Submitted version of the thesis - Airlab, the Artificial Intelligence ...

B.1. Microprocessor Code 107
/* Standard include ----------------------------------------------------------*/
#include "91x_map.h"
#include "utils.h"
#include "definitions.h"
#include "definitionsLib.h"
#include "CamInt_x24.h"
#include "usb_lib.h"
#include "usb_conf.h"
#include "usb_prop.h"
#include "usb_pwr.h"
#include "usb_config.h"
#include "RGBCube.h"
#include "blobsearch.h"
#include "math.h"
#include "Misc.h"
#include "Vision.h"
#include "Camera_Init.h"
#include "Motion.h"
/* Include of other module interface headers ---------------------------------*/
/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
//#define PRINT_ON
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
u8 *pImgBufferData;
u32 BufferSize;
double BlobSample[10][2];
u8 index = 0;
extern Tx24_ImgJob Job[2];
extern CurrentJob;
extern u8 control_hit;
/* Private function prototypes -----------------------------------------------*/
//see header
/* Private functions ---------------------------------------------------------*/
void Blob_Search(void) {
if (Job[CurrentJob].State == x24_StateAcquisitionEnd) { // Image is acquired
MY_ON();
CompletedJob = &Job[CurrentJob];
BlobSearch((u16*) CompletedJob->pFirstBlock->pData);
MY_OFF();
CurrentJob ^= 1;
}
}
void CalculatePositionTop(TPoint point, s16 result[3]) {
//Homography for servo_top