boolean _blackfinGetPixel(CAMERA* cam,uint16_t x, uint16_t y, COLOR * color){
BLACKFIN_CAMERA* camera = (BLACKFIN_CAMERA*)cam;
boolean rtn = FALSE;
int32_t values[3];
// Make rprintf go to _blackfin_command
Writer old = rprintfInit(&_blackfin_putcmd);
_blackfin_index=0;
// send 'vp' command
rprintf("vp");
rprintfNum(10,4,FALSE,'0',x);
rprintfNum(10,4,FALSE,'0',y);
// process the command
int args = __blackfinCommand(camera,PSTR("##vp "),null,values,3);
if(args==3){
rtn = TRUE;
colorSetYUV(color,(uint8_t)(values[0]), (uint8_t)(values[1]),(uint8_t)(values[2]));
#ifdef BLACKFIN_DEBUG
_blackfin_set_active(camera->debug); //Send rprintf to the debugger
rprintf(" Color = "); colorDump(color);
rprintfCRLF();
#endif
}
// Restore rprintf to original position
rprintfInit(old);
return rtn;
}
// Convert the color to YUV
COLOR_YUV* color2yuv(const COLOR * src, COLOR* dest){
switch(src->colorSpace){
case YUV:
// Nothing to do
if(src != dest){
memcpy(dest, src, sizeof(COLOR));
}
break;
case RGB:{
/*
Y = 16 + 1/256 * ( 65.738 * R'd + 129.057 * G'd + 25.064 * B'd)
Cb = 128 + 1/256 * (- 37.945 * R'd - 74.494 * G'd + 112.439 * B'd)
Cr = 128 + 1/256 * ( 112.439 * R'd - 94.154 * G'd - 18.285 * B'd)
*/
int r = src->bands.rgb.r;
int g = src->bands.rgb.g;
int b = src->bands.rgb.b;
int y = 16.0 + 1.0/256.0 * ( 65.738 * r + 129.057 * g + 25.064 * b);
int u = 128.0 + 1.0/256.0 * (- 37.945 * r - 74.494 * g + 112.439 * b);
int v = 128.0 + 1.0/256.0 * ( 112.439 * r - 94.154 * g - 18.285 * b);
y = CLAMP(y,0,255);
u = CLAMP(u,0,255);
v = CLAMP(v,0,255);
// Convert rgb to yuv
colorSetYUV(dest,y,u,v);
break;
}
}
return &dest->bands.yuv;
}
