c51647d3c14d | 89 | |
backman | 2:c51647d3c14d | 90 | |
backman | 2:c51647d3c14d | 91 | if(line_imageL[i] > w_f_vL) |
backman | 2:c51647d3c14d | 92 | w_f_vL=line_imageL[i]; |
backman | 2:c51647d3c14d | 93 | else if(line_imageL[i] < b_f_vL ) |
backman | 2:c51647d3c14d | 94 | b_f_vL = line_imageL[i]; |
backman | 1:82bc25a7b68b | 95 | |
backman | 1:82bc25a7b68b | 96 | |
backman | 1:82bc25a7b68b | 97 | |
backman | 1:82bc25a7b68b | 98 | |
backman | 1:82bc25a7b68b | 99 | *cam_clk=0; |
backman | 1:82bc25a7b68b | 100 | wait_us(5); |
backman | 1:82bc25a7b68b | 101 | |
backman | 1:82bc25a7b68b | 102 | |
backman | 1:82bc25a7b68b | 103 | } |
backman | 1:82bc25a7b68b | 104 | |
backman | 1:82bc25a7b68b | 105 | |
backman | 2:c51647d3c14d | 106 | line_CamR->enable(); |
backman | 2:c51647d3c14d | 107 | line_CamL->enable(); |
backman | 1:82bc25a7b68b | 108 | |
backman | 1:82bc25a7b68b | 109 | |
backman | 2:c51647d3c14d | 110 | //filter L R //may change |
backman | 1:82bc25a7b68b | 111 | |
backman | 1:82bc25a7b68b | 112 | for(int i=0;i<128;i++){ |
backman | 1:82bc25a7b68b | 113 | |
backman | 1:82bc25a7b68b | 114 | |
backman | 2:c51647d3c14d | 115 | if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) ) |
backman | 2:c51647d3c14d | 116 | sign_line_imageR[i]=' '; |
backman | 2:c51647d3c14d | 117 | else |
backman | 2:c51647d3c14d | 118 | sign_line_imageR[i]='O'; |
backman | 2:c51647d3c14d | 119 | |
backman | 2:c51647d3c14d | 120 | |
backman | 2:c51647d3c14d | 121 | if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) ) |
backman | 2:c51647d3c14d | 122 | sign_line_imageL[i]=' '; |
backman | 1:82bc25a7b68b | 123 | else |
backman | 2:c51647d3c14d | 124 | sign_line_imageL[i]='O'; |
backman | 2:c51647d3c14d | 125 | |
backman | 1:82bc25a7b68b | 126 | |
backman | 2:c51647d3c14d | 127 | |
backman | 2:c51647d3c14d | 128 | |
backman | 2:c51647d3c14d | 129 | |
backman | 2:c51647d3c14d | 130 | if(i==0){ |
backman | 2:c51647d3c14d | 131 | sign_line_imageR[i]='X'; |
backman | 2:c51647d3c14d | 132 | sign_line_imageL[i]='X'; |
backman | 2:c51647d3c14d | 133 | } |
backman | 2:c51647d3c14d | 134 | |
backman | 1:82bc25a7b68b | 135 | |
backman | 1:82bc25a7b68b | 136 | } |
backman | 1:82bc25a7b68b | 137 | |
backman | 1:82bc25a7b68b | 138 | |
backman | 1:82bc25a7b68b | 139 | |
backman | 1:82bc25a7b68b | 140 | } |