int MeUsb::probeDevice()
{
int c;
if(!usb_online){
USB_WR( CMD_CHECK_EXIST );
USB_WR( 0x5A);
c = USB_RD(); // should return 0xA5
Serial.println(c);
if(c!=0xA5) return 0;
usb_online = true;
resetBus();
}
c = getIrq();
if(c!=USB_INT_CONNECT) return 0;
resetBus(); // reset bus and wait the device online again
c=0;
while(c!=USB_INT_CONNECT){
delay(500); // some device may need long time to get ready
c = getIrq();
Serial.print("waiting:");
Serial.println(c,HEX);
}
if( initHIDDevice()==1)
device_online=true;
}
int16_t MeUSBHost::probeDevice()
{
int16_t c;
if(!ch375_online){
CH375_WR( CMD_CHECK_EXIST );
CH375_WR( 0x5A);
c = CH375_RD(); // should return 0xA5
if(c!=0xA5) return 0;
ch375_online = true;
resetBus();
}
c = getIrq();
if(c!=USB_INT_CONNECT) return 0;
resetBus(); // reset bus and wait the device online again
c=0;
while(c!=USB_INT_CONNECT){
delay(500); // some device may need long time to get ready
c = getIrq();
#ifdef CH375_DBG
Serial.print("waiting:");
Serial.println(c,HEX);
#endif
}
if( initHIDDevice()==1)
device_online=true;
}
LOW_linkPassiveSerial::LOW_linkPassiveSerial( const LOW_portSerialFactory::portSpecifier_t &inSerPortSpec,
const bool inAllowProgPulse) :
LOW_link( false, false, inAllowProgPulse)
{
serialPort = LOW_portSerialFactory::new_portSerial( inSerPortSpec);
resetLinkAdapter();
resetBus(); // to detect a missing adapter
}
Camera::Camera(int rr,int gr,int br,int erosion,int dilation)
:contours(0),adjustment(0),erosion(erosion),dilation(dilation),resWidth(1024),resHeight(768),redRange(rr),greenRange(gr),blueRange(br)
{
resetBus();
/* Setup camera capture, grab first frame, and create resultant image */
storage = cvCreateMemStorage(0);
capture = cvCaptureFromCAM(0);
// 160 x 120 is the one that always works
// 1024 x 768 is ideal
// Set the resolution of the picture to be taken
cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_WIDTH,resWidth);
cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_HEIGHT,resHeight);
//cvSetCaptureProperty(capture,CV_CAP_PROP_AUTO_EXPOSURE, (double)false);
//std::cout << "auto exposure: " << cvGetCaptureProperty(capture,CV_CAP_PROP_AUTO_EXPOSURE) << "\n";
//cvSetCaptureProperty(capture,CV_CAP_PROP_EXPOSURE, (double)-10);
//std::cout << "Exposure value: " << cvGetCaptureProperty(capture,CV_CAP_PROP_EXPOSURE) << "\n";
// std::cout << "Taking a "<< cvGetCaptureProperty(capture,CV_CAP_PROP_FRAME_WIDTH) <<
// "x" << cvGetCaptureProperty(capture,CV_CAP_PROP_FRAME_HEIGHT) << " picture.\n";
// std::cout << "Erodes set to " << erosion << " and dilation set to " << dilation << ".\n";
// Attempt to take a picture
frame = cvQueryFrame(capture);
if(!frame) {
CV_Error(CV_StsError, "failed to take initial picture");
}
// Create a result as well as contour image
result = cvCreateImage(cvGetSize(frame), 8, 1);
contourimage = cvCreateImage(cvGetSize(frame), 8, 1);
}
LOW_deviceID::deviceIDVec_t LOW_link::searchDevices( const bool inOnlyAlarm, const LOW_deviceIDRaw inPreload,
const LOW_deviceIDRaw::devFamCode_t inFamCode, const bool inDoReset)
{
commLock lock( *this);
LOW_deviceIDRaw searchVec = LOW_deviceIDRaw( inPreload);
LOW_deviceIDRaw foundID;
LOW_deviceIDRaw discrVec;
int lastDiscr = 0;
LOW_deviceID::deviceIDVec_t foundIDVec;
// preload family type
if ( inFamCode != LOW_device::anyDev_famCode )
searchVec.setFamilyCode( inFamCode);
while ( true ) {
if ( resetBus() == false )
return foundIDVec;
//throw LOW_device::noDevice_error( "Reset indicated no devices", __FILE__, __LINE__);
if ( inOnlyAlarm )
writeData( LOW_device::SearchAlarmROM_COMMAND);
else
writeData( LOW_device::SearchROM_COMMAND);
doSearchSequence( searchVec, foundID, discrVec);
if ( foundID.getBit( 63)==true && discrVec.getBit( 63)==true) // no devices found
return foundIDVec;
//throw LOW_device::noDevice_error( "No devices during search found", __FILE__, __LINE__);
LOW_deviceID newID = LOW_deviceID( foundID);
if ( inFamCode!=LOW_device::anyDev_famCode && newID.getFamilyCode()!=inFamCode )
break;
foundIDVec.push_back( newID);
// find last discrepancy
int newDiscr = 0xff;
for( int a=63 ; a>=0; a--) {
if ( discrVec.getBit( a)==true && foundID.getBit( a)==false) {
newDiscr = a;
break;
}
}
if ( newDiscr==0xff /*|| newDiscr==lastDiscr*/ ) { // search has ended
break;
}
lastDiscr = newDiscr;
// prepare next search vector
for( int a=0; a<64; a++) {
if ( a<lastDiscr ) {
searchVec.setBit( a, foundID.getBit( a));
}
else if ( a==lastDiscr ) {
searchVec.setBit( a, true);
}
else {
searchVec.setBit( a, false);
}
}
}
if ( inDoReset )
if ( resetBus() == false )
throw LOW_device::noDevice_error( "Reset indicated no devices", __FILE__, __LINE__);
return foundIDVec;
}
