Sumio Morioka / Mbed 2 deprecated if201411_section3

Sample code of section 3 in Nov 2014 issue of the Interface Magazine, published by CQ publishing in Japan. CQ出版社インターフェース誌 2014年11月号3章に掲載のサンプルコードです． FRDM-K64FにOV7670カメラを接続して映像を取得するとともに，簡単なフィルタ処理も施すサンプルです．このコードのうちカメラ制御部には，Sadaei Osakabe氏のコードを流用させていただいています．

Dependencies:   SDFileSystem TextLCD mbed

このコードでは，Arduino用のLCDシールド（http://www.switch-science.com/catalog/724/）を接続することを想定しています．ただしLCDは必須ではないので，LCDを使わない場合は表示用のコードはコメントアウトしてください．

main.cpp@0:f31ceb6058cb, 2014-09-24 (annotated)

Committer:
smorioka
Date:
Wed Sep 24 20:44:56 2014 +0000
Revision:
0:f31ceb6058cb
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smorioka 0:f31ceb6058cb 1 /*
smorioka 0:f31ceb6058cb 2 * Copyright (c) 2014, Sumio Morioka
smorioka 0:f31ceb6058cb 3 * All rights reserved.
smorioka 0:f31ceb6058cb 4 *
smorioka 0:f31ceb6058cb 5 * This source code was originally written by Dr.Sumio Morioka for use in the Nov 2014 issue of
smorioka 0:f31ceb6058cb 6 * "the Interface magazine", published by CQ publishing Co.Ltd in Japan (http://www.cqpub.co.jp).
smorioka 0:f31ceb6058cb 7 * The author has no responsibility on any results caused by using this code.
smorioka 0:f31ceb6058cb 8 *
smorioka 0:f31ceb6058cb 9 * - Distribution date of this code: Sep 24, 2014
smorioka 0:f31ceb6058cb 10 * - Author: Dr.Sumio Morioka (http://www002.upp.so-net.ne.jp/morioka)
smorioka 0:f31ceb6058cb 11 *
smorioka 0:f31ceb6058cb 12 *
smorioka 0:f31ceb6058cb 13 * IMPORTANT NOTICE:
smorioka 0:f31ceb6058cb 14 * Redistribution and use in source and binary forms, with or without
smorioka 0:f31ceb6058cb 15 * modification, are permitted provided that the following conditions are met:
smorioka 0:f31ceb6058cb 16 * * Redistributions of source code must retain the above copyright
smorioka 0:f31ceb6058cb 17 * notice, this list of conditions and the following disclaimer.
smorioka 0:f31ceb6058cb 18 * * Redistributions in binary form must reproduce the above copyright
smorioka 0:f31ceb6058cb 19 * notice, this list of conditions and the following disclaimer in the
smorioka 0:f31ceb6058cb 20 * documentation and/or other materials provided with the distribution.
smorioka 0:f31ceb6058cb 21 * * Neither the name of the copyright holder nor the
smorioka 0:f31ceb6058cb 22 * names of its contributors may be used to endorse or promote products
smorioka 0:f31ceb6058cb 23 * derived from this software without specific prior written permission.
smorioka 0:f31ceb6058cb 24 *
smorioka 0:f31ceb6058cb 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
smorioka 0:f31ceb6058cb 26 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
smorioka 0:f31ceb6058cb 27 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
smorioka 0:f31ceb6058cb 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
smorioka 0:f31ceb6058cb 29 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
smorioka 0:f31ceb6058cb 30 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
smorioka 0:f31ceb6058cb 31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
smorioka 0:f31ceb6058cb 32 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
smorioka 0:f31ceb6058cb 33 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
smorioka 0:f31ceb6058cb 34 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
smorioka 0:f31ceb6058cb 35 */
smorioka 0:f31ceb6058cb 36
smorioka 0:f31ceb6058cb 37 #include "mbed.h"
smorioka 0:f31ceb6058cb 38 #include "SDFileSystem.h"
smorioka 0:f31ceb6058cb 39 #include "TextLCD.h"
smorioka 0:f31ceb6058cb 40 #include "ov7670.h"
smorioka 0:f31ceb6058cb 41
smorioka 0:f31ceb6058cb 42 DigitalOut led1(LED1), led2(LED2), led3(LED3);
smorioka 0:f31ceb6058cb 43 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
smorioka 0:f31ceb6058cb 44 TextLCD lcd(PTD3, PTD2, PTA2, PTB23, PTA1, PTB9); // Arduino LCD sheild;
smorioka 0:f31ceb6058cb 45
smorioka 0:f31ceb6058cb 46 OV7670 camera(
smorioka 0:f31ceb6058cb 47 PTE25,PTE24, // SDA,SCL(I2C / SCCB)
smorioka 0:f31ceb6058cb 48 PTB2,PTB3,PTB10, // VSYNC,HREF,WEN(FIFO)
smorioka 0:f31ceb6058cb 49 PTC5,PTC7,PTC0,PTC9,PTC8,PTC1,PTB19,PTB18, // D7-D0
smorioka 0:f31ceb6058cb 50 PTB11,PTC11,PTC10); // RRST,OE,RCLK
smorioka 0:f31ceb6058cb 51
smorioka 0:f31ceb6058cb 52 Timer tmr;
smorioka 0:f31ceb6058cb 53
smorioka 0:f31ceb6058cb 54 //#define QQVGA
smorioka 0:f31ceb6058cb 55 #define QVGA
smorioka 0:f31ceb6058cb 56 //#define VGA34
smorioka 0:f31ceb6058cb 57
smorioka 0:f31ceb6058cb 58 #ifdef QQVGA
smorioka 0:f31ceb6058cb 59 #define SIZEX 160
smorioka 0:f31ceb6058cb 60 #define SIZEY 120
smorioka 0:f31ceb6058cb 61 #endif
smorioka 0:f31ceb6058cb 62
smorioka 0:f31ceb6058cb 63 #ifdef QVGA
smorioka 0:f31ceb6058cb 64 #define SIZEX 320
smorioka 0:f31ceb6058cb 65 #define SIZEY 240
smorioka 0:f31ceb6058cb 66 #endif
smorioka 0:f31ceb6058cb 67
smorioka 0:f31ceb6058cb 68 #ifdef VGA34
smorioka 0:f31ceb6058cb 69 #define SIZEX 480
smorioka 0:f31ceb6058cb 70 #define SIZEY 360
smorioka 0:f31ceb6058cb 71 #endif
smorioka 0:f31ceb6058cb 72
smorioka 0:f31ceb6058cb 73 unsigned char image_buf_g[SIZEX * SIZEY * 3];
smorioka 0:f31ceb6058cb 74
smorioka 0:f31ceb6058cb 75 void cam_cap(void);
smorioka 0:f31ceb6058cb 76 void save_bmp(void);
smorioka 0:f31ceb6058cb 77
smorioka 0:f31ceb6058cb 78 int memfree(void)
smorioka 0:f31ceb6058cb 79 {
smorioka 0:f31ceb6058cb 80 int ret = 1;
smorioka 0:f31ceb6058cb 81 while (1) {
smorioka 0:f31ceb6058cb 82 char *p = (char *)malloc(ret);
smorioka 0:f31ceb6058cb 83 if (p == NULL)
smorioka 0:f31ceb6058cb 84 break;
smorioka 0:f31ceb6058cb 85 free(p);
smorioka 0:f31ceb6058cb 86 ret++;
smorioka 0:f31ceb6058cb 87 }
smorioka 0:f31ceb6058cb 88 return (ret - 1);
smorioka 0:f31ceb6058cb 89 }
smorioka 0:f31ceb6058cb 90
smorioka 0:f31ceb6058cb 91 int main()
smorioka 0:f31ceb6058cb 92 {
smorioka 0:f31ceb6058cb 93 led1 = 0;
smorioka 0:f31ceb6058cb 94 led2 = 0;
smorioka 0:f31ceb6058cb 95 led3 = 0;
smorioka 0:f31ceb6058cb 96
smorioka 0:f31ceb6058cb 97 /////////////////////////////////////////
smorioka 0:f31ceb6058cb 98 // init camera
smorioka 0:f31ceb6058cb 99 camera.WriteReg(0x12, 0x80); // com7; reset
smorioka 0:f31ceb6058cb 100 wait_ms(200);
smorioka 0:f31ceb6058cb 101
smorioka 0:f31ceb6058cb 102 camera.InitDefaultReg();
smorioka 0:f31ceb6058cb 103
smorioka 0:f31ceb6058cb 104 // negate vsync
smorioka 0:f31ceb6058cb 105 camera.WriteReg(0x15, 0x02); // com10; negative vsync
smorioka 0:f31ceb6058cb 106
smorioka 0:f31ceb6058cb 107 #ifdef QQVGA
smorioka 0:f31ceb6058cb 108 camera.InitQQVGA();
smorioka 0:f31ceb6058cb 109 #endif
smorioka 0:f31ceb6058cb 110 #ifdef QVGA
smorioka 0:f31ceb6058cb 111 camera.InitQVGA();
smorioka 0:f31ceb6058cb 112 #endif
smorioka 0:f31ceb6058cb 113 #ifdef VGA34
smorioka 0:f31ceb6058cb 114 camera.InitVGA_3_4();
smorioka 0:f31ceb6058cb 115 #endif
smorioka 0:f31ceb6058cb 116
smorioka 0:f31ceb6058cb 117 // data format
smorioka 0:f31ceb6058cb 118 camera.WriteReg(0x12, 0x04 + 0); // com7 RGB (bit1...test pattern)
smorioka 0:f31ceb6058cb 119 camera.WriteReg(0x40, 0xD0); // com15 RGB565
smorioka 0:f31ceb6058cb 120 camera.WriteReg(0x8c, 0x00); // RGB444
smorioka 0:f31ceb6058cb 121
smorioka 0:f31ceb6058cb 122 wait_ms(300);
smorioka 0:f31ceb6058cb 123
smorioka 0:f31ceb6058cb 124 ///////////////////////////////////////
smorioka 0:f31ceb6058cb 125 // display free memory size
smorioka 0:f31ceb6058cb 126 int cur_mem = memfree();
smorioka 0:f31ceb6058cb 127 lcd.locate(0, 0);
smorioka 0:f31ceb6058cb 128 lcd.printf("mem %d", cur_mem);
smorioka 0:f31ceb6058cb 129
smorioka 0:f31ceb6058cb 130 ///////////////////////////////////////
smorioka 0:f31ceb6058cb 131 // capture
smorioka 0:f31ceb6058cb 132 tmr.reset();
smorioka 0:f31ceb6058cb 133 tmr.start(); // timer
smorioka 0:f31ceb6058cb 134
smorioka 0:f31ceb6058cb 135 cam_cap(); // capture photo
smorioka 0:f31ceb6058cb 136
smorioka 0:f31ceb6058cb 137 tmr.stop(); // timer
smorioka 0:f31ceb6058cb 138 lcd.locate(0, 0);
smorioka 0:f31ceb6058cb 139 lcd.printf("cap %dms", tmr.read_ms());
smorioka 0:f31ceb6058cb 140
smorioka 0:f31ceb6058cb 141 ////////////////////////////////////////
smorioka 0:f31ceb6058cb 142 // apply filter
smorioka 0:f31ceb6058cb 143 tmr.reset();
smorioka 0:f31ceb6058cb 144 tmr.start(); // timer
smorioka 0:f31ceb6058cb 145 {
smorioka 0:f31ceb6058cb 146 int kernel_size = 3;
smorioka 0:f31ceb6058cb 147 int kernel_dotnum = kernel_size * kernel_size;
smorioka 0:f31ceb6058cb 148 int kernel_halfsize = (kernel_size - 1) / 2;
smorioka 0:f31ceb6058cb 149
smorioka 0:f31ceb6058cb 150 // calc average value
smorioka 0:f31ceb6058cb 151 for (int y = 0; y < SIZEY; y++) {
smorioka 0:f31ceb6058cb 152 int r_new, g_new, b_new;
smorioka 0:f31ceb6058cb 153
smorioka 0:f31ceb6058cb 154 // scan
smorioka 0:f31ceb6058cb 155 for (int x = 0; x < SIZEX; x++) {
smorioka 0:f31ceb6058cb 156 int r, g, b;
smorioka 0:f31ceb6058cb 157
smorioka 0:f31ceb6058cb 158 int acc_r = 0;
smorioka 0:f31ceb6058cb 159 int acc_g = 0;
smorioka 0:f31ceb6058cb 160 int acc_b = 0;
smorioka 0:f31ceb6058cb 161
smorioka 0:f31ceb6058cb 162 for (int ky = 0; ky < kernel_size; ky++) {
smorioka 0:f31ceb6058cb 163 int ypos = y - kernel_halfsize + ky;
smorioka 0:f31ceb6058cb 164
smorioka 0:f31ceb6058cb 165 if (ypos < 0 || ypos >= SIZEY)
smorioka 0:f31ceb6058cb 166 continue;
smorioka 0:f31ceb6058cb 167
smorioka 0:f31ceb6058cb 168 for (int kx = 0; kx < kernel_size; kx++) {
smorioka 0:f31ceb6058cb 169 int xpos = x - kernel_halfsize + kx;
smorioka 0:f31ceb6058cb 170
smorioka 0:f31ceb6058cb 171 if (xpos < 0 || xpos >= SIZEX)
smorioka 0:f31ceb6058cb 172 continue;
smorioka 0:f31ceb6058cb 173
smorioka 0:f31ceb6058cb 174 b = image_buf_g[(ypos * SIZEX + xpos) * 3];
smorioka 0:f31ceb6058cb 175 g = image_buf_g[(ypos * SIZEX + xpos) * 3 + 1];
smorioka 0:f31ceb6058cb 176 r = image_buf_g[(ypos * SIZEX + xpos) * 3 + 2];
smorioka 0:f31ceb6058cb 177
smorioka 0:f31ceb6058cb 178 acc_r += r;
smorioka 0:f31ceb6058cb 179 acc_g += g;
smorioka 0:f31ceb6058cb 180 acc_b += b;
smorioka 0:f31ceb6058cb 181 }
smorioka 0:f31ceb6058cb 182 }
smorioka 0:f31ceb6058cb 183
smorioka 0:f31ceb6058cb 184 r_new = (unsigned char)(acc_r / kernel_dotnum);
smorioka 0:f31ceb6058cb 185 g_new = (unsigned char)(acc_g / kernel_dotnum);
smorioka 0:f31ceb6058cb 186 b_new = (unsigned char)(acc_b / kernel_dotnum);
smorioka 0:f31ceb6058cb 187
smorioka 0:f31ceb6058cb 188 image_buf_g[(y * SIZEX + x) * 3] = b_new;
smorioka 0:f31ceb6058cb 189 image_buf_g[(y * SIZEX + x) * 3 + 1] = g_new;
smorioka 0:f31ceb6058cb 190 image_buf_g[(y * SIZEX + x) * 3 + 2] = r_new;
smorioka 0:f31ceb6058cb 191 }
smorioka 0:f31ceb6058cb 192 }
smorioka 0:f31ceb6058cb 193 }
smorioka 0:f31ceb6058cb 194 tmr.stop(); // timer
smorioka 0:f31ceb6058cb 195 lcd.locate(0, 1);
smorioka 0:f31ceb6058cb 196 lcd.printf("flt %dms", tmr.read_ms());
smorioka 0:f31ceb6058cb 197
smorioka 0:f31ceb6058cb 198 ////////////////////////////////////////
smorioka 0:f31ceb6058cb 199 // save BMP
smorioka 0:f31ceb6058cb 200 tmr.reset();
smorioka 0:f31ceb6058cb 201 tmr.start(); // timer
smorioka 0:f31ceb6058cb 202
smorioka 0:f31ceb6058cb 203 save_bmp();
smorioka 0:f31ceb6058cb 204
smorioka 0:f31ceb6058cb 205 tmr.stop(); // timer
smorioka 0:f31ceb6058cb 206 // lcd.locate(0, 1);
smorioka 0:f31ceb6058cb 207 // lcd.printf("bmp %dms", tmr.read_ms());
smorioka 0:f31ceb6058cb 208
smorioka 0:f31ceb6058cb 209 //////////////////////////////////////////////////
smorioka 0:f31ceb6058cb 210 // (stop)
smorioka 0:f31ceb6058cb 211 while (1) {
smorioka 0:f31ceb6058cb 212 led1 = 1;
smorioka 0:f31ceb6058cb 213 wait_ms(100);
smorioka 0:f31ceb6058cb 214 }
smorioka 0:f31ceb6058cb 215 }
smorioka 0:f31ceb6058cb 216
smorioka 0:f31ceb6058cb 217
smorioka 0:f31ceb6058cb 218 void save_bmp(void)
smorioka 0:f31ceb6058cb 219 {
smorioka 0:f31ceb6058cb 220 FILE *fp_bmp;
smorioka 0:f31ceb6058cb 221 unsigned char sort[3];
smorioka 0:f31ceb6058cb 222 unsigned int buf_ptr = 0;
smorioka 0:f31ceb6058cb 223
smorioka 0:f31ceb6058cb 224 led3 = 1;
smorioka 0:f31ceb6058cb 225
smorioka 0:f31ceb6058cb 226 fp_bmp = fopen("/sd/cam.bmp", "wb");
smorioka 0:f31ceb6058cb 227
smorioka 0:f31ceb6058cb 228 /////////////////////////
smorioka 0:f31ceb6058cb 229 // file header
smorioka 0:f31ceb6058cb 230 /////////////////////////
smorioka 0:f31ceb6058cb 231 fprintf(fp_bmp, "BM");
smorioka 0:f31ceb6058cb 232 int val = 14 + 40 + SIZEX * SIZEY * 3; // file size
smorioka 0:f31ceb6058cb 233 fprintf(fp_bmp, "%c%c%c%c", val % 0x100, val / 0x100, val / 0x10000, val / 0x1000000);
smorioka 0:f31ceb6058cb 234 fprintf(fp_bmp, "%c%c%c%c%c%c%c%c", 0, 0, 0, 0, 0x36, 0, 0, 0);
smorioka 0:f31ceb6058cb 235
smorioka 0:f31ceb6058cb 236 /////////////////////////
smorioka 0:f31ceb6058cb 237 // information header
smorioka 0:f31ceb6058cb 238 /////////////////////////
smorioka 0:f31ceb6058cb 239 fprintf(fp_bmp, "%c%c%c%c", 0x28, 0, 0, 0); // header size
smorioka 0:f31ceb6058cb 240 fprintf(fp_bmp, "%c%c%c%c", SIZEX % 0x100, SIZEX / 0x100, SIZEX / 0x10000, SIZEX / 0x1000000);
smorioka 0:f31ceb6058cb 241 fprintf(fp_bmp, "%c%c%c%c", SIZEY % 0x100, SIZEY / 0x100, SIZEY / 0x10000, SIZEY / 0x1000000);
smorioka 0:f31ceb6058cb 242 fprintf(fp_bmp, "%c%c", 1, 0); // # of plane
smorioka 0:f31ceb6058cb 243 fprintf(fp_bmp, "%c%c", 24, 0); // bit count
smorioka 0:f31ceb6058cb 244 fprintf(fp_bmp, "%c%c%c%c", 0, 0, 0, 0); // compression
smorioka 0:f31ceb6058cb 245 val = SIZEX * SIZEY * 3; // data size
smorioka 0:f31ceb6058cb 246 fprintf(fp_bmp, "%c%c%c%c", val % 0x100, val / 0x100, val / 0x10000, val / 0x1000000);
smorioka 0:f31ceb6058cb 247 fprintf(fp_bmp, "%c%c%c%c", 0, 0, 0, 0);
smorioka 0:f31ceb6058cb 248 fprintf(fp_bmp, "%c%c%c%c", 0, 0, 0, 0);
smorioka 0:f31ceb6058cb 249 fprintf(fp_bmp, "%c%c%c%c", 0, 0, 0, 0);
smorioka 0:f31ceb6058cb 250 fprintf(fp_bmp, "%c%c%c%c", 0, 0, 0, 0);
smorioka 0:f31ceb6058cb 251
smorioka 0:f31ceb6058cb 252 for (int y = 0;y < SIZEY;y++) {
smorioka 0:f31ceb6058cb 253 for (int x = 0;x < SIZEX;x++) {
smorioka 0:f31ceb6058cb 254 sort[0] = image_buf_g[buf_ptr++];
smorioka 0:f31ceb6058cb 255 sort[1] = image_buf_g[buf_ptr++];
smorioka 0:f31ceb6058cb 256 sort[2] = image_buf_g[buf_ptr++];
smorioka 0:f31ceb6058cb 257
smorioka 0:f31ceb6058cb 258 fprintf(fp_bmp, "%c%c%c", sort[2], sort[1], sort[0]); // B,G,R
smorioka 0:f31ceb6058cb 259 }
smorioka 0:f31ceb6058cb 260 }
smorioka 0:f31ceb6058cb 261
smorioka 0:f31ceb6058cb 262 fclose(fp_bmp);
smorioka 0:f31ceb6058cb 263
smorioka 0:f31ceb6058cb 264 led3 = 0;
smorioka 0:f31ceb6058cb 265 }
smorioka 0:f31ceb6058cb 266
smorioka 0:f31ceb6058cb 267 //void cam_cap(Arguments* input, Reply* output)
smorioka 0:f31ceb6058cb 268 void cam_cap(void)
smorioka 0:f31ceb6058cb 269 {
smorioka 0:f31ceb6058cb 270 unsigned int d1, d2;
smorioka 0:f31ceb6058cb 271 unsigned char sort[3];
smorioka 0:f31ceb6058cb 272 unsigned int buf_ptr = 0;
smorioka 0:f31ceb6058cb 273
smorioka 0:f31ceb6058cb 274 led2 = 1;
smorioka 0:f31ceb6058cb 275
smorioka 0:f31ceb6058cb 276 camera.CaptureNext(); // sample start!
smorioka 0:f31ceb6058cb 277
smorioka 0:f31ceb6058cb 278 while(camera.CaptureDone() == false)
smorioka 0:f31ceb6058cb 279 ;
smorioka 0:f31ceb6058cb 280
smorioka 0:f31ceb6058cb 281 camera.ReadStart(); // reset pointer
smorioka 0:f31ceb6058cb 282
smorioka 0:f31ceb6058cb 283 for (int y = 0;y < SIZEY;y++) {
smorioka 0:f31ceb6058cb 284 for (int x = 0;x < SIZEX;x++) {
smorioka 0:f31ceb6058cb 285 d1 = camera.ReadOneByte() ; // upper nibble is XXX , lower nibble is B
smorioka 0:f31ceb6058cb 286 d2 = camera.ReadOneByte() ; // upper nibble is G , lower nibble is R
smorioka 0:f31ceb6058cb 287
smorioka 0:f31ceb6058cb 288 // RGB565 to RGB888
smorioka 0:f31ceb6058cb 289 sort[0] = ((d1 & 0xF8) >> 3) << 3; // R
smorioka 0:f31ceb6058cb 290 sort[1] = ( ((d1 & 0x07) << 3) + ((d2 & 0xE0) >> 5) ) << 2; // G
smorioka 0:f31ceb6058cb 291 sort[2] = (d2 & 0x1F) << 3; // B
smorioka 0:f31ceb6058cb 292
smorioka 0:f31ceb6058cb 293 image_buf_g[buf_ptr++] = sort[2];
smorioka 0:f31ceb6058cb 294 image_buf_g[buf_ptr++] = sort[1];
smorioka 0:f31ceb6058cb 295 image_buf_g[buf_ptr++] = sort[0];
smorioka 0:f31ceb6058cb 296 }
smorioka 0:f31ceb6058cb 297 }
smorioka 0:f31ceb6058cb 298
smorioka 0:f31ceb6058cb 299 camera.ReadStop();
smorioka 0:f31ceb6058cb 300
smorioka 0:f31ceb6058cb 301 led2 = 0;
smorioka 0:f31ceb6058cb 302 }
smorioka 0:f31ceb6058cb 303
smorioka 0:f31ceb6058cb 304 // end of file