📄 retrieve.htm

📁 基于FPGA的嵌入式机器人视觉识别系统模块源代码

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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0067)http://www.seattlerobotics.org/encoder/200601/article3/retrieve.htm -->
<HTML><HEAD>
<META http-equiv=Content-Type content="text/html; charset=gb2312">
<META content="MSHTML 6.00.2900.3243" name=GENERATOR></HEAD>
<BODY text=#000000 vLink=#000000 aLink=#0000ff link=#0000b0 
bgColor=#008080><BASEFONT face=Arial color=#ffffff>
<CENTER>
<H2>A Color Vision System for Embedded Robotics Applications</H2></CENTER>
<CENTER>
<H2><A 
href="http://www.seattlerobotics.org/encoder/200601/article3/index.php#cap_code" 
target=main>Click here to return to article</CENTER></A>
<P>
<TABLE borderColor=#0080ff cellPadding=10 align=center 
background=retrieve.files/grid.gif border=10>
  <TBODY>
  <TR>
    <TD><FONT color=black>
      <CENTER>
      <H4>'C' function: Retrieve Image</H4></CENTER>
      <P><PRE>

//---------- Not shown here, but remember to turn off processor cacheing for areas listed below
#define RESET_CAPTURE_ADDRESS *(unsigned char volatile *)(FPGA2_BASE_ADDR + DISPLAY_TOP + 0X18)
#define PROC_READ_DATA *(unsigned char volatile *)(FPGA2_BASE_ADDR + DISPLAY_TOP + 0X19)
#define PROC2_READ_DATA *(unsigned char volatile *)(FPGA2_BASE_ADDR + DISPLAY_TOP + 0X1A)

void retrieve_Image(void)
{
unsigned short int i;
unsigned short int j;
unsigned char range_data, range2_data;

	RESET_CAPTURE_ADDRESS = 0xff;
	for(j = 0, j &lt; 240, j++)
	{
     	feed_watchdog();		// Must pet the watch dog as this is currently set up as blocking
     								// and the send fifo is pretty small...
		for(i = 0, i &lt; 320, i++)
		{
			range_data = PROC_READ_DATA;
			range2_data = PROC2_READ_DATA;
			dprintf("%c",(range_data &amp; 0x7C) &lt;&lt; 1);	// Red
			dprintf("%c",((range_data &amp; 0x03) &lt;&lt; 6) + ((range2_data &amp; 0xE0) &gt;&gt; 2));	// Green
			dprintf("%c",((range2_data &amp; 0x1f) &lt;&lt; 3));	// Blue
		}
	}		
	return;
}

</PRE></FONT></TR></TBODY></TABLE>
<P>
<CENTER>
<H2><A 
href="http://www.seattlerobotics.org/encoder/200601/article3/index.php#cap_code" 
target=main>Click here to return to article</CENTER></A>
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