int main(int argc, char *argv[]) {
clock_init();
led_init();
uart_init();
//interrupt_init();
led_display(64);
fprintf(stream_board, "Welcome to camera test.\n\n");
camera_reset();
fprintf(stream_board, "Camera has reset.\n\n");
//camera_set_baudrate(9600);
//uart_set_baudrate(stream_cam, 9600);
camera_snap();
fprintf(stream_board, "Camera has snapped.\n\n");
uint16_t filesize = camera_get_filesize();
fprintf(stream_cam, "finished, filesize is %d\n", filesize);
/* Get a block */
camera_get_block(0, 16);
camera_stop_image();
while (1) {
fprintf(stream_board, "HELLO\n");
_delay_ms(3000);
}
return 0;
}
static void mipi_camera_io_init(void)
{
pr_info("%s\n", __func__);
camera_reset(GP_CAMERA_RESET);
/* for mx6dl, mipi virtual channel 1 connect to csi 1*/
if (cpu_is_mx6dl())
mxc_iomux_set_gpr_register(13, 3, 3, 1);
}
static void adv7180_io_init(void)
{
camera_reset(IMX_GPIO_NR(3, 13), 0, IMX_GPIO_NR(3, 14), -1);
if (cpu_is_mx6q())
mxc_iomux_set_gpr_register(1, 20, 1, 1);
else
mxc_iomux_set_gpr_register(13, 3, 3, 4);
}
float CameraTool::find_view ( const SGR::vec3f& minvec, const SGR::vec3f& maxvec, float percentOfView )
{
// translate
SGR::vec3f center = ( minvec + maxvec ) / 2.0f;
// scale
float s = calcScale ( minvec, maxvec );
if ( s != 0 )
{
_currentScale = percentOfView / s;
camera_reset ( _pview->camid() );
camera_translate ( _pview->camid(), center.x(), center.y(), center.z() );
camera_scale ( _pview->camid(), _currentScale );
_currentTranslate.xyz ( center.x(), center.y(), center.z() );
}
return _currentScale;
}
static void ov5640_mipi_camera_io_init(void)
{
IOMUX_SETUP(mipi_pads);
pr_info("%s\n", __func__);
mipi_pwm = pwm_request(2, "mipi_clock");
if (IS_ERR(mipi_pwm)) {
pr_err("unable to request PWM for mipi_clock\n");
} else {
unsigned period = 1000/22;
pr_info("got pwm for mipi_clock\n");
pwm_config(mipi_pwm, period >> 1, period);
pwm_enable(mipi_pwm);
}
camera_reset(IMX_GPIO_NR(6, 9), 1, IMX_GPIO_NR(2, 5), IMX_GPIO_NR(6, 11));
/* for mx6dl, mipi virtual channel 1 connect to csi 1*/
if (cpu_is_mx6dl())
mxc_iomux_set_gpr_register(13, 3, 3, 1);
}
/*
* GPIO_6 GPIO[1]:6 (ov5642) - J5 - CSI0 power down
* GPIO_8 GPIO[1]:8 (ov5642) - J5 - CSI0 reset
* NANDF_CS0 GPIO[6]:11 (ov5642) - J5 - reset
* SD1_DAT0 GPIO[1]:16 (ov5642) - J5 - GP
*/
static void ov5642_io_init(void)
{
IOMUX_SETUP(csi0_sensor_pads);
camera_reset(GP_CSI0_PWN, 1, GP_CSI0_RST, IMX_GPIO_NR(6, 11));
/* For MX6Q GPR1 bit19 and bit20 meaning:
* Bit19: 0 - Enable mipi to IPU1 CSI0
* virtual channel is fixed to 0
* 1 - Enable parallel interface to IPU1 CSI0
* Bit20: 0 - Enable mipi to IPU2 CSI1
* virtual channel is fixed to 3
* 1 - Enable parallel interface to IPU2 CSI1
* IPU1 CSI1 directly connect to mipi csi2,
* virtual channel is fixed to 1
* IPU2 CSI0 directly connect to mipi csi2,
* virtual channel is fixed to 2
*/
if (cpu_is_mx6q())
mxc_iomux_set_gpr_register(1, 19, 1, 1);
else
mxc_iomux_set_gpr_register(13, 0, 3, 4);
}
void scene_reset(void)
{
camera_reset(scene.camera);
}
void myfunc() {
int num_rows,k, l;
double orient,delta_orient,rot_speed,t_rot,t_trans;
double x0,y0,x,y,dx,dy;
float distance,distance1,lala;
double PI=3.14159265;
x0=0;
y0=0;
double orient0;
orient0=0; // starting conditions still have to be properly intialized
double D = 0.094; /*distance between wheels, has to be measured*/
char ch;
const float tol = 1.0e-7; // 7 significant figures
float xold, xnew; // local variables
int test;
/*Read in coords, mat[d][0] contains x-coords, mat[d][1] contains y-coords*/
int i=0,j=0;
double mat[100][2];
double z;
// UInt32* pathx;
// UInt32* pathy;
// Here we should store the path-coordinates
//
// while((line=fgets(buffer,sizeof(buffer),fp))!=NULL)
// {
//
// record = strtok(line,","); /*break up string, return first token */
// while(record != NULL)
// {
// printf("record : %s \n",record); //here you can put the record into the array as per your requirement.
// mat[i][j++] = atof(record) ; /*Convert string to double, put in [i,j] then j+1*/
// record = strtok(NULL,",");
// }
// ++i ;
// j=0;
// }
initRTC();
camera_reset(160);
init_uart1(57600);
while(1){
if(getsignal()){
ch = getch();
printf("Character on serial %c 1\r\n", ch );
if(ch == 75)
{return;}
else{
switch (ch) {
case '1':
/*Read in csv-file, mat[d][0] contains distance in m, mat[d][1] contains delta_orientation in degrees */
mat[0][0]=0.61;
mat[0][1]=0;
mat[1][0]=0.58;
mat[1][1]=90;
mat[2][0]=1.00;
mat[2][1]=-45;
mat[3][0]=0.33;
mat[3][1]=-60;
num_rows = 4; // to be determined depends on how weread in givens
k=0;
while(k<=num_rows-1) {
distance=mat[k][0];
delta_orient=mat[k][1];
if(delta_orient>0){
t_rot=1000*(0.010*delta_orient+0.003);
}
else{
if(delta_orient<0){
t_rot=1000*(-0.010*delta_orient+0.003);
}
else t_rot=0;
}
t_trans=1000*(4.8*distance+0.05);
printf("tekst 2 distance: %lf,delta_orient:%lf \n t_rot: %lf t_trans: %lf \n\n",distance*1000,delta_orient,t_rot,t_trans);
if (delta_orient>0){
sendReceive(203,22,202,20);//turn counterclockwise
delay(t_rot);
sendReceive(201,0,202,0);//stop
}
if(delta_orient<0){
sendReceive(201, 22, 204, 20);//turn clockwise
delay(t_rot);
sendReceive(201,0,202,0);//stop
}
sendReceive(201, 23, 202, 20);//drive forward
delay(t_trans);
sendReceive(201, 0, 202, 0);//stop
printf("k: %d",k);
k++;
}
break;
case '5': /* Drive forward */
sendReceive(201, 23, 202, 20);
/* 201: Right motor moves forward
202: Left motor moves forward
Forward= opposite the antenna
*/
break;
case '6': /* Stop */
sendReceive(201, 0, 202, 0);
break;
case '7':
sendReceive(203, 22, 204, 20);
/* 203: Right motor moves backward
204: Left motor moves backward
Backward= antenna - side
*/
break;
case '8': /* Rotate left (counter clockwise) */
sendReceive(203, 22, 202, 20);
/* Rotate: left motor rotates backward; right one forward */
break;
case '9': /* Rotate right (clockwise) */
sendReceive(201,22,204,20);
/* Rotate: left motor rotates forward; right one backward */
break;
case 'a':
printf("Reading path");
l = readNumber();
printf("l = ",l);
followPath(l);
break;
}
}
}
} //end while
} //end myfunc
