ov7670摄像头循迹原理分析与stm32源码 -

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "ov7670.h"
#include "exti.h"
#include "motor.h"
u8 ov_sta; //在exit.c里面定义
MOTOR GmLeft = {MOTOR_STOP,MOTOR_GOAHEAD,0,0,0};//定义并初始化左电机状态
MOTOR GmRight = {MOTOR_STOP,MOTOR_GOAHEAD,0,0,0};//定义并初始化右电机状态
u16 Array[60] ={
/*采集像素点矩阵【（46,150），（49,154）】 320列*/
14870,14871,14872,14873,14874,
15190,15191,15192,15193,15194,
15510,15511,15512,15513,15514,
15830,15831,15832,15833,15834,
/*采集像素点矩阵【（100,10），（104,13）】 320列*/
32010,32011,32012,32013,
32330,32331,32332,32333,
32650,32651,32652,32653,
32970,32971,32972,32973,
33290,33291,33292,33293,
/*采集像素点矩阵【（165,150），（168,154）】 320列 */
52950,52951,52952,52953,52954,
53270,53271,53272,53273,53274,
53590,53591,53592,53593,53594,
53910,53911,53912,53913,53914,
};
//更新LCD显示
u8 camera_refresh(void)
{
u32 j;
u8 k = 0;
u16 color;
u8 whitepoint = 0;
u8 leftblackpoint = 0;
u8 rightblackpoint = 0;
u8 JudgeFlag = 0;
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(j=0;j<76800;j++)
{
GPIOB->CRL=0X88888888;
OV7670_RCK=0;
color=GPIOB->IDR&0x00FF; //读数据
OV7670_RCK=1;
color<<=8;
OV7670_RCK=0;
color|=GPIOB->IDR&0x00FF; //读数据
OV7670_RCK=1;
GPIOB->CRL=0X33333333;
LCD_WR_DATA(color);
// EXTI_ClearITPendingBit(EXTI_Line15);
if(j == Array[k]&&(k<=60))//init(k) = 0 -=
{
if(k < 20)
{
if(!(color&0x8000)) //检测底片黑，如果bit15为0，则黑点
leftblackpoint++;
}
else if(k < 40)
{
if(color&0x8000)
whitepoint++; //测得白点
}
else if(k < 60)
{
if(!(color&0x8000)) //检测底片黑，如果bit15为0，则黑点
rightblackpoint++;
}
k++;
}
}
ov_sta=0; //开始下一次采集
// LCD_Scan_Dir(DFT_SCAN_DIR); //恢复默认扫描方向
k=0;
if(whitepoint<=13) //中间端未检测到白色则停止
{
JudgeFlag = 0;// stop
}
else
{
if((whitepoint>13)&&(leftblackpoint>13)&&(rightblackpoint>13))//如果左端块黑色中端块白色右端块黑色则前进
{
JudgeFlag = 1;
}
if(leftblackpoint <= 13 && rightblackpoint >13) //左端白色右端黑色则向往右
{
JudgeFlag = 2; //rihgt
}
if(leftblackpoint > 13 && rightblackpoint <= 13) //右端白色左端黑色则向往左
{
JudgeFlag = 3; //left
}
}
}
return JudgeFlag;
}
int main(void)
{
delay_init(); //延时函数初始化
uart_init(9600); //串口初始化为9600
LED_Init(); //LED端口初始化
LCD_Init();
Motor_Init();
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,110,200,16,16,"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(60,110,200,16,16,"OV7670 Init OK");
delay_ms(1500);
EXTI15_Init();
OV7670_Special_Effects(1);
OV7670_Light_Mode(2);
ov_sta=0;
OV7670_CS=0;
while(1)
{
u8 flag ;
flag = camera_refresh();
/*LED0 red \ LED1 green */
switch(flag)
{
case 0:Motor_Stop();break; //0 stop
case 1:Motor_GOStraight();delay_ms(500);break; //每一TIMER（20ms），走20step，
case 2:Motor_GORight();delay_ms(500);break; //2 往右左步进电机转动 LED1= 1
case 3:Motor_GOLeft();delay_ms(500);break; //3 往左右步进电机转动
default:break;
}
}
}

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