File content as of revision 1:80205a2de336:

#if 1
//
// simple color tracking
//
#include "mbed.h"
#include "rtos.h"
#include "BaseUsbHost.h"
#define DEBUG
#include "BaseUsbHostDebug.h"
#define TEST
#include "BaseUsbHostTest.h"
#include "LogitechC270.h"
#include "BaseJpegDecode.h"
#include "Terminal.h"

// Logitech C270
#define WIDTH  160
#define HEIGHT 120

#define THRESHOLD 200

DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);
Terminal term(USBTX, USBRX);

class CalcCenter : public BaseJpegDecode {
public:
    int y_center, x_center;
    int m_x_sum, m_y_sum, m_sum;
    uint32_t EOI_count;
    int16_t m_buf[WIDTH/16*HEIGHT/8];
    CalcCenter():EOI_count(0) {
        memset(m_buf, 0, sizeof(m_buf));
    }
    virtual void outputDC(int mcu, int block, int value) {
        if (mcu >= (WIDTH/16*HEIGHT/8)) {
            return;
        }
        if (block == 3) { // 0-1:Y 2:Cb 3:Cr
            value *= qt[1][0];
            m_buf[mcu] = value; // debug
            if (value >= THRESHOLD) { // red
                m_x_sum += value*(mcu%(WIDTH/16));
                m_y_sum += value*(mcu/(WIDTH/16));
                m_sum += value;
            }
        }
    }
    virtual void outputAC(int mcu, int block, int scan, int value){};
    virtual void outputMARK(uint8_t c){
        if (c == 0xd9) { // EOI
            if(m_sum == 0) {
                x_center = y_center = -1; // not found
            } else {
                x_center = m_x_sum / m_sum;
                y_center = m_y_sum / m_sum;
            }
            m_x_sum = m_y_sum = m_sum = 0; // reset
            EOI_count++;
            led3 = !led3;
        }
    };
};

CalcCenter* calc = NULL;
void callback_motion_jpeg(uint16_t frame, uint8_t* buf, int len)
{
    if (calc) {
        calc->input(buf+12, len-12);
    }
    if (buf[1]&1) { // FID
        led1 = !led1;
    }
}

BaseUsbHost *UsbHost;
UsbHub* hub;
ControlEp* ctlEp = NULL;
LogitechC270* cam;

void display_thread(void const *args) {
    Timer t;
    term.cls();
    int fg, old_fg = 0xffffff;
    while(1) {
        int y;
        for(y = 0; y < HEIGHT/8; y++) {
            term.locate(0, y);
            for(int x = 0; x < WIDTH/16; x++) {
                int value = calc->m_buf[y*WIDTH/16+x];
                if (value >= THRESHOLD) {
                    fg = 0xff0000; // red
                } else {
                    fg = 0xffffff; // white
                }
                if (fg != old_fg) {
                    term.foreground(fg);
                    old_fg = fg;
                }
                term.printf("%+4d,", value);
            }
        }
        term.locate(0, y);
        term.printf("Cr:(%d,%d)[width=%d height=%d yblock=%d %u]\n", 
            calc->x_center, calc->y_center, calc->width, calc->height, calc->yblock, calc->EOI_count);
        term.printf("[CC:"); 
        for(int i = 0; i < 16; i++) {
            term.printf(" %u", cam->report_cc_count[i]); 
        }
        term.printf("]\n"); 
        term.printf("[PS:"); 
        for(int i = 0; i < 16; i++) {
            term.printf(" %u", cam->report_ps_cc_count[i]); 
        }
        term.printf("]\n"); 
        Thread::wait(200);
        //Thread::signal_wait(1, 2000);
        led2 = !led2;
    }
}

int main() {
    term.baud(921600);
    term.printf("%s\n", __FILE__);

    calc = new CalcCenter;
    TEST_ASSERT(calc);

    UsbHost = new BaseUsbHost;
    TEST_ASSERT_TRUE(UsbHost);

    UsbHub* hub = new UsbHub();
    TEST_ASSERT_TRUE(hub);

    for(int i = 0; i < MAX_HUB_PORT; i++) {
        if (LogitechC270::check(hub->PortEp[i])) {
            ctlEp = hub->PortEp[i];
            break;
        }
    }
    if (ctlEp == NULL) {
        error("LogitechC270 not found\n");
    }
    
    cam = new LogitechC270(C270_160x120, _15FPS, ctlEp); 
    TEST_ASSERT_TRUE(cam);
    cam->setOnResult(callback_motion_jpeg);

    Thread thread(display_thread, NULL, osPriorityBelowNormal);
 
    while(1) {
        cam->poll();
    }
}
#endif