Interfacing a CMUCam2 to an OOPIC

Overview of how to interface a CMUCam2 to and OOPIC.

Step 1: Making the Adapter Cable

1. Goto radioshack and buy 2 of these:
Male DB-9 Solder Cup Connector

2. solder pin 5 on connector A to pin 5 on connector B (if you look carefully on the connector, they are marked)

3. solder pin 2 on connector A to pin 3 on connector B (if you look carefully on the connector, they are marked)

4. solder pin 3 on connector A to pin 2 on connector B (if you look carefully on the connector, they are marked)

Step 2: Change the Baud Rate on the CMUCam

Change the baud rate of the CMUCamera to 9600 baud (add a jumper to position 0).

Step 3: Connect the Standard Programming Cable and Upload Code

Connect the standard programming cable and upload your code. Here is some example code to get you started.

This code will track motion using the LF and FD commands. It will toggle IOLine 7 (hooked up to an LED) and mirror the tracking status LED on the CMUCam.

'******** serial port related objects ********Dim serialPort As New oSerialPortDim txBuff As New oBuffer27		'change the 27 to make the buffer bigger/smallerDim rxBuff As New oBuffer10Dim serialActive_LED As New oDIO1Dim toggleSerial_Button As New oDIO1Dim toggleSerial_Event As New oEventDim toggleSerial_Wire As New oWireDim serialReceive_Event As New oEventDim serialReceive_Wire As New oWire'******** debug related objects ********Dim statLED As New oDIO1'**********************************************'*           Generic Subroutines              *'**********************************************Sub main	'initialize everything	main_init		'set our output mask to only follow center of mass	CMUCAM_setOutputMask(2, 3)			'load our initial difference frame	CMUCAM_loadDiffFrame()	'start the difference calculation	CMUCAM_startDiffCalc(10)End SubSub main_init	'initialize a status LED	statLED.IOLine = 7	statLED.Direction = cvOutput		'initialize our serial port	serial_init()End Sub'processes received packetsSub processPacket()	Dim mx As Byte	Dim my As Byte		'check for both Mx and My to be 0	'granted if they are not 0, the location will be off (ie 'T 12 34)	'but then they won't meet the 0 criteria	rxBuff.Location = 2	mx = rxBuff.Value	rxBuff.Location = 4	my = rxBuff.Value		'the led should blink in unison with the tracking LED on the camera	If (mx = "0") And (my = "0")		statLED = 0	Else		statLED = 1	End IfEnd Sub'**********************************************'*             CMU Cam Functions              *'**********************************************'sets the given led to on, off, automatic'param ledNum number of led (0,1)'param val off, on, auto (0,1,2)Function CMUCAM_ledSet(ledNum As Byte, val As Byte) As Byte	'VString wasn't working right in the new compiler...	'not sure about the old one	'txBuff.VString = "L0 0"		'setup our command string manually	txBuff.Location = 0	txBuff.Value = "L"		txBuff.Location = 1	'the str$ function sucks...so now this is happening	txBuff.Value = serial_toChar(ledNum)		txBuff.Location = 2	txBuff.Value = " "		txBuff.Location = 3	txBuff.Value = serial_toChar(val)		txBuff.Location = 4	txBuff.Value = 13		'send the command	serial_SendBufferEnd Sub'loads the initial difference frameSub CMUCAM_loadDiffFrame()	'setup our command string manually	txBuff.Location = 0	txBuff.Value = "L"		txBuff.Location = 1	txBuff.Value = "F"		txBuff.Location = 2	txBuff.Value = 13		'send the command	serial_SendBufferEnd Sub'starts calculating frame differences'param thresh threshold (0-9)Sub CMUCAM_startDiffCalc(thresh As Byte)	Dim tens As Byte	'setup our command string manually	txBuff.Location = 0	txBuff.Value = "F"		txBuff.Location = 1	txBuff.Value = "D"		txBuff.Location = 2	txBuff.Value = " "		txBuff.Location = 3	tens = thresh/10	txBuff.Value = serial_toChar(tens)		txBuff.Location = 4	tens = thresh/10	txBuff.Value = serial_toChar(thresh-tens)		txBuff.Location = 5	txBuff.Value = 13		'send the command	serial_SendBufferEnd Sub'sets the output mask'param packetType type of packet to mask (0,1,2,etc) see page 46'param mask mask value to apply (0-255)Sub CMUCAM_setOutputMask(packetType As Byte, mask As Byte)	Dim hundreds As Byte	Dim tens As Byte		'setup our command string manually	txBuff.Location = 0	txBuff.Value = "O"		txBuff.Location = 1	txBuff.Value = "M"		txBuff.Location = 2	txBuff.Value = " "		'packet type	txBuff.Location = 3	txBuff.Value = serial_toChar(packetType)	txBuff.Location = 4	txBuff.Value = " "		'mask to apply	txBuff.Location = 5	hundreds = mask/100	txBuff.Value = serial_toChar(hundreds)		txBuff.Location = 6	tens = (mask-hundreds)/10	txBuff.Value = serial_toChar(tens)		txBuff.Location = 7	txBuff.Value = serial_toChar(mask-hundreds-tens)		'carriage return	txBuff.Location = 8	txBuff.Value = 13		'send the command	serial_SendBufferEnd Sub'**********************************************'*         General Serial Subroutines         *'**********************************************'initializes the serial portSub serial_init()	'initialize a button to turn on and off the serial port (turn on to run, turn off to program)	toggleSerial_Button.IOLine = 5	toggleSerial_Button.Direction = cvInput	toggleSerial_Wire.Input.Link(toggleSerial_Button.Value)	toggleSerial_Wire.Output.Link(toggleSerial_Event.Operate)	toggleSerial_Wire.Operate = cvTrue		'initialize an event to buffer our data	serialReceive_Wire.Input.Link(serialPort.Received)	serialReceive_Wire.Output.Link(serialReceive_Event.Operate)	serialReceive_Wire.Operate = cvTrue	'initialize our RX buffer	rxBuff.Location = 0		'initialize our serial port	serialPort.Baud = cv9600		'initialize our serial status LED	serialActive_LED.IOLine = 6	serialActive_LED.Direction = cvOutput	'wait here until our serial port gets activated	While serialPort.Operate = cvFalse	WendEnd Sub'copies data into our receive buffer and checks for packet completionSub serialReceive_Event_Code()	'.received becomes false when 4byte buffer is empty	While(serialPort.Received = cvTrue)		'copy the byte to our buffer		rxBuff.Value = serialPort.Value				'check for end of packet		If rxBuff.Value = 13			'process packet			processPacket()									'reset the buffer to the beginning			rxBuff.Location = 0		Else			rxBuff.Location = rxBuff.Location + 1		EndIf	WendEnd Sub'turns on and off the serial port for programmingSub toggleSerial_Event_Code()	If serialPort.Operate = cvFalse		serialPort.Operate = cvTrue		serialActive_LED = 1	Else		serialPort.Operate = cvFalse		serialActive_LED = 0	End IfEnd Sub'converts a single digit number to a characterFunction serial_toChar(inVal As Byte) As Byte	Dim retVal As Byte	Select Case inVal		Case 0			retVal = "0"		Case 1			retVal = "1"		Case 2			retVal = "2"		Case 3			retVal = "3"		Case 4			retVal = "4"		Case 5			retVal = "5"		Case 6			retVal = "6"		Case 7			retVal = "7"		Case 8			retVal = "8"		Case 9			retVal = "9"	End Select		serial_toChar = retValEnd Function' sends the data contained in txBuff' Note: make sure buffer contains a carriage return (13) at the end!!Sub serial_SendBuffer()	'iterate through, sending each byte, end on carriage return	txBuff.Location = 0	While 1		serialPort.Value = txBuff.Value		ooPIC.Delay = 1		'might not need this				'see if it was a carriage return		If txBuff.Value = 13			'break out of our loop			Return		End If		'go to the next character				txBuff.Location = txBuff.Location + 1	WendEnd Sub

Step 4: Disconect the Programming Connector

Once the programming connector is disconnected, attach the new cable assembly as shown below. The adapter made in step 1 should allow the CMUCam to be directly plugged into the OOPIC

Step 5: Press the Button to Initialize Serial Communication

The button on IOLine 5 will start the serial communication between the CMUCam and the OOPIC. Since the serial port is used for both programming and the CMUCam, there probably should be a controlled way of toggling between the two.

The program will not run until this button is pressed. If you press the button again, the serial port will go inactive, allowing you to program it. The LED on IOLine 6 displays the current serial port status (on means active, off means ready for programming).