el_camera.h

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/*

embedded system library for e-puck

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code distribution:
https://github.com/jianingchen/epucklib

online documentation:
http://jianingchen.github.io/epucklib/html/

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This file is released under the terms of the MIT license (see "el.h").

*/

#ifndef EL_CAMERA_H
#define EL_CAMERA_H

#include "el_common.h"
#include "el_clock.h"

#define EL_CAMERA_FRAME_DIM_X   40
#define EL_CAMERA_FRAME_DIM_Y   15

typedef enum {
    EL_AUTOMATIC = 0,       
    EL_EXPOSURE_TIME = 1,   
    EL_EIT_AND_ELG = 2,     
    EL_IT_AND_GG = 3,       
} el_camera_exposure_mode;


typedef struct {
    el_camera_exposure_mode ExposureMode; 
    el_bool AutoWhiteBalance;
    el_bool AutoDigitalGain;
    float ExposureTime;             
    float ExternalIntergationTime;  
    float ExternalLinearGain;       
    float IntegrationTime;          
    float GlobalGain;               
    float DigitalGain;              
    float RedGain;                  
    float GreenGain;                
    float BlueGain;                 
} el_camera_param;


typedef struct {
    el_uint16 Width;
    el_uint16 Height;
    el_uint16 Data[EL_CAMERA_FRAME_DIM_Y][EL_CAMERA_FRAME_DIM_X];
} el_camera_image;

/*
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*/


void el_enable_camera();


void el_disable_camera();


el_camera_param* el_camera_options();


void el_camera_options_apply();


void el_camera_options_reset();


void el_config_camera(const el_camera_param*p);


void el_camera_lock_frame();


void el_camera_unlock_frame();


bool el_camera_is_frame_locked();



el_uint32 el_camera_get_frame_counter();


void el_camera_get_frame_pixel(int X,int Y,el_uint8*out3v);


el_uint16 el_camera_get_frame_width();


el_uint16 el_camera_get_frame_height();


el_camera_image*el_camera_frame();


/*
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*/


#ifdef EL_INCLUDE_LIB_INTERNAL_CONTEXT

#define EL_CAM_I2C_ID   0xDC

extern el_uint16 el_cam_device_id;
extern el_uint16 el_cam_revision_n;
extern el_uint8 el_cam_auto_function;
extern bool el_cam_enabled;
extern volatile el_uint16 el_cam_lock_buffer;
extern volatile el_uint32 el_cam_frame_counter;
extern el_camera_image *el_cam_r_frame;
extern el_camera_image *el_cam_w_frame;
extern el_uint16 *el_cam_line_pointer;
extern el_uint16 *el_cam_pixel_pointer;
extern el_uint16 el_cam_x;
extern el_uint16 el_cam_y;

void el_init_camera(void);
void el_cam_init_register(void);
void el_cam_swap_buffer(void);

#endif  /* EL_INCLUDE_LIB_INTERNAL_CONTEXT */

#endif  /* EL_CAMERA_H */