F16: Pattern Detector - Revision history

146 user5: /* References Used */

2016-12-20T22:02:41Z

‎References Used

146 user5 at 22:00, 20 December 2016

2016-12-20T22:00:53Z

146 user5: /* Conclusion */

2016-12-20T21:59:54Z

‎Conclusion

146 user5: /* Pixy Camera Software Implementation */

2016-12-20T21:57:33Z

‎Pixy Camera Software Implementation

146 user5: /* Software Design SJOne Board */

2016-12-20T21:42:44Z

‎Software Design SJOne Board

146 user5: /* Software Design SJOne Board */

2016-12-20T21:38:14Z

‎Software Design SJOne Board

146 user5: /* Pixy Camera */

2016-12-20T20:49:38Z

‎Pixy Camera

146 user5: /* Hardware Design */

2016-12-20T20:49:16Z

‎Hardware Design

146 user5: /* Design & Implementation */

2016-12-20T20:48:53Z

‎Design & Implementation

146 user5: /* Pixy Camera */

2016-12-20T20:47:25Z

‎Pixy Camera

← Older revision		Revision as of 22:02, 20 December 2016
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	=== References Used ===		=== References Used ===
	List any references used in project.		List any references used in project.
		+	*http://cmucam.org/projects/cmucam5/wiki/Pixy_Serial_Protocol
		+	*http://cmucam.org/projects/cmucam5/wiki/Porting_Guide
		+	*https://learn.sparkfun.com/tutorials/pulse-width-modulation
		+	*http://www.socialledge.com/sjsu/index.php?title=Realtime_OS_on_Embedded_Systems

@@ Line 202: / Line 202: @@
 The Pixy Camera is able to externally communicate with micro-controllers by sending data regarding the object it is tracking, as well as receiving data for controlling the Pixy Camera itself. When the Pixy camera locates a recognized or preprogrammed object it begins to send information to a connected peripheral in bytes regarding that object. The first few bytes the Pixy camera sends are sync bytes, in other words bytes that let the external device know that the Pixy Camera has picked up on an object. The rest of the following bytes indicate the signature of the object, where it is on the screen with respect to the camera view (x/y center), as well as the width and the height of the object. Below are the specific bytes the Pixy Camera send to the SJOne board when it picks up on a device.
 === Implementation ===
@@ Line 219: / Line 224: @@
 == Conclusion ==
-In conclusion, we are both satisfied with our project results, but at the same time we know could've done a lot better and put more time into it. Most of the components were able to function correctly, while we had problems with our parts of the project. We are glad we took this class, because it outlines important concepts that we needed to learn and we were able to learn how FREE RTOS works. We were also able to implement our own FREE RTOS for the purpose of our project. Every group comes into problems, but our group was successfully able to solve them and keep on working on our goal to get the project working. If we were do it again, I would recommend have a leader in group, set deadline, make sure people are getting work accomplished, and work together as a team. This project had not only increased my knowlegde about Embedded Systems, but it has also increased my knowlegde on how project and teams work in real life.
+In conclusion,
@@ Line 225: / Line 233: @@
 === Project Video ===
 We have uploaded the video onto YouTube and the link below will allow you access to the video.

@@ Line 219: / Line 219: @@
 == Conclusion ==
-In conclusion,
+In conclusion, we are both satisfied with our project results, but at the same time we know could've done a lot better and put more time into it. Most of the components were able to function correctly, while we had problems with our parts of the project. We are glad we took this class, because it outlines important concepts that we needed to learn and we were able to learn how FREE RTOS works. We were also able to implement our own FREE RTOS for the purpose of our project. Every group comes into problems, but our group was successfully able to solve them and keep on working on our goal to get the project working. If we were do it again, I would recommend have a leader in group, set deadline, make sure people are getting work accomplished, and work together as a team. This project had not only increased my knowlegde about Embedded Systems, but it has also increased my knowlegde on how project and teams work in real life.
@@ Line 228: / Line 225: @@
 === Project Video ===
 We have uploaded the video onto YouTube and the link below will allow you access to the video.

← Older revision		Revision as of 21:57, 20 December 2016
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	=== Pixy Camera Software Implementation ===		=== Pixy Camera Software Implementation ===

		+	The Pixy Camera is able to externally communicate with micro-controllers by sending data regarding the object it is tracking, as well as receiving data for controlling the Pixy Camera itself. When the Pixy camera locates a recognized or preprogrammed object it begins to send information to a connected peripheral in bytes regarding that object. The first few bytes the Pixy camera sends are sync bytes, in other words bytes that let the external device know that the Pixy Camera has picked up on an object. The rest of the following bytes indicate the signature of the object, where it is on the screen with respect to the camera view (x/y center), as well as the width and the height of the object. Below are the specific bytes the Pixy Camera send to the SJOne board when it picks up on a device.

	=== Implementation ===		=== Implementation ===

@@ Line 176: / Line 176: @@
 ''Initialization PseudoCode''
-PCONP = Power on UART2
+  PCONP = Power on UART2
-PCLKSEL1 = Set Peripheral Clock
+  PCLKSEL1 = Set Peripheral Clock
-PINSEL4 = Set RX and TX pin functionalities
+  PINSEL4 = Set RX and TX pin functionalities
-// Acquire DLL_Value from desired Baud Rate
+  // Acquire DLL_Value from desired Baud Rate
-DLL_Value = clock/(16*Baud)
+  DLL_Value = clock/(16*Baud)
-Set DLM and DLL registers according to DLL_Value
+  Set DLM and DLL registers according to DLL_Value
-LCR = Set 8 bit data transfer Length
+  LCR = Set 8 bit data transfer Length
-LCR = Set start and stop bit for data transfer
+  LCR = Set start and stop bit for data transfer
 Since the SJOne board is only receiving data from the Pixy Camera and not sending data in this situation only a receive byte function is required. The function waits to see if the data is transmitted from the Pixy Camera to the SJOne board by checking the RDR (Receiver Data Ready) register. Once the value of this register is set to 1, the receive function can then capture the transmitted data by looking at the RBR (Receiver Buffer Register).
@@ Line 191: / Line 192: @@
 ''Receiving Function PseudoCode''
-while (1){
+   while (1){
-     if(RDR){
+        if(RDR){
           break;
-−
+        }
-−
+   }
-new_data = RBR;
+   new_data = RBR;
 === Pixy Camera Software Implementation ===

@@ Line 165: / Line 165: @@
 The SJOne board utilizes a UART task in order to communicate with the Pixy Camera. The driver task consists of initializing the registers of the SJOne Board, receive and sending bytes of information, and the run function that executes the byte transfer between the Pixy Camera and the SJOne board. Below is the Pseudocode an explanation for each function utilized within the UART driver.
-'''''Initialization'''''
+<center><big> ''Initialization''</big> </center>
 The corresponding UART port must be initialized by powering on the PCONP register. The peripheral clock must then be set to the corresponding value of the peripheral device.
 In order for the UART transfer to take place the SJOne board utilizes the Tx and Rx pins which are also set within the initialization block by using the PINSEL Register to program the functionality.
-The Baud Rate must match the Pixy Camera Baud Rate of 19200bps. This was set utilizing the equation below.
+The Baud Rate must match the Pixy Camera Baud Rate of 19200bps. This was set utilizing the equation below. From this equation we derive the DLL  and DLM registers which are used as the divisors to establish the desired baud rate for the data transfer. The DLAB bit must also be initialized at is used as both the Receiver Buffer Register and the Transmit Holding Register. Both of which are set at the LCR register. The LCR register is also responsible for setting the start and stop bits of the UART communication.
 [[File: Baud Rate.png| frame | center| <center> '''Figure 6. Baud Rate Equation''' </center>]]
 === Pixy Camera Software Implementation ===

@@ Line 140: / Line 140: @@
 The Pixy Camera uses a color-based filtering algorithm to detect objects. Pixy can easily connect to lots of different controllers because it supports several interface options, like UART communication that is being used for the project. The information that is being sent out from the Pixy Camera to the SJOneBoard is the sync word (0xaa55), checksum (sum of all 16-bit words 2-6), signature number, x center of object, y center of object, width of object, height of object. All this information lets us know where the object is in frame, how big it is and the color as well.
-[[File: Pixy Camera.jpg| frame | center|<center>'''Figure 3. Pixy Camera'''</center> ]]
+[[File: Pixy Camera.jpg| frame | center|<center>'''Figure 2. Pixy Camera'''</center> ]]
 ==== Pixy Camera Mount ====

@@ Line 135: / Line 135: @@
 We have included detailed hardware schematics and the interface of each component.
-[[File: Hardware Diagram.png| frame | center| <center> Figure 1. Hardware Diagram </center]]
+[[File: Hardware Diagram.png| frame | center| <center> Figure 1. Hardware Diagram </center>]]
 ==== Pixy Camera ====