bool AbstractImageGrabber::start()
{
if (state() == AbstractGrabber::StoppedState) {
waitForInitialization();
startGrabbing();
return true;
}
return false;
}
void initializations()
{
Input initialInput = { 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 128, 128, 0, 0 };
DisableInterrupts;
/* Set the PLL speed (bus clock = 24 MHz) */
CLKSEL = CLKSEL & 0x80; //; disengage PLL from system
PLLCTL = PLLCTL | 0x40; //; turn on PLL
SYNR = 0x02; //; set PLL multiplier
REFDV = 0; //; set PLL divider
while (!(CRGFLG & 0x08)){}
CLKSEL = CLKSEL | 0x80; //; engage PLL
/* Disable watchdog timer (COPCTL register) */
COPCTL = 0x40; //COP off; RTI and COP stopped in BDM-mode
/* Initialize asynchronous serial port (SCI) for 9600 baud, interrupts off initially */
SCIBDH = 0x00; //set baud rate to 9600
SCIBDL = 0x9C; //24,000,000 / 16 / 156 = 9600 (approx)
SCICR1 = 0x00; //$9C = 156
SCICR2 = 0x0C; //initialize SCI for program-driven operation
DDRB = 0x10; //set PB4 for output mode
PORTB = 0x10; //assert DTR pin on COM port
/* Initialize peripherals */
DDRT = 0xFF;
ATDDIEN = 0xC0;
DDRAD = 0;
DDRM = 0xFF;
/* Initialize SPI for 6Mbps*/
SPICR1 = 0x50;
SPICR2 = 0;
SPIBR = 0x10;
/* Initialize interrupts */
CRGINT = CRGINT | 0x80;
TCTL2 = 0x40; //Toggle pin when timer goes off
TCTL1 = 0x40;
TSCR1 = 0x80; //Enable timer subsystem.
TSCR2 = 0x08; //Dont prescale
TIOS = 0x80; //Set Ch 7 for output compare.
TC7 = 11; //1ms interrupt rate
TIE = 0;
SPICR1 = 0x50;
SPICR2 = 0x00;
SPIBR = 0x10;
DDRT = 0x62;
//pin 4 will be used to read
PTT_PTT5 = 1; //Enable transmission gate
//Enable IRQ
INTCR_IRQE = 0;
TRANSMISSION_GATE = 1;
PTT_PTT1 = 1;
waitForInitialization();
PTT_PTT1 = 0;
setOutputFrame(initialInput);
// Set the cop timer
COPCTL = 0x41;
//RTI Interrupt rate
//RTICTL = 0x15; //The panic rate 600 us ish
//Enable Interrupts
EnableInterrupts;
}
