Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/Camera/Camera.cpp@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
23:a34af501ea89 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #include "mbed.h"
shimniok 0:a6a169de725f 2 #include "Camera.h"
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 Camera::Camera(PinName tx, PinName rx):
shimniok 0:a6a169de725f 5 serial(tx, rx)
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 serial.baud(115200);
shimniok 0:a6a169de725f 8
shimniok 0:a6a169de725f 9 return;
shimniok 0:a6a169de725f 10 }
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 void Camera::start()
shimniok 0:a6a169de725f 13 {
shimniok 23:a34af501ea89 14 serial.attach(callback(this, &Camera::receive), Serial::RxIrq);
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 // ping
shimniok 0:a6a169de725f 17 // should now get ACK\r or NACK\r
shimniok 0:a6a169de725f 18 // send colormap here
shimniok 0:a6a169de725f 19 // should now get ACK\r or NACK\r
shimniok 0:a6a169de725f 20 // disable white balance
shimniok 0:a6a169de725f 21 // should now get ACK\r or NACK\r
shimniok 0:a6a169de725f 22 serial.printf("ET\r\n");
shimniok 0:a6a169de725f 23 // should now get ACK\r or NACK\r
shimniok 0:a6a169de725f 24 return;
shimniok 0:a6a169de725f 25 }
shimniok 0:a6a169de725f 26
shimniok 0:a6a169de725f 27
shimniok 0:a6a169de725f 28 void Camera::receive()
shimniok 0:a6a169de725f 29 {
shimniok 0:a6a169de725f 30 while (serial.readable()) {
shimniok 0:a6a169de725f 31 char c = serial.getc();
shimniok 0:a6a169de725f 32 fprintf(stdout, "%c\n", c);
shimniok 0:a6a169de725f 33 }
shimniok 0:a6a169de725f 34 return;
shimniok 0:a6a169de725f 35 }
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37
shimniok 0:a6a169de725f 38 /*
shimniok 0:a6a169de725f 39 * (Byte 0: 0x0A – Indicating the start of a tracking packet
shimniok 0:a6a169de725f 40 * Byte 1: Number of trac k ed objects (0x00 – 0x08 are valid)
shimniok 0:a6a169de725f 41 * Byte 2: Color of object tracked in bounding box 1
shimniok 0:a6a169de725f 42 * Byte 3: X upper left corner of bounding box 1
shimniok 0:a6a169de725f 43 * Byte 4: Y upper left corner of bouding box 1
shimniok 0:a6a169de725f 44 * Byte 5: X lower right corner of boudning box 1
shimniok 0:a6a169de725f 45 * Byte 6: Y lower right corner of boudning box 1
shimniok 0:a6a169de725f 46 * Byte 7: Color object tracked in bound box 2
shimniok 0:a6a169de725f 47 * ...
shimniok 0:a6a169de725f 48 * Byte x: 0xFF (indicates the end of line, and will be sent after all tracking info
shimniok 0:a6a169de725f 49 * for the current frame has been sent)
shimniok 0:a6a169de725f 50 */
shimniok 0:a6a169de725f 51 void Camera::parse(char c)
shimniok 0:a6a169de725f 52 {
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 return;
shimniok 0:a6a169de725f 55 }
shimniok 0:a6a169de725f 56