sylvain kritter
Tested on Nucleo F411RE Based on OV7670 without FIFO, SCCB protocol rewritten. View on TFT ILI9341, possible capture picture on sd Around 3 frames per second Basic image treatment: zoom, rotation, etc Very basic pattern recognition, pattern being stored on SD, after camera capture, or from .bmp file (rgb 565, 120x160 max)
Dependencies: FastPWM SDFileSystem SPI_TFT_ILI9341 TFT_fonts imagetrlib mbed ov7670s
Revision 0:39c9f3b49f5a, committed 2016-02-16
- Comitter:
- sylvainkritter
- Date:
- Tue Feb 16 14:28:55 2016 +0000
- Child:
- 1:7fbc24ad0958
- Commit message:
- Tested on Nucleo F411RE
; Based on OV7670 without FIFO, SCCB protocol rewritten.
; View on TFT ILI9341, possible capture picture on sd
; Around 3 frames per second
; Basic image treatment: zoom, rotation, etc
; Very basic pattern recognition, pattern bein...
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastPWM.lib Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/Sissors/code/FastPWM/#8b1bf34c72aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/neilt6/code/SDFileSystem/#d10a519c0910
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SPI_TFT_ILI9341.lib Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/dreschpe/code/SPI_TFT_ILI9341/#b2b3e5430f81
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TFT_fonts.lib Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/dreschpe/code/TFT_fonts/#76774250fcec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/global.h Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,6 @@ +#define nl 120 +#define nc 160 +#define nlta 30 +#define ncta 40 +#define nv 5 +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/imagetr/imagetr.h Tue Feb 16 14:28:55 2016 +0000
@@ -0,0 +1,747 @@
+#pragma once
+#include "mbed.h"
+#include "global.h"
+#include "SDFileSystem.h"
+#include "SPI_TFT_ILI9341.h"
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "font_big.h"
+
+const int nc2=nc*2;
+const int nc2ta=ncta*2;
+const int tarray = nc*nl;
+const int tarrayta = ncta*nlta;
+const int tmarrayta = nc2ta*nlta;
+
+extern const int tmarray ;
+extern char desfile[25];
+extern Serial pc;
+extern unsigned char bank[];
+extern unsigned char bankf[];
+extern unsigned char bankt[nl][nc];
+extern unsigned char banktc[nl][nc];
+unsigned char bankta[nlta][ncta][nv];
+unsigned char banktatc[nlta][ncta];
+
+
+
+extern Timer Time;
+extern FILE *fp;
+extern SPI_TFT_ILI9341 TFT;
+
+class imagetr
+{
+public:
+
+ void rgbtoy(void);
+ void rgbtoyta(void);
+ void rgbtoytaed(void);
+ void ytorgb(unsigned char b[nl][nc]);
+ void ytorgbta(unsigned char b[nlta][ncta][nv], int nu,const char des[]);
+ void ytorgbtas(unsigned char b[nlta][ncta][nv], int nu);
+ void extcont(int minc, int maxc);
+ void templatematch(unsigned char t);
+ void getimage(const char nf[]);
+ void extedge(int minc, int maxc, int th);
+ void extedgeta(int minc, int maxc, int th);
+ void affine (int x, int y, float a, float z);
+ void genta (float tx , float ty, float a, float z);
+ void lumi (float z);
+ void avera (void);
+ void extrta(void);
+ void searchpat(int th);
+ int ar(float a);
+ int BMP_tofile(unsigned int x, unsigned int y, const char *Name_BMP);
+
+
+};
+
+imagetr imagetr;
+
+//DigitalOut str(PB_3); // internal strobe for debug
+//DigitalOut str1(PC_8); // internal strobe for debug
+// int nl;
+// int nc;
+
+//extern const int nlta;
+//extern const int ncta;
+
+
+/*
+unsigned char bankt[nl][nc];
+unsigned char banktc[nl][nc];
+unsigned char bankta[nlta][ncta][nv];
+unsigned char banktatc[nlta][ncta];
+*/
+void imagetr::getimage( const char nf[])
+{
+ fp = fopen(nf, "r");
+ pc.printf("get %s\r\n", nf);
+ for (int i=0; i<tmarray; i++) {
+
+ bank[i] =fgetc(fp);
+ }
+ fclose(fp);
+}
+
+void imagetr::avera()
+{
+ int i,j,k,l, av;
+ for (i=1; i<nl-1; i=i+1) {
+ for (j=1; j<nc-1; j=j+1) {
+ av=0;
+ for (k=0; k<3; k++) {
+ for (l=0; l<3; l++) {
+ av=av+banktc[i-1+k][j-1+l];
+ }
+ }
+ banktc[i][j]=av/9;
+ }
+ }
+}
+
+
+void imagetr::extrta()
+{
+ for (int i=120-nlta; i<120; i++) {
+ for (int j=0; j<ncta; j++) {
+ bankta[i-120+nlta][j][0]=banktc[i][j];
+ }
+ }
+}
+int imagetr::ar(float a)
+{
+ int ai;
+ ai=a;
+ if (a-ai >=0.5f) {
+ return a+1;
+ } else {
+ return a;
+ }
+}
+
+void imagetr::affine (int x, int y, float a, float z)
+{
+ float cosa, sina, tif, tjf, dx, dy ;
+ int ti,tj,i,j, tm1i, tm1j, til, tih, tjl, tjh;
+ cosa=cos(a);
+ sina=sin(a);
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ banktc[i][j]=25;
+ }
+ }
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+
+ dx=i-61;
+ dy=j-80;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+ tm1i =ti;
+ if (tm1i<0) {
+ tm1i=0;
+ }
+ if (tm1i>nl-1) {
+ tm1i=nl-1;
+ }
+
+ dx=i-60;
+ dy=j-81;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+ tm1j =tj;
+ if (tm1j<0) {
+ tm1j=0;
+ }
+ if (tm1j>=nc) {
+ tm1j=nc-1;
+ }
+
+ dx=i-60;
+ dy=j-80;
+ tif=dx*cosa - dy*sina + 60;
+ tjf=dx*sina + dy*cosa + 80;
+ tif=tif-x;
+ tjf=tjf-y;
+ ti=ar((tif-60) * z + 60);
+ tj=ar((tjf-80) * z + 80 );
+
+ if((ti>=0) && (tj >=0) && (ti <nl) && (tj < nc)) {
+ banktc[ti][tj]=bankt[i][j];
+ if (ti> tm1i) {
+ til = tm1i;
+ tih = ti;
+ } else {
+ til =ti;
+ tih = tm1i;
+ }
+
+ if (tj> tm1j) {
+ tjl = tm1j;
+ tjh = tj;
+ } else {
+ tjl =tj;
+ tjh = tm1j;
+ }
+ for (int k = til; k<tih+1; k++) {
+ for (int l = tjl; l<tjh+1; l++) {
+ banktc[k][l]=bankt[i][j];
+ }
+ }
+ }
+ }
+
+ }
+}
+void imagetr::genta (float tx, float ty, float a, float z)
+{
+ // generate multiple ta
+ float cosa, sina, tif, tjf, dx, dy ;
+ int ti,tj,i,j, tm1i, tm1j, til, tih, tjl, tjh;
+ cosa=cos(a);
+ sina=sin(a);
+ int nlta2=nlta/2;
+ int ncta2=ncta/2;
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+ banktatc[i][j]=25;
+ }
+ }
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+
+ dx=(i-nlta2-1)*tx;
+ dy=(j-ncta2)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+ tm1i =ti;
+ if (tm1i<0) {
+ tm1i=0;
+ }
+ if (tm1i>nlta-1) {
+ tm1i=nlta-1;
+ }
+ dx=(i-nlta2)*tx;
+ dy=(j-ncta2-1)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+ tm1j =tj;
+ if (tm1j<0) {
+ tm1j=0;
+ }
+ if (tm1j>=ncta) {
+ tm1j=ncta-1;
+ }
+
+ dx=(i-nlta2)*tx;
+ dy=(j-ncta2)*ty;
+ tif=dx*cosa - dy*sina + nlta2;
+ tjf=dx*sina + dy*cosa + ncta2;
+ ti=ar((tif-nlta2) * z + nlta2);
+ tj=ar((tjf-ncta2) * z + ncta2 );
+
+ if((ti>=0) && (tj >=0) && (ti <nlta) && (tj < ncta)) {
+ banktatc[ti][tj]=bankta[i][j][0];
+ if (ti> tm1i) {
+ til = tm1i;
+ tih = ti;
+ } else {
+ til =ti;
+ tih = tm1i;
+ }
+
+ if (tj> tm1j) {
+ tjl = tm1j;
+ tjh = tj;
+ } else {
+ tjl =tj;
+ tjh = tm1j;
+ }
+ for (int k = til; k<tih+1; k++) {
+ for (int l = tjl; l<tjh+1; l++) {
+ banktatc[k][l]=bankta[i][j][0];
+ }
+ }
+ }
+ }
+
+ }
+
+}
+void imagetr::lumi (float z)
+{
+ int i,j;
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ banktc[i][j]=banktc[i][j]*z;
+ }
+ }
+}
+
+void imagetr::rgbtoy(void)
+{
+ //transform bank in Y in table bankt
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarray; i=i+2) {
+
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ //pc.printf("i:%d\r\n",i);
+ bankt[i/nc2][(i/2)%nc]=Y;
+ }
+}
+void imagetr::rgbtoyta(void)
+{
+ //transform bank in Y in table bankta, create muliple view
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarrayta; i=i+2) {
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ bankta[i/nc2ta][(i/2)%ncta][0]=Y;
+ }
+
+
+ genta (1, 1, 0.17, 1); // 10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][1]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, -0.17, 1); // -10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][2]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 0.8); // zoom 0.8
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][3]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 1.20); // zoom 1.2
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][4]= banktatc[i][j];
+ }
+ }/*
+ genta (0.9, 1, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ // pc.printf("i %d, j %d b %02x\r\n", i, j, bankta[i][j][0]);
+ bankta[i][j][5]= banktatc[i][j];
+ }
+ }
+ //pc.printf("ty\r\n");
+ genta (1, 0.9, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][6]= banktatc[i][j];
+ }
+ }*/
+}
+
+
+void imagetr::rgbtoytaed(void)
+{
+ //transform bank in Y in table bankta, create muliple view
+ int R,G,G1,B,Y;
+ for (int i=0; i<tmarrayta; i=i+2) {
+ R=(bank[i+1]>>3);
+ G=(bank[i+1]&0x07)<<3;
+
+ G1=bank[i]>>5;
+ G= G|G1;
+ B=bank[i]&0x1f;
+
+ Y=ar(0.299f*R+0.587f*G+0.114f*B);
+ bankta[i/nc2ta][(i/2)%ncta][0]=Y;
+ }
+
+ extedgeta(0,0,2);
+
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][0]= banktatc[i][j];
+ }
+ }
+
+ genta (1, 1, 0.17, 1); // 10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][1]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, -0.17, 1); // -10 deg
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][2]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 0.8); // zoom 0.8
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][3]= banktatc[i][j];
+ }
+ }
+ genta (1, 1, 0, 1.20); // zoom 1.2
+ for (int i=0; i<nlta; i++) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][4]= banktatc[i][j];
+ }
+ }/*
+ genta (0.9, 1, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ // pc.printf("i %d, j %d b %02x\r\n", i, j, bankta[i][j][0]);
+ bankta[i][j][5]= banktatc[i][j];
+ }
+ }
+ //pc.printf("ty\r\n");
+ genta (1, 0.9, 0, 1);
+ for (int i=0; i<nlta; i=i+1) {
+ for (int j=0; j<ncta; j=j+1) {
+ bankta[i][j][6]= banktatc[i][j];
+ }
+ }*/
+}
+
+
+
+
+void imagetr::ytorgb(unsigned char b[nl][nc])
+{
+ //populate bank with table b
+ int R,G,G1,B,Y;
+ for (int i=0; i<tarray; i=i+1) {
+
+ Y=b[i/nc][i%nc];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ }
+}
+
+void imagetr::ytorgbta(unsigned char b[nlta][ncta][nv], int nu,const char des[])
+{
+ //p0pulate bankf with table b special target, write targetf.txt
+ int R,G,G1,B,Y;
+ fp = fopen(des, "w");
+ for (int j=0; j<tmarray; j++) {
+ bank[j]=25;
+ }
+ for (int i=0; i<tarrayta; i=i+1) {
+
+ Y=b[i/ncta][i%ncta][nu];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ fputc(bank[2*i], fp);
+ fputc(bank[2*i+1], fp);
+
+ }
+ fclose(fp);
+}
+void imagetr::ytorgbtas(unsigned char b[nlta][ncta][nv], int nu)
+{
+ //p0pulate bank with table b special target, without write targetfile
+ int R,G,G1,B,Y;
+
+ for (int j=0; j<tmarray; j++) {
+ bank[j]=25;
+ }
+ for (int i=0; i<tarrayta; i=i+1) {
+
+ Y=b[i/ncta][i%ncta][nu];
+ // Y=Y*yco;
+ R=Y*0.71;
+ if (R>31) {
+ R=31;
+ }
+ G=Y*1.45;
+ if (G>63) {
+ G=63;
+ }
+ B=R;
+ G1=G>>3;
+ bank[2*i+1]=R<<3|G1;
+ bank[2*i]=G<<5|B;
+ }
+}
+
+void imagetr::extcont(int minc, int maxc)
+{
+ // contrast expand
+ int Y;
+ for (int i=0; i<tarray; i=i+1) {
+
+ Y=bankt[i/nc][i%nc];
+ if (Y<=minc) {
+ Y=0;
+ }
+ if (Y>=maxc) {
+ Y=50;
+ }
+ banktc[i/nc][i%nc]=Y;
+ }
+}
+void imagetr::extedge(int minc, int maxc, int th)
+{
+ //edge extract
+ int Y,YG,YH,i,j;
+ int M=0;
+ for (i=0; i<nl; i++) {
+ for (j=0; j<nc; j++) {
+ M=M+bankt[i][j];
+
+ }
+ }
+ M=M/tarray;
+ // if (M>maxc ||M<minc) {
+ // th=1;
+ // } else {
+ // th=4;
+ // }
+ // th=6*M/minc;
+ // pc.printf( "M: %d th %d: minc: %d maxc; %d \r\n",M,th, minc, maxc);
+ for (i=1; i<nl; i++) {
+ for (j=1; j<nc; j++) {
+ Y=bankt[i][j];
+ YG=bankt[i][j-1];
+ YH=bankt[i-1][j];
+ if (abs(Y-YG) >th||abs(Y-YH) >th) {
+ Y=50;
+ } else {
+ Y=0;
+ }
+ banktc[i][j]=Y;
+ }
+ }
+}
+void imagetr::extedgeta(int minc, int maxc, int th)
+{
+ //edge extract
+ int Y,YG,YH,i,j;
+ int M=0;
+ for (i=0; i<nlta; i++) {
+ for (j=0; j<ncta; j++) {
+ M=M+bankta[i][j][0];
+
+ }
+ }
+ M=M/tarray;
+ // if (M>maxc ||M<minc) {
+ // th=1;
+ // } else {
+ // th=4;
+ // }
+ // th=6*M/minc;
+ // pc.printf( "M: %d th %d: minc: %d maxc; %d \r\n",M,th, minc, maxc);
+ for (i=1; i<nlta; i++) {
+ for (j=1; j<ncta; j++) {
+ Y=bankta[i][j][0];
+ YG=bankta[i][j-1][0];
+ YH=bankta[i-1][j][0];
+ if (abs(Y-YG) >th||abs(Y-YH) >th) {
+ Y=50;
+ } else {
+ Y=0;
+ }
+ banktatc[i][j]=Y;
+ }
+ }
+}
+
+
+void imagetr::searchpat(int th)
+{
+ int i,j,k, l, maxi, maxj;
+ int car, tt,n0,n;
+ int max ;
+ max =th;
+ n0=0;
+ Time.start();
+ for (n=0; n<=nv; n++) {
+ for (i =0 ; i < nl-nlta; i++) {
+ for (j=0; j<nc-ncta; j++) {
+ tt=0;
+ for (k=0; k<nlta; k++) {
+ for (l=0; l<ncta; l++) {
+ car= bankta[k][l][n]-banktc[i+k][j+l];
+ tt=tt+car*car;
+ if (tt>th) {
+ k =nlta;
+ l=ncta;
+ }
+ }
+ }
+ max=tt;
+ // pc.printf("1 n: %d max: %d time: %f \r\n",n0,max, Time.read());
+
+ if (max<th) {
+ maxi=i;
+ maxj=j;
+ n0=n;
+ i=nl;
+ j=nc;
+ n=nv;
+ // pc.printf("2 line: %d, column: %d, n: %d max: %d time: %f \r\n",maxi,maxj,n0,max, Time.read());
+ }
+ }
+ }
+ }
+ Time.stop();
+ TFT.Bitmap(160,120,160,120,bank);
+ if (tt<th) {
+ pc.printf("line: %d, column: %d, n: %d max: %d time: %f \r\n",maxi,maxj,n0,max, Time.read());
+ TFT.locate(160,20);
+ printf("Pat found %3.2f s",Time.read());
+ TFT.locate(160+maxj+(ncta/2),240-maxi-(nlta/2));
+ printf("X");
+ TFT.rect(160+maxj,240-maxi-nlta,160+maxj+ncta,240-maxi,Red);
+ } else {
+ TFT.locate(160,20);
+ printf("Not found %3.2f s",Time.read());
+ pc.printf("not found time: %4f n:%d max: %d \r\n",Time.read(), n0,max);
+ }
+ Time.reset();
+}
+
+int imagetr::BMP_tofile(unsigned int x, unsigned int y, const char *Name_BMP)
+{
+
+#define OffsetPixelWidth 18
+#define OffsetPixelHeigh 22
+#define OffsetFileSize 34
+#define OffsetPixData 10
+#define OffsetBPP 28
+
+ char filename[50];
+ unsigned char BMP_Header[54];
+ unsigned short BPP_t;
+ unsigned int PixelWidth,PixelHeigh,start_data;
+ unsigned int i,off;
+ int padd,j;
+ unsigned short *line;
+
+ // get the filename
+ i=0;
+ while (*Name_BMP!='\0') {
+ filename[i++]=*Name_BMP++;
+ }
+ filename[i] = 0;
+
+ FILE *Image = fopen((const char *)&filename[0], "rb"); // open the bmp file
+ if (!Image) {
+ return(0); // error file not found !
+ }
+
+ fread(&BMP_Header[0],1,54,Image); // get the BMP Header
+
+ if (BMP_Header[0] != 0x42 || BMP_Header[1] != 0x4D) { // check magic byte
+ fclose(Image);
+ return(-1); // error no BMP file
+ }
+
+ BPP_t = BMP_Header[OffsetBPP] + (BMP_Header[OffsetBPP + 1] << 8);
+ if (BPP_t != 0x0010) {
+ fclose(Image);
+ return(-2); // error no 16 bit BMP
+ }
+
+ PixelHeigh = BMP_Header[OffsetPixelHeigh] + (BMP_Header[OffsetPixelHeigh + 1] << 8) + (BMP_Header[OffsetPixelHeigh + 2] << 16) + (BMP_Header[OffsetPixelHeigh + 3] << 24);
+ PixelWidth = BMP_Header[OffsetPixelWidth] + (BMP_Header[OffsetPixelWidth + 1] << 8) + (BMP_Header[OffsetPixelWidth + 2] << 16) + (BMP_Header[OffsetPixelWidth + 3] << 24);
+ if (PixelHeigh > TFT.height() + y || PixelWidth > TFT.width() + x) {
+ fclose(Image);
+ return(-3); // to big
+ }
+
+ start_data = BMP_Header[OffsetPixData] + (BMP_Header[OffsetPixData + 1] << 8) + (BMP_Header[OffsetPixData + 2] << 16) + (BMP_Header[OffsetPixData + 3] << 24);
+
+ line = (unsigned short *) malloc (2 * PixelWidth); // we need a buffer for a line
+ if (line == NULL) {
+ return(-4); // error no memory
+ }
+
+ // the bmp lines are padded to multiple of 4 bytes
+ padd = -1;
+ do {
+ padd ++;
+ } while ((PixelWidth * 2 + padd)%4 != 0);
+
+ // GraphicsDisplay.window(x, y,PixelWidth ,PixelHeigh);
+ //GraphicsDisplay.wr_cmd(0x2C); // send pixel
+ //GraphicsDisplay.spi_16(1);
+ int compt=38400;
+ unsigned char c,c1;
+ for (j = PixelHeigh - 1; j >= 0; j--) { //Lines bottom up
+ off = j * (PixelWidth * 2 + padd) + start_data; // start of line
+ fseek(Image, off ,SEEK_SET);
+ fread(line,1,PixelWidth * 2,Image); // read a line - slow
+ // for (i = 0; i < PixelWidth; i++) { // copy pixel data to TFT
+ for (int i = PixelWidth-1; i >=0; i--) { // copy pixel data to TFT
+ compt = compt -1;
+ c=line[i]&0x00FF;
+ c1=line[i]>>8;
+ bank[compt] =c1 ;
+ compt = compt -1;
+ bank[compt] =c; // one 16 bit pixel
+ }
+ }
+ //spi_bsy();
+ //_cs = 1;
+ //spi_16(0);
+ free (line);
+ fclose(Image);
+ //WindowMax();
+ return(1);
+}
+
+
+
--- /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();
+ }
+}
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6f327212ef96 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ov7670s.lib Tue Feb 16 14:28:55 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/sylvainkritter/code/ov7670s/#2530e24fafa1