Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/CamRegBuf.cpp@87:15fcf7891bf9, 2017-04-19 (annotated)

Committer:
hazheng
Date:
Wed Apr 19 04:06:01 2017 +0000
Branch:
Drift
Revision:
87:15fcf7891bf9
Parent:
54:f1f5648dfacf
Child:
92:e9bd429f16b5
Removed not used source files.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 30:ff7f83ad6369 1 #include "CamRegBuf.h"
hazheng 30:ff7f83ad6369 2
hazheng 30:ff7f83ad6369 3 #include "PinAssignment.h"
hazheng 30:ff7f83ad6369 4
hazheng 30:ff7f83ad6369 5 #include "CamRegDefinitions.h"
hazheng 30:ff7f83ad6369 6
hazheng 87:15fcf7891bf9 7 CamRegBuf::CamRegBuf(uint8_t writeAddr, uint8_t readAddr) :
hazheng 30:ff7f83ad6369 8 m_writeAddr(writeAddr),
hazheng 30:ff7f83ad6369 9 m_readAddr(readAddr),
hazheng 30:ff7f83ad6369 10 m_sccbCtrl(I2C(PIN_ORB_SDA, PIN_ORB_SCL))
hazheng 30:ff7f83ad6369 11 {
hazheng 30:ff7f83ad6369 12
hazheng 30:ff7f83ad6369 13 }
hazheng 30:ff7f83ad6369 14
hazheng 30:ff7f83ad6369 15 CamRegBuf::~CamRegBuf()
hazheng 30:ff7f83ad6369 16 {
hazheng 30:ff7f83ad6369 17
hazheng 30:ff7f83ad6369 18 }
hazheng 30:ff7f83ad6369 19
hazheng 30:ff7f83ad6369 20 //Blocking method. Do not use during the running state!!
hazheng 30:ff7f83ad6369 21 void CamRegBuf::SCCBWrite(uint8_t RegAddr, uint8_t Data)
hazheng 30:ff7f83ad6369 22 {
hazheng 30:ff7f83ad6369 23 m_sccbCtrl.lock();
hazheng 30:ff7f83ad6369 24 m_sccbCtrl.frequency(CAM_REG_I2CFREQ);
hazheng 30:ff7f83ad6369 25
hazheng 30:ff7f83ad6369 26 m_sccbCtrl.start();
hazheng 30:ff7f83ad6369 27
hazheng 30:ff7f83ad6369 28 m_sccbCtrl.write(m_writeAddr);
hazheng 30:ff7f83ad6369 29 wait_us(CAM_REG_WRITEWAIT);
hazheng 30:ff7f83ad6369 30 m_sccbCtrl.write(RegAddr);
hazheng 30:ff7f83ad6369 31 wait_us(CAM_REG_WRITEWAIT);
hazheng 30:ff7f83ad6369 32 m_sccbCtrl.write(Data);
hazheng 30:ff7f83ad6369 33 wait_us(CAM_REG_WRITEWAIT);
hazheng 30:ff7f83ad6369 34
hazheng 30:ff7f83ad6369 35 m_sccbCtrl.stop();
hazheng 30:ff7f83ad6369 36
hazheng 30:ff7f83ad6369 37 m_sccbCtrl.unlock();
hazheng 30:ff7f83ad6369 38 }
hazheng 30:ff7f83ad6369 39
hazheng 30:ff7f83ad6369 40 //Blocking method. Do not use during the running state!!
hazheng 30:ff7f83ad6369 41 uint8_t CamRegBuf::SCCBRead(const uint8_t RegAddr)
hazheng 30:ff7f83ad6369 42 {
hazheng 30:ff7f83ad6369 43 m_sccbCtrl.lock();
hazheng 30:ff7f83ad6369 44 m_sccbCtrl.frequency(CAM_REG_I2CFREQ);
hazheng 30:ff7f83ad6369 45
hazheng 30:ff7f83ad6369 46 m_sccbCtrl.start();
hazheng 30:ff7f83ad6369 47
hazheng 30:ff7f83ad6369 48 m_sccbCtrl.write(m_writeAddr);
hazheng 30:ff7f83ad6369 49 wait_us(CAM_REG_WRITEWAIT);
hazheng 30:ff7f83ad6369 50 m_sccbCtrl.write(RegAddr);
hazheng 32:5badeff825dc 51 wait_us(CAM_REG_WRITEWAIT);
hazheng 32:5badeff825dc 52 m_sccbCtrl.stop();
hazheng 30:ff7f83ad6369 53
hazheng 30:ff7f83ad6369 54 m_sccbCtrl.start();
hazheng 30:ff7f83ad6369 55 m_sccbCtrl.write(m_readAddr);
hazheng 30:ff7f83ad6369 56 wait_us(CAM_REG_WRITEWAIT);
hazheng 30:ff7f83ad6369 57 char readValue = m_sccbCtrl.read(CAM_REG_NOACK);
hazheng 30:ff7f83ad6369 58
hazheng 30:ff7f83ad6369 59 m_sccbCtrl.stop();
hazheng 30:ff7f83ad6369 60
hazheng 30:ff7f83ad6369 61 m_sccbCtrl.unlock();
hazheng 30:ff7f83ad6369 62
hazheng 30:ff7f83ad6369 63 return readValue;
hazheng 30:ff7f83ad6369 64 }
hazheng 30:ff7f83ad6369 65
hazheng 30:ff7f83ad6369 66
hazheng 30:ff7f83ad6369 67 //Blocking method. Do not use during the running state!!
hazheng 30:ff7f83ad6369 68 void CamRegBuf::ReadRegisters()
hazheng 30:ff7f83ad6369 69 {
hazheng 30:ff7f83ad6369 70 for(int i = 0; i <= 0xff; ++i)
hazheng 30:ff7f83ad6369 71 {
Bobymicjohn 54:f1f5648dfacf 72 //char buf[10];
Bobymicjohn 54:f1f5648dfacf 73 //sprintf(buf, "%#x-%#x", i, SCCBRead(i));
Bobymicjohn 54:f1f5648dfacf 74 //m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 30:ff7f83ad6369 75
hazheng 30:ff7f83ad6369 76 wait(0.1);
hazheng 30:ff7f83ad6369 77 }
hazheng 30:ff7f83ad6369 78 }
hazheng 30:ff7f83ad6369 79
hazheng 32:5badeff825dc 80 /*
hazheng 32:5badeff825dc 81 int32_t CamRegBuf::I2CBufferRead(int32_t ucDevAddr, uint8_t *ucBuffer, int32_t ulSize)
hazheng 32:5badeff825dc 82 {
hazheng 32:5badeff825dc 83 m_sccbCtrl.start();
hazheng 32:5badeff825dc 84
hazheng 32:5badeff825dc 85 m_sccbCtrl.write(ucDevAddr);
hazheng 32:5badeff825dc 86 if(ulSize == 1){
hazheng 32:5badeff825dc 87 ucBuffer[0] = m_sccbCtrl.read(0);
hazheng 32:5badeff825dc 88 }else{
hazheng 32:5badeff825dc 89 for(int i=0;i<ulSize;i++){
hazheng 32:5badeff825dc 90 ucBuffer[i] = m_sccbCtrl.read(0);
hazheng 32:5badeff825dc 91 }
hazheng 32:5badeff825dc 92 }
hazheng 32:5badeff825dc 93
hazheng 32:5badeff825dc 94 m_sccbCtrl.stop();
hazheng 32:5badeff825dc 95
hazheng 32:5badeff825dc 96 return 0;
hazheng 32:5badeff825dc 97 }
hazheng 32:5badeff825dc 98
hazheng 32:5badeff825dc 99 int32_t CamRegBuf::I2CBufferWrite(int32_t ucDevAddr, uint8_t *ucBuffer, int32_t ulSize)
hazheng 32:5badeff825dc 100 {
hazheng 32:5badeff825dc 101 m_sccbCtrl.start();
hazheng 32:5badeff825dc 102
hazheng 32:5badeff825dc 103 // Set I2C slave write address
hazheng 32:5badeff825dc 104 m_sccbCtrl.write(ucDevAddr);
hazheng 32:5badeff825dc 105
hazheng 32:5badeff825dc 106 if(ulSize == 1){
hazheng 32:5badeff825dc 107 m_sccbCtrl.write(ucBuffer[0]);
hazheng 32:5badeff825dc 108 }else{
hazheng 32:5badeff825dc 109 for(int i=0;i<ulSize;i++){
hazheng 32:5badeff825dc 110 m_sccbCtrl.write(ucBuffer[i]);
hazheng 32:5badeff825dc 111 }
hazheng 32:5badeff825dc 112 }
hazheng 32:5badeff825dc 113
hazheng 32:5badeff825dc 114 m_sccbCtrl.stop();
hazheng 32:5badeff825dc 115
hazheng 32:5badeff825dc 116 return 0;
hazheng 32:5badeff825dc 117 }
hazheng 32:5badeff825dc 118 */
hazheng 30:ff7f83ad6369 119 void CamRegBuf::WriteRegSet(const struct sensor_reg * reglist)
hazheng 30:ff7f83ad6369 120 {
hazheng 30:ff7f83ad6369 121 unsigned int i = 0;
hazheng 30:ff7f83ad6369 122 while ((reglist[i].reg != 0xff) | (reglist[i].val != 0xff))
hazheng 30:ff7f83ad6369 123 {
hazheng 30:ff7f83ad6369 124 SCCBWrite(reglist[i].reg, reglist[i].val);
hazheng 30:ff7f83ad6369 125 ++i;
hazheng 32:5badeff825dc 126 wait_ms(1);
hazheng 30:ff7f83ad6369 127 }
hazheng 30:ff7f83ad6369 128 }