void run_SensDispl() {
int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size;
int i;
unsigned long cam_light;
unsigned char *buf_ptr;
/*Cam default parameter*/
cam_mode=GREY_SCALE_MODE;
cam_width=20;
cam_heigth=20;
cam_zoom=8;
cam_size=cam_width*cam_heigth;
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
e_acc_calibr();
while (1) {
e_poxxxx_launch_capture(&buffer[0]); // start camera capture
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
if (e_get_micro_volume(0)>30 || e_get_micro_volume(1)>30 || e_get_micro_volume(2)>30)
e_set_body_led(1);
if (e_get_prox(0)>400)
e_set_led(0,1);
if (e_get_prox(1)>400)
e_set_led(1,1);
if (e_get_prox(2)>400)
e_set_led(2,1);
if (e_get_prox(3)>400)
e_set_led(3,1);
if (e_get_prox(4)>400)
e_set_led(4,1);
if (e_get_prox(5)>400)
e_set_led(5,1);
if (e_get_prox(6)>400)
e_set_led(6,1);
if (e_get_prox(7)>400)
e_set_led(7,1);
while(!e_poxxxx_is_img_ready()); // wait end of capture
cam_light=0;
buf_ptr=(unsigned char*)&buffer[0];
for (i=0; i<cam_size; i++) {
cam_light+=*buf_ptr;
buf_ptr++;
}
sprintf(buffer, "Cam light %lu\r\n", cam_light);
e_send_uart1_char(buffer, strlen(buffer));
if (cam_light>48000) // 20*20pixels*120grayValue
e_set_front_led(1);
wait(5000);
}
}
int captura() {
if(!wait_cam) {
//start timer
timer_counter=0; //reseting repetition counter
T1CONbits.TON=0; //deactivating timer 1
T1CON=0;
T1CONbits.TCKPS=3; //prescaler = 256 - devides the timer counter by this value
TMR1=0; //clear timer 1 - the timer counter diveded by the prescaler is putted here (this value is compaired with the period)
PR1=(FCY/256); //interrupt every 1 second with 256 prescaler
IFS0bits.T1IF=0; //clear interrupt flag
IEC0bits.T1IE=1; //set interrupt enable bit
T1CONbits.TON=1; //start timer 1
//initialize capture
e_poxxxx_launch_capture(&buffer[0]);
buff_length=cam_size;
wait_cam=1;
} if(wait_cam) {
//if image is ready
if(e_poxxxx_is_img_ready())
{
//stop timer
T1CONbits.TON=0;
//reset timer
TMR1=0;
//turn on timer
T1CONbits.TON=1;
//send image to sender
//turn on timer
T1CONbits.TON=0;
//de-activate camera capture
wait_cam=0;
return 1;
}
}
return 0;
}
void run_CameraTurn() {
int cam_mode,cam_width,cam_heigth,cam_zoom,cam_size;
int i;
unsigned char *buf_ptr, pixel, lightest;
unsigned int left, right, lightPos;
#include "DataEEPROM.h"
/*read HW version from the eeprom (last word)*/
int HWversion=0xFFFF;
int temp = 0;
temp = ReadEE(0x7F,0xFFFE,&HWversion, 1);
temp = temp & 0x03; // get the camera rotation from the HWversion byte
/*Cam default parameter*/
cam_mode=GREY_SCALE_MODE;
if ((temp==3)||(temp==0)) { // 0' and 180' camera rotation
cam_width=1;
cam_heigth=60;
} else {
cam_width=60;
cam_heigth=1;
}
cam_zoom=8;
cam_size=cam_width*cam_heigth;
e_poxxxx_init_cam();
e_poxxxx_config_cam((ARRAY_WIDTH -cam_width*cam_zoom)/2,(ARRAY_HEIGHT-cam_heigth*cam_zoom)/2,cam_width*cam_zoom,cam_heigth*cam_zoom,cam_zoom,cam_zoom,cam_mode);
e_poxxxx_set_mirror(1,1);
e_poxxxx_write_cam_registers();
while (1) {
e_poxxxx_launch_capture(&buffer[0]); // start camera capture
e_led_clear();
e_set_body_led(0);
e_set_front_led(0);
while(!e_poxxxx_is_img_ready()); // wait end of capture
buf_ptr=(unsigned char*)&buffer[0];
left=0; right=0; lightPos=0; lightest=0;
for (i=0; i<30; i++) { //left
pixel=*buf_ptr;
buf_ptr++;
left+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
for (; i<cam_heigth; i++) { //right
pixel=*buf_ptr;
buf_ptr++;
right+=pixel;
if (pixel>lightest) {
lightest=pixel;
lightPos=i;
}
}
if (lightPos<20) { //led on at lightest position
e_set_led(7,1); }
else if (lightPos<40) {
e_set_led(0,1); }
else {
e_set_led(1,1); }
if ((temp==3)||(temp==2)) { // 0' and 90' camera rotation
e_set_speed_left(10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(-10*(lightPos-30));
} else {
e_set_speed_left(-10*(lightPos-30)); // motor speed in steps/s
e_set_speed_right(10*(lightPos-30));
}
sprintf(buffer, "left %u, right %u, lightest %u, lightPos %u\r\n", left, right, lightest, lightPos);
e_send_uart1_char(buffer, strlen(buffer));
wait(5000);
}
}
