void Download(char *commandline, blobStatus *status)
{
u32 startAddress = 0;
int bufLen;
int *numRead = 0;
if(MyStrNCmp(commandline, "kernel", 6) == 0) {
/* download kernel */
startAddress = KERNEL_RAM_BASE;
bufLen = status->blockSize - KERNEL_BLOCK_OFFSET;
numRead = &status->kernelSize;
status->kernelType = fromDownload;
} else if(MyStrNCmp(commandline, "ramdisk", 7) == 0) {
/* download ramdisk */
startAddress = RAMDISK_RAM_BASE;
bufLen = status->blockSize - RAMDISK_BLOCK_OFFSET;
numRead = &status->ramdiskSize;
status->ramdiskType = fromDownload;
} else {
SerialOutputString("*** Don't know how to download \"");
SerialOutputString(commandline);
SerialOutputString("\"\r");
return;
}
SerialOutputString("Switching to ");
PrintSerialSpeed(status->downloadSpeed);
SerialOutputString(" baud\r");
SerialOutputString("You have 60 seconds to switch your terminal emulator to the same speed and\r");
SerialOutputString("start downloading. After that " PACKAGE " will switch back to 9600 baud.\r");
SerialInit(status->downloadSpeed);
*numRead = UUDecode((char *)startAddress, bufLen);
SerialOutputString("\r(Please switch your terminal emulator back to 9600 baud)\r");
if(*numRead < 0) {
/* something went wrong */
SerialOutputString("*** Uudecode receive failed\r");
/* reload the correct memory */
Reload(commandline, status);
SerialInit(baud9k6);
return;
}
SerialOutputString("Received ");
SerialOutputDec(*numRead);
SerialOutputString(" (0x");
SerialOutputHex(*numRead);
SerialOutputString(") bytes.\r");
SerialInit(baud9k6);
}
/**
* Initializes the UARTS.
* @return The return value of SerialInit().
*/
int UARTInit(void){
char* env_ptr;
int uart_selection = 0;
unsigned int uarts[1] = { PHYSICAL_UART0 };
return SerialInit(uarts, 1);
}
void main()
{
uchar len,i;
uchar xdata Tvalue[6],Hvalue[6];
SerialInit();
LCDInit();
while(1)
{
RH();
SerialPutString(buff);
sprintf(Tvalue,"%2.2f",temperature);
sprintf(Hvalue,"%2.2f%%",humidity);
LCDWriteCom(0x01);//ÇåÆÁ
LCDWriteCom(0x80);
len=strlen(info1);
//дÊý¾Ýµ½LCD1602
for(i=0;i<len;i++)
LCDWriteData(info1[i]);
len=strlen(Tvalue);
for(i=0;i<len;i++)
LCDWriteData(Tvalue[i]);
LCDWriteData((uchar)223);
LCDWriteData('C');
LCDWriteCom(0x80+0x43);
len=strlen(info2);
for(i=0;i<len;i++)
LCDWriteData(info2[i]);
len=strlen(Hvalue);
for(i=0;i<len;i++)
LCDWriteData(Hvalue[i]);
//
Delay(10000);
}
}
void SerialReInit(HANDLE * hCom, int PortNum, int BaudRate, int dataBit,
int parity, int cts, int rts, int dsr, int dtr)
{
close(*hCom);
*hCom =
SerialInit(PortNum, BaudRate, dataBit, parity, cts, rts, dsr, dtr);
}
int main(int argc, char **argv)
{
int nRet = 0,i;
char buf[SIZE];
if(argc<2)perror("Null Commend");
if( SerialInit() == -1 )
{
perror("SerialInit Error!\n");
return -1;
}
bzero(buf, SIZE);
for(i=0;i<strlen(argv[1]);i++)
{
buf[i]=argv[1][i];
}
buf[i++]='\r';
buf[i++]='\n';
buf[i++]=0;
printf(buf);
write(nFd,buf,i-1);
bzero(buf, SIZE);
nRet = read(nFd, buf, SIZE);
if(0 < nRet)
{
buf[nRet] = 0;
printf("Recv Data: %s\n", buf);
}
if(-1 == nRet)
{
perror("Read Data Error!\n");
}
close(nFd);
return 0;
}
void main()
{
//delay(10000);
SerialInit(); //串口初始化，用以向调试终端发送数据
while(1)
{
SerialPutString("yahoo!!!"); //发送一个测试字符串
}
/*
MMC_Init(); //SD卡初始化
delay(10000);
MMC_get_volume_info(); //获得SD卡相关信息，输出到终端
FAT32_Init(&Init_Arg); //FAT32文件系统初始化，装入参数
Printf("BPB_Sector_No" ,Init_Arg.BPB_Sector_No);
Printf("Total_Size" ,Init_Arg.Total_Size );
Printf("FirstDirClust" ,Init_Arg.FirstDirClust);
Printf("FirstDataSector",Init_Arg.FirstDataSector);
Printf("BytesPerSector" ,Init_Arg.BytesPerSector);
Printf("FATsectors" ,Init_Arg.FATsectors);
Printf("SectorsPerClust",Init_Arg.SectorsPerClust);
Printf("FirstFATSector" ,Init_Arg.FirstFATSector);
Printf("FirstDirSector" ,Init_Arg.FirstDirSector); //以上几个语句用以输出参数值到终端
Printf("FAT32_OpenFile" ,(FAT32_OpenFile("\\TEST.TXT"))->FileSize); //打开根目录下的TEST.TXT文件，并输出文件大小
FAT32_ReadFile(&FileInfo); //读取文件数据，输出到终端
*/
// while(1);
}
//****************************************************************************
//
// This is the main loop that runs the application.
//
//****************************************************************************
int
main(void)
{
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// Pass the USB library our device information, initialize the USB
// controller and connect the device to the bus.
//
g_psCompDevices[0].pvInstance =
USBDHIDMouseCompositeInit(0, (tUSBDHIDMouseDevice *)&g_sMouseDevice);
g_psCompDevices[1].pvInstance =
USBDCDCCompositeInit(0, (tUSBDCDCDevice *)&g_sCDCDevice);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass the device information to the USB library and place the device
// on the bus.
//
USBDCompositeInit(0, &g_sCompDevice, DESCRIPTOR_DATA_SIZE,
g_pucDescriptorData);
//
// Initialize the mouse and serial devices.
//
MouseInit();
SerialInit();
//
// Drop into the main loop.
//
while(1)
{
//
// Allow the main mouse routine to run.
//
MouseMain();
//
// Allow the main serial routine to run.
//
SerialMain();
}
}
void Serial_Begin(unsigned int baudrate)
{
//init buffers and attach events
SerialInit();
//configure registers
USART_Begin(baudrate);
}
void Serial_BeginConfigured(unsigned int baudrate, uint8_t conf)
{
//init buffers and attach events
SerialInit();
//configure registers
USART_BeginConfigured(baudrate, conf);
}
void main()
{
union {
unsigned int32 hours;
unsigned int8 minutes;
unsigned int8 seconds;} upTime;
TICK_TYPE CurrentTick,PreviousUDPTick,PreviousSATick;
resetStatus = (RCON & 0b00111111) | !(STKPTR & 0b11000000); // Get the Reset Status
RCON = RCON | 0b00111111; //Reset RCON Reset flags... (Reset Register)
STKPTR = STKPTR & 0b00111111; // Clear Stack Overflow/Underflow flags
PortInit();
OutputInit();
restart_wdt();
romEZHRInit(); //set up default ezhr settings
eeROMinit(); //set up default eprom settings
IPAddressInit(); //set up MAC and default IP addresses
delay_ms(500);
ADCInit(); //set up ADC ports
iniADCParams();
SerialInit(); //set up serial ports
TickInit(); //set up tick timer
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
StackInit();
WritePHYReg(ERXFCON,EthernetRXfilterSetting); // Allow only uni & multi
SetLEDConfig(E_LED_CONFIG); // swap LED's
output_high(E_SW_PWR_DN); // Power Ethernet Switch
output_high(E_SW_RST);
output_low(RS485_TXEN);
output_high(RS485_RXDIS);
output_high(RS232_F_OFF);
output_high(RS232_F_ON);
CurrentTick = PreviousUDPTick = get_ticks();
UDPSampleRate = eeReadUDPRate() * TICKS_PER_MILLISECOND;
portControlInit();
while(TRUE)
{
CurrentTick = get_ticks();
restart_wdt();
StackTask();
restart_wdt();
MyTCPTask();//handles TCP connections
restart_wdt();
setIO();// checks voltage status and sets ports accordingly
//! if(CurrentTick-PreviousUDPTick >= UDPSampleRate)
//! {
//! currentRoutine=UDPTASK;
//! BOOL UDPDone = MyUDPTask();
//! if(UDPDone)
//! {
//! PreviousUDPTick=CurrentTick;
//! }
//! }
StackApplications();
}
}
void OutboundThread(void)
{
WINDOW *local ;
/* INITIALIZATION: Paint the local window. Create a */
/* mailbox object to receive keystroke codes from the */
/* keyboard ISR. Initialize the keyboard hardware. */
/* Point interrupt vector 33 at the keyboard ISR. */
/* Unmask the IRQ line in the 8259 PIC. */
local = WindowCreate("Local", 0, 10, 0, 79) ;
KeyboardInit() ;
/* SerialInit have a guard inside to prevent multiple initializations */
SerialInit() ;
for (;;)
{
BYTE8 err, scan_code ;
char ascii ;
/* Suspend this thread (let it "sleep") until a */
/* keyboard interrupt posts something to our */
/* mailbox. But first position the cursor */
/* at the next character position as a prompt. */
WindowSelect(local) ;
scan_code = ((unsigned) OSQPend(kybd_queue, 0, &err)) & 0xFF ;
if (scan_code & 0x80)
continue ; /* Key up */
/* The keyboard ISR just woke us up. scan_code */
/* is the keystroke that occurred. First check */
/* to see if it simply changes state, like caps */
/* lock, shift, ctrl, or alt. Then convert the */
/* scancode to ascii using the current state. */
if (SetsKybdState(scan_code))
continue ;
ascii = ScanCode2Ascii(scan_code) & 0xFF ;
if (!isprint(ascii) && !iscntrl(ascii))
continue ;
/* Display the character in the local window. */
WindowPutChar(local, ascii) ;
SendPacket(1, &ascii, 1) ;
if (ascii == '\r')
{
static char linefeed = '\n' ;
WindowPutChar(local, linefeed) ;
SendPacket(1, &linefeed, 1) ;
}
}
}
int main( void )
{
SerialInit(MYUBRR);
while(1)
{
_delay_ms(10000);
SendString("LAB");
}
}
void ResetTerminal(void)
{
int i;
SerialInit(baud9k6);
SerialOutputString(" c");
for(i = 0; i < 100; i++)
SerialOutputByte('\r');
SerialOutputString("c");
}
int main(void) {
ClockInit();
SerialInit();
TimerInit();
//ADMUX = POWER_IN;//A7 power
DIDR0 |= _BV(0);//1
ADCSRA = _BV(ADEN) | _BV(ADPS0) | _BV(ADPS1) | _BV(ADPS2);// | _BV(ADIE) | _BV(ADATE) _BV(ADSC) |
ADCSRB = _BV(ADLAR);
loop();
}
void MasterInitialize()//called on startup, will call the port setup etc. as well as find the appropriate setting for the pot
{
cli();//disable interrupts
ADCInit();
PortInit();//these init values (clock and port) are taken directly from our old code
ClockInit();
SerialInit();
sei();//enable interrupts
return;
}
void main()
{
//uchar i;
//EX1=1;
//IT1=1;
LCDInit();
SerialInit();
len=strlen(value);
for(i=0; i<len; i++)
LCDWriteData(value[i]);
//sendsms();
//DialVoiceCall();
//
while(1)
{
ConnectGPRS(0.3,0.4,0.8);
//delay(3000);
//LCDWriteCom(0x01);//清屏
/*
LCDWriteCom(0x80);
if(pulse==1)
{
TL0=0;
while(pulse);
TR0=1;
while(!pulse);
TR0=0;
count=TL0;
P1=count;
duration=(unsigned long)count;
lowpulseoccupancy = lowpulseoccupancy+duration;
ratio = lowpulseoccupancy/(sampletime_ms*10.0); // Integer percentage 0=>100
concentration = 1.1*pow(ratio,3)-3.8*pow(ratio,2)+520*ratio+0.62; // using spec sheet curve
//Serial.print("yeelink:");
//Serial.println(concentration);
//ConnectGPRS(concentration,(float)DHT11.temperature,(float)DHT11.humidity);
memset(value,0x00,20);
sprintf(value,"%s%f","yeelink:",concentration);
len=strlen(value);
for(i=0;i<len;i++)
LCDWriteData(value[i]);
lowpulseoccupancy = 0;
// delay(3000);
}
*/
}
}
int serial_init (void)
{
const char * serial_port = "/dev/ttyUSB0";
out = (char *) malloc(sizeof(char)*8);
SerialInit(serial_port, 9600, &serial_fd);
fd = fdopen(serial_fd, "rw");
if (serial_fd > 0)
{
pthread_mutex_t serial_mutex = PTHREAD_MUTEX_INITIALIZER;
servo.xPos = MIN_X_PWM+(MAX_X_PWM-MIN_X_PWM)/2;
servo.yPos = MIN_Y_PWM+(MAX_Y_PWM-MIN_Y_PWM)/2;
sprintf(out, "#%04d%04d$", MIN_X_PWM+(MAX_X_PWM-MIN_X_PWM)/2, MIN_Y_PWM+(MAX_Y_PWM-MIN_Y_PWM)/2);
write(serial_fd,out,10);
tcflush(serial_fd, TCIFLUSH);
return 0;
} else {
fprintf (stderr,"failed to open serial port!\n");
return -1;
}
}
void __cdecl ldr_logo()
{
kboot_info *bi;
unsigned char ch;
UINT32 e;
HeapInit();
ConsoleInit();
TxtSetFlags(BGCOLOR_BLACK|FGCOLOR_GREEN);
TxtClearScreen();
SerialInit();
PicInit();
DescriptorsInit();
InterruptsInit();
ExceptionsInit();
DbgInit();
_enable();
IrqInit();
TssInit();
Vm86Init();
TimerInit();
KbdInit();
//DbgStepEnable();
StorageProbe();
e = VolReadFile("A:\\OSLDR.EXE", (VPTR)0x300000);
DbgPrintf("%s\n", DbgStatusStr(e));
if(VideoInit())
{
DbgPrintf("\nError Initializing Video Subsystem");
}
while(1)
{
ch=KbdGetKey();
_Putch(ch);
if(ch==33) KbdCpuReset();
}
while(1);
}
/*****************************************************************************
*
* This is the main loop that runs the application.
*
*****************************************************************************/
int main(void)
{
tRectangle sRect;
MMUConfigAndEnable();
/* Enable USB module clock */
USB0ModuleClkConfig();
/* configures arm interrupt controller to generate raster interrupt */
USBInterruptEnable();
/* LCD Back light setup */
LCDBackLightEnable();
/* UPD Pin setup */
UPDNPinControl();
/* Delay timer setup */
DelayTimerSetup();
/* Configures raster to display image */
SetUpLCD();
/* Configures raster to display image and Copy palette info into buffer */
LCDInit();
GrOffScreen24BPPInit(&g_s35_800x480x24Display, g_pucBuffer, LCD_WIDTH, LCD_HEIGHT);
/* Initialize a drawing context. */
GrContextInit(&g_sContext, &g_s35_800x480x24Display);
/* enable End of frame interrupt */
RasterEndOfFrameIntEnable(SOC_LCDC_0_REGS);
/* enable raster */
RasterEnable(SOC_LCDC_0_REGS);
/* Fill the top 24 rows of the screen with blue to create the banner. */
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&g_sContext) - 1;
sRect.sYMax = (MAX_ROW_NUM - 1);
GrContextForegroundSet(&g_sContext, ClrDarkBlue);
GrRectFill(&g_sContext, &sRect);
/* Put a white box around the banner. */
GrContextForegroundSet(&g_sContext, ClrWhite);
GrRectDraw(&g_sContext, &sRect);
/* Put the application name in the middle of the banner. */
GrContextFontSet(&g_sContext, &g_sFontCm20);
GrStringDrawCentered(&g_sContext, "usb-dev-composite", -1,
GrContextDpyWidthGet(&g_sContext) / 2, 10, 0);
/* Show the various static text elements on the color STN display. */
GrContextFontSet(&g_sContext, TEXT_FONT);
GrContextForegroundSet(&g_sContext, ClrViolet);
GrStringDraw(&g_sContext, "CDC Serial 1 :-", -1, CDC1_STR_X_POSITION,
CDC1_STR_Y_POSITION, false);
GrStringDraw(&g_sContext, "CDC Serial 2 :-", -1, CDC2_STR_X_POSITION,
CDC1_STR_Y_POSITION, false);
GrContextForegroundSet(&g_sContext, ClrWhite);
GrStringDraw(&g_sContext, "Tx bytes:", -1, CDC1_STR_X_POSITION,
(CDC1_STR_Y_POSITION + CDC_STR_Y_DIFF), false);
GrStringDraw(&g_sContext, "Tx buffer:", -1, CDC1_STR_X_POSITION,
(CDC1_STR_Y_POSITION + (CDC_STR_Y_DIFF * 2)), false);
GrStringDraw(&g_sContext, "Rx bytes:", -1, CDC1_STR_X_POSITION,
(CDC1_STR_Y_POSITION + (CDC_STR_Y_DIFF * 4)), false);
GrStringDraw(&g_sContext, "Rx buffer:", -1, CDC1_STR_X_POSITION,
(CDC1_STR_Y_POSITION + (CDC_STR_Y_DIFF * 5)), false);
DrawBufferMeter(&g_sContext, CDC1_BUF_METER_X_POS, CDC1_BUF_METER_Y_POS);
DrawBufferMeter(&g_sContext, CDC1_BUF_METER_X_POS,
(CDC1_BUF_METER_Y_POS + CDC_BUF_METER_Y_DIFF));
GrStringDraw(&g_sContext, "Tx bytes:", -1, CDC2_STR_X_POSITION,
(CDC2_STR_Y_POSITION + CDC_STR_Y_DIFF), false);
GrStringDraw(&g_sContext, "Tx buffer:", -1, CDC2_STR_X_POSITION,
(CDC2_STR_Y_POSITION + (CDC_STR_Y_DIFF * 2)), false);
GrStringDraw(&g_sContext, "Rx bytes:", -1, CDC2_STR_X_POSITION,
(CDC2_STR_Y_POSITION + (CDC_STR_Y_DIFF * 4)), false);
GrStringDraw(&g_sContext, "Rx buffer:", -1, CDC2_STR_X_POSITION,
(CDC2_STR_Y_POSITION + (CDC_STR_Y_DIFF * 5)), false);
DrawBufferMeter(&g_sContext, CDC2_BUF_METER_X_POS, CDC2_BUF_METER_Y_POS);
DrawBufferMeter(&g_sContext, CDC2_BUF_METER_X_POS,
(CDC2_BUF_METER_Y_POS + CDC_BUF_METER_Y_DIFF));
DisplayStatus(&g_sContext, " Waiting for host... ");
/* Pass the USB library our device information, initialize the USB
controller and connect the device to the bus.
*/
g_psCompDevices[0].pvInstance =
USBDCDCCompositeInit(0, (tUSBDCDCDevice *)&g_sCDCDevice1);
g_psCompDevices[1].pvInstance =
USBDCDCCompositeInit(0, (tUSBDCDCDevice *)&g_sCDCDevice2);
/*
Pass the device information to the USB library and place the device
on the bus.
*/
USBDCompositeInit(0, &g_sCompDevice, DESCRIPTOR_DATA_SIZE,
g_pucDescriptorData);
/* Initialize the serial devices. */
SerialInit();
/* Drop into the main loop. */
while(1)
{
/* Allow the main serial routine to run. */
SerialMain();
}
}
//****************************************************************************
//
// This is the main loop that runs the application.
//
//****************************************************************************
int
main(void)
{
//
// Set the clocking to run from the PLL at 50MHz.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Set the system tick to fire 100 times per second.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / SYSTICKS_PER_SECOND);
ROM_SysTickIntEnable();
ROM_SysTickEnable();
//
// Configure and enable uDMA
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
SysCtlDelay(10);
ROM_uDMAControlBaseSet(&sDMAControlTable[0]);
ROM_uDMAEnable();
//
// Initialize the idle timeout and reset all flags.
//
g_ulIdleTimeout = 0;
g_ulFlags = 0;
g_eMSCState = MSC_DEV_DISCONNECTED;
//
// Pass the USB library our device information, initialize the USB
// controller and connect the device to the bus.
//
g_psCompDevices[0].pvInstance =
USBDMSCInit(0, (tUSBDMSCDevice *)&g_sMSCDevice);
g_psCompDevices[1].pvInstance =
USBDCDCCompositeInit(0, (tUSBDCDCDevice *)&g_sCDCDevice);
//
// Set the USB stack mode to Device mode with VBUS monitoring.
//
USBStackModeSet(0, USB_MODE_DEVICE, 0);
//
// Pass the device information to the USB library and place the device
// on the bus.
//
USBDCompositeInit(0, &g_sCompDevice, DESCRIPTOR_DATA_SIZE,
g_pucDescriptorData);
SerialInit();
disk_initialize(0);
//
// Drop into the main loop.
//
while(1)
{
//
// Allow the main serial routine to run.
//
SerialMain();
switch(g_eMSCState)
{
case MSC_DEV_READ:
{
//
// Update the screen if necessary.
//
if(g_ulFlags & FLAG_UPDATE_STATUS)
{
g_ulFlags &= ~FLAG_UPDATE_STATUS;
}
//
// If there is no activity then return to the idle state.
//
if(g_ulIdleTimeout == 0)
{
g_eMSCState = MSC_DEV_IDLE;
}
break;
}
case MSC_DEV_WRITE:
{
//
// Update the screen if necessary.
//
if(g_ulFlags & FLAG_UPDATE_STATUS)
{
g_ulFlags &= ~FLAG_UPDATE_STATUS;
}
//
// If there is no activity then return to the idle state.
//
if(g_ulIdleTimeout == 0)
{
g_eMSCState = MSC_DEV_IDLE;
}
break;
}
case MSC_DEV_DISCONNECTED:
{
//
// Update the screen if necessary.
//
if(g_ulFlags & FLAG_UPDATE_STATUS)
{
g_ulFlags &= ~FLAG_UPDATE_STATUS;
}
break;
}
case MSC_DEV_IDLE:
{
break;
}
default:
{
break;
}
}
}
}
void initArduino()
{
//armArduinoHandle = SerialInit(armArduinoPort, 9600, 8, 0, 0, 0, 0, 0);
bagArduinoHandle = SerialInit(bagArduinoPort, 9600, 8, 0, 0, 0, 0, 0);
}
int _tmain(int argc, _TCHAR* argv[])
{
int
hmin=175,
hmax=185,
smin=65,
smax=108,
vmin=136,
vmax=253;
cv::VideoCapture cap;
DCB dcb;
DWORD byteswritten;
char a[]="abcdefg";
HANDLE hPort;
SerialInit(&hPort,&dcb);
WriteFile(
hPort,
a,
sizeof(a),
&byteswritten,
NULL);
std::cout<<byteswritten;
CloseHandle(hPort);
exit(1);
std::cout << "initial webcam...";
cap.open(0);
if(!cap.isOpened())
{
std::printf("err init webcam!");
std::getchar();
return 0;
}
std::cout << "OK\n";
cv::namedWindow("Raw",cv::WINDOW_AUTOSIZE);
cv::namedWindow("Histrogram",cv::WINDOW_AUTOSIZE);
cv::namedWindow("Filtered",cv::WINDOW_AUTOSIZE);
cv::namedWindow("Setting",cv::WINDOW_AUTOSIZE);
cv::setMouseCallback("Raw",onMouse,0);
cv::createTrackbar("Hmin","Setting",&hmin,255,0);
cv::createTrackbar("Hmax","Setting",&hmax,255,0);
cv::createTrackbar("Smin","Setting",&smin,255,0);
cv::createTrackbar("Smax","Setting",&smax,255,0);
cv::createTrackbar("Vmin","Setting",&vmin,255,0);
cv::createTrackbar("Vmax","Setting",&vmax,255,0);
int keycode=-1;
while(keycode!=27)
{
cv::Mat frame,hsv,hist,histshow;
cv::Mat hue,sat,val;
histshow=cv::Mat::zeros(CAM_X,CAM_Y,CV_8UC3);
hue=cv::Mat::zeros(CAM_X,CAM_Y,CV_8UC1);
sat=cv::Mat::zeros(CAM_X,CAM_Y,CV_8UC1);
val=cv::Mat::zeros(CAM_X,CAM_Y,CV_8UC1);
cv::Mat threshold=cv::Mat::zeros(CAM_X,CAM_Y,CV_8UC1);
double tt=(double)cv::getTickCount();
cap >> frame;
if(frame.empty())
{
std::cout<<"err!!!";
cv::waitKey(0);
break;
}
cv::cvtColor(frame,hsv,CV_BGR2HSV);
//split channels
cv::Mat out[]={hue,sat,val};
int channelmapping[]={0,0,1,1,2,2};
cv::mixChannels(&hsv,3,out,3,channelmapping,3);
//end split channels
/*
frame.adjustROI(
select_rect.y,
select_rect.x+select_rect.height,
select_rect.x,
select_rect.x+select_rect.width);
*/
float histranges[] = {0,180};
const float* phistranges = histranges;
int ch[]={0};
int histdim=64;
cv::Mat mask;
cv::Mat roi(hue,select_rect);
cv::Mat maskroi(mask,select_rect);
cv::calcHist(&roi,1,0,maskroi,hist,1,&histdim,&phistranges,true,false);
//threshold
cv::inRange(hue,hmin,hmax,hue);
cv::inRange(sat,smin,smax,sat);
cv::inRange(val,vmin,vmax,val);
//end threshold
//and
cv::bitwise_and(hue,sat,threshold,hue);
cv::bitwise_and(threshold,val,threshold,val);
//end and
//erode&dilate
cv::erode(threshold,threshold,cv::getStructuringElement(cv::MORPH_RECT,cv::Size(3,3)),cv::Point(-1,-1),1,0);
cv::dilate(threshold,threshold,cv::getStructuringElement(cv::MORPH_RECT,cv::Size(5,5)),cv::Point(-1,-1),10,0);
//end erode&dilate
//find corner
std::vector<cv::Point2f> eig;
cv::goodFeaturesToTrack(threshold,eig,50,0.01,10,cv::Mat(),3,false,0.04);
cv::cornerSubPix(threshold,eig,cv::Size(10,10),cv::Size(-1,-1),cv::TermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
cv::Point obj_origin;
cv::Point obj_corner;
cv::Rect obj_rect;
obj_origin.x=(int)eig[0].x;
obj_origin.y=(int)eig[0].y;
obj_corner.x=(int)eig[0].x;
obj_corner.y=(int)eig[0].y;
for(int i=0;i<(int)eig.size();i++)
{
obj_origin.x=MIN(obj_origin.x,(int)eig[i].x);
obj_origin.y=MIN(obj_origin.y,(int)eig[i].y);
obj_corner.x=MAX(obj_corner.x,(int)eig[i].x);
obj_corner.y=MAX(obj_corner.y,(int)eig[i].y);
cv::circle(frame,eig[i],1,cv::Scalar(255,0,0),1,8,0);
}
obj_rect.x=obj_origin.x;
obj_rect.y=obj_origin.y;
obj_rect.width=abs(obj_rect.x-obj_corner.x);
obj_rect.height=abs(obj_rect.y-obj_corner.y);
//end find corner
cv::rectangle(frame,obj_rect,cv::Scalar(0,0,255),1,8,0);
cv::rectangle(frame,select_rect,cv::Scalar(0,255,0),1,8,0);
cv::imshow("Raw",frame);
cv::imshow("Filtered",threshold);
tt=(double)cv::getTickCount()-tt;
tt=tt/cv::getTickFrequency()*1000;
std::cout<< "t:" << tt << "ms\n";
keycode=cv::waitKey(1);
}
std::cout << keycode;
cv::destroyWindow("Raw");
cv::destroyWindow("Histrogram");
cv::destroyWindow("Filtered");
cv::destroyWindow("Setting");
cv::waitKey(0);
return 0;
}
/**
* Constructs the AHRS class using serial communication and the default update rate,
* and returning processed (rather than raw) data.
*<p>
* This constructor should be used if communicating via either
* TTL UART or USB Serial interface.
*<p>
* @param serial_port_id SerialPort to use
*/
AHRS::AHRS(SerialPort::Port serial_port_id) {
SerialInit(serial_port_id, SerialDataType::kProcessedData, NAVX_DEFAULT_UPDATE_RATE_HZ);
}
/**
* Constructs the AHRS class using serial communication, overriding the
* default update rate with a custom rate which may be from 4 to 60,
* representing the number of updates per second sent by the sensor.
*<p>
* This constructor should be used if communicating via either
* TTL UART or USB Serial interface.
*<p>
* Note that the serial interfaces can communicate either
* processed data, or raw data, but not both simultaneously.
* If simultaneous processed and raw data are needed, use
* one of the register-based interfaces (SPI or I2C).
*<p>
* Note that increasing the update rate may increase the
* CPU utilization.
*<p>
* @param serial_port_id SerialPort to use
* @param data_type either kProcessedData or kRawData
* @param update_rate_hz Custom Update Rate (Hz)
*/
AHRS::AHRS(SerialPort::Port serial_port_id, AHRS::SerialDataType data_type, uint8_t update_rate_hz) {
SerialInit(serial_port_id, data_type, update_rate_hz);
}
void initRoboteq()
{
roboteqHandle = SerialInit(roboteqPort, 115200, 8, 0, 0, 0, 0, 0);
SerialPuts(roboteqHandle, "!G 1 0000\r!G 2 0000\r");
}
int main(void) {
ClockInit();
SerialInit();
TimerInit();
loop();
}
int main ( void )
{
int8_t status;
sei();
SerialInit(MYUBRR);
InitWatch();
/**
* Reuse part of the idle thread's stack for the stack required
* during this startup function.
*/
SP = (int)&idle_thread_stack[(IDLE_STACK_SIZE_BYTES/2) - 1];
/**
* Note: to protect OS structures and data during initialisation,
* interrupts must remain disabled until the first thread
* has been restored. They are reenabled at the very end of
* the first thread restore, at which point it is safe for a
* reschedule to take place.
*/
/**
* Initialise the OS before creating our threads.
*
* Note that we cannot enable stack-checking on the idle thread on
* this platform because we are already using part of the idle
* thread's stack now as our startup stack. Prefilling for stack
* checking would overwrite our current stack.
*
* If you are not reusing the idle thread's stack during startup then
* you are free to enable stack-checking here.
*/
status = atomOSInit(&idle_thread_stack[0], IDLE_STACK_SIZE_BYTES, FALSE);
if (status == ATOM_OK)
{
/* Enable the system tick timer */
avrInitSystemTickTimer();
/* Create the main thread */
status = atomThreadCreate(&main_tcb,
MAIN_THREAD_PRIO, main_thread_func, 0,
&main_thread_stack[0],
MAIN_STACK_SIZE_BYTES,
FALSE);
if (status == ATOM_OK)
{
/**
* Application threads successfully created. It is
* now possible to start the OS. Execution will not return
* from atomOSStart(), which will restore the context of
* our application thread and start executing it.
*
* Note that interrupts are still disabled at this point.
* They will be enabled as we restore and execute our first
* thread in archFirstThreadRestore().
*/
atomOSStart();
}
}
while (1)
{
atomTimerDelay (2 * SYSTEM_TICKS_PER_SEC); // wait 2 sec
}
/* There was an error starting the OS if we reach here */
return (0);
}
/**
* Constructs the AHRS class using serial communication and the default update rate,
* and returning processed (rather than raw) data.
*<p>
* This constructor should be used if communicating via either
* TTL UART or USB Serial interface.
*<p>
* @param serial_port_id SerialPort to use
*/
AHRS::AHRS(SerialPort::Port serial_port_id) {
printf("AHRS Constructor!\n");
SerialInit(serial_port_id, SerialDataType::kProcessedData, NAVX_DEFAULT_UPDATE_RATE_HZ);
}
void c_main()
{
int i;
bool autoboot=true;
char cmd[128];
long timeout;
int argc=0;
char *argv[MAX_ARGS];
CMD_TBL *cptr;
// initiate status.
status.terminalSpeed = SERIAL_SPEED;
status.downloadSpeed = SERIAL_DOWNLOAD_SPEED;
/* initiate serial and timer */
// serial and timer init.
SerialInit(status.terminalSpeed);
printf("\n\nFFUART has been initiated");
TimerInit();
//// printf the required GPL string. //////////////////////////////////////
printf("\n\n");
//printf(" "PACKAGE "-" VERSION "\n Copyright 2005 Embedded Group at 211.1010@UESTC\n");
//printf(" Support:211.1010@UESTC\n");
printf("\n");
//MemCpy((char *)KERNEL_DRAM_BASE, (char *)KERNEL_SRAM_BASE, KERNEL_MAX_SIZE); // kernel image reload
EthInit();
//sendtest();
///// wait 10 seconds before starting autoboot. ///////////////////////////
printf("Autoboot in progress, press any key to stop ");
for (i=0; i<3; i++){
timeout = GetTime()+1; // 1ÃÊ°£ Delay
printf(".");
while (GetTime()<timeout){
if ((FFLSR & 0x00000001)){ // Serial
FFRBR;
autoboot = false;
break;
}
}
if (autoboot==false) break;
}
/* No key was pressed, so proceed booting the kernel. */
if (autoboot)
{
printf("Autoboot started.\n");
for (cptr=cmdTbl; cptr->cmd; cptr++){
if (!StrCmp(cptr->cmd, "boot")) break;
}
DoBootKernel(cptr, 1, 0);
}
/* Key was pressed, so proceed command mode. */
printf("\nAutoboot aborted\n");
printf("Type \"help\" to get a list of commands\n");
// the command loop. endless, of course.
for(;;) {
DisplayPrompt("bootloader>");
// wait an hour to get a command.
GetCommand(cmd, 128, 3600);
if (!cmd || !cmd[0]) continue;
argc = GetArgs(cmd, argv);
for (cptr=cmdTbl; cptr->cmd; cptr++){
if (!StrCmp(argv[0], cptr->cmd)){
(cptr->run)(cptr, argc, argv);
break;
}
}
if (!StrCmp(argv[0], "help") || !StrCmp(argv[0], "?")){
DoPrintfHelp(argc, argv);
} else if (!(cptr->cmd)){
printf("\tUnknown command : %s\n", argv[0]);
}
}
} // CMain.
/**
* Constructs the AHRS class using serial communication, overriding the
* default update rate with a custom rate which may be from 4 to 60,
* representing the number of updates per second sent by the sensor.
*<p>
* This constructor should be used if communicating via either
* TTL UART or USB Serial interface.
*<p>
* Note that the serial interfaces can communicate either
* processed data, or raw data, but not both simultaneously.
* If simultaneous processed and raw data are needed, use
* one of the register-based interfaces (SPI or I2C).
*<p>
* Note that increasing the update rate may increase the
* CPU utilization.
*<p>
* @param serial_port_id SerialPort to use
* @param data_type either kProcessedData or kRawData
* @param update_rate_hz Custom Update Rate (Hz)
*/
AHRS::AHRS(SerialPort::Port serial_port_id, AHRS::SerialDataType data_type, uint8_t update_rate_hz) {
printf("AHRS Constructor!\n");
SerialInit(serial_port_id, data_type, update_rate_hz);
}
