基于STM32F1系列芯片的OV7670颜色，形状识别

在用ov7670做颜色识别的时候遇到一些问题，查阅很多资料才弄明白，遂整理一下。

一.腐蚀中心

int SearchCenter(uint16_t* x, uint16_t* y, const TARGET_CONDITION_t* condition, SEARCH_AREA_t* area )
{
	uint16_t i, j, k;
	uint16_t FailCount=0;                               //失败计数
	uint16_t SpaceX, SpaceY;
	COLOR_RGB_t rgb;
	COLOR_HLS_t hls;
	
	SpaceX = condition->WIDTH_MIN / 3;
	SpaceY = condition->HEIGHT_MIN / 3;						
	for(i=area->Y_Start; i<area->Y_End; i+=SpaceY)  
	{
		for(j=area->X_Start; j<area->X_End; j+=SpaceX)	
		{
			FailCount = 0;																	//初始化失败计数
			for(k=0; k<SpaceX+SpaceY; k++) 
			{
				x2=j;
				y2=i;
				kk=k;
				if(k<SpaceX)              
					ReadColor( j+k, i+SpaceY/2, &rgb );         //查询色块中间一横的颜色   
				else
				{
					x3=	j+SpaceX/2;				y3=i+k-SpaceX;
					ReadColor( j+SpaceX/2, i+k-SpaceX, &rgb ); //查询