Diff: main.cpp

Revision:

0:cf1bc7c313b4

Child:

1:150525e9c21f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 30 07:50:11 2010 +0000
@@ -0,0 +1,109 @@
+#include "mbed.h"
+
+// Adapted from kako's source code: http://www.kako.com/neta/2008-009/2008-009.html
+// i2c protocol details from - http://blog.makezine.com/archive/2008/11/hacking_the_wiimote_ir_ca.html
+// wiring from - http://translate.google.com/translate?u=http://www.kako.com/neta/2007-001/2007-001.html&hl=en&ie=UTF-8&sl=ja&tl=en
+// obviously mbed is 3.3v so no level translation is needed
+// using built in i2c on pins 9/10
+//
+
+DigitalOut myled(LED1);
+PwmOut servo(p21);
+Serial pc(USBTX, USBRX); // tx, rx
+I2C i2c(p9, p10);        // sda, scl
+const int addr = 0xB0;   // define the I2C Address of camera
+
+void i2c_write2(int addr, char a, char b)
+{
+    char cmd[2];
+    
+    cmd[0] = a;
+    cmd[1] = b;
+    i2c.write(addr, cmd, 2);
+    wait(0.07); // delay 70ms    
+}
+
+void clock_init()
+{
+    // set up ~20-25MHz clock on p21
+    LPC_PWM1->TCR = (1 << 1);               // Reset counter, disable PWM
+    LPC_SC->PCLKSEL0 &= ~(0x3 << 12);  
+    LPC_SC->PCLKSEL0 |= (1 << 12);          // Set peripheral clock divider to /1, i.e. system clock
+    LPC_PWM1->MR0 = 4;                     // Match Register 0 is shared period counter for all PWM1
+    LPC_PWM1->MR6 = 2;                      // Pin 21 is PWM output 6, so Match Register 6
+    LPC_PWM1->LER |= 1;                     // Start updating at next period start
+    LPC_PWM1->TCR = (1 << 0) || (1 << 3);   // Enable counter and PWM
+}
+
+void cam_init()
+{
+    // Init IR Camera sensor
+    i2c_write2(addr, 0x30, 0x01);
+    pc.printf("+\n");
+    i2c_write2(addr, 0x30, 0x08);    
+    i2c_write2(addr, 0x06, 0x90);
+    i2c_write2(addr, 0x08, 0xC0);
+    i2c_write2(addr, 0x1A, 0x40);
+    i2c_write2(addr, 0x33, 0x33);
+    wait(0.1);
+}
+
+int main() {
+    char cmd[8];
+    char buf[16];
+    int Ix1,Iy1,Ix2,Iy2;
+    int Ix3,Iy3,Ix4,Iy4;
+    int s;
+
+    clock_init();
+    
+    // PC serial output    
+    pc.baud(115200);
+    pc.printf("Initializing camera...");
+
+    cam_init();
+  
+    pc.printf("complete\n");
+
+    // read I2C stuff
+    while(1) {
+        myled = 1;
+        // IR Sensor read
+        cmd[0] = 0x36;
+        i2c.write(addr, cmd, 1);
+        i2c.read(addr, buf, 16); // read the 16-byte result
+
+        myled = 0;
+        
+        Ix1 = buf[1];
+        Iy1 = buf[2];
+        s   = buf[3];
+        Ix1 += (s & 0x30) <<4;
+        Iy1 += (s & 0xC0) <<2;
+        
+        Ix2 = buf[4];
+        Iy2 = buf[5];
+        s   = buf[6];
+        Ix2 += (s & 0x30) <<4;
+        Iy2 += (s & 0xC0) <<2;
+        
+        Ix3 = buf[7];
+        Iy3 = buf[8];
+        s   = buf[9];
+        Ix3 += (s & 0x30) <<4;
+        Iy3 += (s & 0xC0) <<2;
+        
+        Ix4 = buf[10];
+        Iy4 = buf[11];
+        s   = buf[12];
+        Ix4 += (s & 0x30) <<4;
+        Iy4 += (s & 0xC0) <<2;
+        
+        // print the coordinate data
+        pc.printf("Ix1: %4d, Iy1: %4d\n", Ix1, Iy1 );
+        pc.printf("Ix2: %4d, Iy2: %4d\n", Ix2, Iy2 );
+        
+        wait(0.250);
+    }
+
+}