void led_init()
{
// turn on LEDs (max)
led_setPWM(LED_RED, LED_MAX_PWM);
led_setPWM(LED_GREEN, LED_MAX_PWM);
led_setPWM(LED_BLUE, LED_MAX_PWM);
// wait for things to settle...
delayus(20000);
// get current of each led. This is needed because each LED has a different forward voltage. But current determines
// brightness regardless of voltage drop. So we normalize with respect to current for best color accuracy.
g_ledOnCurrent[LED_RED] = (float)adc_get(LED_RED_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_RED_RESISTOR;
g_ledOnCurrent[LED_GREEN] = (float)adc_get(LED_GREEN_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_GREEN_RESISTOR;
g_ledOnCurrent[LED_BLUE] = (float)adc_get(LED_BLUE_ADCCHAN)/ADC_MAX*ADC_VOLTAGE/LED_BLUE_RESISTOR;
g_ledVal[LED_RED] = 0xff;
g_ledVal[LED_GREEN] = 0xff;
g_ledVal[LED_BLUE] = 0xff;
// turn off LEDs
led_set(0);
// set other vals...
g_ledScale = LED_DEFAULT_SCALE;
led_setMaxCurrent(LED_DEFAULT_MAX_CURRENT);
g_chirpUsb->registerModule(g_module);
}
void ButtonMachine::setSignature()
{
uint32_t current, saveCurrent;
int goodness;
// grow region, create model, save
goodness = cc_setSigPoint(0, m_index, CAM_RES2_WIDTH/2, CAM_RES2_HEIGHT/2, g_chirpUsb);
if (goodness>0)
{
cprintf("goodness=%d\n", goodness);
saveCurrent = led_getMaxCurrent(); // save off value
current = (float)LED_MAX_CURRENT/100.0f*goodness;
led_setMaxCurrent(current);
flashLED(4);
led_setMaxCurrent(saveCurrent);
}
}
// this routine needs to provide good feedback to the user as to whether the camera sees and segments the object correctly.
// The key is to integrate the "growing algorithm" such that the growing algorithm is executed continuously and feedback about
// the "goodness" of the grown region is returned. We're choosing goodness to be some combination of size (because the bigger
// the grown region the better) and saturation (because more saturation the more likely we've found the intended target, vs
// the background, which is typically not saturated.)
// In general with an RGB LED, you can only communicate 2 things--- brightness and hue, so you have 2 dof to play with....
void scaleLED(uint32_t r, uint32_t g, uint32_t b, uint32_t n)
{
uint32_t max, min, current, sat, t;
#if 0 // it seems that green is a little attenuated on this sensor
t = (uint32_t)(G_GAIN*g);
if (t>255)
g = 255;
else
g = t;
#endif
// find min
min = MIN(r, g);
min = MIN(min, b);
// find max
max = MAX(r, g);
max = MAX(max, b);
// subtract min and form sataration from the distance from origin
sat = sqrt((float)((r-min)*(r-min) + (g-min)*(g-min) + (b-min)*(b-min)));
if (sat>30) // limit saturation to preven things from getting too bright
sat = 30;
if (sat<10) // anything less than 15 is pretty uninteresting, no sense in displaying....
current = 0;
else
{
//sat2 = exp(sat/13.0f);
//current = (uint32_t)(SAT_GAIN*sat2) + (uint32_t)(AREA_GAIN*n) + (uint32_t)(SA_GAIN*n*sat2);
current = (uint32_t)(SA_GAIN*n*sat);
}
if (current>LED_MAX_CURRENT/5)
current = LED_MAX_CURRENT/5;
led_setMaxCurrent(current);
#if 0
// find reasonable bias to subtract out
bias = min*75/100;
r -= bias;
g -= bias;
b -= bias;
// saturate
m = 255.0f/(max-bias);
r = (uint8_t)(m*r);
g = (uint8_t)(m*g);
b = (uint8_t)(m*b);
#endif
#if 1
// saturate
rgbUnpack(saturate(rgbPack(r, g, b)), &r, &g, &b);
#endif
//cprintf("r %d g %d b %d min %d max %d sat %d sat2 %d n %d\n", r, g, b, min, max, sat, sat2, n);
led_setRGB(r, g, b);
}
bool ButtonMachine::handleSignature()
{
uint32_t bt;
bt = button();
if (m_ledPipe) // if ledpipe, grab frame, but don't flush
{
cam_getFrameChirpFlags(CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT, g_chirpUsb, 0);
ledPipe();
}
else if (m_goto!=0) // else grab frame and flush
cam_getFrameChirpFlags(CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT, g_chirpUsb);
switch(m_goto)
{
case 0: // wait for button press
if (bt)
{
setTimer(&m_timer);
led_setMaxCurrent(g_ledBrightness); // restore default brightness
m_goto = 1;
led_set(0);
}
break;
case 1: // wait for button timeout
if (!bt)
m_goto = 0;
else if (getTimer(m_timer)>BT_INITIAL_BUTTON_TIMEOUT)
{
if (cam_getAWB())
m_index = 1;
else
m_index = 0;
setTimer(&m_timer);
setLED();
m_goto = 2;
}
break;
case 2: // wait and increment index
if (!bt)
{
flashLED(3);
setTimer(&m_timer);
if (m_index==0)
cam_setAWB(1);
else
m_ledPipe = true;
m_goto = 3;
}
else if (getTimer(m_timer)>BT_INDEX_CYCLE_TIMEOUT)
{
setTimer(&m_timer);
m_index++;
if (m_index==CL_NUM_SIGNATURES+1)
m_index = 0;
setLED();
}
break;
case 3: // wait for button down
if (bt)
{
setTimer(&m_timer);
m_goto = 4;
}
else if (getTimer(m_timer)>BT_LIGHTPIPE_TIMEOUT) // abort
reset();
break;
case 4: // wait for button up
if (!bt)
{
if (m_index==0)
{
cam_setAWB(0);
flashLED(4);
}
else
setSignature();
reset(); // done
}
else if (getTimer(m_timer)>BT_INITIAL_BUTTON_TIMEOUT)
{
if (m_index==0)
cam_setAWB(0);
reset();
m_goto = 5;
}
break;
case 5: // wait for button up only
if (!bt)
reset();
break;
default:
reset();
}
return m_goto!=0;
}
