int main() {
ssc_init("/dev/ttyUSB0", 9600);
pan( 0 );
tilt( 0 );
cascade = (CvHaarClassifierCascade*)cvLoad(
"cascade.xml", 0, 0, 0 );
if( !cascade )
{
fprintf( stderr, "ERROR: Could not load classifier cascade\n" );
return 1;
}
storage = cvCreateMemStorage(0);
struct camera *cam = init_camera( LCAM );
load_params( cam );
cvNamedWindow( "Face", CV_WINDOW_AUTOSIZE );
CvPoint pt1, pt2;
CvRect *r;
CvSeq *faces;
float multip = 0.1;
int x_diff, y_diff;
while( cvWaitKey( 10 ) == -1 ) {
cap_frame( cam );
undistort( cam );
cvClearMemStorage( storage );
faces = cvHaarDetectObjects( cam->undist, cascade, storage,
1.1, 2, CV_HAAR_DO_CANNY_PRUNING, cvSize(40, 40) );
if (faces->total > 0) {
;
r = (CvRect*)cvGetSeqElem( faces, 0 );
pt1.x = r->x;
pt2.x = r->x + r->width;
pt1.y = r->y;
pt2.y = r->y + r->height;
cvRectangle( cam->undist, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );
x_diff = (cam->frame->width / 2) - (r->x + (r->width/2)) ;
y_diff = (cam->frame->height / 2) - (r->y + (r->height/2)) ;
pan( -(int)(x_diff * multip) );
tilt( (int)(y_diff * multip) );
}
cvShowImage( "Face", cam->undist );
}
cvDestroyAllWindows();
cvReleaseMemStorage( &storage );
free_camera( cam );
}
/************************************************************************
* Function name: init
* Description: Initialize SSC interface
* Input value: None
* Return value: 0 on success
***********************************************************************/
int sflash_init(void)
{
asc_puts("SFLASH\n");
ssc_init((u32)SFLASH_BAUDRATE);
spi_sflash.read_cmd = SFLASH_READ;
#if defined(ON_VENUS) || defined(ON_IKOS)
spi_sflash.cs = 0; /* SPI_CS1 */
#else
// spi_sflash.cs = 1; /* SPI_CS2 */
spi_sflash.cs = 0; /* SPI_CS1 actual setting */
#endif
spi_sflash.addr_cycles = SPI_ADDR_CYC_MAX;
return SFLASH_OK;
}
//------------------------------------------------------------------------------
/// Main function
//------------------------------------------------------------------------------
int main(void)
{
unsigned char key;
unsigned char isValid;
// Configure all pins
PIO_Configure(pins, PIO_LISTSIZE(pins));
LED_Configure(0);
LED_Set(0);
LED_Configure(1);
LED_Set(1);
// Initialize the DBGU
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
// Switch to Main clock
AT91C_BASE_PMC->PMC_MCKR = (AT91C_BASE_PMC->PMC_MCKR & ~AT91C_PMC_CSS) | AT91C_PMC_CSS_MAIN_CLK;
while ((AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY) == 0);
// Configure PLL to 98.285MHz
*AT91C_CKGR_PLLR = ((1 << 29) | (171 << AT91C_CKGR_MUL_SHIFT) \
| (0x0 << AT91C_CKGR_OUT_SHIFT) |(0x3f << AT91C_CKGR_PLLCOUNT_SHIFT) \
| (21 << AT91C_CKGR_DIV_SHIFT));
while ((AT91C_BASE_PMC->PMC_SR & AT91C_PMC_LOCK) == 0);
// Configure master clock in two operations
AT91C_BASE_PMC->PMC_MCKR = (( AT91C_PMC_PRES_CLK_2 | AT91C_PMC_CSS_PLLA_CLK) & ~AT91C_PMC_CSS) | AT91C_PMC_CSS_MAIN_CLK;
while ((AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY) == 0);
AT91C_BASE_PMC->PMC_MCKR = ( AT91C_PMC_PRES_CLK_2 | AT91C_PMC_CSS_PLLA_CLK);
while ((AT91C_BASE_PMC->PMC_SR & AT91C_PMC_MCKRDY) == 0);
// DBGU reconfiguration
DBGU_Configure(DBGU_STANDARD, 115200, SSC_MCK);
// Configure and enable the TWI (required for accessing the DAC)
*AT91C_PMC_PCER = (1<< AT91C_ID_TWI0);
TWI_ConfigureMaster(AT91C_BASE_TWI0, TWI_CLOCK, SSC_MCK);
TWID_Initialize(&twid, AT91C_BASE_TWI0);
printf("-- OsmoSDR firmware (" BOARD_NAME ") " GIT_REVISION " --\n\r");
printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
req_ctx_init();
PIO_InitializeInterrupts(0);
cmd_state.out = vprintf;
uart_cmd_reset(&cmd_state);
uart_cmds_register(cmds, sizeof(cmds)/sizeof(cmds[0]));
fastsource_init();
VBus_Configure();
power_peripherals(1);
si570_init(&si570, &twid, SI570_I2C_ADDR);
set_si570_freq(30000000);
sam3u_e4k_init(&e4k, &twid, E4K_I2C_ADDR);
e4k.vco.fosc = 30000000;
osdr_fpga_init(SSC_MCK);
//osdr_fpga_reg_write(OSDR_FPGA_REG_ADC_TIMING, (1 << 8) | 255);
//osdr_fpga_reg_write(OSDR_FPGA_REG_PWM1, (1 << 400) | 800);
osdr_fpga_set_iq_swap(0);
ssc_init();
e4k_init(&e4k);
e4k_init(&e4k);
// Enter menu loop
while (1) {
if (DBGU_IsRxReady()) {
key = DBGU_GetChar();
// Process user input
if (uart_cmd_char(&cmd_state, key) == 1) {
//ssc_stats();
}
}
ssc_dma_start();
fastsource_start();
}
}
