unsigned int picread(void)
{ int i;
unsigned int c;
if(picmode&PICCMDMSK)
{ //bpWline("no read");
BPMSG1077;
return 0;
}
c=0;
switch(picmode&PICMODEMSK) // make it future proof
{ case PICMODE6: bbR(MOSI); // switch in to input
bbH(CLK, PICSPEED/2);
bbL(CLK, PICSPEED/2);
for(i=0; i<14; i++)
{ c>>=1;
bbH(CLK, PICSPEED/2);
if(bbR(MOSI)) c|=0x2000; // bit14
bbL(CLK, PICSPEED/2);
}
bbH(CLK, PICSPEED/2);
bbL(CLK, PICSPEED/2);
bbL(MOSI, PICSPEED/5);
break;
case PICMODE4: bbR(MOSI);
for(i=0; i<16; i++)
{ c>>=1;
bbH(CLK, PICSPEED/2);
if(bbR(MOSI)) c|=0x8000; // bit16
bbL(CLK, PICSPEED/2);
}
bbH(CLK, PICSPEED/2);
bbL(CLK, PICSPEED/2);
bbL(MOSI, PICSPEED/5);
break;
default: bpWline("unknown mode");
BPMSG1078;
return 0;
}
// bpWbin(c>>8); bpSP;
// bpWbin(c&0x0FF); bpSP;
return c;
}
void binpic(void)
{ unsigned char cmd;
int ok;
unsigned int temp;
bpWstring("PIC1");
modeConfig.HiZ=1; // to allow different Vcc
bbL(MOSI|CLK, PICSPEED); // pull both pins to 0 before applying Vcc and Vpp
picmode=PICMODE6;
piccmddelay=2;
while(1)
{ cmd=UART1RX();
switch(cmd&0xC0)
{ case 0x00: ok=1;
switch(cmd&0xF0)
{ case 0x00: switch(cmd)
{ case 0x00: return;
case 0x01: bpWstring("PIC1");
break;
case 0x02: picmode=PICMODE6;
break;
case 0x03: picmode=PICMODE4;
break;
case 0x04:
case 0x05:
case 0x06:
case 0x07: piccmddelay=(cmd-0x04);
break;
default: ok=0;
}
break;
case 0x10: if(cmd&0x08)
{ if(cmd&0x04)
{ bbH(AUX ,5);
}
else
{ bbL(AUX ,5);
}
if(cmd&0x02)
{ bbH(MISO ,5);
}
else
{ bbL(MISO ,5);
}
if(cmd&0x01)
{ bbH(CS ,5);
}
else
{ bbL(CS ,5);
}
}
else
{ if(cmd&0x04) // pwm?
{ PWMfreq=100;
PWMduty=50;
updatePWM();
}
else
{ PWMfreq=0;
updatePWM();
}
if(cmd&0x02) // vreg on
{ BP_VREG_ON();
//modeConfig.vregEN=1;
}
else
{ BP_VREG_OFF();
//modeConfig.vregEN=0;
}
if(cmd&0x01) // pullup on
#ifndef BUSPIRATEV1A
{ BP_PULLUP_ON();
// modeConfig.pullupEN=1;
}
else
{ BP_PULLUP_OFF();
// modeConfig.pullupEN=0;
}
#endif
}
break;
default: ok=0;
}
if(ok)
{ UART1TX(1);
}
else
{ UART1TX(0);
}
break;
case 0x40: picmode|=PICCMD;
picwrite(cmd&0x3F);
picmode&=PICMODEMSK;
UART1TX(1);
break;
case 0x80: picmode|=PICCMD;
picwrite(cmd&0x3F);
picmode&=PICMODEMSK;
temp=UART1RX();
temp<<=8;
temp|=UART1RX();
picwrite(temp);
UART1TX(1);
break;
case 0xC0: picmode|=PICCMD;
picwrite(cmd&0x3F);
picmode&=PICMODEMSK;
UART1TX(1);
temp=picread();
UART1TX(temp>>8);
UART1TX(temp&0x0FF);
break;
}
}
}
unsigned int picwrite(unsigned int c)
{ int i;
int mask;
mask=0x01;
if(picmode&PICCMDMSK) // we got a command
{ switch(picmode&PICMODEMSK) // make it future proof
{ case PICMODE6: for(i=0; i<6; i++)
{ bbH(CLK, PICSPEED/4);
if(c&mask)
{ bbH(MOSI, PICSPEED/4);
}
else
{ bbL(MOSI, PICSPEED/4);
}
bbL(CLK, PICSPEED/4);
bbL(MOSI, PICSPEED/4); // both dat and clk low
mask<<=1;
}
break;
case PICMODE4: for(i=0; i<4; i++)
{ bbH(CLK, PICSPEED/4);
if(c&mask)
{ bbH(MOSI, PICSPEED/4);
}
else
{ bbL(MOSI, PICSPEED/4);
}
bbL(CLK, PICSPEED/4);
bbL(MOSI, PICSPEED/4); // both dat and clk low
mask<<=1;
}
break;
default: //bpWline("unknown");
BPMSG1078;
return 0;
}
bpDelayMS(piccmddelay);
}
else // send data
{ switch(picmode&PICMODEMSK) // make it future proof
{ case PICMODE6: bbH(CLK, PICSPEED/4); // send leading 0
bbL(MOSI, PICSPEED/4);
bbL(CLK, PICSPEED/4);
bbL(CLK, PICSPEED/4);
for(i=0; i<14; i++) // 14 bits
{ bbH(CLK, PICSPEED/4);
if(c&mask)
{ bbH(MOSI, PICSPEED/4);
}
else
{ bbL(MOSI, PICSPEED/4);
}
bbL(CLK, PICSPEED/4);
bbL(MOSI, PICSPEED/4); // both dat and clk low
mask<<=1;
}
bbH(CLK, PICSPEED/4); // send trailing 0
bbL(MOSI, PICSPEED/4);
bbL(CLK, PICSPEED/4);
bbL(CLK, PICSPEED/4);
break;
case PICMODE4: for(i=0; i<16; i++) // does 16 bits at a time
{ bbH(CLK, PICSPEED/4);
if(c&mask)
{ bbH(MOSI, PICSPEED/4);
}
else
{ bbL(MOSI, PICSPEED/4);
}
bbL(CLK, PICSPEED/4);
bbL(MOSI, PICSPEED/4); // both dat and clk low
mask<<=1;
}
break;
default: //bpWline("unknown");
BPMSG1078;
return 0;
}
}
return 0x100; // no data to display
}
void bb_scan(tld::TldStruct& tld, Eigen::Vector4d const & bb,
Eigen::Vector2i imsize, int minwin) {
double shift = 0.1;
//used for scaling the bb
Eigen::VectorXd scale(21);
scale << -10, -9, -8, -7, -6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10;
for (unsigned int i = 0; i < 21; i++)
scale(i) = pow(1.2, scale(i));
int minBB = minwin;
if (bb_width(bb) < minwin)
return;
Eigen::VectorXd bbW(21);
//scale bb on x axis
for (unsigned int x = 0; x < 21; x++) {
bbW(x) = floor((bb_width(bb) * scale(x)) + 0.5);
}
Eigen::VectorXd bbH(21);
//scale bb on y axis
for (unsigned int x = 0; x < 21; x++) {
bbH(x) = floor((bb_height(bb) * scale(x)) + 0.5);
}
Eigen::VectorXd bbSHH(21);
Eigen::VectorXd bbSHW(21);
//shift the scales
for (unsigned int x = 0; x < 21; x++)
bbSHH(x) = bbH(x) * shift;
for (unsigned int x = 0; x < 21; x++) {
if (bbH(x) <= bbW(x))
bbSHW(x) = bbH(x) * shift;
else
bbSHW(x) = bbW(x) * shift;
}
Eigen::VectorXd bbF(4);
bbF << 2, 2, imsize(0), imsize(1);
Eigen::Matrix<double, 6, Eigen::Dynamic> bbs;
Eigen::Matrix<double, 6, Eigen::Dynamic> bbsbak;
Eigen::Matrix<double, 2, Eigen::Dynamic> sca;
//create a grid of bounding boxes with different scales
for (unsigned int i = 0, last_scale = 0; i < 21; i++) {
if (bbW(i) < minBB || bbH(i) < minBB)
continue;
Eigen::VectorXd left;
Eigen::VectorXd leftbak;
Eigen::VectorXd top;
Eigen::VectorXd topbak;
double val;
val = bbF(0);
for (unsigned int p = 0; val <= bbF(2) - bbW(i) - 1; val += bbSHW(i), p++) {
leftbak.resize(left.size());
leftbak = left;
left.resize(p + 1);
if (p > 0)
left << leftbak, floor(val + 0.5);
else
left(0) = floor(val + 0.5);
}
if(left.size() == 0)
continue;
val = bbF(1);
for (unsigned int p = 0; val <= bbF(3) - bbH(i) - 1; val += bbSHH(i), p++) {
topbak.resize(top.size());
topbak = top;
top.resize(p + 1);
if (p > 0)
top << topbak, floor(val + 0.5);
else
top(0) = floor(val + 0.5);
}
if(top.size() == 0)
continue;
Eigen::MatrixXd grid(2, top.size() * left.size());
unsigned int cnt = 0;
for (int k = 0; k < left.size(); k++)
for (int w = 0; w < top.size(); w++) {
grid(0, cnt) = top(w);
grid(1, cnt) = left(k);
cnt++;
}
Eigen::MatrixXd bbsnew(6, grid.cols());
bbsnew.row(0) = grid.row(1);
bbsnew.row(1) = grid.row(0);
bbsnew.row(2) = grid.array().row(1) + bbW(i) - 1;
bbsnew.row(3) = grid.array().row(0) + bbH(i) - 1;
bbsnew.row(4) = Eigen::MatrixXd::Constant(1, grid.cols(), last_scale + 1);
bbsnew.row(5) = Eigen::MatrixXd::Constant(1, grid.cols(), left.size());
bbsbak.resize(6, bbs.cols());
bbsbak = bbs;
bbs.resize(6, bbs.cols() + bbsnew.cols());
//lets have some fun!
if (i > 0)
bbs << bbsbak, bbsnew;
else
bbs = bbsnew;
//save the scales on x and y axis
sca.conservativeResize(2, sca.cols() + 1);
sca(0, sca.cols() - 1) = bbH(i);
sca(1, sca.cols() - 1) = bbW(i);
last_scale++;
}
tld.grid = bbs;
tld.nGrid = bbs.cols();
tld.scales = sca;
}
