HÅLLOKALISERING - Örebro universitet

Atlas Copco Rock Drills AB
ÖREBRO
Dokument - Document
Examensarbete - Hållokalisering
Uppgjord tjst, namn, tfn - Prepered dept, name, telephone Kontr - Chk Rev Dokumentnummer - Document number
UTSBP Bertil Planeskog, 5423 A
Bilaga 2 – FL.C
//=======================================================
// Created by Bertil Planeskog
// Student at Örebro University (electrical engineering)
// Period: 20010820-20020124 (20p)
// Titel: Hole-localisation
// Company: Atlas Copco Rock Drills AB
// Filename: FL.C
//=======================================================
/*=======================================================
| Description: This program is a demo/testing program for the
| FrameLocker video frame grabber.
|
| IMPORTANT NOTE !
|
| The function "do_it()" contains almost all routines
| that have to do with image grabbing & uploading.
| This program "grabs" an image with the board and
| puts it into the VGA screen. The VGA is set into
| the 320 x 200 pixels, 256 colors mode. See the init()
| function for FrameLockers initialization.
|
| All functions with the FL_ prefix are in the FLLIB-
| library.
|
| Refer to the Bt819 specifications for a closer
| description on the registers.
|
| Disclaimer: The code in this module is not guaranteed to be
| correct and free of defects. Ajeco shall under no
| circumstances be liable for incidental or conse-
| quential damages or related expenses resulting from
| use of Ajeco's products or programs even if it has
| been notified of the possibility of such damages.
|
| Copyright (C) 1994, 1995, 1996 Ajeco Oy
|
| Ajeco Oy
| Takkatie 7A
| FIN-00370 Helsinki
| Finland
|
| Tel: +358-9-7003 9200 Fax: +358-9-7003 9209
|
=======================================================*/
#include
#include
#include
#include
#include
#include
#include
#include "commlib.h" // Commlib serial communication functions
#include "fllib20.h" // FrameLocker library functions
#include "fl.h" // Function prototypes
#define TRUE 1
#define FALSE 0
#define VGAGRAPHICS 1
#define VGATEXT 2
/* Global variables used in this demo only */
int g_videomode = -1;
int g_contr;
int g_bright;
int g_pixels;
int g_lines;
int g_maxpix;
int gray;
int min; // Smalest greyscale-value in image
int max; // Maximum greyscale-value
int n_pix=1500; // Level of black pixels in image
int dist=10;
int erode_on=0;
int koord_on=0;
static unsigned char org_matris[300][160];
static unsigned char matris[300][160];
static char tempmatris[300][160];
//------------------------------------------------------------------
// Main
//------------------------------------------------------------------
void main(argc, argv)
int argc;
char **argv;
{
// This MUST be the first call to the library functions
FL_set_base(0x300);
/*
Card initialization; RESET the I2C communications
chip and the video front end chip Bt819. After reset
the board is initialized. This is a hardware reset.
*/
printf("Hardware resetting FrameLocker...");
FL_reset();
printf("done.\n");
/*
Check if user want's PAL or NTSC video
*/
ask_for_defaults(argc, argv);
/*
Initialize FrameLocker - This is important !
*/
init();
32 (41)
/*
Image digitation and uploading to VGA display
*/
do_it();
}
//-----------------------------------------------------------------
// Check the command line arguments that the user gave, and set the
// global variable g_videomode to indicate whether NTSC or PAL video
// is wanted. The g_videomode is used only inside this demo program.
//-----------------------------------------------------------------
void ask_for_defaults(int argc, char *argv[])
{
if (argc != 2)
{
usage();
exit(-1);
}
if (argv[1][0] != '-')
{
usage();
exit(-1);
}
// Get the user command line argument for PAL or NTSC.
if (argv[1][1] == 'p')
{
g_videomode = 1;