利用ov7670识别红绿蓝物体与定位 -

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "string.h"
#include "ov7670.h"
#include "tpad.h"
#include "timer.h"
#include "exti.h"
#include "usmart.h"
#include "EasyTracered.h"
/************************************************
ALIENTEK精英STM32开发板实验33
摄像头OV7670 实验
作者：正点原子 @ALIENTEK
************************************************/
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 r0,r1;
u16 g0,g1;
u16 b0,b1;
//更新LCD显示
void camera_refresh(void)
{
RESULT Resured;//判定为的目标条件
RESULT Resugreen;
RESULT Resublue;
TARGET_CONDI Conditionred={215,240,20,240,30,160,30,30,320,240}; //红色1 API参数 hsl的阈值，识别时用的
TARGET_CONDI Conditiongreen={70,110,20,240,50,100,30,30,320,240}; //绿色1 API参数 hls的阈值，识别时用的
TARGET_CONDI Conditionblue={120,160,20,240,30,90,30,30,150,150}; //蓝色1 API参数 hsl的阈值，识别时用的
u32 j;
u16 color;
if(ov_sta)//有帧中断更新？
{
LCD_Scan_Dir(U2D_L2R); //从上到下,从左到右
if(lcddev.id==0X1963)LCD_Set_Window((lcddev.width-240)/2,(lcddev.height-320)/2,240,320);//将显示区域设置到屏幕中央
else if(lcddev.id==0X5510||lcddev.id==0X5310)LCD_Set_Window((lcddev.width-320)/2,(lcddev.height-240)/2,320,240);//将显示区域设置到屏幕中央
LCD_WriteRAM_Prepare(); //开始写入GRAM
OV7670_RRST=0; //开始复位读指针
OV7670_RCK_L;
OV7670_RCK_H;
OV7670_RCK_L;
OV7670_RRST=1; //复位读指针结束
OV7670_RCK_H;
for(j=0;j<76800;j++)
{
OV7670_RCK_L;
color=GPIOC->IDR&0XFF; //读数据
OV7670_RCK_H;
color<<=8;
OV7670_RCK_L;
color|=GPIOC->IDR&0XFF; //读数据
OV7670_RCK_H;
LCD->LCD_RAM=color;
}
if(Trace(&Conditionred,&Resured) ) //API
{
LCD_Fillred(Resured.x-Resured.w/2,Resured.y-Resured.h/2,Resured.x+Resured.w/2,Resured.y-Resured.h/2+1,0xf800);//u16 x,u16 y,u16 width,u16 hight,u16 Color
LCD_Fillred(Resured.x-Resured.w/2,Resured.y-Resured.h/2,Resured.x-Resured.w/2+1,Resured.y+Resured.h/2,0xf800);
LCD_Fillred(Resured.x-Resured.w/2,Resured.y+Resured.h/2,Resured.x+Resured.w/2,Resured.y+Resured.h/2+1,0xf800);
LCD_Fillred(Resured.x+Resured.w/2,Resured.y-Resured.h/2,Resured.x+Resured.w/2+1,Resured.y+Resured.h/2,0xf800);
LCD_Fillred(Resured.x-2,Resured.y-2,Resured.x+2,Resured.y+2,0xf800);
//LED1=!LED1;
r0=Resured.x;
r1=Resured.y;
}
if(Trace1(&Conditiongreen,&Resugreen) ) //API
{
LCD_Fillgreen(Resugreen.x-Resugreen.w/2,Resugreen.y-Resugreen.h/2,Resugreen.x+Resugreen.w/2,Resugreen.y-Resugreen.h/2+1,0xf800);//u16 x,u16 y,u16 width,u16 hight,u16 Color
LCD_Fillgreen(Resugreen.x-Resugreen.w/2,Resugreen.y-Resugreen.h/2,Resugreen.x-Resugreen.w/2+1,Resugreen.y+Resugreen.h/2,0xf800);
LCD_Fillgreen(Resugreen.x-Resugreen.w/2,Resugreen.y+Resugreen.h/2,Resugreen.x+Resugreen.w/2,Resugreen.y+Resugreen.h/2+1,0xf800);
LCD_Fillgreen(Resugreen.x+Resugreen.w/2,Resugreen.y-Resugreen.h/2,Resugreen.x+Resugreen.w/2+1,Resugreen.y+Resugreen.h/2,0xf800);
LCD_Fillgreen(Resugreen.x-2,Resugreen.y-2,Resugreen.x+2,Resugreen.y+2,0xf800);
// LED1=!LED1;
g0=Resugreen.x;
g1=Resugreen.y;
}
if(Trace2(&Conditionblue,&Resublue) ) //API
{
LCD_Fillblue(Resublue.x-Resublue.w/2,Resublue.y-Resublue.h/2,Resublue.x+Resublue.w/2,Resublue.y-Resublue.h/2+1,0xf800);//u16 x,u16 y,u16 width,u16 hight,u16 Color
LCD_Fillblue(Resublue.x-Resublue.w/2,Resublue.y-Resublue.h/2,Resublue.x-Resublue.w/2+1,Resublue.y+Resublue.h/2,0xf800);
LCD_Fillblue(Resublue.x-Resublue.w/2,Resublue.y+Resublue.h/2,Resublue.x+Resublue.w/2,Resublue.y+Resublue.h/2+1,0xf800);
LCD_Fillblue(Resublue.x+Resublue.w/2,Resublue.y-Resublue.h/2,Resublue.x+Resublue.w/2+1,Resublue.y+Resublue.h/2,0xf800);
LCD_Fillblue(Resublue.x-2,Resublue.y-2,Resublue.x+2,Resublue.y+2,0xf800);
// LED1=!LED1;
b0=Resublue.x;
b1=Resublue.y;
}
ov_sta=0; //清零帧中断标记
ov_frame++;
LCD_Scan_Dir(DFT_SCAN_DIR); //恢复默认扫描方向
}
}
int main(void)
{
u8 lightmode=0,saturation=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_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
uart_init(115200); //串口初始化为 115200
usmart_dev.init(72); //初始化USMART
LED_Init(); //初始化与LED连接的硬件接口
KEY_Init(); //初始化按键
LCD_Init(); //初始化LCD
TPAD_Init(6); //触摸按键初始化
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(30,50,200,16,16,"ELITE STM32F103 ^_^");
LCD_ShowString(30,210,200,16,16,"OV7670 Init...");
while(OV7670_Init())//初始化OV7670
{
LCD_ShowString(30,210,200,16,16,"OV7670 Error!!");
delay_ms(200);
LCD_Fill(30,210,239,246,WHITE);
delay_ms(200);
}
LCD_ShowString(30,210,200,16,16,"OV7670 Init OK");
delay_ms(1500);
OV7670_Light_Mode(lightmode);
OV7670_Color_Saturation(saturation);
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(12,176,240,320); //设置窗口
OV7670_CS=0;
LCD_Clear(BLACK);
while(1)
{
camera_refresh();//更新显示
if(tm)
{
LCD_ShowString((lcddev.width-240)/2+30,(lcddev.height-320)/2+60,200,16,16,msgbuf);
tm--;
}
i++;
if(i==15)//DS0闪烁.
{
i=0;
LED0=!LED0;
}
}
}

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