WebSVN – svnkaklik – Diff – /roboti/istrobot/camerus/SW/876/camerus.c



//********* Robot Camerus pro IstRobot 2007 ************
//"$Id: camerus.c 234 2007-04-16 21:19:54Z kaklik $"
//*****************************************************
 
#include ".\camerus.h"
 
#USE FAST_IO (C)     // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
 
#define CAMERA_adr   0xC0
#define SONAR_adr    0xE0
 
// A/D vstupy
#define  RMAX     4  // AN4/RA5 - leve cidlo na vyjeti z cary
#define  LMAX     3  // AN3/RA3 - prave cidlo na vyjeti z cary
#define  CERVENA  2  // AN2/RA2 - cervene kroutitko
#define  ZELENA   1  // AN1/RA0 - zelene kroutitko

   setup_ccp1(CCP_PWM); // RC1               // PWM pro motory
   setup_ccp2(CCP_PWM); // RC2
   setup_comparator(NC_NC_NC_NC);
   setup_vref(FALSE);
 
   set_tris_c(0b11111001);     // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky
 
   set_pwm1_duty(0);    // Zastav motory
   set_pwm2_duty(0);
   output_low(MOT_L);   // Nastav smer vpred
   output_low(MOT_R);

   NightRider(1);    // Aby se poznalo, ze byl RESET
                     // taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
 
   //... Nastaveni sonaru ...
   i2c_start();
   i2c_write(SONAR_adr);
   i2c_write(0x02);  // dosah
   i2c_write(0x03);  // n*43mm
   i2c_stop();
   i2c_start();
   i2c_write(SONAR_adr);
   i2c_write(0x01);  // zesileni
   i2c_write(0x01);  // male, pro eliminaci echa z minuleho mereni
   i2c_stop();
 
// pro ladeni sonaru
/*
   while(true)
   {
         i2c_start();     // Sonar Ping

   }
*/
 
   //... Nastaveni kamery ...
   i2c_start();      // Soft RESET kamery
   i2c_write(CAMERA_adr);        // Pro single slave musi mit vsechny zapisy adresu C0h
   i2c_write(0x12);        // Adresa registru COMH
   i2c_write(0x80 | 0x24); // Zapis ridiciho slova
   i2c_stop();
 
   i2c_start();      // BW
   i2c_write(CAMERA_adr);
   i2c_write(0x28);
   i2c_write(0b01000001);
   i2c_stop();
 
/*

   i2c_write(0x04 | 0x03);
   i2c_stop();
*/
 
   i2c_start();      // Fame Rate
   i2c_write(CAMERA_adr);
   i2c_write(0x2B);
   i2c_write(0x00);  // cca 17ms (puvodni hodnota 5Eh = 20ms)
   i2c_stop();
 
   i2c_start();      // VSTRT
   i2c_write(CAMERA_adr);
   i2c_write(0x19);
   i2c_write(118);   // prostredni radka
   i2c_stop();
 
   i2c_start();      // VEND
   i2c_write(CAMERA_adr);
   i2c_write(0x1A);
   i2c_write(118);
   i2c_stop();
 
   NightRider(1);    // Musi se dat cas kamere na AGC a AEC
 
   { // Mereni expozice
      int8 t1,t2;
 
      i2c_start();      // Brightness, zacni od uplne tmy
      i2c_write(CAMERA_adr);
      i2c_write(0x06);
      i2c_write(0);  // 80h default
      i2c_stop();
      delay_ms(50);
 
      for(offset=0x04;offset<(255-0x04);offset+=0x04)   // Zacni od jasu 10h
      {
         i2c_start();      // Brightness
         i2c_write(CAMERA_adr);
         i2c_write(0x06);
         i2c_write(offset);  // 80h default
         i2c_stop();
         disp(offset);
         delay_ms(50);

   offset=read_adc();
   offset &= 0b11111100;   // Dva nejnizsi bity ignoruj
//   offset += 0x70;         // Jas nebude nikdy nizsi
   disp(offset);
   i2c_start();            // Brightness
   i2c_write(CAMERA_adr);
   i2c_write(0x06);
   i2c_write(offset);  // 80h default
   i2c_stop();
   delay_ms(1000);   // Nech hodnotu chvili na displayi
 

Rev 229	Rev 234
Line 1...	Line 1...
1	`//******* Robot Camerus pro IstRobot 2007 **********`	1	`//******* Robot Camerus pro IstRobot 2007 **********`
2	`//"$Id: camerus.c 229 2007-04-09 11:41:19Z kakl $"`	2	`//"$Id: camerus.c 234 2007-04-16 21:19:54Z kaklik $"`
3	`//*****************************************************`	3	`//*****************************************************`
4		4
5	`#include ".\camerus.h"`	5	`#include ".\camerus.h"`
6		6
7	`#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery`	7	`#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery`
8		8
-		9	`#define CAMERA_adr 0xC0`
-		10	`#define SONAR_adr 0xE0`
-		11
9	`// A/D vstupy`	12	`// A/D vstupy`
10	`#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary`	13	`#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary`
11	`#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary`	14	`#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary`
12	`#define CERVENA 2 // AN2/RA2 - cervene kroutitko`	15	`#define CERVENA 2 // AN2/RA2 - cervene kroutitko`
13	`#define ZELENA 1 // AN1/RA0 - zelene kroutitko`	16	`#define ZELENA 1 // AN1/RA0 - zelene kroutitko`
Line 206...	Line 209...
206	`setup_ccp1(CCP_PWM); // RC1 // PWM pro motory`	209	`setup_ccp1(CCP_PWM); // RC1 // PWM pro motory`
207	`setup_ccp2(CCP_PWM); // RC2`	210	`setup_ccp2(CCP_PWM); // RC2`
208	`setup_comparator(NC_NC_NC_NC);`	211	`setup_comparator(NC_NC_NC_NC);`
209	`setup_vref(FALSE);`	212	`setup_vref(FALSE);`
210		213
211	`set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky`	214	`set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky`
212		215
213	`set_pwm1_duty(0); // Zastav motory`	216	`set_pwm1_duty(0); // Zastav motory`
214	`set_pwm2_duty(0);`	217	`set_pwm2_duty(0);`
215	`output_low(MOT_L); // Nastav smer vpred`	218	`output_low(MOT_L); // Nastav smer vpred`
216	`output_low(MOT_R);`	219	`output_low(MOT_R);`
Line 220...	Line 223...
220	`NightRider(1); // Aby se poznalo, ze byl RESET`	223	`NightRider(1); // Aby se poznalo, ze byl RESET`
221	`// taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy`	224	`// taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy`
222		225
223	`//... Nastaveni sonaru ...`	226	`//... Nastaveni sonaru ...`
224	`i2c_start();`	227	`i2c_start();`
225	`i2c_write(0xE0);`	228	`i2c_write(SONAR_adr);`
226	`i2c_write(0x02); // dosah`	229	`i2c_write(0x02); // dosah`
227	`i2c_write(0x03); // n*43mm`	230	`i2c_write(0x03); // n*43mm`
228	`i2c_stop();`	231	`i2c_stop();`
229	`i2c_start();`	232	`i2c_start();`
230	`i2c_write(0xE0);`	233	`i2c_write(SONAR_adr);`
231	`i2c_write(0x01); // zesileni`	234	`i2c_write(0x01); // zesileni`
232	`i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni`	235	`i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni`
233	`i2c_stop();`	236	`i2c_stop();`
234		237
235	`// pro ladeni sonaru`	238	`// pro ladeni sonaru`
236	`/*`	239	`/*`
237	`while(true)`	240	`while(true)`
238	`{`	241	`{`
239	`i2c_start(); // Sonar Ping`	242	`i2c_start(); // Sonar Ping`
Line 254...	Line 257...
254	`}`	257	`}`
255	`*/`	258	`*/`
256		259
257	`//... Nastaveni kamery ...`	260	`//... Nastaveni kamery ...`
258	`i2c_start(); // Soft RESET kamery`	261	`i2c_start(); // Soft RESET kamery`
259	`i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h`	262	`i2c_write(CAMERA_adr); // Pro single slave musi mit vsechny zapisy adresu C0h`
260	`i2c_write(0x12); // Adresa registru COMH`	263	`i2c_write(0x12); // Adresa registru COMH`
261	`i2c_write(0x80 \| 0x24); // Zapis ridiciho slova`	264	`i2c_write(0x80 \| 0x24); // Zapis ridiciho slova`
262	`i2c_stop();`	265	`i2c_stop();`
263		266
264	`i2c_start(); // BW`	267	`i2c_start(); // BW`
265	`i2c_write(0xC0);`	268	`i2c_write(CAMERA_adr);`
266	`i2c_write(0x28);`	269	`i2c_write(0x28);`
267	`i2c_write(0b01000001);`	270	`i2c_write(0b01000001);`
268	`i2c_stop();`	271	`i2c_stop();`
269		272
270	`/*`	273	`/*`
Line 280...	Line 283...
280	`i2c_write(0x04 \| 0x03);`	283	`i2c_write(0x04 \| 0x03);`
281	`i2c_stop();`	284	`i2c_stop();`
282	`*/`	285	`*/`
283		286
284	`i2c_start(); // Fame Rate`	287	`i2c_start(); // Fame Rate`
285	`i2c_write(0xC0);`	288	`i2c_write(CAMERA_adr);`
286	`i2c_write(0x2B);`	289	`i2c_write(0x2B);`
287	`i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)`	290	`i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)`
288	`i2c_stop();`	291	`i2c_stop();`
289		292
290	`i2c_start(); // VSTRT`	293	`i2c_start(); // VSTRT`
291	`i2c_write(0xC0);`	294	`i2c_write(CAMERA_adr);`
292	`i2c_write(0x19);`	295	`i2c_write(0x19);`
293	`i2c_write(118); // prostredni radka`	296	`i2c_write(118); // prostredni radka`
294	`i2c_stop();`	297	`i2c_stop();`
295		298
296	`i2c_start(); // VEND`	299	`i2c_start(); // VEND`
297	`i2c_write(0xC0);`	300	`i2c_write(CAMERA_adr);`
298	`i2c_write(0x1A);`	301	`i2c_write(0x1A);`
299	`i2c_write(118);`	302	`i2c_write(118);`
300	`i2c_stop();`	303	`i2c_stop();`
301		304
302	`NightRider(1); // Musi se dat cas kamere na AGC a AEC`	305	`NightRider(1); // Musi se dat cas kamere na AGC a AEC`
303		306
304	`{ // Mereni expozice`	307	`{ // Mereni expozice`
305	`int8 t1,t2;`	308	`int8 t1,t2;`
306		309
307	`i2c_start(); // Brightness, zacni od uplne tmy`	310	`i2c_start(); // Brightness, zacni od uplne tmy`
308	`i2c_write(0xC0);`	311	`i2c_write(CAMERA_adr);`
309	`i2c_write(0x06);`	312	`i2c_write(0x06);`
310	`i2c_write(0); // 80h default`	313	`i2c_write(0); // 80h default`
311	`i2c_stop();`	314	`i2c_stop();`
312	`delay_ms(50);`	315	`delay_ms(50);`
313		316
314	`for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h`	317	`for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h`
315	`{`	318	`{`
316	`i2c_start(); // Brightness`	319	`i2c_start(); // Brightness`
317	`i2c_write(0xC0);`	320	`i2c_write(CAMERA_adr);`
318	`i2c_write(0x06);`	321	`i2c_write(0x06);`
319	`i2c_write(offset); // 80h default`	322	`i2c_write(offset); // 80h default`
320	`i2c_stop();`	323	`i2c_stop();`
321	`disp(offset);`	324	`disp(offset);`
322	`delay_ms(50);`	325	`delay_ms(50);`
Line 346...	Line 349...
346	`offset=read_adc();`	349	`offset=read_adc();`
347	`offset &= 0b11111100; // Dva nejnizsi bity ignoruj`	350	`offset &= 0b11111100; // Dva nejnizsi bity ignoruj`
348	`// offset += 0x70; // Jas nebude nikdy nizsi`	351	`// offset += 0x70; // Jas nebude nikdy nizsi`
349	`disp(offset);`	352	`disp(offset);`
350	`i2c_start(); // Brightness`	353	`i2c_start(); // Brightness`
351	`i2c_write(0xC0);`	354	`i2c_write(CAMERA_adr);`
352	`i2c_write(0x06);`	355	`i2c_write(0x06);`
353	`i2c_write(offset); // 80h default`	356	`i2c_write(offset); // 80h default`
354	`i2c_stop();`	357	`i2c_stop();`
355	`delay_ms(1000); // Nech hodnotu chvili na displayi`	358	`delay_ms(1000); // Nech hodnotu chvili na displayi`
356		359

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(root)/roboti/istrobot/camerus/SW/876/camerus.c – Rev 229 → 234