device_status mock_depth_stream::on_initialize()
{
// Populate modes
add_available_mode(stream_mode(320, 240, 30, ASTRA_PIXEL_FORMAT_DEPTH_MM));
add_available_mode(stream_mode(320, 240, 60, ASTRA_PIXEL_FORMAT_DEPTH_MM));
add_available_mode(stream_mode(640, 480, 30, ASTRA_PIXEL_FORMAT_DEPTH_MM));
add_available_mode(stream_mode(640, 480, 60, ASTRA_PIXEL_FORMAT_DEPTH_MM));
set_active_mode(*modes_begin());
generator_ = std::make_unique<depth_generator>(active_mode().width(), active_mode().height());
return device_status_value::ok;
}
device_status mock_ir_stream::on_initialize()
{
// Populate modes
add_available_mode(stream_mode(320, 240, 30, ASTRA_PIXEL_FORMAT_RGB888));
add_available_mode(stream_mode(320, 240, 60, ASTRA_PIXEL_FORMAT_RGB888));
add_available_mode(stream_mode(640, 480, 30, ASTRA_PIXEL_FORMAT_RGB888));
add_available_mode(stream_mode(640, 480, 60, ASTRA_PIXEL_FORMAT_RGB888));
set_active_mode(*modes_begin());
generator_ = astra::make_unique<infrared_generator>(active_mode().width(), active_mode().height());
return device_status_value::ok;
}
//Main Program
int main(void)
{
uint8_t b_prev=0xFF, c_prev=0xFF, d_prev=0xFF;
// set for 16 MHz clock
CLKPR = 0x80, CLKPR = 0;
// Configure all ports as inputs with pullup resistors.
DDRB = 0x00;
DDRC = 0x00;
DDRD = 0x00;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
//Initialise LED timings (added v1.1)
clock_prescale_set(clock_div_1);
MCUSR &= ~(1 << WDRF);
wdt_disable();
//Read eeprom to get active group and mode
ee_byte=read_eeprom_byte(1);
set_active_mode();
// Initialize the USB
usb_init();
//flash them leds
#include "../shared/disco.c"
while(!usb_configured());
// Wait for host to load drivers
//_delay_ms(500);
while(1) {
uint8_t b = PINB;
uint8_t c = PINC;
uint8_t d = PIND;
if(b != b_prev || c != c_prev || d != d_prev ) {
keycount = 0;
modecount = 0; //HWB to toggle active mode
//if(!(c & 0x10)) //Pin B10 can be connected to external LED indicator
if(!(c & 0x20)) { keyboard_keys[keycount++] = map[18]; } //PIN B9
if(!(c & 0x40)) { keyboard_keys[keycount++] = map[17]; } //PIN B8
if(!(c & 0x80)) { keyboard_keys[keycount++] = map[16]; } //PIN B7
if(!(b & 0x80)) { keyboard_keys[keycount++] = map[15]; } //PIN B6
if(!(b & 0x40)) { keyboard_keys[keycount++] = map[14]; } //PIN B5
if(!(b & 0x20)) { keyboard_keys[keycount++] = map[13]; } //PIN B4
if(!(b & 0x10)) { keyboard_keys[keycount++] = map[12]; } //PIN B3
if(!(b & 0x08)) { keyboard_keys[keycount++] = map[11]; } //PIN B2
if(!(b & 0x04)) { keyboard_keys[keycount++] = map[10]; } //PIN B1
if(!(b & 0x02)) { keyboard_keys[keycount++] = map[9]; } //PIN A10
if(!(b & 0x01)) { keyboard_keys[keycount++] = map[8]; } //PIN A9
if(!(d & 0x40)) { keyboard_keys[keycount++] = map[7]; } //PIN A8
if(!(d & 0x20)) { keyboard_keys[keycount++] = map[6]; } //PIN A7
if(!(d & 0x10)) { keyboard_keys[keycount++] = map[5]; } //PIN A6
if(!(d & 0x08)) { keyboard_keys[keycount++] = map[4]; } //PIN A5
if(!(d & 0x04)) { keyboard_keys[keycount++] = map[3]; } //PIN A4
if(!(d & 0x02)) { keyboard_keys[keycount++] = map[2]; } //PIN A3
if(!(d & 0x01)) { keyboard_keys[keycount++] = map[1]; } //PIN A2
if(!(c & 0x04)) { keyboard_keys[keycount++] = map[0]; } //PIN A1
if(!(d & 0x80)) { //HWB PIN
modecount++;
}
while(keycount < sizeof(keyboard_keys)) {
keyboard_keys[keycount++] = KEY_NONE;
}
usb_keyboard_send();
b_prev = b;
c_prev = c;
d_prev = d;
if (modecount>0){
switch_mode();
}
}
_delay_ms(2); // Debounce
}
}
