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@21:5f7efc1ca8ad, 2014-06-30 (annotated)

Committer:
physicsgood
Date:
Mon Jun 30 08:19:43 2014 +0000
Revision:
21:5f7efc1ca8ad
Parent:
20:4ed21397e775
Child:
22:1464a3f0a290
140630

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 21:5f7efc1ca8ad 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 21:5f7efc1ca8ad 34 }
TonyLin 20:4ed21397e775 35
backman 6:5a39bde2e016 36 int BX_camera::black_centerR(void)
backman 6:5a39bde2e016 37 {
TonyLin 20:4ed21397e775 38
backman 7:fd976e1ced33 39 int l_care=10;
backman 7:fd976e1ced33 40 int r_care=118;
TonyLin 20:4ed21397e775 41 int b_start=0;
TonyLin 20:4ed21397e775 42 int b_end=0;
TonyLin 20:4ed21397e775 43 bool l_f1=false;
TonyLin 20:4ed21397e775 44 bool l_f2=false;
TonyLin 20:4ed21397e775 45 bool find=false;
TonyLin 20:4ed21397e775 46 int b_thr_up=32;
TonyLin 20:4ed21397e775 47 int b_thr_dn=5;
backman 6:5a39bde2e016 48 int b_w=0;
TonyLin 19:eb0552a0ddae 49
TonyLin 20:4ed21397e775 50 for(int i=r_care;i>l_care;i--){
TonyLin 20:4ed21397e775 51
TonyLin 20:4ed21397e775 52
TonyLin 20:4ed21397e775 53 if(l_f1==false&&sign_line_imageR[i]==' '){
TonyLin 20:4ed21397e775 54
TonyLin 20:4ed21397e775 55 b_start=i;
TonyLin 20:4ed21397e775 56 l_f1=true;
TonyLin 20:4ed21397e775 57 }
TonyLin 20:4ed21397e775 58 if(l_f1==true && sign_line_imageR[i]=='O'){
TonyLin 20:4ed21397e775 59 b_end=i-1;
TonyLin 20:4ed21397e775 60 l_f2=true;
TonyLin 20:4ed21397e775 61 }
TonyLin 20:4ed21397e775 62
TonyLin 20:4ed21397e775 63 if(l_f1==true && l_f2== true){
TonyLin 20:4ed21397e775 64 b_w=b_start-b_end;
TonyLin 20:4ed21397e775 65 if( b_thr_up>b_w&&b_w> b_thr_dn){
TonyLin 20:4ed21397e775 66
TonyLin 20:4ed21397e775 67 find=true;
TonyLin 20:4ed21397e775 68 break;
backman 6:5a39bde2e016 69 }
TonyLin 20:4ed21397e775 70 else{
TonyLin 20:4ed21397e775 71 l_f1=false;
TonyLin 20:4ed21397e775 72 l_f2=false;
TonyLin 20:4ed21397e775 73
TonyLin 20:4ed21397e775 74 }
TonyLin 17:af867c7512bb 75
TonyLin 20:4ed21397e775 76
TonyLin 20:4ed21397e775 77 }
TonyLin 20:4ed21397e775 78
TonyLin 20:4ed21397e775 79
backman 6:5a39bde2e016 80 }
TonyLin 20:4ed21397e775 81
TonyLin 20:4ed21397e775 82
TonyLin 20:4ed21397e775 83
TonyLin 20:4ed21397e775 84
TonyLin 20:4ed21397e775 85
TonyLin 20:4ed21397e775 86 if(find)
TonyLin 20:4ed21397e775 87 return (b_start+b_end)/2;
TonyLin 20:4ed21397e775 88 else
TonyLin 20:4ed21397e775 89 return -1;
TonyLin 20:4ed21397e775 90 }
TonyLin 20:4ed21397e775 91
TonyLin 20:4ed21397e775 92
TonyLin 20:4ed21397e775 93
TonyLin 20:4ed21397e775 94
TonyLin 20:4ed21397e775 95
backman 6:5a39bde2e016 96 void BX_camera::read(void)
backman 6:5a39bde2e016 97 {
TonyLin 20:4ed21397e775 98
backman 6:5a39bde2e016 99 w_f_vL=0x0000;
backman 6:5a39bde2e016 100 b_f_vL=0xffff;
TonyLin 20:4ed21397e775 101
backman 6:5a39bde2e016 102 w_f_vR=0x0000;
backman 6:5a39bde2e016 103 b_f_vR=0xffff;
TonyLin 20:4ed21397e775 104
TonyLin 20:4ed21397e775 105
TonyLin 20:4ed21397e775 106
TonyLin 20:4ed21397e775 107
backman 6:5a39bde2e016 108 *si=1;
backman 6:5a39bde2e016 109 *cam_clk=1;
TonyLin 20:4ed21397e775 110
backman 6:5a39bde2e016 111 wait_us(30); // tune here
backman 6:5a39bde2e016 112 *si=0;
backman 6:5a39bde2e016 113 *cam_clk=0;
TonyLin 20:4ed21397e775 114
TonyLin 20:4ed21397e775 115
TonyLin 20:4ed21397e775 116
backman 6:5a39bde2e016 117 line_CamR->enable();
backman 6:5a39bde2e016 118 line_CamL->enable();
TonyLin 20:4ed21397e775 119
TonyLin 20:4ed21397e775 120
backman 6:5a39bde2e016 121 //input 128 //both
TonyLin 20:4ed21397e775 122
backman 6:5a39bde2e016 123 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 124 *cam_clk=1;
backman 6:5a39bde2e016 125 wait_us(5);
TonyLin 20:4ed21397e775 126
TonyLin 20:4ed21397e775 127
backman 6:5a39bde2e016 128 line_imageR[i]=line_CamR->read_u16();
backman 6:5a39bde2e016 129 line_imageL[i]=line_CamL->read_u16();
TonyLin 20:4ed21397e775 130
backman 6:5a39bde2e016 131 // big small
backman 6:5a39bde2e016 132 if(line_imageR[i] > w_f_vR)
backman 6:5a39bde2e016 133 w_f_vR=line_imageR[i];
backman 6:5a39bde2e016 134 else if(line_imageR[i] < b_f_vR )
backman 6:5a39bde2e016 135 b_f_vR = line_imageR[i];
TonyLin 20:4ed21397e775 136
TonyLin 20:4ed21397e775 137
backman 6:5a39bde2e016 138 if(line_imageL[i] > w_f_vL)
backman 6:5a39bde2e016 139 w_f_vL=line_imageL[i];
backman 6:5a39bde2e016 140 else if(line_imageL[i] < b_f_vL )
backman 6:5a39bde2e016 141 b_f_vL = line_imageL[i];
TonyLin 20:4ed21397e775 142
TonyLin 20:4ed21397e775 143
TonyLin 20:4ed21397e775 144
TonyLin 20:4ed21397e775 145
backman 6:5a39bde2e016 146 *cam_clk=0;
backman 6:5a39bde2e016 147 wait_us(5);
TonyLin 20:4ed21397e775 148
TonyLin 20:4ed21397e775 149
backman 6:5a39bde2e016 150 }
TonyLin 20:4ed21397e775 151
TonyLin 20:4ed21397e775 152
backman 6:5a39bde2e016 153 line_CamR->enable();
backman 6:5a39bde2e016 154 line_CamL->enable();
TonyLin 20:4ed21397e775 155
TonyLin 20:4ed21397e775 156
backman 6:5a39bde2e016 157 //filter L R //may change
TonyLin 20:4ed21397e775 158
backman 6:5a39bde2e016 159 for(int i=0; i<128; i++) {
TonyLin 20:4ed21397e775 160
TonyLin 20:4ed21397e775 161
backman 6:5a39bde2e016 162 if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
backman 6:5a39bde2e016 163 sign_line_imageR[i]=' ';
backman 6:5a39bde2e016 164 else
backman 6:5a39bde2e016 165 sign_line_imageR[i]='O';
TonyLin 20:4ed21397e775 166
TonyLin 20:4ed21397e775 167
backman 6:5a39bde2e016 168 if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
backman 6:5a39bde2e016 169 sign_line_imageL[i]=' ';
backman 6:5a39bde2e016 170 else
backman 6:5a39bde2e016 171 sign_line_imageL[i]='O';
TonyLin 20:4ed21397e775 172
TonyLin 20:4ed21397e775 173
TonyLin 20:4ed21397e775 174
TonyLin 20:4ed21397e775 175
TonyLin 20:4ed21397e775 176
backman 6:5a39bde2e016 177 if(i==0) {
backman 6:5a39bde2e016 178 sign_line_imageR[i]='X';
backman 6:5a39bde2e016 179 sign_line_imageL[i]='X';
backman 6:5a39bde2e016 180 }
TonyLin 20:4ed21397e775 181
TonyLin 20:4ed21397e775 182
backman 6:5a39bde2e016 183 }
TonyLin 20:4ed21397e775 184
TonyLin 20:4ed21397e775 185
TonyLin 20:4ed21397e775 186
backman 6:5a39bde2e016 187 }