User`s manual
Contents
1. e ES Nom du fichier bitmap h Type bh e Annuler E All rights reserved Page 58 83 E POB Technology Documentation TECHNOLO G Y Warning If you choose an existing file the file content will be lost 2 Naming the resources array The graphic resources are in a C array Target Output You can rename this array or simply leave the default name Filename S proiecth EXEMPLES example bitmap h aen name H E gt d Ulnts const Bitmap 1626 BoP BL Z 4254 57 254d 67 64 U 0 0 0 0 166 0 166 4564 6 MN nn wae 3 Manage image SE a Edit Bmp Remove Bmp Edit Bmp or Remove Bmp button To add edit or remove an image press the Add Bmp or To move image in the list use the blue arrows Remark The images put in the library must respect the following format Bitmap 256 colors maximum size of 256 per 256 pixels POB Bitmap uses 3 colors to draw the graphic resources Black black pixel is drawing on the LCD White white pixel is drawing on the LCD Green Red 0 green 255 Blue 0 transparency color allow stack images All rights reserved Page 59 83 E POB Technology Documentation TECHNOLO G Y 4 Edit the resources name To locate the graphic resources in the array POB TOOLS use define You can edit this define with the Edit define button Laine IDB_TRIANGIE Estate TT Remark The g2. BITS where the pixels will be stored In addition the buffer another function is used to store the information on the screen s GraphicBuffer ScreenBuffer buffer screen All rights reserved Page 77 83 E POB Technology Documentation TECHNOLO G Y Make sure POB EYE and POB LCD are declared for a correct use InitPOB EYE POB EYE initialization InitLCD LCD initialization Finally the graphic buffer is declared using InitGraphicBuffer with the following data screen size Number of bit or byte per pixel and location of the storage array LCD_Buffer InitGraphicBuffer amp ScreenBuffer LCD _WIDTH LCD_HEIGHT ONE_BIT LCD_Buffer init the Graphic buffer with 128 per 64 one pixel per bit and LCD_Buffer For the number of bit per pixel you would like to use you need the following definitions ONE_BIT for 1 bit per pixel or EIGHT_BITS for 1 byte per pixel Remark For the graphic buffer we are using the command BITS or BYTES And concerning the function InitGraphicBuffer we are using ONE_BIT or EIGHT_BITS ClearGraphicBuffer amp ScreenBuffer clear the graphic buffer All the image drawing is done by DrawBitmap The parameters needed are The X Y coordinates the number of the image and a pointer towards the graphic buffer Please note that the number and the array Bitmap are created by POB Tools DrawBitmap 30 10 DB_1 Bitmap amp ScreenBuffer ima
3. D User s manual D E Y E E POB Technology Documentation TECHNOLO G Y Table of contents 1 POBEYE MODULE EE 5 Teal ATEN CF CSS CONS ad es de ee 6 Te FONO SUDI a ee ee E 7 13 tele leie te Le Ee D de TE 8 RS ne ee een eee ee ene 9 15 HETO COMMC CON geg degt dg dd ge deeg Eege tege basin eme egen 10 HO FOBEVE DUS onone eee ee ne eee eee eee ee ee E 12 1 7 Using POB Eye s bus from an extension board ssnneennnennsernsnnesnnnnnnnrrrnnrrsnrrenererennne gt 14 1 8 Sensor CMOS connector ccccceeceeeeeeeeeeceeeeeeeeeeeeeeseeeeeseeeeeessaeeeessaeseesseeeeesseeeeesaseeeenas 20 1 9 Dimensions Of the module sise 20 1 10 Connecting POBEYE to a computer 21 2 POP ee ee ee eee 23 2 1 Board elements description ME 24 22 FORM PORC and PORTD coniiguratOM sosio 34 2 3 Assembly examples WIPO oo eee ees eet eee ee 35 2 4 Mechanical information ENEE 38 CW 6 D eee eee E E E E E RE 40 3 1 Hardware description sise 40 3 2 Connecting POB LCD128 with POB EYE ccccccccccsccsssssssssseseeeceeeceeeeeeeeeeeessseeaeaeeeeeees 41 3 3 Drawing with POB LCD128 iii 42 POBTOOES nas ee 45 4 1 POB TOOLS installation cc cceccccceseeeeeseeeeeeseeseeesseeeeesseeeeseeeeeesaeeeesseeeeeesaeeeeesaneeees 46 4 2 POB TOOLS configuration cesses eeeseeeeeseeeessesessaeeessaueesseeesaeeeneas 49 All rights reserved Page 2 83 E POB Technology Documentation TECHNOLO G Y 4 3 Manage a project applicati
4. a9 Enable G9 pin ENABLE signal allows signals validation on the bus G10 pin ACK signal allows to know peripheral states the peripheral is ready to communicate All rights reserved Page 12 83 E POB Technology Documentation TECHNOLO G Y Next table outlines the role of each pin Name on the Type Number on the POBEYE bus HE10 connector G1 DATA 1 Input Output 15 G7 DATA 7 Input Output 9 Figure 7 Bus POBEYE The peripheral on the POBEYE bus have this address Peripheral Address Peripheral name 0 POBLCD128 POBLCD128 reserved 13 For the user The reserved addresses are the ones POB Technology is using for its peripheral Nevertheless they can be used if necessary All rights reserved Page 13 83 E POB Technology Documentation TECHNOLO G Y 1 7 Using POB Eye s bus from an extension board To understand how to use a peripheral on the POB EYE bus we will use the following D electric circuit DO E ZEN Interface with a PIC from Microchip wl i G8 RW d AEN D7 S DO GA Enable Data D6 D 4 3 Go D5 D2 Ah GI D4 D3 4 gt L5 G2 5 i MH y SDA SCL a D5 gt D G4 Gi Go x Sy TC so G3 G2 ADDR_OK gt o7 gt _ Ge G ENABLE BOARD Cha 5v Des D G7 e G8 RAN p ho 67 Si Ke 74HC245 e ae Vi wl Gu G10 au bi Su G13 G12 er Alim Git G13 18pF ES AL Enable Data cu 13 ADDR_OK an ewe ACK H Ir 18 9 PIC16F877 74HC138 T
5. 16 83 POB Technology Documentation TE Co HN LE CG Y Wait for Configure Wait for Set Configure The card sends data Valid address ADDR OK set to 0 The board must be enabled ENABLE BOARD set to 1 POB EYE set to writing mode READ_AND_WRITE set to 0 No one using ACK ACK set to 0 ACK set to output PORTB for sending data ACK set to 0 ENABLE_ DATA set to 0 Data sent to PORTB ACK set to 1 Board enabled ENABLE BOARD set to 0 ENABLE DATA set to 1 ACK set to 0 Little tip to save up time if ACK becomes an input the PULL DOWN resistor placed on ACK will act as if ACK was set to 0 Set ACK set to 0 Warning do not forget this step otherwise the cards can be damaged All rights reserved Page 17 83 E POB Technology Documentation TECHNOLO G Y Signals Configuration when adding a daughter board NOM OO Signalstatus ADDR_OK inp Input Becomes an output during communication oS ENABLE_DATA Output High state SS PORTB Input ENABLE BOARD Input l READ_AND_WRITE o S o Remarks When a new program is loaded in the POB EYE and daughter board is added it is necessary to unplug and re plug the whole system for synchronous matter When you add daughter board to your POB EYE before switching on the supply you must verify using a multimeter in diode verification position that the connection is clearly realized Simply place one probe to the POB EYE s G
6. 8 MB ARM THUMB Interworking 9 8 MB THUMB 18 9 MB THUMB Libraries 9 5 MB ARM THUMB Interworking 9 5 MB Floating Point Unit 29 0 MB M1 FPU Libraries 9 7 MB M At least 62 9 MB of free disk space is required Current selection requires at least 218 9 MB of disk space SES Figure 12 Install repertory and software options leave everything ticked All rights reserved Page 46 83 DOD POB Technology Documentation TECHN OL OG Y di Setup GNUARM Diw dl Setup GNUARM Seles Select Start Menu Folder Select Additional Tasks Where should Setup place the program s shortcuts Which additional tasks should be performed Select the additional tasks vou would like Setup t while installing GNUARM Setup will create the program s shortcuts in the following Start Menu folder then click Next GE i Ge 3 To continue click Next If you would like to select a different folder click Browse Additional icons IGNUARM C Create a desktop icon Cygwin options Install Cygwin DLLs Figure 13 Start Menu and options Deselect Create a desktop icon and leave Install Cygwin DLLs 5 fe Setup GNUARM m io Setup GNUARM Installing Ready to Install ei i Setup is now ready to begin installing GNUARM on e z Please wait while Setup installs GNUARM on your computer Click Install to continue with the installation or click Back if you want to review or Extracting files change any settings C P
7. If the loading proceeds correctly you should see the progress bar changing lf this does not work an error message will appear You will have to follow the instructions to solve the problem If the problem persists do not hesitate to contact the POB Technology support support pob technology com Remark If the modules are already on simply switch to programming mode the switch orogramming execution and press the reset button All rights reserved Page 55 83 E POB Technology Documentation TECHNOLO G Y 4 6 POB Bitmap POB Bitmap generates graphic resources for the POB LCD128 POB LCD allows for example real time visualization of what the camera sees or to act as a user interface POB Bitmap generates a file to include in your code by the command include name_of file h The file h contains an array of images This file contains 3 areas Area 1 will protect the array during fifndef BITHAP_H e 1 compilation fdetine BITHAF_H finclude POB EYE h Area 2 shows all the data containing all the bitmaps In this example the array s name is image which is re used by 2 the function DrawBitmap tE const Bitmap 1626 6 7 254 57 254 57 254 0 0 0 0 166 0 166 254 5 121 0 225 121 0 229 0 c46 6 57 0 0 0 198 6 54 1 2S 134 6 45 134 6 45 Bo St EEN d IS de COHEN rh EI im j El BM Ca im J PJ om A im PJ il CH Area 3 has all t
8. In this example PORTA is set to analog input RC7 RC6 RC3 RC2 RC1 are configure as inputs and RCO is configure to manage a servomotor PORTD RD7 RD6 RD5 and RD4 are set to digital inputs and RD3 RD2 RD1 RDO are set to digital outputs All rights reserved Page 34 83 E POB Technology Documentation TECHNOLOG Y 2 3 Assembly examples with POB PROTO Usually for movements any robots are using 2 DC motors link to a free wheel Motors control requires power electronics The assembly needed to POB PROTO to control DC motors is the following 1604 V_Engine Alim V Engine This assembly was done with a L293D double H bridge Each motor is managed by 2 microcontroller pins Pins DO D1 D2 and D3 of PORTD are used to control the motors and set to output in your program The LM317T is a voltage regulator and with the adjustable resistor it is possible to set the voltage to the wanted value All rights reserved Page 35 83 l POB Technology Documentation TECHNOLO G Y Push button management To create your own HMI you need a navigation system control by pushbutton for example The following assembly shows how to add a pushbutton to the POB PROTO DO 10k The user needs to configure DO as an input and read PORTD with the adequate masks to get the correct DO value Analog value acquisition This diagram shows how to rely an adjustable resistor to PORTA All rights reserved Page 36 83 E POB
9. help files To get the help on how to use the POB EYE S libraries refer to the file documentation LIBPOB html Lj TOONS Documentation LIBPOB html AR Ree ee en Your web explorer will then display the help page Data Structures File List Data Fields Globals POB Library Documentation 1 0 Generated by doxygen 144 ii This is a documentation from All nights reserved TECHNOLOGY From this page you have access to all the function s definitions used in LibPOB library Functions void SethOWay Ulnt32 Value Ulnti6 Getinput void void SetOutput Uint32 Value void ClrOutput Ulnt32 Value void WriteByte Ulnt16 Addr Ulnt Data Uints ReadByte Ulnt16 Addr Detailed Description VO Functions Function to Manage the VO and bus for POB EYE Author Pierre SEGUIN POB Technology Function Documentation void ClrOutput UInt32 Value Clear the output Parameters Value use 1 to clear an output 0 has no effect on the output All rights reserved Page 69 83 DOD POB Technology Documentation TECHN OLOG Y Sample application All rights reserved Page 70 83 H POB Technology Documentation TECHN OL OG Y 6 Sample application Pattern recognition and POB Terminal display This example is given in folder example To open the project in POB TOOLS select the file examplet pob POB TOOLS S PO0B_TOOLS examples example examplei pob POB TOOLS FOB Compiler FOE Loa
10. C16F877 can add other functionalities to your system Moreover the PIC16F877 is a low cost chip and its development tools are free and easy to access The names of these signals can be seen on the electric schema Name on Description 16F877 ADDR_OK PORTEO Input 8 Indicates that the address is valid ENABLE BOARD PORTE 1 Input Allows POB EYE to validate the board Write mode nl eee RR SRO Ss TO an ENABLE DATA PORTC 5 Output Validates the data of the 74H245 PORTB Input Output Ze Data transit All rights reserved Page 15 83 POB Technology Documentation TE Co HN LE CG Y Using POB Evye s All the digital read write protocols between the POB EYE and the PIC16F877 are the following Wait for Configure Set Record Set Wait for Configure The card receives data Valid address ADDR OK set to 0 Board enables ENABLE BOARD set to 1 POB EYE in WRITING mode READ_AND_WRITE set to 0 No one using ACK ACK set to 0 ACK in output PORTB to receive data from the POB EYE ACK set to 0 ENABLE_ DATA set to 0 Data from PORTB ENABLE DATA set to 1 ACK set to 1 Board Enable ENABLE BOARD set to 0 by the POB EYE ACK set to 0 Little tip to save up time if ACK becomes an input PULL DOWN resistor placed on ACK will act as if ACK was set to 0 Set ACK set to 0 Warning do not forget this step otherwise the cards can be damaged All rights reserved Page
11. E and the POB LCD128 Header folder with all the h files and the entire library functions ibpob tools folder with all the POB TOOLS POB TOOLS EXE execute the program POB TOOLS All rights reserved Page 48 83 E POB Technology Documentation TECHNOLO G Y 4 2 POB TOOLS configuration tools correctly When POB TOOLS run for the first time you have to configure the AA FTES Poa Comes POR Leris FOG himm POR Fee POE Tsani DC TECHNOLOGY Path to use the GNUARM compiler You must click on the bin directory of E GNUARM If you have installed it using the default settings the default path is ue ae C Program Files GNUARM bin CAGNUARM bin S Cancel Serial port Choose the port number on which POBEYE is R I A connected to your computer Cancel Page 49 83 All rights reserved E POB Technology Documentation TECHNOLO G Y Source code editor E In POB COMPILER you can choose the program you want to edit your source code To declare the path Jo r aeroeecien l click on Source Editor and look for the executable file Cancel 4 3 Manage a project application POB TOOLS are used to manage a project application for the POB EYE module P E Praect FproiectiEXEMPLES VexampleSexampleS pob SAVE SAVE AS The new button allows the creation of a new project You must type the name of the new project or select an e
12. L50 172 13935 17 2 1356 172 0 17 3 Manage images For add edit or remove an image press the Add Bmp or Edit Bmp or Remove Bmp button Et E dit File Remove To move image in the list use the blue arrows Remark Image must respect the following format Bitmap 256 colors size of 100 per 100 pixels The forms must be drawn in black with a red background All rights reserved Page 64 83 E POB Technology Documentation TECHNOLO G Y To obtain the best possible result during the creation of the dictionary certain conditions should be observed The drawn image must take the maximum of space within the framework of 100 per 100 pixels Drawing not wide enough The space totally used It is necessary to avoid the small details on the image Too small detail Large enough detail The form should not have any empty space The form is empty Part without empty spaces All rights reserved Page 65 83 E POB Technology Documentation TECHNOLO G Y 4 Naming the forms To locate the forms in the dictionary the library supplied with POB TOOLS uses k mam You can edit this define with the Edit define button Edit Define Remark define is used by the recognition function in your application to identify the recognized form To find the name of the define it is sufficient to open the created h file 5 Dictionary creat
13. ND and the other one to your board s GND If you have an existing contact your daughter board is correctly added 7 q All rights reserved Page 18 83 K POB Technology Documentation TECHNOLO G Y Examples of applications using the POB EYE bus In this example the POB EYE has 2 daughter boards 1 POB LCD128 POB LCD128 creates a perfect HMI Human Machine Interface 2 the second daughter board based on figure 10 Gears 4 DC motors 2 for head movements and 2 for traction grabs the position of 4 variable resistor 2 control of the head and 2 for the joystick detects if the pushbutton is pressed A video is available on our website All rights reserved Page 19 83 K POB Technology Documentation TECHNOLO G Y 1 8 Sensor CMOS connector This connector makes its possible to connect the CMOS OV6620 to the POBEYE module OV6620 connector Figure 9 CMOS connector Warning The CMOS sensor connects on the left of the connector To configure the OV6622 register use the function SendToCam 1 9 Dimensions of the module fe D T e 5 00 Pons x TE d Ee S SN GER SE LI es Si E trag Lt el Figure 10 Dimension of the POBEYE All rights reserved Page 20 83 H POB Technology Documentation TECHN OL OG Y 1 10 Connecting POBEYE to a computer Serial port lt is necessary to connect the supplied cable to POBEYE Then link the other end to a serial port available
14. POB EYE thus helping the user in developing his own applications To simplify the drawing on the screen POB Technology created the software that will help in integrating images to the application This software POB Bitmap is further explained in section POB TOOLS 3 1 Hardware description Technically le POB LCD128 is composed of 2 parts A LCD of 128 by 64 pixels The electronic interface allows POB LCD128 to work on POB EYE s bus It uses the addresses 0 and 1 so that other interface can work on the same bus All rights reserved Page 40 83 K POB Technology Documentation TECHNOLO G Y 3 2 Connecting POB LCD128 with POB EYE You need to connect the cable supplied by POB Technology to the POB LCD128 All rights reserved Page 41 83 E POB Technology Documentation TECHNOLO G Y 3 3 Drawing with POB LCD128 The POB LCD128 is programmed with the library supplied with the module Functioning of the graphic buffer The POB EYE allows a graphic RAM buffer All the drawing operations use this buffer and when finished the buffer is transferred to the POB LCD128 memory This allows efficient processing of the display and it avoids displaying the pixels one by one on screen in case of processor intensive calculations on POB EYE Graphic buffer tin RAMI With this method any computation will be done directly in POB EYE s RAM memory Once the computation is e finished the buffer is sent from RAM memory to
15. Technology Documentation TECHNOLO G Y Servomotors Management Only RCO RC1 RC2 RC3 RC6 and RC7 from PORTC can be used to manage servomotors The following diagram shows how to plug a servomotor to the POB PROTO board Alim V Engine DN RCO RC3 V_Engine V_Engine RC1 RC2 V Engine _ V_Engine re r Caution To avoid current picks when using the servos it is advised to use a dedicated regulator to supply the servos Remark The user can configure RCO RC1 RC2 and RC3 to manage the servos and use RC6 and RC7 as digital Inputs or outputs All rights reserved Page 37 83 P POB Technology Documentation TECHN OL OG Y 2 4 Mechanical information Bl 0 rr Aaa pig 54mm PE Wee pop bechnal onu Ge DO DAIN NL Les 100mm Se e A ANN a9 o9a ei Th TEF SRESS bi Les 7 CR PES IER NE EN A a A A g ai CH hf See Be WPS GE ALTA Ch a Fs J Gd e DA WU ER i 6 trous Diam 3mm All rights reserved Page 38 83 E POB Technology Documentation POD EN LCD 128 DE TECHN OL OG Y All rights reserved Page 39 83 E POB Technology Documentation TECHNOLO G Y 3 POB LCD POB LCD128 is an extension card for the POBEYE module POB LCD128 allows the POB EYE to display various images These two modules POB EYE and POB LCD128 work with each other In fact POB LCD128 can display in real time the images from
16. ce Connector 0V6620 BUS POB Figure 2 POB EYE module CMOS connector face All rights reserved Page 6 83 E POB Technology Documentation TECHNOLO G Y 1 2 Power supply The power supply must be between 6V and 12V There are two ways of supplying the module Dedicated connector Supply connector On Off Figure 3 POBEYE power supply To switch on the module the power cable must be connected and the on off switch and set to on position The power cable is supplied with the POBEYE module HE10 connector By using pin 2 Power and 20 GND of the input output bus the user can supply POBEYE module with a daughterboard through HE10 connector The on off switch from the POB EYE board is no longer used in this configuration the user can therefore use the supply switch form his own board Remark Once the POBEYE module is switched on the green led comes on Warning If you choose to supply your POB EYE through the POB BUS make sure not to use the supply connector of the POB EYE otherwise you might damage the board All rights reserved Page 7 83 E POB Technology Documentation TECHNOLO G Y 1 3 Programming and execution Module programming To load a new program in flash memory you need to set the programming execution switch to the programming position and switch on the module Programming Execution Serial Port Figure 4 POBEYE programming Remark If the module is alread
17. der POB Bitmap POB Pattern POB Terminal Graphic Terminal a D GE ig connected click to disconnect Text Teil A A Ce Te The King 49 77 The idea of this program is to identify the patterns showed to the POB EYE and to display the name and coordinates in POB Terminal This program was implemented in C language and uses functions of POB TOOLS and POB EYE All rights reserved Page 71 83 H POB Technology Documentation TECHNOLO G Y Program algorithm POB EYE initialization Grab an image Patiern recognition Display results in POB Terminal Remark A 32Kbyte was dedicate for the RGB components 88 pixels by 120 pixels 10560 byte per component All the operations on video will be done in the memory space 32 Koctets Free All rights reserved Page 72 83 E POB Technology Documentation TECHNOLO G Y Program source code One file is needed to use all the POB EYE s camera UART debug on POB Terminal include lt pob eye h gt add file for using the POB EYE The second file is the pattern This file is created with POB TOOLS in the POB Pattern tab include pattern h dictionnary of patterns Program s start int main void Ulnt8 i 0 Ulnt8 Nb_Identify 0 Variable corresponding to the number of patterns Form ListOfForm MAX_OF_FORM list of forms RGBFrame FrameFromCam struct of three pointers on the RGB components The POB EYE is initialized usin
18. e appearing in the console will tell you if the application was compiled successfully If the message is successfully created appears your application is ready to be used in the POBEYE module lf the compilation process failed the message is not created appears You will then need to correct your application in relation to the message of the compiler Remark The two lines starting with cygdrive are not significant and do not affect the success of the compilation All rights reserved Page 53 83 H POB Technology Documentation TECHN OL OG Y 4 5 POB Loader POB Loader module allows you to load a program create in the previous module Pob compiler in the POBEYE memory m Upload Progress Ba ox 100 Two steps are necessary to load a program 1 Selecting an application Click on to choose the application Regarder dans IC example e CR ES Nom du fichier out hex Fichiers de type hes File hex r Annuler Le All rights reserved Page 54 83 E POB Technology Documentation TECHNOLO G Y 2 Program uploads Remark Before loading a program POBEYE module must be on in programming mode and link to your computer by the serial cable Preparing POBEYE module POBEYE module must be link to your computer see chapter 1 9 POBEYE module must be in programming mode see chapter 1 3 To load a program click on the Upload button
19. e default jumper and add the source as shown on the left picture With it your perturbations disappear Cautious Be careful to respect the schematic else you should burn your board or create a shortcut which can be make some damages All rights reserved Page 30 83 E POB Technology Documentation TECHNOLO G Y PORTA PORTC and PORTD All these ports are already used connectors H bridge by POB PROTO Nevertheless it is possible to unplug the existing material and use the port as wanted PORTA PORTA can work in 2 modes Analog input except for RA4 which is a digital input of O or 255 Digital I O each pin can be configured independently CE 40 Le mr DS D If you are using PORTA for analog inputs use the function GetPortAnalog with RA4 as a parameter Note that RA4 is only a digital input taking either the value 0 or 255 In output configuration RA4 works in open drain and if needed add a resistor and 5V on RA4 Functions to use PORTA Uint8 GetPortA void Return PORTA value void SetPortA UInt8 data Set PORTA pins to output UInt8 GetPortAnalog UInt8 RAx Return analog value from RAx pin All rights reserved Page 31 83 E POB Technology Documentation TECHNOLO G Y PORTC Each PORTC pin can be configure separately You can use RCO RC1 RC2 RC3 RC6 and RC7 to manage 6 servomotors Remarks If the user wants to reprogram the PIC 16F877 he will then be able to
20. e have to work with 1 Byte per pixel see chapter on POB LCD128 Uint8 LCD Buffer LCD_WIDTH LCD_HEIGHT BYTES where the pixels will be stored GraphicBuffer LCD_Screen buffer screen RGBFrame FrameFromCam frame of camera All rights reserved Page 80 83 POB Technology Documentation TE Co HN LE CG Y IntPOB EYE init POB EYE module IntLCD LCD screen ini The graph buffer has to be initialized with the screen dimensions and the storage array init the Graphic buffer with 128 per 64 one pixel per bit and LCD Buffer InitGraphicBuffer amp LCD_Screen _CD_WIDTH LCD_HEIGHT EIGHT_BITS LCD_ Buffer ClearGraphicBuffer amp LCD_Screen clear the graphic buffer Then the address of the RGB components must be initialized GetPointerOnRGBFrame amp FrameFromCam get the pointer of the red green and blue video buffer Main program loop while 1 Grab an image from the camera GrabFrameRGB grab the RGB components The LCD screen is in black and white that s why the image from the camera must be binarized BinaryRGBFrame amp FrameFromCam Binarise RGB components All rights reserved Page 81 83 E POB Technology Documentation TECHNOLO G Y To display a binary image on the POB LCD fill the array with pixel values from one camera component Note that this image is a binary image All the RGB components are the same therefore you can use either one of them t
21. erial port All rights reserved Page 45 83 H POB Technology Documentation TECHN OL OG Y 4 1 POB TOOLS installation On the CD supplied with POBEYE module you will find two files Installation of the GNUARM compiler The file bu 2 15 gcc 3 4 1 c c java_nl 1 12 0 gi 6 0 exe is the GNUARM compiler POB TOOLS use this compiler to create your application To install the GNUARM compiler click on this file fe Setup GNUARM fe Setup GNUARM Welcome to the GNUARM Setup ee E Wizard Please read the following important information before continuing This will install GNUARM 3 4 1 on your computer ee ere ee ea T It is recommended that you close all other applications before continuing GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Click Next to continue or Cancel to exit Setup Copyright C or 1991 Free Software Foundation In 59 Temple Place Suite 330 Boston MA 02111 1307 USA ie Setup GNUARM up fe Setup GNUARM Select Destination Location Select Components 7 Where should GNUARM be installed Which components should be installed Cd Setup will install GNUARM into the following folder Select the components you want to install clear the components you do not want to install en Neer ete er eee ee To continue click Next If you would like to select a different folder click Browse v C Program Files GNUARM TE Lite Endan 77 0 MB A a 7 LE Libraries 97MB No Fast Multiplier 9
22. g the function InitPOEYE as well as initializing the camera l UART and the bus DC You have to call this function if you want your module to work properly InitPOB EYE system initialization There is a particular way of working with the camera This function RGBFrame contains all the addresses of the RGB components and has to be initialized by the following function GetPointerOnRGBFrame The address in memory for the RGB components will always stay the same that s why this function is only called once GetPointerOnRGBFrame amp FrameFromCam Get the pointer of the red green and blue video buffer while 1 Main loop 4 All rights reserved Page 73 83 E POB Technology Documentation TECHNOLO G Y First of all the function GrabFrameRGB will grab an image from the camera and then will save the image in the dedicated place pointed by FrameFromCam GrabFrameRGB grab the RGB components For pattern recognition the image has to be binarized In the end the 3 RGB components will be the same a 0 for the white and a 1 for the black BinaryRGBFrame amp FrameFromCam binary the three RGB Buffer The function dentifyForm can identify patterns within an image The parameters needed are a pointer on the binarized image an empty array ListOfForm and the pattern dictionary This function will fill up the array with the patterns and then send the number of the recogni
23. ge 1 is drawn Draw Bitmap 45 10 DB_2 Bitmap amp ScreenBuftfer image 2 is drawn DrawBitmap 65 10 DB_3 Bitmap amp ScreenBuffer image 3 is drawn To draw a line use the command DrawLine with the following parameters Start coordinates Final coordinates and pointer on graphic buffer DrawLine 10 10 25 30 amp ScreenBuftfer Drawing a point is done by PlotAPoint PlotAPoint 20 10 amp ScreenBuffer Finally we can display the graphic buffer on the LCD screen using the function DrawLCD with Pointer on graphic buffer as a parameter DrawLCD amp ScreenBuffer Display on screen return 0 All rights reserved Page 78 83 E POB Technology Documentation TECHNOLO G Y Real Time display on POB LCD This program is using the POB EYE module and the LCD screen This example can be found in folder example3 To open project select example3 pob in POB TOOLS All rights reserved Page 79 83 POB Technology Documentation TECHNOLOG Y Program algorithm POB EYE and LCD screen initialization T Program source code To use POB EYE s and POB LCD s function the following folder has to be included include lt pob eye h gt Program beginning int main void Int16 i 0 j 0 k 0 To display an image on the LCD screen you need two variables an array to store the pixels and a structure in order to display the graph buffer In this application to avoid lag problems w
24. he declared images fdefine IDB_CROSS 0 fdefine IDB_DISK 1 Fdefine IDB TRIANGLE 2 3 fdefine IDB_TREFLE 3 Fdefine IDE_TOWER 4 All rights reserved Page 56 83 E POB Technology Documentation TECHNOLO G Y The graphics resources can be displayed using the library supplied with the POB Compiler tools The graphic functions allow you to manage the transparency of the images and to carry out the superposition of images on the LCD screen Images are displayed using the DrawBitmap function Images array LCD screen A CrawEmantx 1 lab au d images This function uses a number to display the desired image For more clarity in your code POB Bitmap generates in h a series of define from the images name The call to DrawBitmap can be becomes if the name of the file is cross bmp DrawBitmap X Y 1 Tableau gt DrawBitmap X Y IDB_CROSS Tableau All rights reserved Page 57 83 E POB Technology Documentation TECHNOLO G Y Graphic resources generation There are 5 steps to create the file x POB TOOLS POB Compdes POB Loader FOB Bimsp POB Patter POB Terminal 4 TECHHOLOGCT List of bimaps Ki VV SE MPLE GA ACHEN KA o GkprowechE EMA EG T koroechE EM EG excep Stan disk beng SON XE MPL S exemple Teta ng bmp 1 Naming the resource file Click on ES to create your resources file extension h or choose an existing file HES ZE gt examples
25. ion To create the file click on the Create Pattern button Console Weg E All rights reserved Page 66 83 H POB Technology Documentation TECHN OL OG Y 4 8 POB Terminal POB Terminal interface allows you to play the message of the POB EYE module via the serial port and to display the images captured by the POB EYE camera The aim of the POB Terminal is to facilitate the development of your application POB TOOLS POB TOOLS POB Compiler POB Loader POB Bitmap POB Botten POB Terminal Graphic Terminal TEBCHHOLOCT 1 Now RGB components and binary frame are on the POB Terminal PB Terminal can display messages from POB EYE through the serial port as well as images grabbed by the camera POB Terminal was design to help you create your applications 1 Connecting POB Terminal The on button allows you to connect POB Terminal to the POB EYE module When POB Terminal is connected you can disconnect it with the off button a FL click to connect All rights reserved Page 67 83 F POB Technology Documentation TECHNOLO G Y 2 Clearing messages You can clear the POB Terminal messages with the clear text button Cer Tai For any further details on how to display information on POB Terminal please refer to the first example given in section 6 All rights reserved Page 68 83 E POB Technology Documentation TECHNOLO G Y 5 Library
26. n If you don t need the H bridge simply unplug the L293D from board All rights reserved Page 28 83 POB Technology Documentation TECHN OL OG Y Servomotors connectors The connectors are plugged to pin RCO RC1 RC2 RC3 RC6 and RC7 of PORTC Because nothing is plugged to these connectors you can use it for general purpose The value to gear servomotors is between 0 and 255 Value 0 equal to a pulse of 0 8 milliseconds 0 8 ms Value 255 equal to a pulse of 2 2 milliseconds 2 2 MS Warning If the servomotors require too much current you might shut down the whole system To avoid such a problem you need to program the servos movement slowly For example to move from position 10 to position 200 create a loop incrementing the position 1 per 1 All rights reserved Page 29 83 P POB Technology Documentation TECHN OL OG Y Servomotor supply connector Because it need too much energy using CC motors and servomotors can generate noises For example your system can reboot To fix the problem POB PROTO board has a connector to add a second alimentation source D0000000006 200000000080 Common supply 90000000006 lf you want to use the general alimentation you have to connect a jumper as shown on the left The common supply is the default TIIIIII 1 Second supply 200000000080 20000000006 However if you want to use a second alimentation source then disconnect th
27. ntifyForm function Camera frame Pattern dictionary identityForm Frame Array of forms Paffem This function uses the image of the camera and the table of forms to recognize an image As output the function fills an array with the various forms recognized in the image For more clarity in your code you can use the define of the h file instead of numbers to identify the recognized forms In the previous example form 3 becomes IDP_TRIANGLE All rights reserved Page 62 83 E POB Technology Documentation TECHNOLO G Y Follow the 3 steps to build your pattern file POB TOOLS E E x POB TOOLS FOB Comp s POB Loader FOB Bimap POB Pottem POB Terminal 4 PCHASLS T 1 Naming the dictionary Click on to create your pattern file extension h or choose an existing file Enregistrer sous z ajx Enregistrer dans IC examples 4 jt ER HE Nom du fichier pattenn h Jupe h h Annuler we All rights reserved Page 63 83 E POB Technology Documentation TECHNOLO G Y Warning if you choose an existing file the file content will be lost 2 Naming the pattern array Target Output The forms of the dictionary are in an array You can rename this array or leave the default array s name S project EXEMPLES kevampie Zpaltem h Filename Ulnts const Pattern 144 d Y U0 216 0 102 203 244 202 2 2 O 166 0 169 0 1 72 0 172 137
28. o change the Interface s address read the documentation of the 74HC138 In this case the current address is 0x02 Copyright 2005 All right reserved Figure 8 Electronic assemblies for daughter board This schema helps to understand how the POB EYE module communicates with an external microcontroller Using this could help you in creating your own extensions This schema and source code for communication functions are available on the CD Rom provided with the POB EYE module The source code available is only designed for communication functions between the POB EYE and the extension card using a PIC16F 77 microcontroller All rights reserved Page 14 83 POB Technology Documentation TECHNOLO G Y The electronic circuit is composed of 3 ICs 74HC138 This IC is used to decode the address from the address bus When the address is valid the signal ADDR_OK is at lower state otherwise when none valid ADDR_OK is at high state In this example the 74HC138 is configured to work with the 0x02 address which is reserved for POB Technology for any further information refer to Figure 10 74HC245 This IC allows transfer data between POB EYE and a daughter device It can be active or not and in this case of OFF state all the data pins will be put to high impedance The circuit is active when pin 19 ENABLE is at lower state PIC16F877 This IC is the center of the daughter board Because of its analog inputs and other I O the PI
29. o fill up the array for k 0 i 64 i i for j 0 j lt 120 j k LCD_Screen buffer k FrameFromCam red i j 88 k 8 Then display the results on LCD screen DrawLCD amp LCD_Screen return 0 All rights reserved Page 82 83 E POB Technology Documentation TECHNOLO G Y POB Technology contacts POB TECHNOLOGY 4 rue nic phore ni pce 69 680 CHASSIEU FRANCE Web www pob technology com Mail contact pob technology com Phone 33 0 4 72 43 02 36 Fax 33 0 4 78 58 04 92 All rights reserved Page 83 83
30. on sise 50 4 4 POB Compiler ge eee 51 Oy OB OA 54 AO RO eee ee ee ees 56 Ge GE og ogc DEE 62 Ao FOB TEMNA eee een eee eS nee neem ne ee eee 67 5 LIBRARY HELP FILES EEN 69 6 SAMPLE APPLICATION cessvasecsssiavetaserusesavetesscanstetainieteserastetetnssiemteiaieiesereiatasaneinierneteiesadel 71 All rights reserved Page 3 83 E POB Technology Documentation TECHNOLO G Y Document management POB Technology US doc 14 10 2005 POB Technology contacts Address POB TECHNOLOGY 4 rue nic phore ni pce 69 680 CHASSIEU FRANCE Mail address contact pob technology com 33 0 4 72 43 02 36 33 0 4 78 58 04 92 All rights reserved Page 4 83 E POB Technology Documentation TECHNOLO G Y 1 POBEYE Module The POB EYE is a camera device used for real time pattern recognition Due to its 15 I O its serial port and its I2C bus POB EYE was designed to be the center application for your project The POB EYE is delivered with the necessary tools for a fast and simple development Bey Analog to digital converter Flash 128Koctets Ram Dimensions 64 28 49 50 mm Size of the captured image 88 120 pixels Memory size of an image Digital signals voltage 3 3V 5 Volt tolerant Digital signals courant All rights reserved Page 5 83 H POB Technology Documentation TECHN OL OG Y 1 1 Hardware description Supply connector On Off Programming Execution Serial port Figure 1 POB EYE module supply fa
31. on your computer Power supply to POBEYE Connect the power cable to POBEYE module All rights reserved Page 21 83 E POB Technology Documentation DC EN POB PROTO TECHN OL OG Y All rights reserved Page 22 83 H POB Technology Documentation TECHN OL OG Y 2 POB PROTO POB PROTO was designed for the POB EYE in order to build a robot very easily You will find the following 6 connectors to manage servomotors Futaba 1 analog joystick and its pushbutton An H bridge to gear 2 DC On the CD in POB PROTO folder you will find examples on how to use the POB PROTO with all the source code needed POB PROTO description Programming P T H square pad Joystick jumper PIC 16F supply PORT A lu F ETTTI TTL LITTLE ii o EG 000000 00000000 1000007 000000000000 08 HO 300000000000 0 00 0 0 0 0008 3000 400000000000 0 0 0 Coe 211 Second supply connector z ECH P f m d 1 a P D ne d I POB EYE and POB LCD connector Serial port for PIC 16F Supply Kam wm connector J a A J 3 freeeeeeee O LITTELL gei RR u E p Eg SE SU DC motor connector 2 Potentiometer x e eee D eee kI All rights reserved Page 23 83 E POB Technology Documentation TECHNOLO G Y 2 1 Board elements description Board supply There is a supply connector on the board make su
32. oo NELERE TOE The board has a site for a DB9 connector To convert the signal level on the serial connection POB PROTO has the site for a MAX232 and its capacitors All rights reserved Page 26 83 E POB Technology Documentation TECHNOLO G Y POB EYE s I2C Bus On the top right of the POB PROTO board a layout was designed for the POB EYE s DC bus The signals SDA SCL GND and 5V are available PULL UP resistors are already set The Joystick Jumper connections For example you can use the joystick to control the cursor on the LCD screen It s working due to its two potentiometer linked to PORTA RAO and RA1 Moreover a pushbutton Is available on the joystick and linked to RA4 lf the user wants to use PORTA for another application it is possible by removing the jumpers lf using the joystick you have to use RA3 RAS and RAS as analog inputs see PORTA configuration All rights reserved Page 27 83 POB Technology Documentation TECHN OL OG Y H Bridge Connector block Potentiometer Test points The H bridge is linked to PORTD RDO RD1 RD2 and RD3 It gears the 2 DC motors link to the connector block To adjust the voltage on the motors use the potentiometer and if needed you can use a multimeter on the test points Caution The H bridge current cannot exceed 600mA The PORTD pin can be configured independently and pins RD4 RD5 RD6 RD7 used for generic usage Cautio
33. raphic functions of the library are using define To find the define name simply open the resources h file 5 File resources creation To create the file h click on the create the h button All rights reserved Page 60 83 E POB Technology Documentation TECHNOLO G Y About transparency Definition of transparency color This color allows a pixel the possibility of not taking shape Thus by this means one keeps what is already drawn For example take s 2 images lf you draw the triangle on the circle without the management of the color transparency here is what happens The triangle frame erases the circle With the transparency management the superposition of images is possible Here is the result Transparency management allows the part of the circle under the triangle to be shown All rights reserved Page 61 83 E POB Technology Documentation TECHNOLO G Y 4 7 POB Pattern POB Pattern allows you to create a dictionary of forms This dictionary allows you to find forms starting from the images of the POB EYE camera POB Pattern generates a file to include in your code using the command include name_file_h This h file contains the table of the forms recognized by the POB EYE module The pattern recognition is the carried out using the functions of the library supplied with POB TOOLS tools The pattern recognition is carried out using the de
34. rary is given This library will generate a buffer of 1 bit per pixel or a buffer of 1 byte per pixel Screen sharing Moreover the library given can either use the whole screen for display or slip the screen in two The screen sharing will be of 64 by 64 pixels as shown in the following figure On one side we have the video in real time and on the other side the user s interface To understand the functions given in the library you can report to the source code of example 4 All rights reserved Page 43 83 DOD POB Technology Documentation ms TOOLS POb eme POB TOOLS _ POB COMPILER POB LOADER KEREN de D POB BITMAP POB PATTERN POB TERMINAL All rights reserved Page 44 83 E POB Technology Documentation TECHNOLO G Y 4 POB TOOLS POB TOOLS are a set of tools for programming loading and controlling the POBEYE module This tool is made up of 6 modules POB TOOLS KS E Elax POB TOOLS POB Compiler POB Loader POB Bitmap POB Pattem POB Terminal DOD IT E COHN GO LO amp Y POB Project r Settings GNUARM PORT COM About POB TOOLS Allows managing an application project POB Compiler Enables one click source file compilation POB Loader Upload an application to the POBEYE module POB Bitmap Produce a library of pictures for the POB LCD128 POB Pattern Create a dictionary of pattern POB Terminal Help debug your application with the s
35. rcle d d ListOfForm i x ListOfForm i y break default break return 0 All rights reserved Page 75 83 K POB Technology Documentation TECHNOLO G Y Display images on POB LCD128 This example can be found in the folder example2 To open project in POB TOOLS choose to open the following file example2 pob This program will display images on the LCD and uses all the graphical functions such a draw line draw point All rights reserved Page 76 83 POB Technology Documentation TECHNOLOG Y Program algorithm POBEYE initialization Graphic buffer and LCD Initialization Draw line draw point Display graphic buffer on LCD Program source code To use POB EYE s functions and the LCD module include the following functions include lt pob eye h gt Then include the image file include Bitmap h include bitmap list int main void In order to speed up the display on the LCD a graphic buffer was used All the operations are done on the buffer and only then the buffer is displayed on the screen TO do so you have to declare an array LCD_Buffer in order to stock the pixels In this application an array of 128 by 64 and 1 bit per pixel was used Caution it is require indicating the unit in this case we are using bit BITS are used when working with 1 bit per pixel and BYTES when using 1 byte per pixel Uint8 LCD Buffer LCD_WIDTH LCD_HEIGHT
36. re to use the right polarity This connector can then supply the whole system through the POB bus on pin 2 Warning Make sure you are not using both POB EYE supply connector and POB PROTO supply connector Do not supply both POB PROTO Supply is only on POB PROTO and POB EYE You will find a power switch on POB PROTO that will shut down the whole system All rights reserved Page 24 83 H POB Technology Documentation TECHN OL OG Y Supply through the P T H square pad The board has its own P T H square pad for supplying other components 74 000000 Connection for POB EYE and POB PROTO The HE10 connector is used to link the POB EYE to the POB PROTO Warning If you decide to create your own cable you must do the following The connectors must be crimped with the head facing the same direction otherwise you might damage your card All rights reserved Page 25 83 E POB Technology Documentation TECHNOLO G Y Programming PIC16F877 POB PROTO is supplied with a program connector for the microcontroller Programming will be done through the ICD2 of the microchip The user needs to withdraw the jumpers then plug the cable on the lower pins GND PGD PGC MCLEAR and VCO Once the PIC is programmed plug back the jumpers Note that your ICD2 needs its own supply POB PROTO is supplied with the necessary site to integrate other components to use the PIC16f877 serial port om B i 2 oad op
37. rectly be supplied by an extension board that provides the Power Otherwise an extension board can use the 5V from the POB EYE for its own power supply Warning The output voltage of the input output is of 3 3V Despite a 5 volt tolerance a current of more than 10 mA is not possible All rights reserved Page 10 83 E POB Technology Documentation TECHNOLO G Y Information concerning the HE10 connector is defined as following Type Number on the HE10 connector Input Output 16 G3 Input Output 13 Gi InputOutput 9 G InputOutput 8 G9 Input Output 7 GI InputOutput 6 SDA Input Output 17 GND TI 20 Figure 6 HE10 connector All rights reserved Page 11 83 E POB Technology Documentation TECHNOLO G Y 1 6 POB EYE bus POB Technology uses the input output on the HE10 connector as an address and data bus The pins GO to G7 are the data bus The pins G11 to G14 are the address bus This system makes it possible to have 16 addressable cards on the POBEYE bus GU G7 This means it is possible to have on the same bus cards for direct current motors card for servomotors management or others such as distance measurements sensors G11 G14 Adresse To complete the bus there are 3 other signals G8 pin RW signal indicates a read write to the peripheral If G8 is in low state POBEYE writes data to the extension board If G8 is in up state POBEYE reads data from the peripheral
38. rogram Files GNUARM bin tcl84 dil Destination location C Program Files GNUARM Multipli ARM THUMB Interworking THUMB THUMB Libraries Completing the GNUARM Setup Wizard Setup has finished installing GNUARM on your computer The application may be launched by selecting the installed icons Click Finish to exit Setup Add the executables directory to the PATH variable All rights reserved Page 47 83 H POB Technology Documentation TECHN OL OG Y Installation of POB TOOLS To install the POB TOOLS click on the file INSTALL POBTOOLS exe in the CD and follow the instructions f Installation POB TOOLS E ioj x fl Installation POB TOOLS ell x Bi d 1 Etant Installation en cours k ane ans assistan Veuillez patienter pendant que l assistant installe POB TOOLS sur votre ordinateur Q d installation de POB TOOLS Cet assistant va vous guider dans l installation de POB TOOLS Extraction des fichiers sur votre ordinateur C POBTOOLS tools make exe ll est recommand de fermer toutes les applications actives eegen avant de continuer Appuyez sur Suivant pour continuer ou sur Annuler pour abandonner l installation Annuler Once installed you will have the following files folders CH Doc examples header tools 2 Documentation LIBPOB html MPOB_TOOLS exe Doc folder with all the help files in html Examples Has some examples for using the POB EY
39. the LCD screen About pixels A black and white LCD screen uses one bit to color a pixel With a byte the screen displays 8 pixels The buffer uses 8192 bits the POB LCD screen is 128 pixels by 64 pixels of memory on POB EYE module 128 64 pixels 8129 bits 1Kbytes The challenge of this buffer is to have a ratio of 1 bit 1 pixel The operations on bits are processor intensive The advantage of this 1 bit 1 pixel ratio is that it does not use much memory In fact to change a bit value in memory you need to apply a mask And this mask will be different whether the bit is set to O or to 1 This computation can be relatively time consuming because it must be done 8129 times That s why using the technique 1 bit 1 pixel will need less memory space Another way of drawing a pixel on the screen is to consider that 1 byte draws 1 pixel In that case they will be no delay or mask when switching on or off a pixel Nevertheless such a technique will take 8 times more memory than the previous one All rights reserved Page 42 83 E POB Technology Documentation TECHNOLO G Y 128 64 pixels 8129 pixels 1 bit per pixel buffer is equal to 1Kbytes 1 byte per pixel buffer is equal to 8Kbytes Conclusion Using 1 byte per pixel allows speeding up the processing of the graphic functions Using 1 bit per pixel allows saving the POB EYE memory In order to give a free access to the POB LCD128 a lib
40. use the serial port on PORTE by adding a MAX232 Functions to use PORTC Ulnt8 GetPortC void Return PORTC value void SetPortC UInt8 data Set PORTC to output void SetServoMotor UInt8 RCx UInt8 Pos Set servomotors position which is connected to RCx void SwitchOffAllServo void Stop all servomotors control in order to save energy void SwitchOnAllServo void Start all servomotors control void SwitchOffOneServo UInt8 Servo Stop one particular servomotor s control void SwitchOnOneServo UInt8 Servo Start one particular servomotor s control All rights reserved Page 32 83 E POB Technology Documentation TECHNOLO G Y PORTD L E PORTD is an WO port every single pin can be configured separately 3 2 Q00000 RD SEI K i rih E Functions to use the PORTD Ulint8 GetPortD void Remove value from PORTD void SetPortD Ulnt8 data Set PORTD pins to output void SendToSapien UInt8 order send a move order to Robot Sapien All rights reserved Page 33 83 E POB Technology Documentation TECHNOLO G Y 2 2 PORTA PORTC and PORTD configuration The PIC16F877 program for PORT management is delivered with POB PROTO FobProto Proto Froto porta ALL_FPOFTA GG ANA Droto oortceesb A DI BC AG DI IRC AG DI IRC AG DI RC1_AS DI IRCH AG SERVO Proto portd RD _AsS DI BD AG DI EDS AS DI RD4_AS DI RDS_A45 DO RD 2 AG DO RD1 AS DO Rp AS DO SetPobProtof amp Protoa
41. xisting project extension pob Warning if you select an existing file the content of this file will be overwritten The open button allows an existing project to be opened The save button allows to save your current work The save as button allows to save your work in a new project file All rights reserved Page 50 83 E POB Technology Documentation TECHNOLO G Y 4 4 POB Compiler POB EYE module is programmed in the C language The POB Compiler allows you to create an application written in C for the POB EYE module To create an application follow the 3 following steps peste dont use any space in the path r Console The co mpilation Is launched please wait se feygdrverc qnuannbin Mibocc arm elffs A 3 fff farmr elfbinid Doc POBLCDI 29E 3 olrmaint waming inte ieygdrivelcianuarmnn bini Jibfgeclarm elf S 4 3 64 famr elffbinid first occurrence cyadnvefco DOCUME T E gt SiprojecthE EMPLEStexamplesiout hex is successfully created NI 1 Naming your application Click on this button a dialog E i Regarder dans LD example sl e ft box will be displayed i CET This dialog box allows setting the name of your application extension hex lf the file already exists you only have to select it Nom du fichier hes Fichiers de type ES File TP hex Annuler ES All rights reserved Page 51 83 E POB Technolog
42. y Documentation TECHNOLO G Y 2 Adding the files to be compiled You have to choose the list of source files that will be compiled To add a file click on the Add File button A dialog box appears and allows you to choose the file that you want to add lf you want to delete a file on the list use the Remove File button To improve the readability you can move your files by using the blue arrows List of files CRC 1x Regarder dans IS examples d DEI ro Cl POBLCD128E3 c Nom du fichier Fichiers de type Text File P cd Annuler Z List of files D Add File Remove File 4 All rights reserved Page 52 83 P POB Technology Documentation TECHN OL OG Y 3 Compilation Click on the Compile button to launch the compilation of your application During the compilation you will see traces being displayed in the window called Console These traces correspond to those of the GNUARM compiler Thus some warning or error messages may appear Console The compilation is launched please walt SAPOB TOOLS gt echo off foygdrive ciG N UAR Mbini flibigecfarm eltfs A SI farnr elffoinvid feyqdrivefe DOCUME 1 Babf LOCALS 1 foyqdrive cfG NUAR Mbini Mb armes d 24 11 farmr elffoin ld first occurrence feygdrivefc DOCUME gt S project EXE M PLE Siexample stout hex is successtully created EES d F 4 F The last line that you will se
43. y on simply switch on the programming position and press the reset button Program execution To run a program set the Programming execution switch to the execution position and then switch on the module Remark If the module is already on simply switch on the execution position then press the reset button Nevertheless if you are using other daughter boards than the POB LCD128 you might have to switch off the whole system and then switch it back on All rights reserved Page 8 83 K POB Technology Documentation TECHNOLO G Y 1 4 Serial port UART The serial port is used for module programming and external communication while the program is running Figure 5 Serial port Remark To connect POBEYE to a computer you need a standard cable This cable is supplied with the POBEYE module All rights reserved Page 9 83 E POB Technology Documentation TECHNOLO G Y 1 5 HE10 Connector In addition to the OV and supply voltage the I2C bus and the 15 input output are on the HE10 connector iE 5Y SCL SDA Go Gi G Gi G4 G5 G6 Gr GF Go Gid Gii G12 G13 Gi4 Alim HE10 POB EYE Figure 6 12C bus and input output The HE10 connector allows the user to connect an extension board to the POBEYE module This connector gives access to the I2C bus which has already its pull up resistance In addition to the I O there is the 5V the Ground and the POBEYE power supply Warning The POBEYE module can di
44. zed patterns Please note that the dictionary patterns Pattern was created using POB PATTERN Nb_Identify ldentifyForm amp FrameFromCam ListOfForm Pattern try to identity the forms and make a list of it Finally the information saved in the array ListOfForm are extracted and then prompt on POB Terminal The function PrintTextOnPobTerminal gt can print text in POB Terminal This function is similar to printf used in C library parse the list of the form and print result on the Pob Terminal for i 0 i lt Nb_lIdentify i for each patterns we grab its id switch ListOfForm i 1d Display results in POB Terminal corresponding to the id case IDP_O_ CROSS PrintTextOnPobTerminal Cross d d ListOfForm i x ListOfForm i y break case IDP_1 BIGA PrintTextOnPobTerminal A Big A d d ListOfFornfi x ListOfFormli y break case IDP_2_KING PrintTextOnPobTerminal The King d d ListOfForm i x ListOfFormfi y break case IDP_ 3 TOWER PrintTextOnPobTerminal Tower d d ListOfForm i x ListOfFormli y break case IDP 4 TREFLE PrintTextOnPobTerminal Trefle d d ListOfForm i x ListOfForm il y All rights reserved Page 74 83 E POB Technology Documentation TECHNOLO G Y break case IDP_5_TRIANGLE PrintTextOnPobTerminal Triangle d d ListOfForm i x ListOfForm i y break case IDP 6 CIRCLE PrintTextOnPobTerminal Ci
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