Pixy2 Support

Hey there,
I’ve been wanting to use precision positioning based on CV and using a SBC for this, but I’ve started working with the Pixy2 camera (https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:start), that does some embedded color processing and outputs data by PWM, SPI, I2C, etc. Although there’s no available driver.
Does anyone knows how I can found the docs to develop such driver, or if there is anything alike already developed?
(ps. I’ve been looking at https://github.com/PX4/Firmware/tree/master/src/drivers/optical_flow, but didn’t manage to find a place to start yet)

The IRLock driver (https://github.com/PX4/Firmware/tree/master/src/drivers/irlock) might be a good place to start. It’s the driver for the IRLock/Pixy1. You’d have to figure out how the interface differs.

Thanks Nicolas,
I started working on irlock driver, and found out the serial protocol differences between Pixy1 and Pixy2.
But eventually I found out that there’s a Pixy1 compatibility mode in Pixymon that solved that for me, without modifications to the driver.