pixy2 smart camera library www.pixycam.com
Pixy2 Library project (using UART interface)
pixy2.h@2:5281a6289e8b, 2019-03-01 (annotated)
- Committer:
- haarkon
- Date:
- Fri Mar 01 13:25:12 2019 +0000
- Revision:
- 2:5281a6289e8b
- Parent:
- 1:dd81f4065b6b
- Child:
- 3:6ba43af28440
few comments added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:dde1b9d6c9d6 | 1 | /** |
haarkon | 0:dde1b9d6c9d6 | 2 | * @author Hugues Angelis |
haarkon | 0:dde1b9d6c9d6 | 3 | * |
haarkon | 0:dde1b9d6c9d6 | 4 | * @section LICENSE |
haarkon | 0:dde1b9d6c9d6 | 5 | * |
haarkon | 0:dde1b9d6c9d6 | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
haarkon | 0:dde1b9d6c9d6 | 7 | * of this software and associated documentation files (the "Software"), to deal |
haarkon | 0:dde1b9d6c9d6 | 8 | * in the Software without restriction, including without limitation the rights |
haarkon | 0:dde1b9d6c9d6 | 9 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
haarkon | 0:dde1b9d6c9d6 | 10 | * copies of the Software, and to permit persons to whom the Software is |
haarkon | 0:dde1b9d6c9d6 | 11 | * furnished to do so, subject to the following conditions: |
haarkon | 0:dde1b9d6c9d6 | 12 | * |
haarkon | 0:dde1b9d6c9d6 | 13 | * The above copyright notice and this permission notice shall be included in |
haarkon | 0:dde1b9d6c9d6 | 14 | * all copies or substantial portions of the Software. |
haarkon | 0:dde1b9d6c9d6 | 15 | * |
haarkon | 0:dde1b9d6c9d6 | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
haarkon | 0:dde1b9d6c9d6 | 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
haarkon | 0:dde1b9d6c9d6 | 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
haarkon | 0:dde1b9d6c9d6 | 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
haarkon | 0:dde1b9d6c9d6 | 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
haarkon | 0:dde1b9d6c9d6 | 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
haarkon | 0:dde1b9d6c9d6 | 22 | * THE SOFTWARE. |
haarkon | 0:dde1b9d6c9d6 | 23 | * |
haarkon | 0:dde1b9d6c9d6 | 24 | * @section DESCRIPTION |
haarkon | 0:dde1b9d6c9d6 | 25 | * |
haarkon | 0:dde1b9d6c9d6 | 26 | * CMUCAM 5 - Pixy2 |
haarkon | 0:dde1b9d6c9d6 | 27 | * |
haarkon | 0:dde1b9d6c9d6 | 28 | * Datasheet, FAQ and PC drivers : |
haarkon | 0:dde1b9d6c9d6 | 29 | * |
haarkon | 0:dde1b9d6c9d6 | 30 | * http://www.pixycam.com/ |
haarkon | 0:dde1b9d6c9d6 | 31 | */ |
haarkon | 0:dde1b9d6c9d6 | 32 | |
haarkon | 0:dde1b9d6c9d6 | 33 | #ifndef _PIXY2_ |
haarkon | 0:dde1b9d6c9d6 | 34 | #define _PIXY2_ |
haarkon | 0:dde1b9d6c9d6 | 35 | |
haarkon | 0:dde1b9d6c9d6 | 36 | /** |
haarkon | 0:dde1b9d6c9d6 | 37 | * Include : Mbed Library |
haarkon | 0:dde1b9d6c9d6 | 38 | */ |
haarkon | 0:dde1b9d6c9d6 | 39 | #include "mbed.h" |
haarkon | 0:dde1b9d6c9d6 | 40 | |
haarkon | 0:dde1b9d6c9d6 | 41 | /** |
haarkon | 0:dde1b9d6c9d6 | 42 | * Defines |
haarkon | 0:dde1b9d6c9d6 | 43 | */ |
haarkon | 0:dde1b9d6c9d6 | 44 | #define PIXY2_NCSHEADERSIZE 4 |
haarkon | 0:dde1b9d6c9d6 | 45 | #define PIXY2_CSHEADERSIZE 4 |
haarkon | 0:dde1b9d6c9d6 | 46 | #define PIXY2_SYNC 0xC1AE |
haarkon | 0:dde1b9d6c9d6 | 47 | #define PIXY2_CSSYNC 0xC1AF |
haarkon | 0:dde1b9d6c9d6 | 48 | #define PIXY2_ACK 1 |
haarkon | 0:dde1b9d6c9d6 | 49 | #define PIXY2_ASK_RESOL 12 |
haarkon | 0:dde1b9d6c9d6 | 50 | #define PIXY2_REP_RESOL 13 |
haarkon | 0:dde1b9d6c9d6 | 51 | #define PIXY2_ASK_VERS 14 |
haarkon | 0:dde1b9d6c9d6 | 52 | #define PIXY2_REP_VERS 15 |
haarkon | 0:dde1b9d6c9d6 | 53 | #define PIXY2_SET_BRIGHT 16 |
haarkon | 0:dde1b9d6c9d6 | 54 | #define PIXY2_SET_SERVOS 18 |
haarkon | 0:dde1b9d6c9d6 | 55 | #define PIXY2_SET_LED 20 |
haarkon | 0:dde1b9d6c9d6 | 56 | #define PIXY2_SET_LAMP 22 |
haarkon | 0:dde1b9d6c9d6 | 57 | #define PIXY2_ASK_FPS 24 |
haarkon | 0:dde1b9d6c9d6 | 58 | #define PIXY2_ASK_BLOC 32 |
haarkon | 0:dde1b9d6c9d6 | 59 | #define PIXY2_REP_BLOC 33 |
haarkon | 0:dde1b9d6c9d6 | 60 | #define PIXY2_ASK_LINE 48 |
haarkon | 0:dde1b9d6c9d6 | 61 | #define PIXY2_REP_LINE 49 |
haarkon | 0:dde1b9d6c9d6 | 62 | #define PIXY2_SET_MODE 54 |
haarkon | 0:dde1b9d6c9d6 | 63 | #define PIXY2_SET_TURN 58 |
haarkon | 0:dde1b9d6c9d6 | 64 | #define PIXY2_SET_VECTOR 56 |
haarkon | 0:dde1b9d6c9d6 | 65 | #define PIXY2_SET_DEFTURN 60 |
haarkon | 0:dde1b9d6c9d6 | 66 | #define PIXY2_SET_REVERSE 62 |
haarkon | 0:dde1b9d6c9d6 | 67 | #define PIXY2_ASK_VIDEO 112 |
haarkon | 1:dd81f4065b6b | 68 | |
haarkon | 1:dd81f4065b6b | 69 | |
haarkon | 1:dd81f4065b6b | 70 | /**************** STATE MACHINE ****************/ |
haarkon | 1:dd81f4065b6b | 71 | |
haarkon | 1:dd81f4065b6b | 72 | typedef enum {idle, messageSent, receivingHeader, headerReceived, receivingData, dataReceived} T_Pixy2State; |
haarkon | 1:dd81f4065b6b | 73 | |
haarkon | 1:dd81f4065b6b | 74 | |
haarkon | 1:dd81f4065b6b | 75 | /**************** UTILS ****************/ |
haarkon | 1:dd81f4065b6b | 76 | |
haarkon | 0:dde1b9d6c9d6 | 77 | /** |
haarkon | 0:dde1b9d6c9d6 | 78 | * \struct Byte -> Short hand for unsigned char |
haarkon | 2:5281a6289e8b | 79 | * \struct sByte -> Short hand for char |
haarkon | 0:dde1b9d6c9d6 | 80 | * \struct Word -> Short hand for unsigned short |
haarkon | 2:5281a6289e8b | 81 | * \struct sWord -> Short hand for short |
haarkon | 0:dde1b9d6c9d6 | 82 | * \struct lWord -> Short hand for unsigned long |
haarkon | 2:5281a6289e8b | 83 | * \struct slWord -> Short hand for long |
haarkon | 0:dde1b9d6c9d6 | 84 | */ |
haarkon | 0:dde1b9d6c9d6 | 85 | typedef unsigned char Byte; |
haarkon | 2:5281a6289e8b | 86 | typedef char sByte; |
haarkon | 0:dde1b9d6c9d6 | 87 | typedef unsigned short Word; |
haarkon | 2:5281a6289e8b | 88 | typedef short sWord; |
haarkon | 0:dde1b9d6c9d6 | 89 | typedef unsigned long lWord; |
haarkon | 2:5281a6289e8b | 90 | typedef long slWord; |
haarkon | 0:dde1b9d6c9d6 | 91 | |
haarkon | 1:dd81f4065b6b | 92 | /** |
haarkon | 1:dd81f4065b6b | 93 | * \union T_Word |
haarkon | 1:dd81f4065b6b | 94 | * \brief Structured type to switch from word to bytes |
haarkon | 1:dd81f4065b6b | 95 | * \param mot (Word) : 16 bits word |
haarkon | 1:dd81f4065b6b | 96 | * \param octet (Byte) : 2 bytes that overlap mot (byte access) |
haarkon | 1:dd81f4065b6b | 97 | */ |
haarkon | 0:dde1b9d6c9d6 | 98 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 99 | Word mot; |
haarkon | 0:dde1b9d6c9d6 | 100 | Byte octet[2]; |
haarkon | 0:dde1b9d6c9d6 | 101 | }T_Word; |
haarkon | 0:dde1b9d6c9d6 | 102 | |
haarkon | 1:dd81f4065b6b | 103 | /** |
haarkon | 1:dd81f4065b6b | 104 | * \union T_lWord |
haarkon | 1:dd81f4065b6b | 105 | * \brief Structured type to switch from lword to word or bytes |
haarkon | 1:dd81f4065b6b | 106 | * \param motLong (lWord) : 32 bits word |
haarkon | 1:dd81f4065b6b | 107 | * \param mot (Word) : 2 x 16 bits words that overlap motLong (word access) |
haarkon | 1:dd81f4065b6b | 108 | * \param octet (Byte) : 4 bytes that overlap motLong (byte access) |
haarkon | 1:dd81f4065b6b | 109 | */ |
haarkon | 0:dde1b9d6c9d6 | 110 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 111 | lWord motLong; |
haarkon | 0:dde1b9d6c9d6 | 112 | Word mot[2]; |
haarkon | 0:dde1b9d6c9d6 | 113 | Byte octet[4]; |
haarkon | 0:dde1b9d6c9d6 | 114 | }T_lWord; |
haarkon | 0:dde1b9d6c9d6 | 115 | |
haarkon | 1:dd81f4065b6b | 116 | |
haarkon | 1:dd81f4065b6b | 117 | /**************** HEADERS ****************/ |
haarkon | 1:dd81f4065b6b | 118 | |
haarkon | 1:dd81f4065b6b | 119 | /** |
haarkon | 1:dd81f4065b6b | 120 | * \struct T_pixy2Header |
haarkon | 1:dd81f4065b6b | 121 | * \brief Structured type that match pixy2 header without checksum (send message) |
haarkon | 1:dd81f4065b6b | 122 | * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC) |
haarkon | 1:dd81f4065b6b | 123 | * \param pixType (Byte) : 8 bits message type identifier |
haarkon | 1:dd81f4065b6b | 124 | * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum) |
haarkon | 1:dd81f4065b6b | 125 | */ |
haarkon | 0:dde1b9d6c9d6 | 126 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 127 | Word pixSync; |
haarkon | 0:dde1b9d6c9d6 | 128 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 129 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 130 | }T_pixy2Header; |
haarkon | 0:dde1b9d6c9d6 | 131 | |
haarkon | 1:dd81f4065b6b | 132 | /** |
haarkon | 1:dd81f4065b6b | 133 | * \struct T_pixy2sendFrame |
haarkon | 1:dd81f4065b6b | 134 | * \brief Structured type that match frame definition for all kind of message to send to a pixy2 |
haarkon | 1:dd81f4065b6b | 135 | * \param header (T_pixy2Header) : 4 bytes classical header starting with PIXY2_SYNC |
haarkon | 1:dd81f4065b6b | 136 | * \param data (Byte) : 5 bytes payload (to match all usage, not all byte must be used) |
haarkon | 1:dd81f4065b6b | 137 | */ |
haarkon | 0:dde1b9d6c9d6 | 138 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 139 | T_pixy2Header header; |
haarkon | 0:dde1b9d6c9d6 | 140 | Byte data[5]; |
haarkon | 0:dde1b9d6c9d6 | 141 | }T_pixy2sendFrame; |
haarkon | 0:dde1b9d6c9d6 | 142 | |
haarkon | 1:dd81f4065b6b | 143 | /** |
haarkon | 1:dd81f4065b6b | 144 | * \union T_pixy2sendBuffer |
haarkon | 1:dd81f4065b6b | 145 | * \brief Structured type to switch between structured type T_pixy2sendFrame and bytes |
haarkon | 1:dd81f4065b6b | 146 | * \param frame (T_pixy2sendFrame) : classical frame (header + payload) starting with PIXY2_SYNC |
haarkon | 1:dd81f4065b6b | 147 | * \param data (Byte) : 9 bytes that overlap frame (byte access) |
haarkon | 1:dd81f4065b6b | 148 | */ |
haarkon | 0:dde1b9d6c9d6 | 149 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 150 | T_pixy2sendFrame frame; |
haarkon | 0:dde1b9d6c9d6 | 151 | Byte data[9]; |
haarkon | 0:dde1b9d6c9d6 | 152 | }T_pixy2sendBuffer; |
haarkon | 0:dde1b9d6c9d6 | 153 | |
haarkon | 1:dd81f4065b6b | 154 | /** |
haarkon | 1:dd81f4065b6b | 155 | * \struct T_pixy2RcvHeader |
haarkon | 1:dd81f4065b6b | 156 | * \brief Structured type that match pixy2 header with checksum (received message) |
haarkon | 1:dd81f4065b6b | 157 | * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC) |
haarkon | 1:dd81f4065b6b | 158 | * \param pixType (Byte) : 8 bits message type identifier |
haarkon | 1:dd81f4065b6b | 159 | * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum) |
haarkon | 1:dd81f4065b6b | 160 | * \param pixSync (Word) : 16 bits checksum (sum of all bytes of the payload) |
haarkon | 1:dd81f4065b6b | 161 | */ |
haarkon | 0:dde1b9d6c9d6 | 162 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 163 | Word pixSync; |
haarkon | 0:dde1b9d6c9d6 | 164 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 165 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 166 | Word pixChecksum; |
haarkon | 0:dde1b9d6c9d6 | 167 | }T_pixy2RcvHeader; |
haarkon | 0:dde1b9d6c9d6 | 168 | |
haarkon | 1:dd81f4065b6b | 169 | |
haarkon | 1:dd81f4065b6b | 170 | /**************** PAYLOADS ****************/ |
haarkon | 1:dd81f4065b6b | 171 | |
haarkon | 1:dd81f4065b6b | 172 | /** |
haarkon | 1:dd81f4065b6b | 173 | * \struct T_pixy2returnCode |
haarkon | 1:dd81f4065b6b | 174 | * \brief Structured type that match pixy2 error/acknowledge/reply frame (type = 1 or 3) message payload |
haarkon | 1:dd81f4065b6b | 175 | * \param pixReturn (lWord) : 32 bits returned value |
haarkon | 1:dd81f4065b6b | 176 | */ |
haarkon | 0:dde1b9d6c9d6 | 177 | typedef struct { |
haarkon | 1:dd81f4065b6b | 178 | lWord pixReturn; |
haarkon | 1:dd81f4065b6b | 179 | }T_pixy2returnCode; |
haarkon | 0:dde1b9d6c9d6 | 180 | |
haarkon | 1:dd81f4065b6b | 181 | /** |
haarkon | 1:dd81f4065b6b | 182 | * \struct T_Pixy2Version |
haarkon | 1:dd81f4065b6b | 183 | * \brief Structured type that match pixy2 version frame (type = 14/15) message payload |
haarkon | 1:dd81f4065b6b | 184 | * \param pixHWVersion (Word) : 16 bits hardWare Version of pixy2 |
haarkon | 1:dd81f4065b6b | 185 | * \param pixFWVersionMaj (Byte) : 8 bits upper part of firmware (before the dot) |
haarkon | 1:dd81f4065b6b | 186 | * \param pixFWVersionMin (Byte) : 8 bits lower part of firmware (after the dot) |
haarkon | 1:dd81f4065b6b | 187 | * \param pixFWBuild (Word) : 16 bits firmware build information |
haarkon | 1:dd81f4065b6b | 188 | * \param pixHFString (String) : 10 bytes user friendly pixy2 firmware type |
haarkon | 1:dd81f4065b6b | 189 | */ |
haarkon | 0:dde1b9d6c9d6 | 190 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 191 | Word pixHWVersion; |
haarkon | 0:dde1b9d6c9d6 | 192 | Byte pixFWVersionMaj; |
haarkon | 0:dde1b9d6c9d6 | 193 | Byte pixFWVersionMin; |
haarkon | 0:dde1b9d6c9d6 | 194 | Word pixFWBuild; |
haarkon | 0:dde1b9d6c9d6 | 195 | char pixHFString[10]; |
haarkon | 0:dde1b9d6c9d6 | 196 | }T_Pixy2Version; |
haarkon | 0:dde1b9d6c9d6 | 197 | |
haarkon | 1:dd81f4065b6b | 198 | /** |
haarkon | 1:dd81f4065b6b | 199 | * \struct T_Pixy2Resolution |
haarkon | 1:dd81f4065b6b | 200 | * \brief Structured type that match pixy2 resolution frame (type = 12/13) message payload |
haarkon | 1:dd81f4065b6b | 201 | * \param pixFrameWidth (Word) : 16 bits width (in pixel) of an image |
haarkon | 1:dd81f4065b6b | 202 | * \param pixFrameHeigth (Word) : 16 bits height (in pixel) of an image |
haarkon | 1:dd81f4065b6b | 203 | */ |
haarkon | 0:dde1b9d6c9d6 | 204 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 205 | Word pixFrameWidth; |
haarkon | 0:dde1b9d6c9d6 | 206 | Word pixFrameHeigth; |
haarkon | 0:dde1b9d6c9d6 | 207 | }T_Pixy2Resolution; |
haarkon | 0:dde1b9d6c9d6 | 208 | |
haarkon | 1:dd81f4065b6b | 209 | /** |
haarkon | 1:dd81f4065b6b | 210 | * \struct T_pixy2Bloc |
haarkon | 1:dd81f4065b6b | 211 | * \brief Structured type that match pixy2 blocks frame (type = 32/33) message payload |
haarkon | 1:dd81f4065b6b | 212 | * \param pixSignature (Word) : 16 bits signature or color code of the color bloc (signature are between 1 and 7, color code are composed of signature of 2, up to 5, tags so over 10) |
haarkon | 1:dd81f4065b6b | 213 | * \param pixX (Word) : 16 bits X (horizontal axis) position of color bloc center, relative to the left of the image (in pixels, between 0 and 315) |
haarkon | 1:dd81f4065b6b | 214 | * \param pixY (Word) : 16 bits Y (vertical axis) position of color bloc center, relative to the top of the image (in pixels, between 0 and 207) |
haarkon | 1:dd81f4065b6b | 215 | * \param pixWidth (Word) : 16 bits width (in pixels, between 0 and 316) of color bloc |
haarkon | 1:dd81f4065b6b | 216 | * \param pixHeight (Word) : 16 bits height (in pixels, between 0 and 208) of color bloc |
haarkon | 2:5281a6289e8b | 217 | * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc |
haarkon | 1:dd81f4065b6b | 218 | * \param pixIndex (Byte) : 8 bits tracking identification of the color code bloc (set by pixy2 to ease a bloc position following program) |
haarkon | 1:dd81f4065b6b | 219 | * \param pixAge (Byte) : 8 bits age (in number of frame) of a bloc (doesn't wrap around). |
haarkon | 1:dd81f4065b6b | 220 | * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:ccc_api |
haarkon | 1:dd81f4065b6b | 221 | * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components |
haarkon | 1:dd81f4065b6b | 222 | */ |
haarkon | 0:dde1b9d6c9d6 | 223 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 224 | Word pixSignature; |
haarkon | 0:dde1b9d6c9d6 | 225 | Word pixX; |
haarkon | 0:dde1b9d6c9d6 | 226 | Word pixY; |
haarkon | 0:dde1b9d6c9d6 | 227 | Word pixWidth; |
haarkon | 0:dde1b9d6c9d6 | 228 | Word pixHeight; |
haarkon | 2:5281a6289e8b | 229 | sWord pixAngle; |
haarkon | 0:dde1b9d6c9d6 | 230 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 231 | Byte pixAge; |
haarkon | 0:dde1b9d6c9d6 | 232 | }T_pixy2Bloc; |
haarkon | 0:dde1b9d6c9d6 | 233 | |
haarkon | 1:dd81f4065b6b | 234 | /** |
haarkon | 1:dd81f4065b6b | 235 | * \struct T_Pixy2Vector |
haarkon | 1:dd81f4065b6b | 236 | * \brief Structured type that match pixy2 vector definition - used in Line frame (type 48/49) - message payload |
haarkon | 2:5281a6289e8b | 237 | * \param pixX0 (Byte) : 8 bits X (horizontal, relative to the left of image) position of the tail of the vector (number between 0 and 78) |
haarkon | 2:5281a6289e8b | 238 | * \param pixY0 (Byte) : 8 bits Y (vertical, relative to the top of image) position of the tail of the vector (number between 0 and 51) |
haarkon | 2:5281a6289e8b | 239 | * \param pixX1 (Byte) : 8 bits X (horizontal, relative to the left of image) position of the head of the vector (number between 0 and 78) |
haarkon | 2:5281a6289e8b | 240 | * \param pixY1 (Byte) : 8 bits Y (vertical, relative to the top of image) position of the head of the vector (number between 0 and 51) |
haarkon | 2:5281a6289e8b | 241 | * \param pixIndex (Byte) : 8 bits tracking identification of the vector (set by pixy2 to ease a vector identification in case of multiple vector in a line following program) |
haarkon | 2:5281a6289e8b | 242 | * \param pixFlags (Byte) : 8 bits flag containing possible usefull informations (see notes) |
haarkon | 2:5281a6289e8b | 243 | * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api |
haarkon | 2:5281a6289e8b | 244 | * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking |
haarkon | 1:dd81f4065b6b | 245 | */ |
haarkon | 0:dde1b9d6c9d6 | 246 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 247 | Byte pixX0; |
haarkon | 0:dde1b9d6c9d6 | 248 | Byte pixY0; |
haarkon | 0:dde1b9d6c9d6 | 249 | Byte pixX1; |
haarkon | 0:dde1b9d6c9d6 | 250 | Byte pixY1; |
haarkon | 0:dde1b9d6c9d6 | 251 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 252 | Byte pixFlags; |
haarkon | 0:dde1b9d6c9d6 | 253 | }T_Pixy2Vector; |
haarkon | 0:dde1b9d6c9d6 | 254 | |
haarkon | 2:5281a6289e8b | 255 | /** |
haarkon | 2:5281a6289e8b | 256 | * \struct T_Pixy2InterLine |
haarkon | 2:5281a6289e8b | 257 | * \brief Structured type that match pixy2 intersection line definition - used in Line frame (type 48/49) - message payload |
haarkon | 2:5281a6289e8b | 258 | * \param pixIndex (Byte) : 8 bits tracking identification of the intersection line (set by pixy2 to ease a line following program) |
haarkon | 2:5281a6289e8b | 259 | * \param pixReserved (Byte) : Not documented by manufacturer |
haarkon | 2:5281a6289e8b | 260 | * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of the intersection line |
haarkon | 2:5281a6289e8b | 261 | * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api |
haarkon | 2:5281a6289e8b | 262 | * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking |
haarkon | 2:5281a6289e8b | 263 | */ |
haarkon | 0:dde1b9d6c9d6 | 264 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 265 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 266 | Byte pixReserved; |
haarkon | 2:5281a6289e8b | 267 | sWord pixAngle; |
haarkon | 0:dde1b9d6c9d6 | 268 | }T_Pixy2InterLine; |
haarkon | 0:dde1b9d6c9d6 | 269 | |
haarkon | 0:dde1b9d6c9d6 | 270 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 271 | Byte pixX; |
haarkon | 0:dde1b9d6c9d6 | 272 | Byte pixY; |
haarkon | 0:dde1b9d6c9d6 | 273 | Byte pixN; |
haarkon | 0:dde1b9d6c9d6 | 274 | Byte pixReserved; |
haarkon | 0:dde1b9d6c9d6 | 275 | }T_pixy2Intersection; |
haarkon | 0:dde1b9d6c9d6 | 276 | |
haarkon | 0:dde1b9d6c9d6 | 277 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 278 | Byte pixX; |
haarkon | 0:dde1b9d6c9d6 | 279 | Byte pixY; |
haarkon | 0:dde1b9d6c9d6 | 280 | Byte pixFlag; |
haarkon | 0:dde1b9d6c9d6 | 281 | Byte pixCode; |
haarkon | 0:dde1b9d6c9d6 | 282 | }T_pixy2BarCode; |
haarkon | 0:dde1b9d6c9d6 | 283 | |
haarkon | 0:dde1b9d6c9d6 | 284 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 285 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 286 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 287 | }T_pixy2LineFeature; |
haarkon | 0:dde1b9d6c9d6 | 288 | |
haarkon | 0:dde1b9d6c9d6 | 289 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 290 | Byte pixBlue; |
haarkon | 0:dde1b9d6c9d6 | 291 | Byte pixGreen; |
haarkon | 0:dde1b9d6c9d6 | 292 | Byte pixRed; |
haarkon | 0:dde1b9d6c9d6 | 293 | }T_pixy2Pixel; |
haarkon | 0:dde1b9d6c9d6 | 294 | |
haarkon | 0:dde1b9d6c9d6 | 295 | /** |
haarkon | 0:dde1b9d6c9d6 | 296 | * Pixy2 : CMU CAM 5 - Smart camera |
haarkon | 0:dde1b9d6c9d6 | 297 | * More informations at http://www.pixycam.com/ |
haarkon | 0:dde1b9d6c9d6 | 298 | */ |
haarkon | 0:dde1b9d6c9d6 | 299 | class PIXY2 { |
haarkon | 0:dde1b9d6c9d6 | 300 | |
haarkon | 0:dde1b9d6c9d6 | 301 | protected : |
haarkon | 0:dde1b9d6c9d6 | 302 | |
haarkon | 0:dde1b9d6c9d6 | 303 | Serial* _Pixy2; |
haarkon | 0:dde1b9d6c9d6 | 304 | |
haarkon | 0:dde1b9d6c9d6 | 305 | public : |
haarkon | 0:dde1b9d6c9d6 | 306 | /** |
haarkon | 0:dde1b9d6c9d6 | 307 | * Constructor of pixy2 object. |
haarkon | 0:dde1b9d6c9d6 | 308 | * |
haarkon | 0:dde1b9d6c9d6 | 309 | * @param tx : the Mbed pin used as TX |
haarkon | 0:dde1b9d6c9d6 | 310 | * @param rx : the Mbed pin used as RX |
haarkon | 0:dde1b9d6c9d6 | 311 | * @param debit : the bitrate of the serial (max value is 230400 b/s) |
haarkon | 0:dde1b9d6c9d6 | 312 | */ |
haarkon | 0:dde1b9d6c9d6 | 313 | PIXY2(PinName tx, PinName rx, int debit = 230400); |
haarkon | 0:dde1b9d6c9d6 | 314 | |
haarkon | 0:dde1b9d6c9d6 | 315 | // Fonctions publiques |
haarkon | 0:dde1b9d6c9d6 | 316 | int pixy2_getVersion (T_Pixy2Version *version); |
haarkon | 0:dde1b9d6c9d6 | 317 | int pixy2_getResolution (T_Pixy2Resolution *resolution); |
haarkon | 0:dde1b9d6c9d6 | 318 | int pixy2_setCameraBrightness (Byte brightness); |
haarkon | 0:dde1b9d6c9d6 | 319 | int pixy2_setServos (Word s0, Word s1); |
haarkon | 0:dde1b9d6c9d6 | 320 | int pixy2_setLED (Byte red, Byte green, Byte blue); |
haarkon | 0:dde1b9d6c9d6 | 321 | int pixy2_setLamp (Byte upper, Byte lower); |
haarkon | 1:dd81f4065b6b | 322 | int pixy2_getFPS (T_pixy2returnCode *framerate); |
haarkon | 0:dde1b9d6c9d6 | 323 | int pixy2_getBlocks (Byte sigmap, Byte maxBloc); |
haarkon | 0:dde1b9d6c9d6 | 324 | int pixy2_getMainFeature (Byte type, Byte features); |
haarkon | 0:dde1b9d6c9d6 | 325 | int pixy2_getAllFeature (Byte features); |
haarkon | 0:dde1b9d6c9d6 | 326 | int pixy2_setMode (Byte mode); |
haarkon | 0:dde1b9d6c9d6 | 327 | int pixy2_setNexTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 328 | int pixy2_setDefaultTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 329 | int pixy2_setVector (Byte vectorIndex); |
haarkon | 0:dde1b9d6c9d6 | 330 | int pixy2_ReverseVector (void); |
haarkon | 0:dde1b9d6c9d6 | 331 | int pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel *pixel); |
haarkon | 0:dde1b9d6c9d6 | 332 | |
haarkon | 0:dde1b9d6c9d6 | 333 | // Variables globales Publiques |
haarkon | 0:dde1b9d6c9d6 | 334 | Byte Pixy2_numBlocks; |
haarkon | 0:dde1b9d6c9d6 | 335 | T_pixy2Bloc Pixy2_blocks[]; |
haarkon | 0:dde1b9d6c9d6 | 336 | Byte Pixy2_numVectors; |
haarkon | 0:dde1b9d6c9d6 | 337 | T_Pixy2Vector Pixy2_vectors[]; |
haarkon | 0:dde1b9d6c9d6 | 338 | Byte Pixy2_numIntersections; |
haarkon | 0:dde1b9d6c9d6 | 339 | T_pixy2Intersection Pixy2_intersections[]; |
haarkon | 0:dde1b9d6c9d6 | 340 | T_Pixy2InterLine Pixy2_intLines[]; |
haarkon | 0:dde1b9d6c9d6 | 341 | Byte Pixy2_numBarcodes; |
haarkon | 0:dde1b9d6c9d6 | 342 | T_pixy2BarCode Pixy2_barcodes[]; |
haarkon | 0:dde1b9d6c9d6 | 343 | |
haarkon | 0:dde1b9d6c9d6 | 344 | private : |
haarkon | 0:dde1b9d6c9d6 | 345 | // Variables globales Privées |
haarkon | 0:dde1b9d6c9d6 | 346 | T_Pixy2State etat; |
haarkon | 0:dde1b9d6c9d6 | 347 | Byte* Pixy2_buffer; |
haarkon | 0:dde1b9d6c9d6 | 348 | Byte wPointer, rPointer, dataSize; |
haarkon | 0:dde1b9d6c9d6 | 349 | Byte frameContainChecksum; |
haarkon | 0:dde1b9d6c9d6 | 350 | |
haarkon | 0:dde1b9d6c9d6 | 351 | // Fonctions privées |
haarkon | 0:dde1b9d6c9d6 | 352 | int pixy2_sndGetVersion (void); |
haarkon | 0:dde1b9d6c9d6 | 353 | int pixy2_sndGetResolution (void); |
haarkon | 0:dde1b9d6c9d6 | 354 | int pixy2_sndSetCameraBrightness (Byte brightness); |
haarkon | 0:dde1b9d6c9d6 | 355 | int pixy2_sndSetServo (Word s0, Word s1); |
haarkon | 0:dde1b9d6c9d6 | 356 | int pixy2_sndSetLED (Byte red, Byte green, Byte blue); |
haarkon | 0:dde1b9d6c9d6 | 357 | int pixy2_sndSetLamp (Byte upper, Byte lower); |
haarkon | 0:dde1b9d6c9d6 | 358 | int pixy2_sndGetFPS (void); |
haarkon | 0:dde1b9d6c9d6 | 359 | int pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc); |
haarkon | 0:dde1b9d6c9d6 | 360 | int pixy2_sndGetMainFeature (Byte type, Byte feature); |
haarkon | 0:dde1b9d6c9d6 | 361 | int pixy2_sndSetMode (Byte mode); |
haarkon | 0:dde1b9d6c9d6 | 362 | int pixy2_sndSetNexTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 363 | int pixy2_sndSetDefaultTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 364 | int pixy2_sndSetVector (Byte vectorIndex); |
haarkon | 0:dde1b9d6c9d6 | 365 | int pixy2_sndReverseVector (void); |
haarkon | 0:dde1b9d6c9d6 | 366 | int pixy2_sndGetRGB (Word x, Word y, Byte saturate); |
haarkon | 0:dde1b9d6c9d6 | 367 | |
haarkon | 0:dde1b9d6c9d6 | 368 | void pixy2_getByte (); |
haarkon | 0:dde1b9d6c9d6 | 369 | int pixy2_validateChecksum (Byte* tab); |
haarkon | 0:dde1b9d6c9d6 | 370 | }; |
haarkon | 0:dde1b9d6c9d6 | 371 | |
haarkon | 0:dde1b9d6c9d6 | 372 | #endif |