void ArduEyeSMHClass::setBiasesVdd(char vddType)
{
// determine biases. Only one option for now.
switch (vddType)
{
case SMH1_VDD_5V0: //chip receives 5V
default:
setPointerValue(SMH_SYS_NBIAS,SMH_NBIAS_5V0);
setPointerValue(SMH_SYS_AOBIAS,SMH_AOBIAS_5V0);
setPointerValue(SMH_SYS_VREF,SMH_VREF_5V0);
break;
}
}
// setBiasesVdd
// Sets biases based on chip voltage
void Stonyman::setBiasesVdd(char flagVddType5v5)
{
// determine biases. Only one option for now.
switch (flagVddType5v5)
{
case 1: //chip receives 5V
default:
setPointerValue(Stonyman::REG_NBIAS,Stonyman::DEFAULT_NBIAS_5V0);
setPointerValue(Stonyman::REG_AOBIAS,Stonyman::DEFAULT_AOBIAS_5V0);
setPointerValue(Stonyman::REG_VREF,Stonyman::DEFAULT_VREF_5V0);
break;
}
}
void Stonyman::getPixelList( short *img, unsigned char rowlist[], unsigned char collist[], unsigned char numPixels )
{
short *pimg = img; // pointer to output image array
int val;
//russ: unused
//unsigned char chigh,clow;
unsigned char i;
unsigned char row,col,lastRow,lastCol;
setPointerValue(Stonyman::REG_ROWSEL,rowlist[0]);
setPointerValue(Stonyman::REG_COLSEL,0);
lastRow = rowlist[0];
lastCol = 0;
// Loop through all rows
for (i=0; i<numPixels; ++i)
{
// If row has changed, update row and col registers
if (rowlist[i] != lastRow) {
setPointer(Stonyman::REG_ROWSEL);
incValue(rowlist[i] - lastRow);
lastRow = rowlist[i];
setPointerValue(Stonyman::REG_COLSEL,collist[i]);
} else { // If not, just update col register
setPointer(Stonyman::REG_COLSEL);
incValue(collist[i] - lastCol);
lastCol = collist[i];
}
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (flagUseAmplifier)
{
pulseInphi(2); // TODO russ: necessary value unclear/unknown
}
// get data value
delayMicroseconds(1);
val = analogRead(pinANALOG1);
// AHHH: shorten casts!
*pimg = (short)val; // store pixel
pimg++; // advance pointer
}
}
// russ: dual read!
void Stonyman::getDualImages( short *img1, short *img2, unsigned char rowstart, unsigned char numrows,
unsigned char rowskip, unsigned char colstart, unsigned char numcols,
unsigned char colskip ) //, char ADCType, char anain )
{
short *pimg1 = img1; // pointer to output image array
short *pimg2 = img2; // pointer to output image array
int val1, val2;
//russ: unused
//unsigned char chigh,clow;
unsigned char row,col;
// Go to first row
setPointerValue(Stonyman::REG_ROWSEL,rowstart);
// Loop through all rows
for (row=0; row<numrows; ++row)
{
// Go to first column
setPointerValue(Stonyman::REG_COLSEL,colstart);
// Loop through all columns
for (col=0; col<numcols; ++col)
{
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (flagUseAmplifier)
{
pulseInphi(2); // TODO russ: necessary value unclear/unknown
}
// get data value
delayMicroseconds(1);
val1 = analogRead(pinANALOG1);
val2 = analogRead(pinANALOG2);
// AHHH: shorten casts!
*pimg1 = (short)val1; // store pixel
*pimg2 = (short)val2; // store pixel
pimg1++; // advance pointer
pimg2++; // advance pointer
incValue(colskip); // go to next column
}
setPointer(Stonyman::REG_ROWSEL);
incValue(rowskip); // go to next row
}
}
void ArduEyeSMHClass::begin(short vref,short nbias,short aobias,char gain,char selamp)
{
//set all digital pins to output
RESP_DDR|=RESP;
INCP_DDR|=INCP;
RESV_DDR|=RESV;
INCV_DDR|=INCV;
INPHI_DDR|=INPHI;
//set external ADC SS to high
ADC_SS_DDR|=ADC_SS;
ADC_SS_PORT|=ADC_SS;
//set all pins low
SMH1_SetAllLow;
//clear all chip register values
clearValues();
//set up biases
setBiases(vref,nbias,aobias);
short config=gain+(selamp*8)+(16);
//turn chip on with config value
setPointerValue(SMH_SYS_CONFIG,config);
//if amp is used, set useAmp variable
if(selamp==1)
useAmp=1;
else
useAmp=0;
}
// clearValues
// Resets the value of all registers to zero
void Stonyman::clearValues(void)
{
short ii;
for (ii = 0; ii < Stonyman::REG_CNT; ++ii)
{
setPointerValue(ii,0); //set each register to zero
}
}
// init
// Initializes the vision chips for normal operation. Sets vision chip pins to low outputs, clears
// chip registers, sets biases and config register. Arduino pin numbers must be specified. For
// the remaining parameters if no parameters are passed in, default values are used.
void Stonyman::init( char inPinRESP, char inPinINCP, char inPinRESV, char inPinINCV,
char inPinINPHI, char inPinANALOG1, char inPinANALOG2, short vref, short nbias,
short aobias, char gain, char selamp )
{
short config;
/* TODO russ: use later
if(Stonyman::MAX_GAIN < inGain)
{
return Stonyman::RC_ERROR_BADPARAM;
}
// TODO russ: there are likely other checks to perform (vref, nbias, aobias)
*/
pinRESP = inPinRESP;
pinINCP = inPinINCP;
pinRESV = inPinRESV;
pinINCV = inPinINCV;
pinINPHI = inPinINPHI;
pinANALOG1 = inPinANALOG1;
pinANALOG2 = inPinANALOG2;
// set all digital pins to output
pinMode(pinRESP, OUTPUT);
pinMode(pinINCP, OUTPUT);
pinMode(pinRESV, OUTPUT);
pinMode(pinINCV, OUTPUT);
pinMode(pinINPHI, OUTPUT);
// FIXME russ: is this necessary?
pinMode(pinANALOG1, INPUT);
pinMode(pinANALOG2, INPUT);
// set all pins low
digitalWriteFast(pinRESP, 0);
digitalWriteFast(pinINCP, 0);
digitalWriteFast(pinRESV, 0);
digitalWriteFast(pinINCV, 0);
digitalWriteFast(pinINPHI, 0);
//clear all chip register values
clearValues();
//set up biases
// TODO russ: haven't looked at what this function does
setBiases(vref,nbias,aobias);
// sanitize this input before use
flagUseAmplifier=selamp ? 1:0;
config=gain+(flagUseAmplifier*8)+(16);
//turn chip on with config value
setPointerValue(Stonyman::REG_CONFIG,config);
// TODO russ: use later
// return Stonyman::RC_OK;
}
// chipToMatlab
// This function dumps the entire contents of a Stonyman or
// Hawksbill chip to the Serial monitor in a form that may be copied
// into Matlab. The image is written be stored in matrix Img.
void Stonyman::chipToMatlab()
{
unsigned char row,col,rows,cols;
unsigned short val;
// russ: unused
//unsigned char chigh,clow;
rows=cols=112;
Serial.println("Img = [");
setPointerValue(Stonyman::REG_ROWSEL,0); // set row = 0
for (row=0; row<rows; ++row)
{
setPointerValue(Stonyman::REG_COLSEL,0); // set column = 0
for (col=0; col<cols; ++col)
{
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (flagUseAmplifier)
{
pulseInphi(2);
}
// get data value
delayMicroseconds(1);
val = analogRead(pinANALOG1);
// increment column
incValue(1);
Serial.print(val);
Serial.print(" ");
}
setPointer(Stonyman::REG_ROWSEL); // point to row
incValue(1); // increment row
Serial.println(" ");
}
Serial.println("];");
}
// setConfig
// Sets configuration register
// cvdda: (1) connect vdda, always should be connected
// selamp: (0) bypasses amplifier, (1) connects it
// gain: amplifier gain 1-7
// EXAMPLE 1: To configure the chip to bypass the amplifier:
// setConfig(0,0,1);
// EXAMPLE 2: To use the amplifier and set the gain to 4:
// setConfig(4,1,1);
void Stonyman::setConfig(char gain, char selamp, char cvdda)
{
short config;
config=gain+(selamp*8)+(cvdda*16); //form register value
flagUseAmplifier = selamp ? 1:0;
// Note that config will have the following form binary form:
// 000csggg where c=cvdda, s=selamp, ggg=gain (3 bits)
// Note that there is no overflow detection in the input values.
setPointerValue(Stonyman::REG_CONFIG,config);
}
void ArduEyeSMHClass::setBinning(short hbin,short vbin)
{
short hsw,vsw;
switch (hbin) //horizontal binning
{
case 2: //downsample by 2
hsw = 0xAA;
break;
case 4: //downsample by 4
hsw = 0xEE;
break;
case 8: //downsample by 8
hsw = 0xFE;
break;
default: //no binning
hsw = 0x00;
}
switch (vbin) //vertical binning
{
case 2: //downsample by 2
vsw = 0xAA;
break;
case 4: //downsample by 4
vsw = 0xEE;
break;
case 8: //downsample by 8
vsw = 0xFE;
break;
default: //no binning
vsw = 0x00;
}
//set switching registers
setPointerValue(SMH_SYS_HSW,hsw);
setPointerValue(SMH_SYS_VSW,vsw);
}
void ArduEyeSMHClass::setConfig(char gain, char selamp, char cvdda)
{
short config=gain+(selamp*8)+(cvdda*16); //form register value
if(selamp==1) //if selamp is 1, set useAmp variable to 1
useAmp=1;
else
useAmp=0;
// Note that config will have the following form binary form:
// 000csggg where c=cvdda, s=selamp, ggg=gain (3 bits)
// Note that there is no overflow detection in the input values.
setPointerValue(SMH_SYS_CONFIG,config);
}
// setAmpGain
// A friendlier version of setConfig. If amplifier gain is set to zero, amplifier is bypassed.
// Otherwise the appropriate amplifier gain (range 1-7) is set.
void Stonyman::setAmpGain(char gain)
{
short config;
if((gain>0) && (gain<=Stonyman::MAX_GAIN)) //if gain is a proper value, connect amp
{
config=gain+8+16; //gain+(selamp=1)+(cvdda=1)
flagUseAmplifier=1; //using amplifier
}
else //if gain is zero or outside range, bypass amp
{
config=16; //(cvdda=1)
flagUseAmplifier=0; //bypassing amplifier
}
setPointerValue(Stonyman::REG_CONFIG,config); //set config register
}
void ArduEyeSMHClass::setAmpGain(char gain)
{
short config;
if((gain>0)&&(gain<8)) //if gain is a proper value, connect amp
{
config=gain+8+16; //gain+(selamp=1)+(cvdda=1)
useAmp=1; //using amplifier
}
else //if gain is zero or outside range, bypass amp
{
config=16; //(cvdda=1)
useAmp=0; //bypassing amplifier
}
setPointerValue(SMH_SYS_CONFIG,config); //set config register
}
// setBiases
// Sets all three biases
void Stonyman::setBiases(short vref,short nbias,short aobias)
{
setPointerValue(Stonyman::REG_NBIAS,nbias);
setPointerValue(Stonyman::REG_AOBIAS,aobias);
setPointerValue(Stonyman::REG_VREF,vref);
}
void ArduEyeSMHClass::setNBIAS(short nbias)
{
setPointerValue(SMH_SYS_NBIAS,nbias);
}
// setAOBIAS
// Sets the AOBIAS register value (0-63)
void Stonyman::setAOBIAS(short aobias)
{
setPointerValue(Stonyman::REG_AOBIAS,aobias);
}
// setNBIAS
// Sets the NBIAS register value (0-63)
void Stonyman::setNBIAS(short nbias)
{
setPointerValue(Stonyman::REG_NBIAS,nbias);
}
void ArduEyeSMHClass::setAOBIAS(short aobias)
{
setPointerValue(SMH_SYS_AOBIAS,aobias);
}
ValueLineEdit::ValueLineEdit(QWidget *parent) :
QLineEdit(parent)
{
connect(this, SIGNAL(textEdited(QString)), this, SLOT(setPointerValue(QString)));
}
void ArduEyeSMHClass::clearValues(void)
{
for (char i=0; i!=8; ++i)
setPointerValue(i,0); //set each register to zero
}
void ArduEyeSMHClass::setBiases(short vref,short nbias,short aobias)
{
setPointerValue(SMH_SYS_NBIAS,nbias);
setPointerValue(SMH_SYS_AOBIAS,aobias);
setPointerValue(SMH_SYS_VREF,vref);
}
void ArduEyeSMHClass::getImageColSum(short *img, unsigned char rowstart, unsigned char numrows, unsigned char rowskip, unsigned char colstart, unsigned char numcols, unsigned char colskip, char ADCType,char anain)
{
short *pimg = img; // pointer to output image array
short val,total=0;
unsigned char chigh,clow;
unsigned char row,col;
if(ADCType==SMH1_ADCTYPE_ONBOARD) //if using onboard ADC
setAnalogInput(anain); //set analog input to Arduino
else if(ADCType==SMH1_ADCTYPE_MCP3201_2)
{
setAnalogInput(anain);
ADC_SS_PORT |= ADC_SS; // make sure SS is high
}
else //if using external ADC
{
setADCInput(anain,1); // enable chip
ADC_SS_PORT |= ADC_SS; // make sure SS is high
}
// Go to first col
setPointerValue(SMH_SYS_COLSEL,colstart);
// Loop through all cols
for (col=0; col<numcols; ++col) {
// Go to first row
setPointerValue(SMH_SYS_ROWSEL,rowstart);
total=0;
// Loop through all rows
for (row=0; row<numrows; ++row) {
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (useAmp)
pulseInphi(2);
// get data value
delayMicroseconds(1);
// get pixel value from ADC
switch (ADCType)
{
case SMH1_ADCTYPE_ONBOARD: //onboard Arduino ADC
val = analogRead(anain); // acquire pixel
break;
case SMH1_ADCTYPE_MCP3001: // Micrchip 10 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<5;
val += (clow&0xF8)>>3;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
case SMH1_ADCTYPE_MCP3201: // Microchip 12 bit
case SMH1_ADCTYPE_MCP3201_2:
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<7;
val += (clow&0xFE)>>1;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
default:
val = 555;
break;
}
total+=val; //sum value along column
incValue(rowskip); // go to next row
}
*pimg = total>>4; // store pixel
pimg++; // advance pointer
setPointer(SMH_SYS_COLSEL);
incValue(colskip); // go to next col
}
if((ADCType!=SMH1_ADCTYPE_ONBOARD)&&(ADCType!=SMH1_ADCTYPE_MCP3201_2))
setADCInput(anain,0); // disable chip
}
void ArduEyeSMHClass::setVREF(short vref)
{
setPointerValue(SMH_SYS_VREF,vref);
}
void ArduEyeSMHClass::findMax(unsigned char rowstart, unsigned char numrows, unsigned char rowskip, unsigned char colstart, unsigned char numcols,unsigned char colskip, char ADCType,char anain,unsigned char *max_row, unsigned char *max_col)
{
unsigned short maxval=5000,minval=0,val;
unsigned char row,col,bestrow,bestcol;
unsigned char chigh,clow;
if(ADCType==SMH1_ADCTYPE_ONBOARD) //if using onboard ADC
setAnalogInput(anain); //set Arduino analog input
else
{
setADCInput(anain,1); // enable chip
ADC_SS_PORT |= ADC_SS; // make sure SS is high
}
// Go to first row
setPointerValue(SMH_SYS_ROWSEL,rowstart);
// Loop through all rows
for (row=0; row<numrows; ++row) {
// Go to first column
setPointerValue(SMH_SYS_COLSEL,colstart);
// Loop through all columns
for (col=0; col<numcols; ++col) {
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (useAmp)
pulseInphi(2);
// get data value
delayMicroseconds(1);
// get pixel from ADC
switch (ADCType) {
case SMH1_ADCTYPE_ONBOARD: //onboard Arduino ADC
val = analogRead(anain); // acquire pixel
break;
case SMH1_ADCTYPE_MCP3001: // Micrchip 10 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<5;
val += (clow&0xF8)>>3;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
case SMH1_ADCTYPE_MCP3201: // Microchip 12 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<7;
val += (clow&0xFE)>>1;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
default:
val = 555;
break;
}
if(useAmp) //amplifier is inverted
{
if (val>minval) //find max val (bright)
{
bestrow=row;
bestcol=col;
minval=val;
}
}
else //unamplified
{
if (val<maxval) //find min val (bright)
{
bestrow=row;
bestcol=col;
maxval=val;
}
}
incValue(colskip); // go to next column
}
setPointer(SMH_SYS_ROWSEL);
incValue(rowskip); // go to next row
}
if(ADCType!=SMH1_ADCTYPE_ONBOARD)
setADCInput(anain,0); // disable chip
// Optionally we can comment out these next three items
//Serial.print("bestrow = "); Serial.println((short)bestrow);
//Serial.print("bestcol = "); Serial.println((short)bestcol);
//Serial.print("maxval = "); Serial.println((short)maxval);
*max_row = bestrow;
*max_col = bestcol;
}
// setVREF
// Sets the VREF register value (0-63)
void Stonyman::setVREF(short vref)
{
setPointerValue(Stonyman::REG_VREF,vref);
}
void ArduEyeSMHClass::chipToMatlab(char whichchip,char ADCType, char anain)
{
unsigned char row,col,rows,cols;
unsigned short val;
unsigned char chigh,clow;
if(ADCType==SMH1_ADCTYPE_ONBOARD) //if onboard ADC
setAnalogInput(anain); //set analog input
else
{
setADCInput(anain,1); // enable chip
ADC_SS_PORT |= ADC_SS; // make sure SS is high
}
if (whichchip==1) {
rows=cols=136; //hawksbill
} else {
rows=cols=112; //stonyman
}
Serial.println("Img = [");
setPointerValue(SMH_SYS_ROWSEL,0); // set row = 0
for (row=0; row<rows; ++row) {
setPointerValue(SMH_SYS_COLSEL,0); // set column = 0
for (col=0; col<cols; ++col) {
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (useAmp)
pulseInphi(2);
// get data value
delayMicroseconds(1);
// get pixel from ADC
switch (ADCType) {
case SMH1_ADCTYPE_ONBOARD:
val = analogRead(anain); // acquire pixel
break;
case SMH1_ADCTYPE_MCP3001: // Micrchip 10 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<5;
val += (clow&0xF8)>>3;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
case SMH1_ADCTYPE_MCP3201: // Microchip 12 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<7;
val += (clow&0xFE)>>1;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
default:
val = 555;
break;
}
// increment column
incValue(1);
Serial.print(val);
Serial.print(" ");
}
setPointer(SMH_SYS_ROWSEL); // point to row
incValue(1); // increment row
Serial.println(" ");
}
Serial.println("];");
if(ADCType!=SMH1_ADCTYPE_ONBOARD)
setADCInput(anain,0); // disable chip
}
void ArduEyeSMHClass::sectionToMatlab(unsigned char rowstart, unsigned char numrows, unsigned char rowskip, unsigned char colstart, unsigned char numcols, unsigned char colskip, char ADCType, unsigned char anain)
{
short val;
unsigned char row,col;
unsigned char clow,chigh;
if(ADCType==SMH1_ADCTYPE_ONBOARD) //if onboard ADC
setAnalogInput(anain);
else
{
setADCInput(anain,1); // enable chip
ADC_SS_PORT |= ADC_SS; // make sure SS is high
}
Serial.println("Img = [");
setPointerValue(SMH_SYS_ROWSEL,rowstart);
for (row=0; row<numrows; row++) {
setPointerValue(SMH_SYS_COLSEL,colstart);
for (col=0; col<numcols; col++) {
// settling delay
delayMicroseconds(1);
// pulse amplifier if needed
if (useAmp)
pulseInphi(2);
delayMicroseconds(1);
// get pixel from ADC
switch (ADCType) {
case SMH1_ADCTYPE_ONBOARD:
val = analogRead(anain); // acquire pixel
break;
case SMH1_ADCTYPE_MCP3001: // Micrchip 10 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<5;
val += (clow&0xF8)>>3;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
case SMH1_ADCTYPE_MCP3201: // Microchip 12 bit
ADC_SS_PORT &= ~ADC_SS; // turn SS low to start conversion
chigh=SPI.transfer(0); // get high byte
clow=SPI.transfer(0); // get low byte
val = ((short)(chigh&0x1F))<<7;
val += (clow&0xFE)>>1;
ADC_SS_PORT |= ADC_SS; // SS high to stop
break;
default:
val = 555;
break;
}
incValue(colskip);
Serial.print(val);
Serial.print(" ");
}
setPointer(SMH_SYS_ROWSEL);
incValue(rowskip); // go to next row
Serial.println(" ");
}
Serial.println("];");
if(ADCType!=SMH1_ADCTYPE_ONBOARD)
setADCInput(anain,0); // disable chip
}
