8 files changed, 359 insertions, 0 deletions
diff --git a/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino b/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino
new file mode 100644
index 0000000..eb257e5
--- /dev/null
+++ b/comm/arduino_binairy_decoder/arduino_binairy_decoder.ino
@@ -0,0 +1,28 @@
+String inp = "01101000";
+int decimalValue = 0;
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    ; // wait for serial port to connect. Needed for native USB
+  }
+  Serial.println("");
+
+  Serial.println(inp);
+  String binary = inp.substring(2);
+  Serial.println(binary);
+  for (int i = 0; i < binary.length(); i++) {
+    // Calculate the value of the current bit
+    int bitValue = binary.charAt(i) - '0';
+    // Update the decimal value by shifting the bit to its correct position
+    decimalValue = (decimalValue << 1) | bitValue;
+  }
+  Serial.println(decimalValue);
+  Serial.println("");
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  delay(1000);
+
+}
diff --git a/comm/deg_to_byte.py b/comm/deg_to_byte.py
new file mode 100644
index 0000000..196d4a5
--- /dev/null
+++ b/comm/deg_to_byte.py
@@ -0,0 +1,5 @@
+deg = 40
+sbinary = format(deg, 'b')
+print(sbinary)
+binary = "".join(("01", sbinary))
+print(binary)
+\ No newline at end of file
diff --git a/comm/i2c/arduino_i2c_slave_1.py b/comm/i2c/arduino_i2c_slave_1.py
new file mode 100644
index 0000000..5957c5b
--- /dev/null
+++ b/comm/i2c/arduino_i2c_slave_1.py
@@ -0,0 +1,98 @@
+# This work is licensed under the MIT license.
+# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
+# https://github.com/openmv/openmv/blob/master/LICENSE
+#
+# I2C with the Arduino as the master device and the OpenMV Cam as the slave.
+#
+# Please wire up your OpenMV Cam to your Arduino like this:
+#
+# OpenMV Cam Master I2C Data  (P5) - Arduino Uno Data  (A4)
+# OpenMV Cam Master I2C Clock (P4) - Arduino Uno Clock (A5)
+# OpenMV Cam Ground                - Arduino Ground
+
+import pyb
+import ustruct
+
+text = "Hello World!\n"
+data = ustruct.pack("<%ds" % len(text), text)
+# Use "ustruct" to build data packets to send.
+# "<" puts the data in the struct in little endian order.
+# "%ds" puts a string in the data stream. E.g. "13s" for "Hello World!\n" (13 chars).
+# See https://docs.python.org/3/library/struct.html
+
+# READ ME!!!
+#
+# Please understand that when your OpenMV Cam is not the I2C master it may miss responding to
+# sending data as a I2C slave no matter if you call "i2c.send()" in an interrupt callback or in the
+# main loop below. When this happens the Arduino will get a NAK and have to try reading from the
+# OpenMV Cam again. Note that both the Arduino and OpenMV Cam I2C drivers are not good at getting
+# unstuck after encountering any I2C errors. On the OpenMV Cam and Arduino you can recover by
+# de-initing and then re-initing the I2C peripherals.
+
+# The hardware I2C bus for your OpenMV Cam is always I2C bus 2.
+bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
+bus.deinit()  # Fully reset I2C device...
+bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
+print("Waiting for Arduino...")
+
+# Note that for sync up to work correctly the OpenMV Cam must be running this script before the
+# Arduino starts to poll the OpenMV Cam for data. Otherwise the I2C byte framing gets messed up,
+# and etc. So, keep the Arduino in reset until the OpenMV Cam is "Waiting for Arduino...".
+
+while True:
+    try:
+        bus.send(
+            ustruct.pack("<h", len(data)), timeout=10000
+        )  # Send the len first (16-bits).
+        try:
+            bus.send(data, timeout=10000)  # Send the data second.
+            print("Sent Data!")  # Only reached on no error.
+        except OSError as err:
+            pass  # Don't care about errors - so pass.
+            # Note that there are 3 possible errors. A timeout error, a general purpose error, or
+            # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
+    except OSError as err:
+        pass  # Don't care about errors - so pass.
+        # Note that there are 3 possible errors. A timeout error, a general purpose error, or
+        # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
+
+###################################################################################################
+# Arduino Code
+###################################################################################################
+#
+# #include <Wire.h>
+# #define BAUD_RATE 19200
+# #define CHAR_BUF 128
+#
+# void setup() {
+#   Serial.begin(BAUD_RATE);
+#   Wire.begin();
+#   delay(1000); // Give the OpenMV Cam time to bootup.
+# }
+#
+# void loop() {
+#   int32_t temp = 0;
+#   char buff[CHAR_BUF] = {0};
+#
+#   Wire.requestFrom(0x12, 2);
+#   if(Wire.available() == 2) { // got length?
+#
+#     temp = Wire.read() | (Wire.read() << 8);
+#     delay(1); // Give some setup time...
+#
+#     Wire.requestFrom(0x12, temp);
+#     if(Wire.available() == temp) { // got full message?
+#
+#       temp = 0;
+#       while(Wire.available()) buff[temp++] = Wire.read();
+#
+#     } else {
+#       while(Wire.available()) Wire.read(); // Toss garbage bytes.
+#     }
+#   } else {
+#     while(Wire.available()) Wire.read(); // Toss garbage bytes.
+#   }
+#
+#   Serial.print(buff);
+#   delay(1); // Don't loop to quickly.
+# }
diff --git a/comm/i2c/i2c_arduino_master/i2c_arduino_master.ino b/comm/i2c/i2c_arduino_master/i2c_arduino_master.ino
new file mode 100644
index 0000000..ff960ed
--- /dev/null
+++ b/comm/i2c/i2c_arduino_master/i2c_arduino_master.ino
@@ -0,0 +1,36 @@
+#include <Wire.h>
+#define BAUD_RATE 19200
+#define CHAR_BUF 128
+
+void setup() {
+  Serial.begin(BAUD_RATE);
+  Wire.begin();
+  delay(1000); // Give the OpenMV Cam time to bootup.
+}
+
+void loop() {
+  int32_t temp = 0;
+  char buff[CHAR_BUF] = {0};
+
+  Wire.requestFrom(0x12, 2);
+  if(Wire.available() == 2) { // got length?
+
+    temp = Wire.read() | (Wire.read() << 8);
+    delay(1); // Give some setup time...
+
+    Wire.requestFrom(0x12, temp);
+    if(Wire.available() == temp) { // got full message?
+
+      temp = 0;
+      while(Wire.available()) buff[temp++] = Wire.read();
+
+    } else {
+      while(Wire.available()) Wire.read(); // Toss garbage bytes.
+    }
+  } else {
+    while(Wire.available()) Wire.read(); // Toss garbage bytes.
+  }
+
+  Serial.print(buff);
+  delay(1); // Don't loop to quickly.
+}
diff --git a/comm/spi/arduino_spi_master/arduino_spi_master.ino b/comm/spi/arduino_spi_master/arduino_spi_master.ino
new file mode 100644
index 0000000..248ef0f
--- /dev/null
+++ b/comm/spi/arduino_spi_master/arduino_spi_master.ino
@@ -0,0 +1,34 @@
+#include <SPI.h>
+#define SS_PIN 10
+#define BAUD_RATE 19200
+#define CHAR_BUF 128
+
+void setup() {
+  pinMode(SS_PIN, OUTPUT);
+  Serial.begin(BAUD_RATE);
+  SPI.begin();
+  SPI.setBitOrder(MSBFIRST);
+  SPI.setClockDivider(SPI_CLOCK_DIV16);
+  SPI.setDataMode(SPI_MODE0);
+  delay(1000); // Give the OpenMV Cam time to bootup.
+}
+
+void loop() {
+  int32_t len = 0;
+  char buff[CHAR_BUF] = {0};
+  digitalWrite(SS_PIN, LOW);
+  delay(1); // Give the OpenMV Cam some time to setup to send data.
+
+  if(SPI.transfer(1) == 85) { // saw sync char?
+    SPI.transfer(&len, 4); // get length
+    if (len) {
+      SPI.transfer(&buff, min(len, CHAR_BUF));
+      len -= min(len, CHAR_BUF);
+    }
+    while (len--) SPI.transfer(0); // eat any remaining bytes
+  }
+
+  digitalWrite(SS_PIN, HIGH);
+  Serial.print(buff);
+  delay(1); // Don't loop to quickly.
+}
+\ No newline at end of file
diff --git a/comm/spi/arduino_spi_slave_1.py b/comm/spi/arduino_spi_slave_1.py
new file mode 100644
index 0000000..e05c2f0
--- /dev/null
+++ b/comm/spi/arduino_spi_slave_1.py
@@ -0,0 +1,102 @@
+# This work is licensed under the MIT license.
+# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
+# https://github.com/openmv/openmv/blob/master/LICENSE
+#
+# SPI with the Arduino as the master device and the OpenMV Cam as the slave.
+#
+# Please wire up your OpenMV Cam to your Arduino like this:
+#
+# OpenMV Cam Master Out Slave In (P0) - Arduino Uno MOSI (11)
+# OpenMV Cam Master In Slave Out (P1) - Arduino Uno MISO (12)
+# OpenMV Cam Serial Clock        (P2) - Arduino Uno SCK  (13)
+# OpenMV Cam Slave Select        (P3) - Arduino Uno SS   (10)
+# OpenMV Cam Ground                   - Arduino Ground
+
+import pyb
+import ustruct
+import time
+
+text = "Hello World!\n"
+data = ustruct.pack("<bi%ds" % len(text), 85, len(text), text)  # 85 is a sync char.
+# Use "ustruct" to build data packets to send.
+# "<" puts the data in the struct in little endian order.
+# "b" puts a signed char in the data stream.
+# "i" puts a signed integer in the data stream.
+# "%ds" puts a string in the data stream. E.g. "13s" for "Hello World!\n" (13 chars).
+# See https://docs.python.org/3/library/struct.html
+
+# READ ME!!!
+#
+# Please understand that when your OpenMV Cam is not the SPI master it may miss responding to
+# sending data as a SPI slave no matter if you call "spi.send()" in an interrupt callback or in the
+# main loop below. Because of this you must absolutely design your communications protocol such
+# that if the slave device (the OpenMV Cam) doesn't call "spi.send()" in time that garbage data
+# read from the SPI peripheral by the master (the Arduino) is tossed. To accomplish this we use a
+# sync character of 85 (binary 01010101) which the Arduino will look for as the first byte read.
+# If it doesn't see this then it aborts the SPI transaction and will try again. Second, in order to
+# clear out the SPI peripheral state we always send a multiple of four bytes and an extra four zero
+# bytes to make sure that the SPI peripheral doesn't hold any stale data which could be 85. Note
+# that the OpenMV Cam will miss the "spi.send()" window randomly because it has to service
+# interrupts. Interrupts will happen a lot more while connected to your PC.
+
+# The hardware SPI bus for your OpenMV Cam is always SPI bus 2.
+# polarity = 0 -> clock is idle low.
+# phase = 0 -> sample data on rising clock edge, output data on falling clock edge.
+spi = pyb.SPI(2, pyb.SPI.SLAVE, polarity=0, phase=0)
+
+
+# NSS callback.
+def nss_callback(line):
+    global spi, data
+    try:
+        spi.send(data, timeout=1000)
+    except OSError as err:
+        pass  # Don't care about errors - so pass.
+        # Note that there are 3 possible errors. A timeout error, a general purpose error, or
+        # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
+
+
+# Configure NSS/CS in IRQ mode to send data when requested by the master.
+pyb.ExtInt(pyb.Pin("P3"), pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, nss_callback)
+
+while True:
+    time.sleep_ms(1000)
+
+###################################################################################################
+# Arduino Code
+###################################################################################################
+#
+# #include <SPI.h>
+# #define SS_PIN 10
+# #define BAUD_RATE 19200
+# #define CHAR_BUF 128
+#
+# void setup() {
+#   pinMode(SS_PIN, OUTPUT);
+#   Serial.begin(BAUD_RATE);
+#   SPI.begin();
+#   SPI.setBitOrder(MSBFIRST);
+#   SPI.setClockDivider(SPI_CLOCK_DIV16);
+#   SPI.setDataMode(SPI_MODE0);
+#   delay(1000); // Give the OpenMV Cam time to bootup.
+# }
+#
+# void loop() {
+#   int32_t len = 0;
+#   char buff[CHAR_BUF] = {0};
+#   digitalWrite(SS_PIN, LOW);
+#   delay(1); // Give the OpenMV Cam some time to setup to send data.
+#
+#   if(SPI.transfer(1) == 85) { // saw sync char?
+#     SPI.transfer(&len, 4); // get length
+#     if (len) {
+#       SPI.transfer(&buff, min(len, CHAR_BUF));
+#       len -= min(len, CHAR_BUF);
+#     }
+#     while (len--) SPI.transfer(0); // eat any remaining bytes
+#   }
+#
+#   digitalWrite(SS_PIN, HIGH);
+#   Serial.print(buff);
+#   delay(1); // Don't loop to quickly.
+# }
diff --git a/comm/uart/arduino_uart/arduino_uart.ino b/comm/uart/arduino_uart/arduino_uart.ino
new file mode 100644
index 0000000..de826c9
--- /dev/null
+++ b/comm/uart/arduino_uart/arduino_uart.ino
@@ -0,0 +1,14 @@
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(19200);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  if (Serial.available()) {
+    // Read the most recent byte
+    byte byteRead = Serial.read();
+    // ECHO the value that was read
+    Serial.write(byteRead);
+  }
+}
+\ No newline at end of file
diff --git a/comm/uart/arduino_uart_1.py b/comm/uart/arduino_uart_1.py
new file mode 100644
index 0000000..3996cf7
--- /dev/null
+++ b/comm/uart/arduino_uart_1.py
@@ -0,0 +1,42 @@
+# This work is licensed under the MIT license.
+# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
+# https://github.com/openmv/openmv/blob/master/LICENSE
+#
+# Basic UART communications between OpenMV and Arduino Uno.
+
+# 1) Wire up your OpenMV Cam to your Arduino Uno like this:
+#
+# OpenMV Cam Ground Pin   ----> Arduino Ground
+# OpenMV Cam UART3_TX(P4) ----> Arduino Uno UART_RX(0)
+# OpenMV Cam UART3_RX(P5) ----> Arduino Uno UART_TX(1)
+
+# 2) Uncomment and upload the following sketch to Arduino:
+#
+# void setup() {
+#   // put your setup code here, to run once:
+#   Serial.begin(19200);
+# }
+#
+# void loop() {
+#   // put your main code here, to run repeatedly:
+#   if (Serial.available()) {
+#     // Read the most recent byte
+#     byte byteRead = Serial.read();
+#     // ECHO the value that was read
+#     Serial.write(byteRead);
+#   }
+# }
+
+# 3) Run the following script in OpenMV IDE:
+
+import time
+from pyb import UART
+
+# UART 3, and baudrate.
+uart = UART(3, 19200, timeout_char=200)
+
+while True:
+    uart.write("Hello World!\n")
+    if uart.any():
+        print(uart.read())
+    time.sleep_ms(1000)