void ArduEyeSMHClass::begin(short vref,short nbias,short aobias,char gain,char selamp)
{
//set all digital pins to output
RESP_DDR|=RESP;
INCP_DDR|=INCP;
RESV_DDR|=RESV;
INCV_DDR|=INCV;
INPHI_DDR|=INPHI;
//set external ADC SS to high
ADC_SS_DDR|=ADC_SS;
ADC_SS_PORT|=ADC_SS;
//set all pins low
SMH1_SetAllLow;
//clear all chip register values
clearValues();
//set up biases
setBiases(vref,nbias,aobias);
short config=gain+(selamp*8)+(16);
//turn chip on with config value
setPointerValue(SMH_SYS_CONFIG,config);
//if amp is used, set useAmp variable
if(selamp==1)
useAmp=1;
else
useAmp=0;
}
// init
// Initializes the vision chips for normal operation. Sets vision chip pins to low outputs, clears
// chip registers, sets biases and config register. Arduino pin numbers must be specified. For
// the remaining parameters if no parameters are passed in, default values are used.
void Stonyman::init( char inPinRESP, char inPinINCP, char inPinRESV, char inPinINCV,
char inPinINPHI, char inPinANALOG1, char inPinANALOG2, short vref, short nbias,
short aobias, char gain, char selamp )
{
short config;
/* TODO russ: use later
if(Stonyman::MAX_GAIN < inGain)
{
return Stonyman::RC_ERROR_BADPARAM;
}
// TODO russ: there are likely other checks to perform (vref, nbias, aobias)
*/
pinRESP = inPinRESP;
pinINCP = inPinINCP;
pinRESV = inPinRESV;
pinINCV = inPinINCV;
pinINPHI = inPinINPHI;
pinANALOG1 = inPinANALOG1;
pinANALOG2 = inPinANALOG2;
// set all digital pins to output
pinMode(pinRESP, OUTPUT);
pinMode(pinINCP, OUTPUT);
pinMode(pinRESV, OUTPUT);
pinMode(pinINCV, OUTPUT);
pinMode(pinINPHI, OUTPUT);
// FIXME russ: is this necessary?
pinMode(pinANALOG1, INPUT);
pinMode(pinANALOG2, INPUT);
// set all pins low
digitalWriteFast(pinRESP, 0);
digitalWriteFast(pinINCP, 0);
digitalWriteFast(pinRESV, 0);
digitalWriteFast(pinINCV, 0);
digitalWriteFast(pinINPHI, 0);
//clear all chip register values
clearValues();
//set up biases
// TODO russ: haven't looked at what this function does
setBiases(vref,nbias,aobias);
// sanitize this input before use
flagUseAmplifier=selamp ? 1:0;
config=gain+(flagUseAmplifier*8)+(16);
//turn chip on with config value
setPointerValue(Stonyman::REG_CONFIG,config);
// TODO russ: use later
// return Stonyman::RC_OK;
}