I am working with FireFly Small sensors on an XMOS proccesor (RAM is limited, so I am not using the large sensor). I used a XC-1A development kit, which consists of a 4 core 400mhz processor, and a lot of peripherals that are useless in this application.
Here is my progress, chronologically:
The XMOS board has a painfully slow FTDI interface, totally useless for getting image data. My main computer does not have a RS232 port, so a very roundabout way was used. The image data is sent via a 900mhz modem to a old server, and the data is grabbed via VNC.
Computer executes code -> image via 900mhz modem ->computer #2 receives it -> computer #1 receives through SSH from computer 2.
A piece of carbon fiber laying over the sensor (don't know what was up with that line, only appears sometimes):
Here are some tries with edge detect:
And a whole image w/ lens and :
Add a FPN mask (not pointed at the same spot):
I am mainly interested in tying this in with an IMU for larger UAV's, as well as 3D reconstruction from two sensors. The IMU I am working with (yea, I screwed up the PCB :p):
Craziness while trying to tune the PID (blue is roll, red is pitch, green is yaw):
I think the major obsticle in the XMOS line is the lack of RAM, or IO to add a significant amount of external RAM.
The XMOS XDE project with code is attached. Use that to get images from the XMOS dev kit. Change ports and the .xn file to use with others.