int main(void) { uint16_t major, minor, build; int i, res, count; // main init of hardware plus a version-dependent number for the parameters that will // force a format of parameter between version numbers. pixyInit(SRAM3_LOC, &LR0[0], sizeof(LR0)); cc_init(g_chirpUsb); ser_init(); exec_init(g_chirpUsb); // load programs exec_addProg(&g_progBlobs); ptLoadParams(); exec_addProg(&g_progPt); #if 0 chaseLoadParams(); exec_addProg(&g_progChase); #endif exec_addProg(&g_progVideo, true); // this code formats if the version has changed for (i=0, count=0; i<25; i++) { res = prm_get("fwver", &major, &minor, &build, END); if (res>=0 && major==FW_MAJOR_VER && minor==FW_MINOR_VER && build==FW_BUILD_VER) count++; } if (count==0) prm_format(); // check version prm_add("fwver", PRM_FLAG_INTERNAL, "", UINT16(FW_MAJOR_VER), UINT16(FW_MINOR_VER), UINT16(FW_BUILD_VER), END); ser_setInterface(SER_INTERFACE_UART); rcs_setLimits(1, -250, 250); // extends servo range to maximum//0x__BBRRGG //28 == full back, 12 == full angle down, 22 == parallel uint8_t WBV_sub = 0x16; uint32_t WBV = WBV_sub | WBV_sub << 8 | WBV_sub << 16; cam_setWBV(WBV); // sets the white balance manually cam_setAEC(0); // turns off auto exposure correction cam_setBrightness(35); // sets the brightness while(1) { //edgeDetect_highres_run(); edgeDetect_run(); // run the main edgeDetect function //exec_loop(); // Debug through pixymon } #if 0 #define DELAY 1000000 rcs_setFreq(100); rcs_setLimits(0, -200, 200); rcs_setLimits(1, -200, 200); while(1) { rcs_setPos(0, 0); delayus(DELAY); rcs_setPos(0, 500); delayus(DELAY); rcs_setPos(0, 1000); delayus(DELAY); rcs_setPos(1, 0); delayus(DELAY); rcs_setPos(1, 500); delayus(DELAY); rcs_setPos(1, 1000); delayus(DELAY); } #endif #if 0 while(1) { g_chirpUsb->service(); handleButton(); } #endif }
int main(void) { // pixyInit(SRAM3_LOC, &LR0[0], sizeof(LR0)); #if 0 pixyInit(); cc_init(g_chirpUsb); ser_init(); exec_init(g_chirpUsb); #endif #if 1 /* test loop */ pixyInit(); exec_init(g_chirpUsb); #if 0 int i = 0; cam_setMode(1); while(1) { //uint8_t reg = cam_getRegister(0x0a); g_chirpUsb->service(); cprintf("hello world %d\n", i++); } #endif #if 0 while(1) { uint8_t *frame = (uint8_t *)SRAM1_LOC; int res; res = cam_getFrame(frame, SRAM1_SIZE, CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT); i++; if (i%50==0) { lpc_printf("%d\n", i); } } #endif #endif #if 1 exec_addProg(&g_progBlobs); ptLoadParams(); exec_addProg(&g_progPt); exec_addProg(&g_progVideo, true); exec_loop(); #endif #if 0 //prm_format(); ColorModel model, *model2; uint32_t len; model.m_hue[0].m_slope = 1.0; model.m_hue[0].m_yi = 2.0; model.m_hue[1].m_slope = 3.0; model.m_hue[1].m_yi = 4.0; model.m_sat[0].m_slope = 5.0; model.m_sat[0].m_yi = 6.0; model.m_sat[1].m_slope = 7.0; model.m_sat[1].m_yi = 8.0; prm_add("signature1", "Color signature 1", INTS8(sizeof(ColorModel), &model), END); prm_set("signature1", INTS8(sizeof(ColorModel), &model), END); model.m_hue[0].m_slope = 9.0; model.m_hue[0].m_yi = 10.0; model.m_hue[1].m_slope = 11.0; model.m_hue[1].m_yi = 12.0; model.m_sat[0].m_slope = 13.0; model.m_sat[0].m_yi = 14.0; model.m_sat[1].m_slope = 15.0; model.m_sat[1].m_yi = 16.0; prm_add("signature2", "Color signature 2", INTS8(sizeof(ColorModel), &model), END); prm_set("signature2", INTS8(sizeof(ColorModel), &model), END); prm_get("signature1", &len, &model2, END); model.m_hue[0].m_slope = 17.0; model.m_hue[0].m_yi = 18.0; model.m_hue[1].m_slope = 19.0; model.m_hue[1].m_yi = 20.0; model.m_sat[0].m_slope = 21.0; model.m_sat[0].m_yi = 22.0; model.m_sat[1].m_slope = 23.0; model.m_sat[1].m_yi = 24.0; prm_get("signature1", &len, &model2, END); prm_set("signature1", INTS8(sizeof(ColorModel), &model), END); prm_get("signature1", &len, &model2, END); prm_get("signature2", &len, &model2, END); #endif #if 0 #define DELAY 1000000 rcs_setFreq(100); rcs_setLimits(0, -200, 200); rcs_setLimits(1, -200, 200); while(1) { rcs_setPos(0, 0); delayus(DELAY); rcs_setPos(0, 500); delayus(DELAY); rcs_setPos(0, 1000); delayus(DELAY); rcs_setPos(1, 0); delayus(DELAY); rcs_setPos(1, 500); delayus(DELAY); rcs_setPos(1, 1000); delayus(DELAY); } #endif #if 0 while(1) { g_chirpUsb->service(); handleButton(); } #endif }
int main(void) { uint16_t major, minor, build; char *type; int i, res, count, count2; volatile uint32_t d; // insert a small delay so power supply can stabilize for (d=0; d<2500000; d++); #ifdef KEIL pixyInit(SRAM3_LOC, &LR0[0], sizeof(LR0)); #else pixyInit(); #endif #if 0 i = 0; char *foo; while(1) { foo = new (std::nothrow) char[128]; if (foo==NULL) { _DBG("full\n"); break; } else { _DBH32((int)foo); _DBG(" "); _DBH32(i); _DBG("\n"); } i++; } while(1); #endif // main init of hardware plus a version-dependent number for the parameters that will // force a format of parameter between version numbers. #ifndef LEGO rcs_init(); #endif cc_init(g_chirpUsb); ser_init(); exec_init(g_chirpUsb); #if 0 exec_addProg(&g_progBlobs); ptLoadParams(); exec_addProg(&g_progPt); exec_addProg(&g_progVideo, true); #if 0 cam_setMode(CAM_MODE1); while(1) periodic(); #endif #endif #if 1 // load programs exec_addProg(&g_progBlobs); #ifndef LEGO // need to call this to get the pan/tilt parameters to display. // We can make some properties modal, meaning they are only diaplayed when the program is running. // We might want to do this here, but this is good for now. ptLoadParams(); exec_addProg(&g_progPt); #endif #if 0 chaseLoadParams(); exec_addProg(&g_progChase); #endif exec_addProg(&g_progVideo, true); #if 1 // this code formats if the version has changed for (i=0, count=0, count2=0; i<25; i++) { res = prm_get("fwver", &major, &minor, &build, END); if (res>=0 && major==FW_MAJOR_VER && minor==FW_MINOR_VER && build==FW_BUILD_VER) count++; res = prm_get("fwtype", &type, END); if (res>=0 && strcmp(type, FW_TYPE)==0) count2++; } if (count==0 || count2==0) prm_format(); #endif // check version prm_add("fwver", PRM_FLAG_INTERNAL, "", UINT16(FW_MAJOR_VER), UINT16(FW_MINOR_VER), UINT16(FW_BUILD_VER), END); prm_add("fwtype", PRM_FLAG_INTERNAL, "", STRING(FW_TYPE), END); exec_loop(); #endif #if 0 #define DELAY 1000000 rcs_setFreq(100); rcs_setLimits(0, -200, 200); rcs_setLimits(1, -200, 200); while(1) { rcs_setPos(0, 0); delayus(DELAY); rcs_setPos(0, 500); delayus(DELAY); rcs_setPos(0, 1000); delayus(DELAY); rcs_setPos(1, 0); delayus(DELAY); rcs_setPos(1, 500); delayus(DELAY); rcs_setPos(1, 1000); delayus(DELAY); } #endif #if 0 while(1) { g_chirpUsb->service(); handleButton(); } #endif }