/** * Function to capture a ppm */ void capture_ppm(FILE *f) { uint32_t x, y; uint32_t size_x, size_y; uint32_t time, time2; int write_time; cc3_pixbuf_load (); uint8_t *row = cc3_malloc_rows(1); size_x = cc3_g_pixbuf_frame.width; size_y = cc3_g_pixbuf_frame.height; fprintf(f,"P6\n%d %d\n255\n",size_x,size_y ); time = cc3_timer_get_current_ms(); for (y = 0; y < size_y; y++) { cc3_pixbuf_read_rows(row, 1); for (x = 0; x < size_x * 3U; x++) { uint8_t p = row[x]; if (fputc(p, f) == EOF) { perror("fputc failed"); } } fprintf(stderr, "."); fflush(stderr); } time2 = cc3_timer_get_current_ms(); write_time = time2 - time; free(row); }
/** * Make the led passed in as parameter blink for ms * milliseconds. * The LED will be turned OFF as the last step of this function */ void blink_led( uint8_t led, uint32_t ms ) { uint32_t INTERVAL = 40; uint_least32_t start_time = cc3_timer_get_current_ms (); bool led_on = true; cc3_led_set_state(led, led_on); do { led_on = !led_on; cc3_led_set_state(led, led_on); cc3_timer_wait_ms(INTERVAL); } while (cc3_timer_get_current_ms () < (start_time + ms)); cc3_led_set_state(led, false); }
int main(void) { //VARIABLES uint16_t x = 0, max_x = 0; char speComm = 'O'; //INIT initAll(); //START PROG #ifdef PRINTF_MAIN printf("BEGIN"); #endif #ifdef PRINTF_MAIN printf("\nAppuyer sur le boutton"); #endif //initialisation du blanc while(!cc3_button_get_state());//attente d'une pression du boutton while(1) { #ifdef BENCH uint16_t start_time, end_time; start_time = cc3_timer_get_current_ms(); #endif //IMG if(imgAnalysis(&x, &max_x) == 0) speComm = 'O'; else speComm = 'R'; #ifdef PRINTF_ABS_FINAL printf("\nmoyenneFinal: %d", x); #endif //Motor motComm(x, max_x, speComm); #ifdef BENCH end_time = cc3_timer_get_current_ms(); printf ("\ntime:%d", end_time - start_time); #endif } //END #ifdef PRINTF_MAIN printf ("\nEND"); #endif return 0; }
int main(void) { uint32_t init_time, current_time; uint32_t grab_period; char filename[16]; FILE *f; grab_period = INIT_PHASE_GRAB_PERIOD; // At first grab every second cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1, CC3_UART_BINMODE_TEXT); cc3_camera_init (); // use MMC cc3_filesystem_init(); cc3_camera_set_resolution(CC3_CAMERA_RESOLUTION_HIGH); cc3_pixbuf_frame_set_subsample (CC3_SUBSAMPLE_NEAREST, 2, 2); init_time = cc3_timer_get_current_ms(); uint32_t i = 0; while(true) { i++; printf("%d\n", i); current_time = cc3_timer_get_current_ms() - init_time; snprintf(filename, 16, "c:/%.5d.ppm", current_time); f = fopen(filename, "w"); capture_ppm(f); fclose(f); if (current_time > INIT_PHASE_DURATION) grab_period = NORMAL_PHASE_GRAB_PERIOD; cc3_timer_wait_ms(grab_period); } return 0; }
void update_time() { deltaTime += cc3_timer_get_current_ms() - prevTime; prevTime = cc3_timer_get_current_ms(); }
int main (void) { cc3_histogram_pkt_t my_hist; cc3_color_info_pkt_t s_pkt; cc3_frame_diff_pkt_t fd_pkt; cc3_timer_wait_ms (500); cc3_gpio_set_mode (0, CC3_GPIO_MODE_SERVO); cc3_gpio_set_mode (1, CC3_GPIO_MODE_SERVO); cc3_gpio_set_mode (2, CC3_GPIO_MODE_SERVO); cc3_gpio_set_mode (3, CC3_GPIO_MODE_SERVO); // configure uarts cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1, CC3_UART_BINMODE_TEXT); cc3_uart_init (1, CC3_UART_RATE_38400,//CC3_UART_RATE_115200, CC3_UART_MODE_8N1, CC3_UART_BINMODE_BINARY); // Make it so that stdout and stdin are not buffered setvbuf (stdout, NULL, _IONBF, 0); setvbuf (stdin, NULL, _IONBF, 0); printf( "Opening UART1 file pointer\n" ); FILE *fp = cc3_uart_fopen(1, "r"); if (fp) { printf("Success"); int i = 0; while (1) { fprintf(fp, "i = %08d\n", i++); } } printf( "Calling camera init\n" ); cc3_camera_init (); cc3_camera_set_colorspace (CAM_COLOURS); cc3_camera_set_resolution (CAM_FORMAT); cc3_pixbuf_frame_set_coi (CC3_CHANNEL_ALL);//for full 'colour_info' //cc3_camera_set_colorspace (CC3_COLORSPACE_YCRCB);?All switches handled? //cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_HIGH);// 352, 288 //cc3_pixbuf_frame_set_subsample(CC3_SUBSAMPLE_RANDOM, 2, 2); printf( "Camera init done\n%d x %d\n", cc3_g_pixbuf_frame.raw_width, cc3_g_pixbuf_frame.raw_height ); // frame difference fd_pkt.coi = CC3_CHANNEL_ALL; fd_pkt.template_width = 16;//8; fd_pkt.template_height = 16;//8; fd_pkt.total_x = cc3_g_pixbuf_frame.width; fd_pkt.total_y = cc3_g_pixbuf_frame.height; fd_pkt.load_frame = 1; // load a new frame fd_pkt.previous_template = malloc (fd_pkt.template_width * fd_pkt.template_height * sizeof (uint32_t)); if (fd_pkt.previous_template == NULL) printf ("Malloc FD startup error!\r"); cc3_camera_set_auto_white_balance (true); cc3_camera_set_auto_exposure (true); // The LED test masks the stabilization delays (~2000ms) printf ("Waiting for image to stabilize\n"); led_test (); cc3_camera_set_auto_white_balance (false); cc3_camera_set_auto_exposure (false); // printf ("\nPush button on camera back to continue\n"); // while (!cc3_button_get_state ()) // ; cc3_led_set_state (0, true); cc3_pixbuf_load (); my_hist.channel = CC3_CHANNEL_ALL; my_hist.bins = 24; my_hist.hist = malloc (my_hist.bins * sizeof (uint32_t)); while (true) { printf ("<3 EE\n 0x%02X\n ", (unsigned int)cc3_timer_get_current_ms()); // Grab an image and take a frame difference of it cc3_pixbuf_load (); frame_diff (&fd_pkt); // Rewind and take a histogram of it cc3_pixbuf_rewind (); //get_histogram (&my_hist); // Rewind and get some stats cc3_pixbuf_rewind (); get_mean(&s_pkt); printf( "min = [%d,%d,%d] mean = [%d,%d,%d] max = [%d,%d,%d] deviation = [%d,%d,%d] ", s_pkt.min.channel[0],s_pkt.min.channel[1],s_pkt.min.channel[2], s_pkt.mean.channel[0],s_pkt.mean.channel[1],s_pkt.mean.channel[2], s_pkt.max.channel[0],s_pkt.max.channel[1],s_pkt.max.channel[2], s_pkt.deviation.channel[0],s_pkt.deviation.channel[1],s_pkt.deviation.channel[2] ); /* printf ("hist[%d] = ", my_hist.bins); for (uint32_t i = 0; i < my_hist.bins; i++) { printf ("%08X ", my_hist.hist[i]); // sample non-blocking serial routine if (!cc3_uart_has_data (1)) { cc3_gpio_set_servo_position (0, SERVO_MID); cc3_gpio_set_servo_position (1, SERVO_MID); } } */ printf ("\n"); cc3_timer_wait_ms(400); // if (cc3_button_get_state()) // break; } printf("\n\nAll done!\n"); return 0; }
/* simple hello world, showing features and compiling*/ int main (void) { uint32_t start_time, end_time, val; char c; FILE *fp; cc3_image_t img; // init filesystem driver cc3_filesystem_init (); // configure uarts cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1, CC3_UART_BINMODE_TEXT); // Make it so that stdout and stdin are not buffered val = setvbuf (stdout, NULL, _IONBF, 0); val = setvbuf (stdin, NULL, _IONBF, 0); printf( "Calling camera init\n" ); cc3_camera_init (); printf( "Camera init done\n" ); cc3_camera_set_colorspace (CC3_COLORSPACE_RGB); cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW); cc3_camera_set_auto_white_balance (true); cc3_camera_set_auto_exposure (true); printf ("Hello World...\n"); cc3_led_set_state (0, false); cc3_led_set_state (1, false); cc3_led_set_state (2, false); // sample wait command in ms cc3_timer_wait_ms (1000); cc3_led_set_state (0, true); // sample showing how to write to the MMC card printf ("Type y to test MMC card, type n if you do not have the card\n"); c = getchar (); if (c == 'y' || c == 'Y') { int result; printf ("\nMMC test...\n"); fp = fopen ("c:/test.txt", "w"); if (fp == NULL) { perror ("fopen failed"); } fprintf (fp, "This will be written to the MMC...\n"); result = fclose (fp); if (result == EOF) { perror ("fclose failed"); } printf ("A string was written to test.txt on the mmc card.\n"); } // sample showing how to read button printf ("push button on camera back to continue\n"); start_time = cc3_timer_get_current_ms (); while (!cc3_button_get_state ()); cc3_led_set_state (1, true); // sample showing how to use timer printf ("It took you %dms to press the button\n", cc3_timer_get_current_ms () - start_time); // setup an image structure cc3_pixbuf_load (); img.channels = 3; img.width = cc3_g_pixbuf_frame.width; img.height = 1; // image will hold just 1 row for scanline processing img.pix = cc3_malloc_rows (1); printf ("Now we will use image data...\n"); val = 0; /* * Track the brightest red spot on the image */ while (1) { int y; uint16_t my_x, my_y; uint8_t max_red; cc3_pixel_t my_pix; if (val & 0x1) cc3_led_set_state (0, true); else cc3_led_set_state (0, false); if (val & 0x2) cc3_led_set_state (1, true); else cc3_led_set_state (1, false); if (val & 0x3) cc3_led_set_state (2, true); else cc3_led_set_state (2, false); if (val & 0x4) cc3_led_set_state (3, true); else cc3_led_set_state (3, false); val++; // This tells the camera to grab a new frame into the fifo and reset // any internal location information. cc3_pixbuf_frame_set_coi(CC3_CHANNEL_ALL); cc3_pixbuf_load (); // red search! // *** slow method for red search start_time = cc3_timer_get_current_ms(); max_red = 0; my_x = 0; my_y = 0; y = 0; while (cc3_pixbuf_read_rows (img.pix, 1)) { // read a row into the image picture memory from the camera for (uint16_t x = 0; x < img.width; x++) { // get a pixel from the img row memory cc3_get_pixel (&img, x, 0, &my_pix); if (my_pix.channel[CC3_CHANNEL_RED] > max_red) { max_red = my_pix.channel[CC3_CHANNEL_RED]; my_x = x; my_y = y; } } y++; } end_time = cc3_timer_get_current_ms(); printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y); printf (" cc3_get_pixel version took %d ms to complete\n", end_time - start_time); // *** faster method for red search cc3_pixbuf_rewind(); // use exactly the same pixbuf contents start_time = cc3_timer_get_current_ms(); max_red = 0; my_x = 0; my_y = 0; y = 0; while (cc3_pixbuf_read_rows (img.pix, 1)) { // read a row into the image picture memory from the camera for (uint16_t x = 0; x < img.width * 3; x+=3) { uint8_t red = ((uint8_t *) img.pix)[x + CC3_CHANNEL_RED]; if (red > max_red) { max_red = red; my_x = x; my_y = y; } } y++; } my_x /= 3; // correct channel offset end_time = cc3_timer_get_current_ms(); printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y); printf (" faster version took %d ms to complete\n", end_time - start_time); // *** even faster method for red search cc3_pixbuf_rewind(); // use exactly the same pixbuf contents cc3_pixbuf_frame_set_coi(CC3_CHANNEL_RED); start_time = cc3_timer_get_current_ms(); max_red = 0; my_x = 0; my_y = 0; y = 0; while (cc3_pixbuf_read_rows (img.pix, 1)) { // read a row into the image picture memory from the camera for (uint16_t x = 0; x < img.width; x++) { uint8_t red = ((uint8_t *) img.pix)[x]; if (red > max_red) { max_red = red; my_x = x; my_y = y; } } y++; } end_time = cc3_timer_get_current_ms(); printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y); printf (" even faster version took %d ms to complete\n", end_time - start_time); printf("\n"); // sample non-blocking serial routine if (!cc3_uart_has_data (0)) break; } free (img.pix); // don't forget to free! printf ("You pressed %c to escape\n", fgetc (stdin)); // stdio actually works... printf ("Type in a number followed by return to test scanf: "); scanf ("%d", &val); printf ("You typed %d\n", val); printf ("Good work, now try something on your own...\n"); while (1); return 0; }