void ser_loadParams()
{
prm_add("Data out port", 0,
"@c Interface Selects the port that's used to output data, 0=Arduino ICSP SPI, 1=SPI with SS, 2=I2C, 3=UART, 4=analog/digital x, 5=analog/digital y (default 0)", UINT8(0), END);
prm_add("I2C address", PRM_FLAG_HEX_FORMAT,
"@c Interface Sets the I2C address if you are using I2C data out port. (default 0x54)", UINT8(I2C_DEFAULT_SLAVE_ADDR), END);
prm_add("UART baudrate", 0,
"@c Interface Sets the UART baudrate if you are using UART data out port. (default 19200)", UINT32(19200), END);
uint8_t interface, addr;
uint32_t baudrate;
prm_get("Data out port", &interface, END);
ser_setInterface(interface);
prm_get("I2C address", &addr, END);
g_i2c0->setSlaveAddr(addr);
prm_get("UART baudrate", &baudrate, END);
g_uart0->setBaudrate(baudrate);
}
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
}
