main.cpp

*
 * main.cpp
 *
 * Author: Peter
 * Copyright (c) 2014-2015 HKUST SmartCar Team
 * Refer to LICENSE for details
 */

#include <cassert>
#include <cstring>
#include <libbase/k60/mcg.h>
#include <libsc/system.h>
#include <libsc/st7735r.h>
#include <libsc/k60/ov7725.h>
#include <libsc/futaba_s3010.h>
#include <libsc/alternate_motor.h>
#include <libsc/k60/jy_mcu_bt_106.h>


namespace libbase
{
	namespace k60
	{

		Mcg::Config Mcg::GetMcgConfig()
		{
			Mcg::Config config;
			config.external_oscillator_khz = 50000;
			config.core_clock_khz = 150000;
			return config;
		}

	}
}

using namespace libsc;
using namespace libbase::k60;
using namespace libsc::k60;

int main(void)
{
	System::Init();

	Ov7725::Config C;  //camera init;
	C.id = 0;
	C.w = 80;
	C.h = 60;
	Ov7725 cam(C);

	St7735r::Config s; //screen init;
	s.is_revert = false;
	s.is_bgr = false;
	s.fps = 100;
	St7735r screen(s);
	Timer::TimerInt t=0;

	JyMcuBt106::Config bluetoothConfig;
	bluetoothConfig.id = 0;
	bluetoothConfig.baud_rate = libbase::k60::Uart::Config::BaudRate::k115200;
	JyMcuBt106 bluetooth(bluetoothConfig);

	cam.Start();

	while (true){
		while(t!=System::Time()){
			t = System::Time();
			if(t % 100 == 0){
				const Byte* camPtr;
				const Byte tempInt = 170;
				const Byte* temp = &tempInt;
				camPtr = cam.LockBuffer();

				//for tft
				screen.SetRegion(Lcd::Rect(0,0,80,60));
				screen.FillBits(St7735r::kBlack,St7735r::kWhite,camPtr,8*cam.GetBufferSize());

				//for bluetooth
				bluetooth.SendBuffer(temp,1);
				bluetooth.SendBuffer(camPtr, cam.GetBufferSize());

				cam.UnlockBuffer();
			}
		}
	}

	cam.Stop();

	return 0;
}