Diff: main.cpp

Revision:

0:39c9f3b49f5a

Child:

1:7fbc24ad0958

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 16 14:28:55 2016 +0000
@@ -0,0 +1,756 @@
+#include "mbed.h"
+#include "global.h"
+#include "FastPWM.h"
+#include "imagetr.h"
+#include "ov7670s.h"
+#include "ov7670sreg.h"
+#include "SPI_TFT_ILI9341.h"
+#include "SDFileSystem.h"
+
+#define SCTFT     PA_5 // sclk TFT
+#define MISOTFT     PA_6 //miso TFT
+#define MOSITFT     PA_7 //Mosi tft
+#define PA9     PA_9 // dc TFT
+#define PB6     PB_6 // cs TFT
+#define PA11     PA_11 // reset TFT pc7
+
+#define PCLK    PC_10 //camera Pixel clock PB13
+#define HREF    PC_11 //camera Href
+#define VSYNC   PC_12 // camera Vsync
+#define I2C_D   PB_3 // Camera SCCB port data
+#define I2C_CLK PB_10 // Camera SCCB port clock
+#define RESET   PB_12 // camera reset
+#define XCLK    PA_10 // camera system clock
+
+
+#define mD0     PC_2//camera Data
+#define mD1     PC_3//camera Data
+#define mD2     PC_4//camera Data
+#define mD3     PC_5//camera Data
+#define mD4     PC_6//camera Data
+#define mD5     PC_7//camera Data
+#define mD6     PC_8 // camera Data
+#define mD7     PC_9 //camera Data
+
+
+#define SCSD    PB_13    // sclk SD
+#define MISD    PB_14 //  miso SD
+#define MOSD    PB_15 // mosi SD
+
+#define PD2 PD_2 /: CS SD
+
+
+#define VGA     307200         //640*480
+#define QVGA    76800          //320*240
+#define QQVGA   19200          //160*120
+
+
+DigitalOut myled(LED1);
+InterruptIn my_button(USER_BUTTON);
+AnalogIn analog_value0(A0);
+AnalogIn analog_value1(A1);
+AnalogIn analog_value2(A2);
+AnalogIn analog_value3(A3);
+
+Timer Time;
+
+int mask =0x1FFC;
+
+
+Serial pc(USBTX,USBRX);
+//camera
+OV7670 OV7670(I2C_D,I2C_CLK,XCLK,PortC,mask,RESET);
+
+// the TFT is connected to SPI pin
+SPI_TFT_ILI9341 TFT(MOSITFT, MISOTFT, SCTFT, PB6, PA11, PA9,"TFT"); // mosi, miso, sclk, cs, reset, dc
+// LED on 3.3V with 1Kohm
+
+SDFileSystem sd(MOSD, MISD, SCSD, PD_2, "sd",NC,SDFileSystem::SWITCH_NONE,2500000); // mosi, miso, sclk, cs, cd unused, switchtype, speed spi
+// image transformation
+//imagetr imagetr;
+
+char desfile[25];
+char patfile[25];
+char filename[25];
+const int tmarray = nc*2*nl;
+unsigned char bank[tmarray];
+unsigned char bankt[nl][nc];
+unsigned char bankf[tmarray];
+unsigned char banktc[nl][nc];
+
+
+float meas0,measold0,meas1,measold1,meas2,measold2, meas3, measold3;
+
+int volatile statc=0;
+bool volatile captur =false;
+FILE *fp;
+
+void pressed()
+{
+    wait (0.1);
+    if (my_button==0) {
+        if (statc==0) {
+            pc.printf("capture requested\r\n");
+            captur=true;
+            TFT.foreground(Red);
+            TFT.locate(0,0);
+        }
+        if (statc==1) {
+            pc.printf("visu \r\n");
+            fp = fopen(desfile, "r");
+            for (int i=0; i<tmarray; i++) {
+                bankf[i] =fgetc(fp);
+            }
+            fclose(fp);
+
+        }
+        if (statc==2) {
+            statc=0;
+        } else {
+            statc=statc+1;
+        }
+    }
+}
+void pressedtargnewca()
+{
+    //start from first image cat extract target in desfile
+    wait (0.1);
+    if (my_button==0) {
+        if (statc==0) {
+            pc.printf("capture target requested \r\n");
+            //imagetr.rgbtoy();
+            imagetr.ytorgb(banktc);
+            fp = fopen(desfile, "w");
+            for (int i=0; i<tmarray; i++) {
+                fputc(bank[i], fp);
+            }
+            TFT.Bitmap(160,0,160,120,bank);
+            pc.printf("captured target done \r\n");
+            TFT.foreground(Green);
+            TFT.locate(0,0);
+            printf("  capture done");
+            fclose(fp);
+            pc.printf("open target file \r\n");
+            fp = fopen(desfile, "r");
+            for (int i=0; i<tmarray; i++) {
+                bank[i] =fgetc(fp);
+            }
+            fclose(fp);
+            TFT.Bitmap(0,120,160,120,bank);
+            imagetr.rgbtoy();
+            imagetr.ytorgb(bankt);
+
+        }
+        if (statc==1) {
+            printf("  target capture done");
+            imagetr.extrta();
+            imagetr.ytorgbta(bankta,0,patfile);
+            TFT.fillrect(160,0,160,240,Green);
+            TFT.Bitmap(160,10,ncta,nlta,bank);
+            pc.printf("clear bank \r\n");
+            for (int i=0; i<tmarray; i++) {
+                bank[i]=78;
+            }
+            fp = fopen(patfile, "r");
+            pc.printf("get targetf \r\n");
+            for (int i=0; i<tmarrayta; i++) {
+                bank[i] =fgetc(fp);
+            }
+            fclose(fp);
+            imagetr.rgbtoyta();
+            for (int i = 0; i<7; i++) {
+                imagetr.ytorgbtas(bankta,i);
+                TFT.Bitmap(40*(i/3),120+30* (i%3),ncta,nlta,bank);
+            }
+        }
+        if (statc==2) {
+            statc=0;
+        } else {
+            statc=statc+1;
+
+        }
+        pc.printf("new s:%d \r\n", statc);
+    }
+}
+
+void pressedtargca()
+{
+    //start from first image from camera extract
+    wait (0.1);
+    if (my_button==0) {
+        if (statc==0) {
+
+            pc.printf("view \r\n");
+
+        }
+        if (statc==1) {
+            pc.printf("search \r\n");
+        }
+        if (statc==2) {
+            statc=0;
+        } else {
+            statc=statc+1;
+
+        }
+    }
+}
+
+
+void sdtofile(const char sou[],const char des[])
+{
+    pc.printf("open .bmp \r\n");
+    int err = imagetr.BMP_tofile(0, 0, sou);
+    if (err != 1) TFT.printf(" - Err: %d",err);
+    TFT.Bitmap(0,0,160,120,bank);
+
+    pc.printf("open .txt in write \r\n");
+    fp = fopen(des, "w");
+
+    for (int i=0; i<tmarray; i++) {
+        fputc(bank[i], fp);
+    }
+    fclose(fp);
+    pc.printf("open .txt in read \r\n");
+    fp = fopen(des, "r");
+    for (int i=0; i<tmarray; i++) {
+        bank[i] =fgetc(fp);
+    }
+    fclose(fp);
+    TFT.Bitmap(0,120,160,120,bank);
+}
+void pressedtargsd()
+{
+    //start from first image in bankt extract target in bankta generate different target
+    wait (0.1);
+    if (my_button==0) {
+
+        imagetr.extrta();
+        imagetr.ytorgbta(bankta,0,desfile);
+        TFT.Bitmap(160,10,ncta,nlta,bank);
+        TFT.fillrect(0,120,160,240,Green);
+        pc.printf("clear bank \r\n");
+        for (int i=0; i<tmarray; i++) {
+            bank[i]=78;
+        }
+        fp = fopen(desfile, "r");
+        pc.printf("get targetf \r\n");
+        for (int i=0; i<tmarrayta; i++) {
+            bank[i] =fgetc(fp);
+        }
+        fclose(fp);
+        imagetr.rgbtoyta();
+        TFT.Bitmap(0,120,ncta,nlta,bank);
+        for (int i = 0; i<7; i++) {
+            imagetr.ytorgbtas(bankta,i);
+            TFT.Bitmap(40*(i/3),120+30* (i%3),ncta,nlta,bank);
+        }
+        //sdtofile(des);
+    }
+}
+
+void affinem(bool rec)
+{
+    bool c = false;
+    float ad;
+    meas0 = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas0 = meas0 * 320-160 ;   // x colonnes
+    if( fabs(meas0-measold0)>1 ) {
+        measold0=meas0;
+        c=true;
+    }
+    meas1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas1 = meas1 * 240 -120;   // y lines
+    if( fabs(meas1-measold1)>1 ) {
+        measold1=meas1;
+        c=true;
+    }
+
+    meas2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas2 = meas2 -0.5f;   // angle -0.5 a +0.5 (radiant)
+    if( fabs(meas2-measold2)>0.1f ) {
+        measold2=meas2;
+        c=true;
+    }
+    meas3 = analog_value3.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas3 = 0.5f + (meas3 * 1.5f);   // zoom max1.5
+    if( fabs(meas3-measold3)>0.5f ) {
+        measold3=meas3;
+        c=true;
+    }
+    if(c) {
+
+        ad=180*meas2/3.14f;
+        TFT.foreground(White);
+        pc.printf("x: %d, y: %d, angle: %.2f zoom: %.2f \r\n", int(meas0),int(meas1), meas2, meas3);
+        TFT.locate(170,45);
+        printf("x %d",int(meas0));
+        TFT.locate(170,65);
+        printf("y %d",int(meas1));
+        TFT.locate(170,105);
+        printf("zoom %.2f",meas3);
+        TFT.locate(170,85);
+        printf("angle %.2f",ad);
+        // imagetr.affine(0,0,0, 1.2);
+        imagetr.affine(meas1,meas0,meas2, meas3);
+        if (rec) {
+            TFT.rect(160,120,160+ncta,120+nlta,Red);
+        }
+    }
+}
+void gentam(void)
+{
+    bool c = false;
+    float ad;
+    meas0 = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas0 = meas0 * 0.2f + 0.8f;   // tilt x 0-20%
+    if( fabs(meas0-measold0)>0.05f ) {
+        measold0=meas0;
+        c=true;
+    }
+    meas1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas1 = meas1 * 0.2f+0.8f;   // tilt y lines 0-20%
+    if( fabs(meas1-measold1)>0.05f ) {
+        measold1=meas1;
+        c=true;
+    }
+
+    meas2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas2 = meas2 -0.5f;   // angle -0.5 a +0.5 (radiant)
+    if( fabs(meas2-measold2)>0.1f ) {
+        measold2=meas2;
+        c=true;
+    }
+    meas3 = analog_value3.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas3 = 0.5f + (meas3 * 1.5f);   // zoom max1.5
+    if( fabs(meas3-measold3)>0.3f ) {
+        measold3=meas3;
+        c=true;
+    }
+    if(c) {
+        ad=180*meas2/3.14f;
+        TFT.foreground(White);
+        //pc.printf("x: %d, y: %d, angle: %.2f zoom: %.2f \r\n", int(meas0),int(meas1), meas2, meas3);
+        TFT.locate(170,45);
+        printf("tiltx %2f",meas0);
+        TFT.locate(170,65);
+        printf("tilty %2f",meas1);
+        TFT.locate(170,105);
+        printf("zoom %.2f",meas3);
+        TFT.locate(170,85);
+        printf("angle %.2f",ad);
+        // imagetr.affine(0,0,0, 1.2);
+        imagetr.genta(meas1,meas0,meas2, meas3);
+    }
+}
+
+
+
+void luma(void)
+{
+    float meas,measold;
+    meas = analog_value3.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas = meas * 3;   // 0 a 10
+    if( fabs(meas-measold)>0.1f ) {
+        pc.printf("lumi: %04f \r\n", meas);
+        TFT.locate(170,85);
+        TFT.foreground(White);
+        printf("lumi %f",meas);
+        imagetr.lumi(meas);
+        measold=meas;
+    }
+
+}
+
+void searchp(void)
+{
+    bool c = false;
+    float ad;
+    meas0 = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas0 = meas0 * 320-160 ;   // x colonnes
+    if( fabs(meas0-measold0)>1 ) {
+        measold0=meas0;
+        c=true;
+
+    }
+    meas1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas1 =  meas1 * 1000000;   // 0 a 4000
+    if( fabs(meas1-measold1)>200 ) {
+        c=true;
+    }
+
+    meas2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas2 = meas2 -0.5f;   // angle -0.5 a +0.5 (radiant)
+    if( fabs(meas2-measold2)>0.1f ) {
+        measold2=meas2;
+        c=true;
+    }
+    meas3 = analog_value3.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas3 = 0.5f + (meas3 * 1.5f);   // zoom max1.5
+    if( fabs(meas3-measold3)>0.5f ) {
+        measold3=meas3;
+        c=true;
+    }
+    if(c) {
+        ad=180*meas2/3.14f;
+        TFT.foreground(White);
+        //pc.printf("x: %d, y: %d, angle: %.2f zoom: %.2f \r\n", int(meas0),int(meas1), meas2, meas3);
+        TFT.locate(170,45);
+        printf("x %3d",int(meas0));
+        TFT.locate(170,65);
+        printf("threshold %6d",int(meas1));
+        TFT.locate(170,105);
+        printf("zoom %.2f",meas3);
+        TFT.locate(170,85);
+        printf("angle %.2f",ad);
+        imagetr.affine(0,meas0,meas2, meas3);
+        imagetr.searchpat(meas1);
+    }
+}
+void viewf(void)
+{
+    imagetr.ytorgb(banktc);
+    TFT.Bitmap(160,120,160,120,bank);
+}
+
+void extedgem(void)
+{
+    bool c = false;
+    meas0 = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas0 = meas0 * 50;   // 0 to 50 max threshod
+    if( fabs(meas0-measold0)>1) {
+        measold0=meas0;
+        c=true;
+    }
+    meas1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas1 = meas1 * 50  ; // min threshold 0 50
+    if( fabs(meas1-measold1)>1 ) {
+        measold1=meas1;
+        c=true;
+    }
+    meas2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas2 = meas2 * 5  ; // thrshold
+    if( fabs(meas2-measold2)>1 ) {
+        measold2=meas2;
+        c=true;
+    }
+
+    if (c) {
+        //pc.printf("x: %d, y: %d \r\n", int(meas0),int(meas1));
+        imagetr.extedge(meas1,meas0, meas2);
+    }
+}
+void loadtargettxt(const char sou[])
+{
+    imagetr.getimage(sou);
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+    imagetr.ytorgb(bankt);
+    TFT.Bitmap(160,120,160,120,bank);
+}
+
+void loadtarget(const char sou[])
+{
+    int err = imagetr.BMP_tofile(0, 0, sou);
+    if (err != 1) TFT.printf(" - Err: %d",err);
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+    //imagetr.ytorgb(bankt);
+    //TFT.Bitmap(160,120,160,120,bank);
+}
+void loadtargeted(const char sou[])
+{
+    int err = imagetr.BMP_tofile(0, 0, sou);
+    if (err != 1) TFT.printf(" - Err: %d",err);
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+    imagetr.extedge(0,0,2);
+    for (int i=0; i<nl; i=i+1) {
+        for (int j=0; j<nc; j=j+1) {
+            bankt[i][j]= banktc[i][j];
+        }
+    }
+    imagetr.ytorgb(bankt);
+    TFT.Bitmap(160,120,160,120,bank);
+}
+void loadpat(const char pat[])
+{
+    imagetr.getimage(pat);
+    TFT.Bitmap(160,0,ncta,nlta,bank);
+    imagetr.rgbtoyta();
+    for (int i = 0; i<7; i++) {
+        imagetr.ytorgbtas(bankta,i);
+        TFT.Bitmap(40*(i/3),120+30* (i%3),ncta,nlta,bank);
+    }
+}
+void loadpated(const char pat[])
+{
+    imagetr.getimage(pat);
+    TFT.Bitmap(160,0,ncta,nlta,bank);
+    imagetr.rgbtoytaed();
+    for (int i = 0; i<7; i++) {
+        imagetr.ytorgbtas(bankta,i);
+        TFT.Bitmap(40*(i/3),120+30* (i%3),ncta,nlta,bank);
+    }
+}
+void readregister()
+{
+    int tempo ;
+    pc.printf("PID %02x \r\n", OV7670.ReadReg(REG_PID));
+    pc.printf("VER %0.2x \r\n", OV7670.ReadReg(REG_VER));
+
+    pc.printf("Lecture Registres...\r\n") ;
+    pc.printf("AD : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F") ;
+    for (int i=0; i<OV7670_REGMAX; i++) {
+
+        tempo = OV7670.ReadReg(i) ; // READ REG
+        if ((i & 0x0F) == 0) {
+            pc.printf("\r\n%02X : ",i) ;
+        }
+        pc.printf("%02X ",tempo) ;
+    }
+    pc.printf("\r\n") ;
+}
+void testsd(void)
+{
+    //Perform a write test to SD
+    // Set up the SD
+    sd.disk_initialize();
+    pc.printf("\nWriting to SD card...");
+    fp = fopen("/sd/sdtest.txt", "w");
+    if (fp != NULL) {
+        fprintf(fp, "We're writing to an SD card!");
+        fclose(fp);
+        pc.printf("success!\r\n");
+    } else {
+        pc.printf("failed!\r\n");
+    }
+    //Perform a read test
+    pc.printf("Reading from SD card...");
+    fp = fopen("/sd/sdtest.txt", "r");
+    if (fp != NULL) {
+        char c = fgetc(fp);
+        if (c == 'W')
+            pc.printf("success!\r\n");
+        else
+            pc.printf("incorrect char (%c)!\r\n", c);
+        fclose(fp);
+    } else {
+        pc.printf("failed!\r\n");
+    }
+}
+
+void capturecycle(const char des[])
+{
+    strcpy( desfile,des);
+    if (statc==0||statc==1) {
+        OV7670.CaptureNext() ;
+        OV7670.exrgbf(0);
+        TFT.Bitmap(0,120,160,120,bankf);
+        OV7670.exrgbf(1);
+        TFT.Bitmap(160,120,160,120,bankf);
+        OV7670.exrgbf(2);
+        TFT.Bitmap(0,0,160,120,bankf);
+        OV7670.exrgbf(3);
+        TFT.Bitmap(160,0,160,120,bankf);
+    }
+    if (statc==2) {
+        OV7670.CaptureNext() ;
+        TFT.fillrect(0,120,160,240,Green);
+        TFT.fillrect(160,0,320,120,Green);
+        TFT.foreground(Yellow);
+        TFT.locate(170,108);
+        printf("captured picture");
+        TFT.Bitmap(0,0,160,120,bank);
+        TFT.Bitmap(160,120,160,120,bankf);
+    }
+}
+
+
+void epatternmatch(const char tar[],const char pat[])
+{
+    int i=0;
+    loadtarget(tar);
+    loadpat(pat);
+    for  (i=0; i<25; i++) {
+        filename[i]=pat[i+4];
+    }
+
+    pc . printf("f : %s\r\n", filename);
+    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.foreground(Red);
+}
+void epatternmatched(const char tar[],const char pat[])
+{
+    int i=0;
+    loadtargeted(tar);
+    loadpated(pat);
+    for  (i=0; i<25; i++) {
+        filename[i]=pat[i+4];
+    }
+    pc . printf("f : %s\r\n", filename);
+    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.foreground(Red);
+}
+void epatca(const char tar[],const char pat[])
+{
+    loadtargettxt(tar);
+    loadpat(pat);
+    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.foreground(Red);
+}
+void patternmatch(const char pat[])
+{
+    my_button.fall(&pressedtargca);
+    OV7670.CaptureNext() ;
+    TFT.Bitmap(0,0,160,120,bank);
+    loadpat(pat);
+    TFT.set_font((unsigned char*) Arial12x12);
+    TFT.foreground(Red);
+}
+
+void targetfromca(const char des[],const char pat[])
+{
+    OV7670.CaptureNext() ;
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+    strcpy( desfile,des);
+    strcpy( patfile,pat);
+    my_button.fall(&pressedtargnewca);
+}
+void loadnewca()
+{
+    OV7670.CaptureNext() ;
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+}
+
+void targetfromsd(const char sou[],const char des[])
+{
+    int err = imagetr.BMP_tofile(0, 0, sou);
+    if (err != 1) pc.printf(" - Err: %d",err);
+    TFT.Bitmap(0,0,160,120,bank);
+    imagetr.rgbtoy();
+    strcpy( desfile,des);
+    TFT.rect(160,120,160+ncta,120+nlta,Red);
+    my_button.fall(&pressedtargsd);
+}
+
+
+int main()
+{
+    myled=0;
+    statc=0;
+
+
+    // Set up the TFT
+    TFT.claim(stdout);                          // Send stdout to the TFT display
+    TFT.background(Black);                      // Set background to black
+    TFT.foreground(White);                      // Set chars to white
+    TFT.cls();                                  // Clear the screen
+    TFT.set_font((unsigned char*) Arial12x12);  // Select the font
+    TFT.set_orientation(3);                     // Select orientation
+    TFT.locate(0,0);
+    printf("  Hello Mbed ");
+    OV7670.Reset();
+    OV7670.Init("RGB", QQVGA);
+    pc.printf("Hello World !\r\n");
+//////////////////////////////////////////////////////////
+// to view camera
+
+    my_button.fall(&pressed);
+
+    while (1) {
+        capturecycle("/sd/picture.txt");
+    }
+}
+
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+// to create a target from a .bmp to sd
+/*
+    targetfromsd("/sd/manchodou.bmp","/sd/manchodou.txt");
+    while (1) {
+        viewf();
+        __disable_irq();    // Disable Interrupts
+        affinem(true);
+        __enable_irq();     // Enable Interrupts
+    }
+}
+*/
+//////////////////////////////////////////////////////////
+// to recognise a target from bmp and target on sd
+/*
+     epatternmatch("/sd/manchodou.bmp","/sd/manchodou.txt");
+     while (1) {
+         viewf();
+         searchp();
+     }
+ }
+ */
+//////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////
+// to recognise a target from bmp and target on sd, on edge
+/*
+    epatternmatched("/sd/manchodou.bmp","/sd/manchodou.txt");
+    while (1) {
+
+        viewf();
+        searchp();
+    }
+}
+*/
+//////////////////////////////////////////////////////////
+//to create a target from camera
+/*
+    targetfromca("/sd/man.txt","/sd/man2.txt");
+    while (1) {
+
+        __disable_irq();    // Disable Interrupts
+        if (statc==0) {
+            loadnewca();
+        }
+
+        affinem(true);
+        __enable_irq();     // Enable Interrupts
+
+// if (statc==0) {   searchp();}  else {affinem(false);}
+        viewf();
+
+    }
+}
+*/
+////////////////////////////////////////////
+//to search pattern from .txt
+/*
+ epatca("/sd/man.txt","/sd/man2.txt");
+  while (1) {
+     viewf();
+    searchp();
+ }
+}
+*/
+////////////////////////////////////////////
+//to search pattern from camera
+/*
+    patternmatch("/sd/man2.txt");
+    while (1) {
+        loadnewca();
+         viewf();
+        if (statc==0) {
+            searchp();
+        }  else {
+            affinem(false);
+        }
+    }
+}
+*/
+////////////////////////////////////////////
+// to extract edge from image in bmp
+/*
+    loadtarget("/sd/manchodou.bmp");
+    while (1) {
+        viewf();
+        extedgem();
+    }
+}
+*/
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