Konkuk asml team
pixy
Dependencies: mbed
Revision 0:fc7c5285fa79, committed 2018-10-25
- Comitter:
- halusis
- Date:
- Thu Oct 25 03:57:08 2018 +0000
- Commit message:
- for pixy
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Gimbal_PixyTest.cpp Thu Oct 25 03:57:08 2018 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+#include "PinAssign.h"
+#include "GlobalVariables.h"
+#include "PixyData.h"
+
+Ticker DebugTimer;
+
+bool fDebugTimer=0;
+
+void DebugTimer_isr(void)
+{
+ fDebugTimer=1;
+}
+
+int main()
+{
+ pc.baud(115200);
+ pixy.baud(115200);
+
+ DebugTimer.attach(&DebugTimer_isr,0.5);
+
+ pc.printf("Start\n");
+ while(1)
+ {
+ //if(pc.readable()) pixy.putc(pc.getc());
+ //if(pixy.readable()) pc.putc(pixy.getc());
+
+ if(pixy.readable()) PixyData();
+ if(fDebugTimer==1)
+ {
+ // pc.printf("sigN:%d xObs:%d yObs:%d widthObs:%d heightObs:%d\n",PixyChks, SigNum, XObs, YObs, WidObs, HeiObs);
+ fDebugTimer=0;
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GlobalVariables/GlobalVariables.cpp Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,4 @@ +#include "mbed.h" + +uint8_t PixyCnt, PixyBuf[20], fPixyData; +uint16_t PixyChks, SigNum, XObs, YObs, WidObs, HeiObs, AngObs; \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GlobalVariables/GlobalVariables.h Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,7 @@ +#ifndef GLOBALVARIABLES_H +#define GLOBALVARIABLES_H +#include "mbed.h" + +extern uint8_t PixyCnt, PixyBuf[20], fPixyData; +extern uint16_t PixyChks, SigNum, XObs, YObs, WidObs, HeiObs, AngObs; +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinAssign/PinAssign.cpp Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,4 @@ +#include "PinAssign.h" + +Serial pc(USBTX, USBRX); +Serial pixy(p28,p27); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinAssign/PinAssign.h Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,6 @@ +#ifndef PINASSIGN_H +#define PINASSIGN_H +#include "mbed.h" +extern Serial pc; +extern Serial pixy; +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PixyData/PixyData.cpp Thu Oct 25 03:57:08 2018 +0000
@@ -0,0 +1,47 @@
+#include "mbed.h"
+#include "PixyData.h"
+#include "GlobalVariables.h"
+#include "PinAssign.h"
+
+void PixyParse(void)
+{
+ SigNum = PixyBuf[4]|(PixyBuf[5]<<8);
+ XObs = PixyBuf[6]|(PixyBuf[7]<<8);
+ YObs = PixyBuf[8]|(PixyBuf[9]<<8);
+ WidObs = PixyBuf[10]|(PixyBuf[11]<<8);
+ HeiObs = PixyBuf[12]|(PixyBuf[13]<<8);
+ AngObs = PixyBuf[14]|(PixyBuf[15]<<8);
+}
+
+void PixyData(void)
+{
+ uint8_t buf;
+ buf = pixy.getc();
+ pc.putc(buf);
+
+ if(PixyCnt==0&&buf==0x56||PixyCnt==1&&buf==0xaa||PixyCnt>=2&&PixyCnt<=15)
+ {
+ PixyBuf[PixyCnt]=buf;
+ PixyCnt++;
+
+ //pc.printf("proc\n");
+ }
+ else if(PixyCnt==16)
+ {
+ //pc.printf("chks\n");
+
+ PixyChks = PixyBuf[2]|(PixyBuf[3]<<8);
+ int chks=0;
+ for(uint8_t i=4;i<=15;i++)
+ {
+ chks+=PixyBuf[i];
+ }
+ if(chks==PixyChks)
+ {
+ PixyParse();
+ //pc.printf("pars\n");
+ }
+ PixyCnt=0;
+ }
+ else PixyCnt=0;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PixyData/PixyData.h Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,7 @@ +#ifndef PIXYDATA_H +#define PIXYDATA_H +#include "mbed.h" + +extern void PixyData(); + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 25 03:57:08 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file