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#include "sys.h"
#include "usart.h"
#include "delay.h"
#include "led.h"
#include "usmart.h"
#include "lcd.h"
#include "hsl.h"
#include "ov7670.h"
#include "exti.h"
#include "timer.h"
extern u8 ov_sta; //在exit.c里面定義
extern u8 ov_frame; //在timer.c里面定義
//
int h,s2,l;
u16 get_date;
COLOR_HSL Hsl1;
#define min3v(v1, v2, v3) ((v1)>(v2)? ((v2)>(v3)?(v3):(v2)):((v1)>(v3)?(v3):(v1)))//比較最小值
#define max3v(v1, v2, v3) ((v1)<(v2)? ((v2)<(v3)?(v3):(v2)):((v1)<(v3)?(v3):(v1)))//比較最大值
RESULT Resu;//捕獲顏色設(shè)置
// TARGET_CONDI Condition={60,100,20,120,10,160,40,40,320,240};
//TARGET_CONDI Condition={0,200,0,34,20,30,40,40,320,240};
//unsigned char i;
//static volatile ErrorStatus HSEStartUpStatus = SUCCESS;
int find_x,find_y;
//unsigned int position=0;
//typedef struct
// {
// int x; // [0,320]
// int y; // [0,240]
// }
//ZUOBIAO;//HSL格式顏色
//ZUOBIAO zuobiao_for_top;
//ZUOBIAO zuobiao_for_down;
//ZUOBIAO zuobiao_for_left;
//ZUOBIAO zuobiao_for_right;
//ZUOBIAO zuobiao_for_center;
//
//更新LCD顯示
void camera_refresh(void)
{
u32 j;
u16 color;
if(ov_sta==2)
{
LCD_Scan_Dir(U2D_L2R); //從上到下,從左到右
LCD_SetCursor(0x00,0x0000); //設(shè)置光標(biāo)位置
LCD_WriteRAM_Prepare(); //開始寫入GRAM
OV7670_CS=0;
OV7670_RRST=0; //開始復(fù)位讀指針
OV7670_RCK=0;
OV7670_RCK=1;
OV7670_RCK=0;
OV7670_RRST=1; //復(fù)位讀指針結(jié)束
OV7670_RCK=1;
for(j=0;j<76800;j++)
{
GPIOB->CRL=0X88888888;
OV7670_RCK=0;
color=OV7670_DATA; //讀數(shù)據(jù)
OV7670_RCK=1;
color<<=8;
OV7670_RCK=0;
color|=OV7670_DATA; //讀數(shù)據(jù)
OV7670_RCK=1;
GPIOB->CRL=0X33333333;
LCD_WR_DATA(color);
}
OV7670_CS=1;
OV7670_RCK=0;
OV7670_RCK=1;
EXTI->PR=1<<15; //清除LINE8上的中斷標(biāo)志位
ov_sta=0; //開始下一次采集
ov_frame++;
LCD_Scan_Dir(DFT_SCAN_DIR); //恢復(fù)默認(rèn)掃描方向
}
}
static void readcolor(unsigned int x,unsigned int y,COLOR_RGB *Rgb)
{
unsigned short C16;
C16 = LCD_ReadPoint(x,y);
Rgb->red = (unsigned char)((C16&0xf800)>>8);
Rgb->green = (unsigned char)((C16&0x07e0)>>3);
Rgb->blue = (unsigned char)((C16&0x001f)<<3);
}
//RGB轉(zhuǎn)HSL
static void rGBtohSL(const COLOR_RGB *Rgb,COLOR_HSL *Hsl)
{
int maxVal,minVal,difVal;
int r = Rgb->red;
int g = Rgb->green;
int b = Rgb->blue;
int h,s2,l;
maxVal = max3v(r, g, b);
minVal = min3v(r, g, b);
difVal = maxVal-minVal;
//計(jì)算亮度
l = (maxVal+minVal)*240/255/2;
if(maxVal == minVal)//若r=g=b
{
h = 0;
s2 = 0;
}
else
{
//計(jì)算色調(diào)
if(maxVal==r)
{
if(g>=b)
h = 40*(g-b)/(difVal);
else
h = 40*(g-b)/(difVal) + 240;
}
else if(maxVal==g)
h = 40*(b-r)/(difVal) + 80;
else if(maxVal==b)
h = 40*(r-g)/(difVal) + 160;
//計(jì)算飽和度
if(l == 0)
s2 = 0;
else if(l<=120)
s2 = (difVal)*240/(maxVal+minVal);
else
s2 = (difVal)*240/(511 - (maxVal+minVal));
}
Hsl->hue = (unsigned char)(((h>240)? 240 : ((h<0)?0:h)));
Hsl->saturation = (unsigned char)(((s2>240)? 240 : ((s2<0)?0:s2)));
Hsl->luminance = (unsigned char)(((l>240)? 240 : ((l<0)?0:l)));
}
int main()
{
COLOR_RGB Rgb;
int sum_x=0,sum_y=0,i_xy = 0,n_i;
int X,Y;
// int led_flg = 0;
// int pointCnt=0;
// int val_exp = 500;
// int position_front_Cnt = 0,position_left_Cnt = 0,position_right_Cnt = 0,position_centre_Cnt = 0;
// int position_front_exp = val_exp,position_left_exp = val_exp,position_right_exp = val_exp,position_centre_exp = val_exp ,pointCnt_exp = 900; //靈敏度，，就是有多少紅色（像素塊為單位）可以觸發(fā)條件。
///pointcnt_exp 需要實(shí)際測(cè)試，來確定最終值
delay_init(); //延時(shí)函數(shù)初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 設(shè)置中斷優(yōu)先級(jí)分組2
uart_init(9600);
OV7670_Init();
LED_Init(); //初始化與LED連接的硬件接口
LCD_Init(); //初始化LCD
if(lcddev.id==0X6804||lcddev.id==0X5310||lcddev.id==0X5510||lcddev.id==0X1963) //強(qiáng)制設(shè)置屏幕分辨率為320*240.以支持3.5寸大屏
{
lcddev.width=240;
lcddev.height=320;
}
usmart_dev.init(72); //初始化USMART
POINT_COLOR=BLACK;//設(shè)置字體為紅色
while(OV7670_Init())//初始化OV7670
{
LCD_ShowString(60,150,200,200,16,"OV7670 Error!!");
delay_ms(200);
LCD_Fill(60,150,239,166,WHITE);
delay_ms(200);
}
LCD_ShowString(60,150,200,200,16,"camera, okey!");
TIM3_Int_Init(10000,7199); //TIM3,10Khz計(jì)數(shù)頻率,1秒鐘中斷
EXTI15_Init(); //使能定時(shí)器捕獲
OV7670_Window_Set(10,174,240,320); //設(shè)置窗口
OV7670_CS=0;
uart_init(9600); //串口初始化為9600
while(1)
{
for(find_y=0;find_y<320;find_y=find_y +4)//尋找測(cè)試點(diǎn)
{
for(find_x=0;find_x<240;find_x=find_x +4)
{
get_date=LCD_ReadPoint(find_x,find_y);
readcolor(find_x,find_y,&Rgb);
rGBtohSL(&Rgb,&Hsl1);// 完成了度rgb轉(zhuǎn)化為色調(diào)，亮度，對(duì)比度
if(((Hsl1.hue>=0)&&(Hsl1.hue<=27))&&((Hsl1.saturation>=70)&&\
(Hsl1.saturation<=100))&&((Hsl1.luminance>=70)&&(Hsl1.luminance<=150))) //紅色條件
//if(((Hsl1.hue>=220)&&(Hsl1.hue<=240))&&((Hsl1.saturation>=80)&&\
// (Hsl1.saturation<=100))&&((Hsl1.luminance>=70)&&(Hsl1.luminance<=150))) //藍(lán)色條件
//if(((Hsl1.hue>=50)&&(Hsl1.hue<=70))&&((Hsl1.saturation>=80)&&\
// (Hsl1.saturation<=100))&&((Hsl1.luminance>=70)&&(Hsl1.luminance<=150))) //黃色
{
sum_x = sum_x+find_x ;
sum_y = sum_y+find_y ;
i_xy++;
}
}
}
// k++;
n_i=i_xy;
X=sum_x /n_i;
Y=sum_y /n_i;
// 發(fā)送命令
//if(k==5) // 人為降低發(fā)送頻率減少主控緩存壓力
// {
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