Clark Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_s by Tony Lin

camera_api.cpp@10:9f0ce6ba7663, 2014-06-26 (annotated)

Committer:
TonyLin
Date:
Thu Jun 26 14:29:53 2014 +0000
Revision:
10:9f0ce6ba7663
Parent:
8:8e49e21d80a2 
ok;

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 6:5a39bde2e016 5
backman 6:5a39bde2e016 6 BX_camera::BX_camera(void)
backman 6:5a39bde2e016 7 {
backman 6:5a39bde2e016 8
backman 6:5a39bde2e016 9 line_CamR = new FastAnalogIn(PTD5);
backman 6:5a39bde2e016 10 line_CamL= new FastAnalogIn(PTD6,0);
backman 6:5a39bde2e016 11 cam_clk=new DigitalOut(PTE1);
backman 6:5a39bde2e016 12 si=new DigitalOut(PTD7);
backman 6:5a39bde2e016 13
backman 6:5a39bde2e016 14 }
backman 6:5a39bde2e016 15
TonyLin 10:9f0ce6ba7663 16 int BX_camera::black_centerR(void){
backman 6:5a39bde2e016 17
backman 7:fd976e1ced33 18 int l_care=10;
backman 7:fd976e1ced33 19 int r_care=118;
backman 7:fd976e1ced33 20
backman 6:5a39bde2e016 21 // find center
backman 6:5a39bde2e016 22 // case 1 // | //
backman 6:5a39bde2e016 23 // case 2 / | /
backman 6:5a39bde2e016 24
backman 6:5a39bde2e016 25 char find_type=0x00;
backman 6:5a39bde2e016 26 int b_end=0;
backman 6:5a39bde2e016 27 int b_start=0;
backman 6:5a39bde2e016 28 int b_w=0;
backman 7:fd976e1ced33 29 int b_center=0;
backman 6:5a39bde2e016 30 int b2_end=0;
backman 6:5a39bde2e016 31 int b2_start=0;
backman 7:fd976e1ced33 32 int b2_center=0;
backman 6:5a39bde2e016 33 int b2_w=0;
backman 7:fd976e1ced33 34 int center=30;
backman 6:5a39bde2e016 35 int j=64;
backman 6:5a39bde2e016 36 bool f1=false;
backman 6:5a39bde2e016 37 bool f2=false;
backman 6:5a39bde2e016 38 bool f3=false;
backman 6:5a39bde2e016 39 bool f4=false;
backman 6:5a39bde2e016 40 int w_thr_up=32;
backman 6:5a39bde2e016 41 int w_thr_dn=0;
backman 6:5a39bde2e016 42
backman 6:5a39bde2e016 43 if(sign_line_imageR[64]==' ')
backman 6:5a39bde2e016 44 find_type=0x02;
backman 6:5a39bde2e016 45 else
backman 6:5a39bde2e016 46 find_type=0x01;
backman 6:5a39bde2e016 47
backman 6:5a39bde2e016 48
backman 7:fd976e1ced33 49 for(int i=64; i<r_care; i++,j--) {
backman 6:5a39bde2e016 50 switch(find_type) {
backman 6:5a39bde2e016 51 case 0x01:
backman 4:05b21dbca0c7 52
backman 6:5a39bde2e016 53 if(f1==false&&sign_line_imageR[i]==' ') {
backman 6:5a39bde2e016 54 if(f1==false) {
backman 6:5a39bde2e016 55 b_start=i;
backman 6:5a39bde2e016 56 f1=true;
backman 6:5a39bde2e016 57 }
backman 6:5a39bde2e016 58
backman 6:5a39bde2e016 59 }
backman 6:5a39bde2e016 60 if(f1== true&& f2==false&&sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 61 if(f2==false) {
backman 6:5a39bde2e016 62 b_end=i-1;
backman 6:5a39bde2e016 63 f2=true;
backman 6:5a39bde2e016 64 }
backman 6:5a39bde2e016 65
backman 6:5a39bde2e016 66 }
backman 6:5a39bde2e016 67
backman 6:5a39bde2e016 68 if(f3==false&&sign_line_imageR[j]==' ') {
backman 6:5a39bde2e016 69 if(f3==false) {
backman 6:5a39bde2e016 70 b2_end=j;
backman 6:5a39bde2e016 71 f3=true;
backman 6:5a39bde2e016 72 }
backman 6:5a39bde2e016 73
backman 6:5a39bde2e016 74 }
backman 6:5a39bde2e016 75 if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
backman 6:5a39bde2e016 76 if(f4==false) {
backman 6:5a39bde2e016 77 b2_start=j-1;
backman 6:5a39bde2e016 78 f4=true;
backman 6:5a39bde2e016 79 }
backman 6:5a39bde2e016 80
backman 6:5a39bde2e016 81 }
backman 6:5a39bde2e016 82 break;
TonyLin 10:9f0ce6ba7663 83
backman 6:5a39bde2e016 84 case 0x02:
backman 6:5a39bde2e016 85 if(sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 86 if(f1==false) {
backman 6:5a39bde2e016 87 b_end=i;
backman 6:5a39bde2e016 88 f1=true;
backman 6:5a39bde2e016 89 }
backman 6:5a39bde2e016 90 }
backman 6:5a39bde2e016 91 if(sign_line_imageR[j]=='O') {
backman 6:5a39bde2e016 92 if(f2==false) {
backman 6:5a39bde2e016 93 b_start=j;
backman 6:5a39bde2e016 94 f2=true;
backman 6:5a39bde2e016 95 }
backman 6:5a39bde2e016 96 }
backman 6:5a39bde2e016 97 break;
backman 6:5a39bde2e016 98 }
backman 6:5a39bde2e016 99 }
backman 6:5a39bde2e016 100
backman 6:5a39bde2e016 101 b_w=b_start-b_end;
backman 6:5a39bde2e016 102 b2_w=b2_start-b2_end;
backman 8:8e49e21d80a2 103 de_v=b2_start;
backman 8:8e49e21d80a2 104 de_v2=b2_end;
backman 6:5a39bde2e016 105
backman 6:5a39bde2e016 106 switch(find_type) {
backman 6:5a39bde2e016 107 case 0x01:
backman 7:fd976e1ced33 108 b_center=(b_end+b_start)/2;
backman 7:fd976e1ced33 109 b2_center=(b2_end+b2_start)/2;
backman 8:8e49e21d80a2 110 if(w_thr_up>b_w&&(b_center!=0)&&(b_center-64)<(64-b2_center))
backman 7:fd976e1ced33 111 center=b_center;
backman 7:fd976e1ced33 112 else
backman 7:fd976e1ced33 113 center=b2_center;
backman 6:5a39bde2e016 114
backman 7:fd976e1ced33 115 /* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
backman 6:5a39bde2e016 116 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 117
backman 6:5a39bde2e016 118
backman 6:5a39bde2e016 119
backman 7:fd976e1ced33 120 // } else if( ( w_thr_up- (b2_w) )>0 ) {
backman 6:5a39bde2e016 121 center=(b2_end+b2_start)/2;
backman 7:fd976e1ced33 122 // } else {
backman 6:5a39bde2e016 123
backman 6:5a39bde2e016 124 center=65;
backman 6:5a39bde2e016 125
backman 6:5a39bde2e016 126 //????????????????
backman 6:5a39bde2e016 127
backman 6:5a39bde2e016 128 }
backman 6:5a39bde2e016 129
backman 7:fd976e1ced33 130 */
backman 6:5a39bde2e016 131 break;
backman 6:5a39bde2e016 132
backman 6:5a39bde2e016 133 case 0x02:
backman 6:5a39bde2e016 134 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 135
backman 6:5a39bde2e016 136
backman 6:5a39bde2e016 137 break;
backman 3:c5f2281b3ed2 138 }
backman 3:c5f2281b3ed2 139
backman 6:5a39bde2e016 140 return center;
backman 7:fd976e1ced33 141
backman 6:5a39bde2e016 142 }
backman 6:5a39bde2e016 143
backman 6:5a39bde2e016 144
backman 3:c5f2281b3ed2 145
backman 3:c5f2281b3ed2 146
backman 6:5a39bde2e016 147 int BX_camera::black_centerL(void)
backman 6:5a39bde2e016 148 {
backman 6:5a39bde2e016 149
backman 6:5a39bde2e016 150 // find center
backman 6:5a39bde2e016 151 // case 1 // | //
backman 6:5a39bde2e016 152 //case 2 / | /
backman 6:5a39bde2e016 153
backman 6:5a39bde2e016 154
backman 6:5a39bde2e016 155 char find_type=0x00;
backman 6:5a39bde2e016 156
backman 6:5a39bde2e016 157 int b_end=0;
backman 6:5a39bde2e016 158 int b_start=0;
backman 6:5a39bde2e016 159 int b2_end=0;
backman 6:5a39bde2e016 160 int b2_start=0;
backman 6:5a39bde2e016 161
backman 6:5a39bde2e016 162
backman 6:5a39bde2e016 163 int center;
backman 6:5a39bde2e016 164 int j=64;
backman 6:5a39bde2e016 165 bool f1=false;
backman 6:5a39bde2e016 166 bool f2=false;
backman 6:5a39bde2e016 167 bool f3=false;
backman 6:5a39bde2e016 168 bool f4=false;
backman 6:5a39bde2e016 169
backman 6:5a39bde2e016 170 if(sign_line_imageL[64]==' ')
backman 6:5a39bde2e016 171 find_type=0x02;
backman 6:5a39bde2e016 172 else
backman 6:5a39bde2e016 173 find_type=0x01;
backman 6:5a39bde2e016 174
backman 6:5a39bde2e016 175
backman 6:5a39bde2e016 176 for(int i=64; i<128; i++,j--) {
backman 6:5a39bde2e016 177
backman 6:5a39bde2e016 178
backman 6:5a39bde2e016 179 switch(find_type) {
backman 6:5a39bde2e016 180
backman 6:5a39bde2e016 181
backman 6:5a39bde2e016 182 case 0x01:
backman 6:5a39bde2e016 183
backman 6:5a39bde2e016 184 if(f1==false&&sign_line_imageL[i]==' ') {
backman 6:5a39bde2e016 185 if(f1==false) {
backman 6:5a39bde2e016 186 b_start=i;
backman 6:5a39bde2e016 187 f1=true;
backman 6:5a39bde2e016 188 }
backman 6:5a39bde2e016 189
backman 6:5a39bde2e016 190 }
backman 6:5a39bde2e016 191 if(f1== true&& f2==false&&sign_line_imageL[i]=='O') {
backman 6:5a39bde2e016 192 if(f2==false) {
backman 6:5a39bde2e016 193 b_end=i-1;
backman 6:5a39bde2e016 194 f2=true;
backman 6:5a39bde2e016 195 }
backman 6:5a39bde2e016 196
backman 6:5a39bde2e016 197 }
backman 4:05b21dbca0c7 198
backman 6:5a39bde2e016 199 if(f3==false&&sign_line_imageL[j]==' ') {
backman 6:5a39bde2e016 200 if(f3==false) {
backman 6:5a39bde2e016 201 b2_end=j;
backman 6:5a39bde2e016 202 f3=true;
backman 6:5a39bde2e016 203 }
backman 6:5a39bde2e016 204
backman 6:5a39bde2e016 205 }
backman 6:5a39bde2e016 206 if(f3==true&&f4==false&&sign_line_imageL[j]=='O') {
backman 6:5a39bde2e016 207 if(f4==false) {
backman 6:5a39bde2e016 208 b2_start=j-1;
backman 6:5a39bde2e016 209 f4=true;
backman 6:5a39bde2e016 210 }
backman 6:5a39bde2e016 211
backman 6:5a39bde2e016 212 }
backman 6:5a39bde2e016 213
backman 6:5a39bde2e016 214 break;
backman 6:5a39bde2e016 215
backman 6:5a39bde2e016 216
backman 6:5a39bde2e016 217 case 0x02:
backman 6:5a39bde2e016 218
backman 6:5a39bde2e016 219 if(sign_line_imageL[i]=='O') {
backman 6:5a39bde2e016 220
backman 6:5a39bde2e016 221 if(f1==false) {
backman 6:5a39bde2e016 222 b_end=i;
backman 6:5a39bde2e016 223 f1=true;
backman 6:5a39bde2e016 224 }
backman 6:5a39bde2e016 225 }
backman 6:5a39bde2e016 226
backman 6:5a39bde2e016 227 if(sign_line_imageL[j]=='O') {
backman 6:5a39bde2e016 228
backman 6:5a39bde2e016 229 if(f2==false) {
backman 6:5a39bde2e016 230 b_start=j;
backman 6:5a39bde2e016 231 f2=true;
backman 6:5a39bde2e016 232 }
backman 6:5a39bde2e016 233
backman 6:5a39bde2e016 234 }
backman 6:5a39bde2e016 235
backman 6:5a39bde2e016 236
backman 6:5a39bde2e016 237 break;
backman 6:5a39bde2e016 238
backman 6:5a39bde2e016 239 }
backman 6:5a39bde2e016 240
backman 6:5a39bde2e016 241 }
backman 6:5a39bde2e016 242
backman 6:5a39bde2e016 243
backman 6:5a39bde2e016 244 switch(find_type) {
backman 6:5a39bde2e016 245
backman 6:5a39bde2e016 246 case 0x01:
backman 6:5a39bde2e016 247
backman 6:5a39bde2e016 248 if((b_end-b_start)>(b2_end-b2_start) )
backman 6:5a39bde2e016 249 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 250
backman 3:c5f2281b3ed2 251 else
backman 6:5a39bde2e016 252 center=(b2_end+b2_start)/2;
backman 6:5a39bde2e016 253 break;
backman 6:5a39bde2e016 254
backman 6:5a39bde2e016 255 case 0x02:
backman 6:5a39bde2e016 256 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 257
backman 6:5a39bde2e016 258 break;
backman 6:5a39bde2e016 259 }
backman 6:5a39bde2e016 260
backman 3:c5f2281b3ed2 261 return center;
backman 6:5a39bde2e016 262
backman 6:5a39bde2e016 263 }
backman 6:5a39bde2e016 264
backman 6:5a39bde2e016 265
backman 6:5a39bde2e016 266
backman 6:5a39bde2e016 267 void BX_camera::read(void)
backman 6:5a39bde2e016 268 {
backman 6:5a39bde2e016 269 w_f_vL=0x0000;
backman 6:5a39bde2e016 270 b_f_vL=0xffff;
backman 6:5a39bde2e016 271 w_f_vR=0x0000;
backman 6:5a39bde2e016 272 b_f_vR=0xffff;
backman 6:5a39bde2e016 273
backman 6:5a39bde2e016 274 *si=1;
backman 6:5a39bde2e016 275 *cam_clk=1;
backman 6:5a39bde2e016 276 wait_us(30); // tune here
backman 6:5a39bde2e016 277 *si=0;
backman 6:5a39bde2e016 278 *cam_clk=0;
backman 6:5a39bde2e016 279 line_CamR->enable();
backman 6:5a39bde2e016 280 line_CamL->enable();
TonyLin 10:9f0ce6ba7663 281
backman 6:5a39bde2e016 282 //input 128 //both
backman 6:5a39bde2e016 283 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 284 *cam_clk=1;
backman 6:5a39bde2e016 285 wait_us(5);
backman 6:5a39bde2e016 286 line_imageR[i]=line_CamR->read_u16();
backman 6:5a39bde2e016 287 line_imageL[i]=line_CamL->read_u16();
TonyLin 10:9f0ce6ba7663 288
backman 6:5a39bde2e016 289 // big small
backman 6:5a39bde2e016 290 if(line_imageR[i] > w_f_vR)
backman 6:5a39bde2e016 291 w_f_vR=line_imageR[i];
backman 6:5a39bde2e016 292 else if(line_imageR[i] < b_f_vR )
backman 6:5a39bde2e016 293 b_f_vR = line_imageR[i];
backman 6:5a39bde2e016 294
backman 6:5a39bde2e016 295 if(line_imageL[i] > w_f_vL)
backman 6:5a39bde2e016 296 w_f_vL=line_imageL[i];
backman 6:5a39bde2e016 297 else if(line_imageL[i] < b_f_vL )
backman 6:5a39bde2e016 298 b_f_vL = line_imageL[i];
backman 6:5a39bde2e016 299
backman 6:5a39bde2e016 300 *cam_clk=0;
backman 6:5a39bde2e016 301 wait_us(5);
backman 6:5a39bde2e016 302 }
backman 6:5a39bde2e016 303 line_CamR->enable();
backman 6:5a39bde2e016 304 line_CamL->enable();
backman 6:5a39bde2e016 305
backman 6:5a39bde2e016 306 //filter L R //may change
backman 6:5a39bde2e016 307 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 308 if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
backman 6:5a39bde2e016 309 sign_line_imageR[i]=' ';
backman 6:5a39bde2e016 310 else
backman 6:5a39bde2e016 311 sign_line_imageR[i]='O';
backman 6:5a39bde2e016 312 if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
backman 6:5a39bde2e016 313 sign_line_imageL[i]=' ';
backman 6:5a39bde2e016 314 else
backman 6:5a39bde2e016 315 sign_line_imageL[i]='O';
backman 6:5a39bde2e016 316
backman 6:5a39bde2e016 317 if(i==0) {
backman 6:5a39bde2e016 318 sign_line_imageR[i]='X';
backman 6:5a39bde2e016 319 sign_line_imageL[i]='X';
backman 6:5a39bde2e016 320 }
backman 6:5a39bde2e016 321 }
backman 6:5a39bde2e016 322 }