stm32摄像头颜色识别+舵机控制ov7670 -

#include "sys.h"
#include "usart.h"
#include "delay.h"
#include "led.h"
#include "usmart.h"
#include "lcd.h"
#include "ov7670.h"
#include "exti.h"
#include "timer.h"
#include "EasyTrace.h"
#include "PWM.h"
//ALIENTEK Mini STM32开发板扩展实验9
//摄像头实验
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;
//更新LCD显示
void camera_refresh(void)
{
RESULT Resu;
TARGET_CONDI Condition={215,240,20,240,30,160,30,30,320,240}; //API参数 hls的阈值，识别时用的
u32 j;
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_CS=0;
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=OV7670_DATA; //读数据
OV7670_RCK=1;
color<<=8;
OV7670_RCK=0;
color|=OV7670_DATA; //读数据
OV7670_RCK=1;
GPIOB->CRL=0X33333333;
//
//加算法，例灰阶转换，二值化之类的
//
LCD_WR_DATA(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;
}
OV7670_CS=1;
OV7670_RCK=0;
OV7670_RCK=1;
EXTI->PR=1<<15; //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)
{
u16 led0pwmval;
static int t=0;
u8 i;
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 设置中断优先级分组2
uart_init(9600);
OV7670_Init();
LED_Init(); //初始化与LED连接的硬件接口
LCD_Init(); //初始化LCD
TIM2_PWM_Init(199,7199); //PWM定时器设置
if(lcddev.id==0X6804||lcddev.id==0X5310||lcddev.id==0X5510||lcddev.id==0X1963) //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;
}
usmart_dev.init(72); //初始化USMART
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,50,200,200,16,"Mini STM32");
LCD_ShowString(60,70,200,200,16,"OV7670 TEST");
LCD_ShowString(60,90,200,200,16,"ATOM@ALIENTEK");
LCD_ShowString(60,110,200,200,16,"2014/3/27");
LCD_ShowString(60,130,200,200,16,"Use USMART To Set!");
LCD_ShowString(60,150,200,200,16,"OV7670 Init...");
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,"OV7670 Init OK");
delay_ms(1500);
TIM3_Int_Init(10000,7199); //TIM3,10Khz计数频率,1秒钟中断
EXTI15_Init(); //使能定时器捕获
OV7670_Window_Set(10,174,240,320); //设置窗口
OV7670_CS=0;
while(1)
{
camera_refresh(); //更新显示
printf("Resu:%d-%d\r\n",r,y);
if(y>120)
t++;
if(t==0)
led0pwmval=188;
else if(t==1)
led0pwmval=190;
else if(t==2)
led0pwmval=194;
else
led0pwmval=194;
printf("Result:%d\r\n",t);
delay_ms(10);
delay_ms(10);
TIM_SetCompare3(TIM2,led0pwmval);
printf("Re:%d\r\n",led0pwmval);
if(i!=ov_frame) //DS0闪烁.
{
i=ov_frame;
LED0=!LED0;
}
}
}

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