STM32单片机ov760摄像头进行图像采集处理

#include <stm32f10x.h>
#include <stdio.h>
#include <usart.h>
#include <Nvic_Exit.h>
#include <delay.h>
#include <tft.h>
#include <ov7670.h>
#include <I2C.h>
#include "Image.h"
{
u16 i,j;
for (i=0;i<R;i++)
{
for(j=0;j<C;j=j+2)
{
// data[i][j]= Get_a_Y();
}
//跳过紧接着的5行
skip_a_row();
skip_a_row();
skip_a_row();
skip_a_row();
skip_a_row();
}
}
u8 Abs8(u8 a)
{
if (*p > ThresholdValue){*p = White;}//130 =ThresholdValue
else{*p = Black;}
}
//滤波
for (i=0;i<R;i++)
{
p = Data+i*C+1;
j=0;
while (j<C-2)
{
if (*(p-1) == White && *p == Black && *(p+1) == White)
s=sqrt(e)*1000;
}
}
void SpeedContiol(u16 speed)
{
TIM3->CCR2 =speed;
//TIM2->CCR2 = speed;
}
void zhidaowang (void)
{
SpeedContiol(547);
SpeedContiol(547);
SpeedContiol(547);
BlackLineData[i]=(BlackLineData[i-1]+BlackLineData[i+1] )/2;
}
}
void AddMtoPic(void)
{
u8 i;
for(i=0;i<R;i++)
{
data[i][BlackLineData[i]]=Black;
data[i][80]=Black;
u8 bFoundRight = 0;
///unsigned char TripLen = 4;
char bLeftEnd=0;
char bRightEnd=0;
char bMidEnd=0;
BlackLineData[R-1]=LastFieldMid1;
for (i=R-2;i>3&&bMidEnd!=1;i--)
// SpeedContiol(525); //546
kp=10;
kd=6;
steererr = kp*(Err-3.5)+ kd*Erri;
Steerangle = STRM-steererr;
if(Steerangle<=STRL) Steerangle=STRL;
if(Steerangle>=STRR) Steerangle=STRR;
{
//清零，以备下一行使用
bFoundLeft=0;
bFoundRight=0;
//向左扫描
for (pLeft=BlackLineData[i+1];pLeft>2;pLeft--)
{
if (*(Data+i*C+pLeft)==Black)
{
bFoundLeft=1;
Left[i]=pLeft;
void ImageProcess()
{
int i=0,j=0;
u8 *p=0;
//unsigned char *q=0;
//ThresholdValue = otsu ((unsigned char *)Data, C, 0, 0, R, C);
//ThresholdValue = 130;
//均值滤波
}
for(i=0;i<=34;i++)
{
a=(BlackLineData[i]+BlackLineData[i+1]+BlackLineData[i+2]+BlackLineData[i+3]+BlackLineData[i+4])/5-80;
e+=(a-aver)*(a-aver);
e=e/(10-1);
kd=1;
steererr =(kp*Err-4)+ kd*Erri ;
Steerangle = STRM-steererr;
if(Steerangle<=STRL) Steerangle=STRL;
if(Steerangle>=STRR) Steerangle=STRR;
TIM3->CCR1 = Steerangle;TIM3->CCR1 = Steerangle;TIM3->CCR1 = Steerangle;
t2=(0x00ff&GPIOB->IDR);
//跳过一个像素
FIFO_RCK=0;
FIFO_RCK=1;
t2=(0x00ff&GPIOB->IDR);
FIFO_RCK=0;
FIFO_RCK=1;
t2=(0x00ff&GPIOB->IDR);
return t1;
}
void skip_a_row()
{
/*
if ( *(Data+i*C+ BlackLineData[i])==Black)
bMidEnd=1;
*/
if (bFoundRight!=1&&bFoundLeft!=1)
Steerangle = STRM;
if ((BlackLineData[i]>C-4)||BlackLineData[i]<4)
// for(i=0;i<38;i++)
// {
// for (p=Data+i*C+3;p<Data+(i+1)*C-3;p++)
// {
// *p=(*p+*(p+1)+*(p-1))/3; //使用均值滤波的方式滤波
// }
// }
//二值化
for (p = Data; p <= Data+R*C; p++)
void DataAnalyse(u8 l)
{
Data=&data[0][0];
ImageProcess();
}
///////////////////////////////////////////
//全局变量，要改
///////////////////////////////////////////
bMidEnd=1;
}
LastFieldMid1= BlackLineData[ R-5];
LastFieldMid2=BlackLineData[ R-6];
}
void SmoothMid()//
{
u8 i;
for (i=R-3;i>2;i--) {
if (Abs8(BlackLineData[i]-BlackLineData[i-1])>5&& Abs8(BlackLineData[i]-BlackLineData[i+1])>5 )
for (i=0;i<R;i++)
{
for (j=0;j<C;j=j+2)
{
if(data[i][j]==255) data[i][j]--;
USART_SendData(USART1,data[i][j]);
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
pLeft=1;
}
}
if(bFoundLeft!=1)
Left[i]=1;
//检测是否到了尽头
//向右扫描
for (pRight=BlackLineData[i+1];pRight<C-2;pRight++)
{
if (*(Data+i*C+pRight)==Black)//&&*(Data+i*C+pRight+1)==Black)
{
*p = White;
}
else if (*(p-1) == Black && *p == White && *(p+1) == Black)
{
*p = Black;
}
j++;
p++;
}
}
}
void mygetLmr()
{
u8 i=0;
u8 j=0;
u8 pLeft,pRight ;
u8 bFoundLeft = 0;