easy_trace算法源码 OV7670和stm32的颜色识别 -

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "string.h"
#include "ov7670.h"
#include "timer.h"
#include "exti.h"
#include "Trace.h"
#include "can.h"
u8 Way_Angle=1; //获取角度的算法，1：四元数 2：卡尔曼 3：互补滤波
u8 Flag_Qian,Flag_Hou,Flag_Left,Flag_Right,Flag_Direction=0; //蓝牙遥控相关的变量
u8 Flag_Stop=1,Flag_Show=0; //停止标志位和显示标志位默认停止显示打开
int Encoder_A,Encoder_B,Encoder_C; //编码器的脉冲计数
int Encoder_A_EXTI;
int Motor_A,Motor_B,Motor_C; //电机PWM变量
int Target_A,Target_B,Target_C; //电机目标速度
int Temperature; //显示温度
int Voltage; //电池电压采样相关的变量
float Angle_Balance,Gyro_Balance,Gyro_Turn; //平衡倾角平衡陀螺仪转向陀螺仪
float Show_Data_Mb; //全局显示变量，用于显示需要查看的数据
u32 Distance; //超声波测距
u8 delay_50,delay_flag; //默认情况下，不开启避障功能，长按用户按键2s以上可以进入避障模式
int Velocity=30;
u8 Usart3_Receive;
u8 rxbuf[8],Rxbuf[16];
u8 txbuf[8];
int AZ,GZ;
float Pitch,Roll,Yaw;
u32 count,usart_count;
int temp,temp2,temp3,count_temp,flag;
u8 ON_txbuf[8]={10,12,15,19,24,30,37,1} ;
u8 Velocity_txbuf[8]={11,13,16,20,25,31,38,50} ;
void car(u16 command);
void carturn(u16 commandturn,u16 turnangle);
char* bian(int a);
u8 flag2=1;
const u8*LMODE_TBL[5]={"Auto","Sunny","Cloudy","Office","Home"}; //5种光照模式
const u8*EFFECTS_TBL[7]={"Normal","Negative","B&W","Redish","Greenish","Bluish","Antique"}; //7种特效
extern u8 ov_sta; //在exit.c里面定义
extern u8 ov_frame; //在timer.c里面定义
u16 r,y;
u16 i;
u16 j;
unsigned short C16;
//更新LCD显示
void camera_refresh(void)
{
RESULT Resu;
TARGET_CONDI Condition={0,240,0,240,200,210,30,30,320,240}; //API参数 hls的阈值，识别时用的
u16 color;
if(ov_sta==2)
{
LCD_Scan_Dir(U2D_L2R); //从上到下,从左到右
LCD_SetCursor(0x00,0x0000); //设置光标位置
LCD_WriteRAM_Prepare(); //开始写入GRAM
OV7670_RRST=0; //开始复位读指针
OV7670_RCK=0;
OV7670_RCK=1;
OV7670_RCK=0;
OV7670_RRST=1; //复位读指针结束
OV7670_RCK=1;
for(i=0;i<240;i++)
{
for(j=0;j<320;j++)
{
OV7670_RCK=0;
color=GPIOC->IDR&0XFF; //读数据
OV7670_RCK=1;
color<<=8;
OV7670_RCK=0;
color|=GPIOC->IDR&0XFF; //读数据
OV7670_RCK=1;
LCD->LCD_RAM=color;
}
}
if(Trace(&Condition,&Resu) ) //API
{
LCD_Fill(Resu.x-Resu.w/2,Resu.y-Resu.h/2,Resu.x+Resu.w/2,Resu.y-Resu.h/2+1,0xf800);//u16 x,u16 y,u16 width,u16 hight,u16 Color
LCD_Fill(Resu.x-Resu.w/2,Resu.y-Resu.h/2,Resu.x-Resu.w/2+1,Resu.y+Resu.h/2,0xf800);
LCD_Fill(Resu.x-Resu.w/2,Resu.y+Resu.h/2,Resu.x+Resu.w/2,Resu.y+Resu.h/2+1,0xf800);
LCD_Fill(Resu.x+Resu.w/2,Resu.y-Resu.h/2,Resu.x+Resu.w/2+1,Resu.y+Resu.h/2,0xf800);
LCD_Fill(Resu.x-2,Resu.y-2,Resu.x+2,Resu.y+2,0xf800);
//LED1=!LED1;
r=Resu.x;y=Resu.y;
LCD_ShowString(60,130,200,16,16,bian(r));
if(r>130) //偏左//右转
{
txbuf[0]=10;
txbuf[1]=12;
txbuf[2]=15;
txbuf[3]=19;
txbuf[4]=24;
txbuf[5]=30;
txbuf[6]=37;
txbuf[7]=1; //00000111
CAN1_SEND(0X121,txbuf);//CAN发送
carturn(2,3);
//flag2=1;
//car(1);
}
if(r<110)//偏右//左转
{
txbuf[0]=10;
txbuf[1]=12;
txbuf[2]=15;
txbuf[3]=19;
txbuf[4]=24;
txbuf[5]=30;
txbuf[6]=37;
txbuf[7]=1; //00000111
CAN1_SEND(0X121,txbuf);//CAN发送
carturn(1,3);
//flag2=2;
//car(1);
}
/*else if((r<=130)&&(r>=110))//前
{
car(1);
}
else
LCD_ShowString(60,130,200,16,16,"Error");*/
}
/*else
{
carturn(1,3);
}*/
EXTI_ClearITPendingBit(EXTI_Line8); //清除LINE8上的中断标志位
ov_sta=0; //开始下一次采集
ov_frame++;
LCD_Scan_Dir(DFT_SCAN_DIR); //恢复默认扫描方向
}
}
int main(void)
{
u8 key;
u8 lightmode=2,saturation=2,brightness=2,contrast=2;
u8 effect=0;
u8 i=0;
u8 msgbuf[15];//消息缓存区
u8 tm=0;
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
LED_Init(); //LED端口初始化
LCD_Init();
if(lcddev.id==0X6804||lcddev.id==0X5310) //强制设置屏幕分辨率为320*240.以支持3.5寸大屏
{
lcddev.width=240;
lcddev.height=320;
}
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,130,200,16,16,"S1:Light Mode");
LCD_ShowString(60,150,200,16,16,"KS2:Saturation");
LCD_ShowString(60,170,200,16,16,"S3:Brightness");
LCD_ShowString(60,190,200,16,16,"S4:Contrast");
LCD_ShowString(60,210,200,16,16,"TPAD(SD2):Effects");
LCD_ShowString(60,230,200,16,16,"OV7670 Init...");
while(OV7670_Init())//初始化OV7670
{
LCD_ShowString(60,230,200,16,16,"OV7670 Error!!");
delay_ms(200);
LCD_Fill(60,230,239,246,WHITE);
delay_ms(200);
}
LCD_ShowString(60,230,200,16,16,"OV7670 Init OK");
delay_ms(1500);
OV7670_Light_Mode(lightmode);
OV7670_Color_Saturation(saturation);
OV7670_Brightness(brightness);
OV7670_Contrast(contrast);
OV7670_Special_Effects(effect);
TIM6_Int_Init(10000,7199); //10Khz计数频率,1秒钟中断
EXTI8_Init(); //使能定时器捕获
OV7670_Window_Set(10,174,240,320); //设置窗口
OV7670_CS=0;
CAN1_Mode_Init(1,2,3,6,0); //CAN初始化
while(1)
{
/*txbuf[0]=10;
txbuf[1]=12;
txbuf[2]=15;
txbuf[3]=19;
txbuf[4]=24;
txbuf[5]=30;
txbuf[6]=37;
txbuf[7]=1; //00000111
CAN1_SEND(0X121,txbuf);//CAN发送*/
camera_refresh();//更新显示
}
}
void car(u16 command)
{
switch(command)
{
case 1: //前进，速度为25
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=0;
txbuf[3]=0;
txbuf[4]=3;
txbuf[5]=0;
txbuf[6]=0;
txbuf[7]=0x00; //00000111
CAN1_SEND(0X121,txbuf);
break;
case 2: //后退，速度为25
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=0;
txbuf[3]=0;
txbuf[4]=25;
txbuf[5]=0;
txbuf[6]=0;
txbuf[7]=0x02; //00000111
CAN1_SEND(0X121,txbuf);
break;
case 3: //向右，速度为25
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=25;
txbuf[3]=0;
txbuf[4]=0;
txbuf[5]=0;
txbuf[6]=0;
txbuf[7]=0x00; //00000111
CAN1_SEND(0X121,txbuf);
break;
case 4: //向左，速度为25
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=25;
txbuf[3]=0;
txbuf[4]=0;
txbuf[5]=0;
txbuf[6]=0;
txbuf[7]=0x04; //00000111
CAN1_SEND(0X121,txbuf);
break;
default:printf("error");
}
}
void carturn(u16 commandturn,u16 turnangle)
{
if(commandturn==1)//右转turnangle 角度
{
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=0;
txbuf[3]=0;
txbuf[4]=0;
txbuf[5]=0;
txbuf[6]=turnangle;
txbuf[7]=0x00; //00000111
CAN1_SEND(0X121,txbuf);
}
else if(commandturn==2)//左转turnangle角度
{
txbuf[0]=1;
txbuf[1]=0;
txbuf[2]=0;
txbuf[3]=0;
txbuf[4]=0;
txbuf[5]=0;
txbuf[6]=turnangle;
txbuf[7]=0x03; //00000111
CAN1_SEND(0X121,txbuf);
}
else
printf("error");
}
char* bian(int a){
int i=0,l;
char*s;
char n[10];
while(a>0){n[i++]=a%10;a/=10;}
l=--i;
for(;i>=0;i--)s[l-i]=n[i]+'0';
s[l+1]=0;
return s;
}

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