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@23:d6d4e8adf7fe, 2014-07-02 (annotated)

Committer:
physicsgood
Date:
Wed Jul 02 13:33:49 2014 +0000
Revision:
23:d6d4e8adf7fe
Parent:
22:1464a3f0a290 
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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"
TonyLin 20:4ed21397e775 3
backman 1:82bc25a7b68b 4 #define clk 2 //ms
TonyLin 20:4ed21397e775 5
TonyLin 20:4ed21397e775 6 BX_camera::BX_camera(int p)
backman 6:5a39bde2e016 7 {
TonyLin 20:4ed21397e775 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);
TonyLin 20:4ed21397e775 13 padding = p;
backman 6:5a39bde2e016 14 }
physicsgood 22:1464a3f0a290 15 /*int BX_camera::black_center(void)
physicsgood 21:5f7efc1ca8ad 16 {
physicsgood 21:5f7efc1ca8ad 17 int black_L_right = 96 , black_R_left = 32;
physicsgood 21:5f7efc1ca8ad 18
physicsgood 21:5f7efc1ca8ad 19 for(int i = 10; i <118; i++){
physicsgood 21:5f7efc1ca8ad 20 if(sign_line_imageR[i] == 'O' && sign_line_imageR[i+1] == ' ' && sign_line_imageR[i+2] == ' '){
physicsgood 21:5f7efc1ca8ad 21 black_R_left = i;
physicsgood 21:5f7efc1ca8ad 22 break;
physicsgood 21:5f7efc1ca8ad 23 }
physicsgood 21:5f7efc1ca8ad 24 }
physicsgood 21:5f7efc1ca8ad 25
physicsgood 21:5f7efc1ca8ad 26 for(int i = 118; i >= 10; i--){
physicsgood 21:5f7efc1ca8ad 27 if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
physicsgood 21:5f7efc1ca8ad 28 black_L_right = i;
physicsgood 21:5f7efc1ca8ad 29 break;
physicsgood 21:5f7efc1ca8ad 30 }
physicsgood 21:5f7efc1ca8ad 31 }
physicsgood 21:5f7efc1ca8ad 32
physicsgood 21:5f7efc1ca8ad 33 return (black_R_left + black_L_right) / 2;
physicsgood 22:1464a3f0a290 34 }*/
physicsgood 22:1464a3f0a290 35 int BX_camera::black_centerR(void)//64~0 right eye
physicsgood 22:1464a3f0a290 36 {
physicsgood 22:1464a3f0a290 37 int black_R_left = 0;
physicsgood 23:d6d4e8adf7fe 38 for(int i = 120; i >=8; i--){
physicsgood 22:1464a3f0a290 39 if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
physicsgood 22:1464a3f0a290 40 return i;
physicsgood 22:1464a3f0a290 41 }
physicsgood 22:1464a3f0a290 42 }
physicsgood 22:1464a3f0a290 43 return black_R_left;
physicsgood 21:5f7efc1ca8ad 44 }
physicsgood 22:1464a3f0a290 45 int BX_camera::black_centerL(void)
backman 6:5a39bde2e016 46 {
physicsgood 22:1464a3f0a290 47 int black_L_right = 128;
physicsgood 23:d6d4e8adf7fe 48 for(int i = 8; i <121 ; i++){
physicsgood 23:d6d4e8adf7fe 49 if(sign_line_imageL[i] == 'O' && sign_line_imageL[i+1] == ' ' && sign_line_imageL[i+2] == ' '){
physicsgood 22:1464a3f0a290 50 return i;
physicsgood 22:1464a3f0a290 51 }
backman 6:5a39bde2e016 52 }
physicsgood 22:1464a3f0a290 53 return black_L_right;
physicsgood 22:1464a3f0a290 54 }
physicsgood 22:1464a3f0a290 55 //turn right 122~64(120) 0
physicsgood 22:1464a3f0a290 56 //turn left 128 64~6(8)
physicsgood 22:1464a3f0a290 57 //straight 122~64 64~6 186~70
backman 6:5a39bde2e016 58 void BX_camera::read(void)
backman 6:5a39bde2e016 59 {
TonyLin 20:4ed21397e775 60
backman 6:5a39bde2e016 61 w_f_vL=0x0000;
backman 6:5a39bde2e016 62 b_f_vL=0xffff;
TonyLin 20:4ed21397e775 63
backman 6:5a39bde2e016 64 w_f_vR=0x0000;
backman 6:5a39bde2e016 65 b_f_vR=0xffff;
TonyLin 20:4ed21397e775 66
TonyLin 20:4ed21397e775 67
TonyLin 20:4ed21397e775 68
TonyLin 20:4ed21397e775 69
backman 6:5a39bde2e016 70 *si=1;
backman 6:5a39bde2e016 71 *cam_clk=1;
TonyLin 20:4ed21397e775 72
backman 6:5a39bde2e016 73 wait_us(30); // tune here
backman 6:5a39bde2e016 74 *si=0;
backman 6:5a39bde2e016 75 *cam_clk=0;
TonyLin 20:4ed21397e775 76
TonyLin 20:4ed21397e775 77
TonyLin 20:4ed21397e775 78
backman 6:5a39bde2e016 79 line_CamR->enable();
backman 6:5a39bde2e016 80 line_CamL->enable();
TonyLin 20:4ed21397e775 81
TonyLin 20:4ed21397e775 82
backman 6:5a39bde2e016 83 //input 128 //both
TonyLin 20:4ed21397e775 84
backman 6:5a39bde2e016 85 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 86 *cam_clk=1;
backman 6:5a39bde2e016 87 wait_us(5);
TonyLin 20:4ed21397e775 88
TonyLin 20:4ed21397e775 89
backman 6:5a39bde2e016 90 line_imageR[i]=line_CamR->read_u16();
backman 6:5a39bde2e016 91 line_imageL[i]=line_CamL->read_u16();
TonyLin 20:4ed21397e775 92
backman 6:5a39bde2e016 93 // big small
backman 6:5a39bde2e016 94 if(line_imageR[i] > w_f_vR)
backman 6:5a39bde2e016 95 w_f_vR=line_imageR[i];
backman 6:5a39bde2e016 96 else if(line_imageR[i] < b_f_vR )
backman 6:5a39bde2e016 97 b_f_vR = line_imageR[i];
TonyLin 20:4ed21397e775 98
TonyLin 20:4ed21397e775 99
backman 6:5a39bde2e016 100 if(line_imageL[i] > w_f_vL)
backman 6:5a39bde2e016 101 w_f_vL=line_imageL[i];
backman 6:5a39bde2e016 102 else if(line_imageL[i] < b_f_vL )
backman 6:5a39bde2e016 103 b_f_vL = line_imageL[i];
TonyLin 20:4ed21397e775 104
TonyLin 20:4ed21397e775 105
TonyLin 20:4ed21397e775 106
TonyLin 20:4ed21397e775 107
backman 6:5a39bde2e016 108 *cam_clk=0;
backman 6:5a39bde2e016 109 wait_us(5);
TonyLin 20:4ed21397e775 110
TonyLin 20:4ed21397e775 111
backman 6:5a39bde2e016 112 }
TonyLin 20:4ed21397e775 113
TonyLin 20:4ed21397e775 114
backman 6:5a39bde2e016 115 line_CamR->enable();
backman 6:5a39bde2e016 116 line_CamL->enable();
TonyLin 20:4ed21397e775 117
TonyLin 20:4ed21397e775 118
backman 6:5a39bde2e016 119 //filter L R //may change
TonyLin 20:4ed21397e775 120
backman 6:5a39bde2e016 121 for(int i=0; i<128; i++) {
TonyLin 20:4ed21397e775 122
TonyLin 20:4ed21397e775 123
backman 6:5a39bde2e016 124 if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
backman 6:5a39bde2e016 125 sign_line_imageR[i]=' ';
backman 6:5a39bde2e016 126 else
backman 6:5a39bde2e016 127 sign_line_imageR[i]='O';
TonyLin 20:4ed21397e775 128
TonyLin 20:4ed21397e775 129
backman 6:5a39bde2e016 130 if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
backman 6:5a39bde2e016 131 sign_line_imageL[i]=' ';
backman 6:5a39bde2e016 132 else
backman 6:5a39bde2e016 133 sign_line_imageL[i]='O';
TonyLin 20:4ed21397e775 134
TonyLin 20:4ed21397e775 135
TonyLin 20:4ed21397e775 136
TonyLin 20:4ed21397e775 137
TonyLin 20:4ed21397e775 138
backman 6:5a39bde2e016 139 if(i==0) {
backman 6:5a39bde2e016 140 sign_line_imageR[i]='X';
backman 6:5a39bde2e016 141 sign_line_imageL[i]='X';
backman 6:5a39bde2e016 142 }
TonyLin 20:4ed21397e775 143
TonyLin 20:4ed21397e775 144
backman 6:5a39bde2e016 145 }
TonyLin 20:4ed21397e775 146
TonyLin 20:4ed21397e775 147
TonyLin 20:4ed21397e775 148
backman 6:5a39bde2e016 149 }