STM32单片机ov760摄像头进行图像采集处理

1、精选优质文档-倾情为你奉上#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"#include "include.h" float kp,kd,ki; s16 steererr =

2、0; u8 Get_a_Y() u8 t1,t2; /获得一个Y分量的过程FIFO_RCK=0;FIFO_RCK=1; t1=(0x00ff&GPIOB->IDR); FIFO_RCK=0;FIFO_RCK=1;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() u16 i; u8 tem

3、p;for (i=0;i<320;i+)/跳过一个像素 FIFO_RCK=0;FIFO_RCK=1; temp=(0x00ff&GPIOB->IDR); FIFO_RCK=0;FIFO_RCK=1;temp=(0x00ff&GPIOB->IDR); void Get_a_Image() u16 i,j; for (i=0;i<R;i+) for(j=0;j<C;j=j+2) / dataij= Get_a_Y(); /跳过紧接着的5行skip_a_row();skip_a_row();skip_a_row(); skip_a_row(); skip

4、_a_row(); u8 Abs8(u8 a) if (a>=0) return a; else return -a; void send_pic(void) u8 i,j; USART_SendData(USART1,0xFF); while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) = RESET); for (i=0;i<R;i+) for (j=0;j<C;j=j+2) if(dataij=255) dataij-; USART_SendData(USART1,dataij); while(USART_GetFlagSta

5、tus(USART1, USART_FLAG_TXE) = RESET); /*/函数名: DataAnalyse/函数类型：void 参数：l：图像数组号/功能：图像数据分析/*/void DataAnalyse(u8 l) Data=&data00; ImageProcess();/全局变量，要改/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;

6、 /均值滤波/ 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+)if (*p > ThresholdValue)*p = White;/130 =ThresholdValueelse*p = Black; /滤波for (i=0;i<R;i+)p = Data+i*C+1;j=0;while (j<C-2)if (*(p-1) =

7、White && *p = Black && *(p+1) = White)*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; u8 bFoundRight = 0; /unsigned char TripLen = 4; char bLeftEnd=0; char bRightE

8、nd=0; char bMidEnd=0; BlackLineDataR-1=LastFieldMid1; for (i=R-2;i>3&&bMidEnd!=1;i-) /清零，以备下一行使用 bFoundLeft=0; bFoundRight=0; /向左扫描 for (pLeft=BlackLineDatai+1;pLeft>2;pLeft-) if (*(Data+i*C+pLeft)=Black) bFoundLeft=1; Lefti=pLeft; pLeft=1; if(bFoundLeft!=1) Lefti=1; /检测是否到了尽头 /向右扫描 fo

9、r (pRight=BlackLineDatai+1;pRight<C-2;pRight+) if (*(Data+i*C+pRight)=Black)/&&*(Data+i*C+pRight+1)=Black) bFoundRight=1; Righti=pRight; pRight=C; if (bFoundRight!=1) Righti=C-1; BlackLineDatai=(Lefti+Righti)/2; /左右边线采集结束，开始逻辑处理，易错，小心！ 以上的部分代码安全 /* if ( *(Data+i*C+ BlackLineDatai)=Black)

10、bMidEnd=1; */ if (bFoundRight!=1&&bFoundLeft!=1) Steerangle = STRM; if (BlackLineDatai>C-4)|BlackLineDatai<4) bMidEnd=1; LastFieldMid1= BlackLineData R-5; LastFieldMid2=BlackLineData R-6;void SmoothMid() / u8 i; for (i=R-3;i>2;i-) if (Abs8(BlackLineDatai-BlackLineDatai-1)>5&&

11、amp; Abs8(BlackLineDatai-BlackLineDatai+1)>5 ) BlackLineDatai=(BlackLineDatai-1+BlackLineDatai+1 )/2; void AddMtoPic(void) u8 i; for(i=0;i<R;i+) dataiBlackLineDatai=Black; datai80=Black; void Steer_control(void) /u8 kp,kd,ki; / s16 steererr = 0; / s32 sum=0; /s8 dircnt=0; int i=0,a=0,b=0,aver;

12、/float e;double e;double s; Err=(BlackLineData4+BlackLineData5+BlackLineData6+BlackLineData7+BlackLineData8)/5-80;/BlackLineData20+BlackLineData21+BlackLineData22+BlackLineData23+BlackLineData24)/10-80; Errd=(BlackLineData13+BlackLineData12+BlackLineData11+BlackLineData10+BlackLineData9)/5-80; Errb=

13、(BlackLineData39+BlackLineData38+BlackLineData37+BlackLineData36+BlackLineData35)/5-80; Erri=( Errd-Err);for(i=0;i<=34;i+) a=(BlackLineDatai+BlackLineDatai+1+BlackLineDatai+2+BlackLineDatai+3+BlackLineDatai+4)/5-80; b=b+a; aver=b/10; for(i=0;i<=34;i+) a=(BlackLineDatai+BlackLineDatai+1+BlackLi

14、neDatai+2+BlackLineDatai+3+BlackLineDatai+4)/5-80; e+=(a-aver)*(a-aver); e=e/(10-1); s=sqrt(e)*1000; void SpeedContiol(u16 speed) TIM3->CCR2 =speed; /TIM2->CCR2 = speed; void zhidaowang (void) SpeedContiol(547); SpeedContiol(547); SpeedContiol(547);/ SpeedContiol(525); /546 kp=10; kd=6; steere

15、rr = kp*(Err-3.5)+ kd*Erri; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; void xiaos(void) SpeedContiol(542) ;SpeedContiol(542) ;SpeedContiol(542) ; kp=

16、8; 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; void xiaow5(void) /下一次改这个 SpeedContiol(546);SpeedContiol(546);Speed

17、Contiol(546); kp=8; kd=4; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; void xiaow4(void) /? SpeedContiol(542);SpeedContiol

18、(542);SpeedContiol(542);/544 kp=9;/ kd=4;/1.5; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; void xiaow3(void) SpeedContiol

19、(546);SpeedContiol(546);SpeedContiol(546);/544 kp=8;/2. kd=65;/1.5 ki=0; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle;TIM3->CCR1 = Steerangle;TIM3->CCR1 = Steerangle; void x

20、iaow2(void) SpeedContiol(543);SpeedContiol(543);SpeedContiol(543);/ 这个很重要 kp=5; kd=10;/1.5 ki=0; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; TIM3->

21、;CCR1 = Steerangle; void xiaow(void) SpeedContiol(546); SpeedContiol(546); SpeedContiol(546);/550 kp=6;/2 kd=6; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steer

22、angle; TIM3->CCR1 = Steerangle; void zhidao1(void) SpeedContiol(541); SpeedContiol(541); SpeedContiol(541);/553 kp=2; kd=1; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr; if(Steerangle<=STRL) Steerangle=STRL; if(Steerangle>=STRR) Steerangle=STRR; TIM3->CCR1 = Steerangle; TIM3-&

23、gt;CCR1 = Steerangle; TIM3->CCR1 = Steerangle; /新加/ / void zhidao(void) SpeedContiol(570); SpeedContiol(570); SpeedContiol(570); kp=0; kd=1.5; steererr = kp*Err+ kd*Erri ; Steerangle = STRM-steererr+4; if(Steerangle<=STRR) Steerangle=STRR; if(Steerangle>=STRL) Steerangle=STRL; TIM3->CCR1

24、 = Steerangle; TIM3->CCR1 = Steerangle; TIM3->CCR1 = Steerangle; void zhidaowan (void) SpeedContiol(555);SpeedContiol(555);SpeedContiol(555);kp=17;kd=5;steererr = kp*(Errd-3.5)+ kd*Erri;Steerangle = STRM-steererr; if(Steerangle>640|Steerangle<440) SpeedContiol(557);if(Steerangle<=STRR) Steerangle=STRR;if(Steerangle>=